Cross-floor path planning method

Abstract

The invention discloses a cross-floor path planning method. According to the method, nodes, road segments and distances are used; and the nodes are the connection points of two or more than two road segments, and comprise a starting node, path nodes and an ending point node, the starting node is the node having the shortest distance from the a starting point, the ending point node is the node having the shortest distance from an ending point, each path node is corresponding to a distance, and each distance is the distance corresponding to each path point and between the starting point and thepath point. According to the present invention, the simple data structure is used, and the vertical road segments and the horizontal road segments are subjected to unified storage, such that the goodversatility is achieved; and the heuristic search algorithm is used in the indoor cross-floor path planning, such that the search efficiency is improved, the distance difference between elevators, stairs, escalators and other different cross-floor channels is considered, the habits of users are well met, and the user experience is effectively improved.

Description

technical field [0001] The invention relates to a path planning method, in particular to a cross-layer path planning method. Background technique [0002] At present, in recent years, indoor positioning and navigation technologies have developed rapidly. Indoor path planning is an important function in indoor navigation applications, which plans the optimal path between the starting point and the target location for users. There are already a lot of research work in this area. In the prior art, Yang Chen et al. proposed an indoor cross-floor map path navigation method and system. The method receives a path navigation request from the map starting point to the map target point, and queries based on the floor where the map starting point is located and the floor where the map target point is located. The multi-layer map connectivity matrix determines the connectivity relationship between the starting point of the map and the floor map where the target point of the map is loc...

AI Technical Summary

Problems solved by technology

(2) Limit elevator transfers

If there is no such direct elevator, it is likely that path planning will fail

In the actual situation, there may be an elevator transfer path whose cost is much lower than the direct elevator path, but the algorithm cannot give such a path

In addition, it is rare to consider the cost difference between different cross-floor passages such as elevators, stairs, and escalators in existing solutions

Such path planning results will inevitably affect user experience

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