A Cross-Layer Path Planning Method

Abstract

The invention discloses a cross-layer path planning method, which includes a node, a road section and a cost. The node is a connection point connecting two or more road sections. The node includes a start node, a passing node and an end node. The start node is the node with the smallest cost from the starting point, the end node is the node with the smallest cost from the end point, each of the passing nodes corresponds to one of the costs, and the cost is corresponding to each of the passing nodes , the required distance from the starting node to the passing node, the method of the present invention adopts a simple data structure to uniformly store the road sections in the horizontal direction and the vertical direction, which has better versatility, and the present invention The method applies the heuristic search algorithm to indoor cross-floor path planning, improves the search efficiency, and considers the cost difference between different cross-floor passages such as elevators, stairs, and escalators, which is more in line with user habits and effectively improves user experience.

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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