Multiwindow-heuristic three-dimensional space path planning method based on magic cube model

A path planning and three-dimensional space technology, applied in three-dimensional position/channel control, etc., can solve the problems of unmanned aerial vehicles/unmanned submersibles, low algorithm efficiency, and low practicability, etc., to improve algorithm efficiency , the result is flexible, and the effect of taking into account the efficiency of the algorithm

Active Publication Date: 2018-11-13
ZHEJIANG UNIV
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Problems solved by technology

However, the shortcomings of this method are also obvious. First of all, the original 26-dimensional freedom in three-dimensional space is constrained to six dimensions, resulting in constraints on the final planning results, which cannot be used in applications such as unmanned aerial vehicles and unmanned submersibles in three-dimensional space. Equipment flexibility
Secondly, the

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  • Multiwindow-heuristic three-dimensional space path planning method based on magic cube model
  • Multiwindow-heuristic three-dimensional space path planning method based on magic cube model
  • Multiwindow-heuristic three-dimensional space path planning method based on magic cube model

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Embodiment 1

[0068] In the following, the method of the present invention is used to carry out path planning for the actual three-dimensional space scene, and the local path planning method with better real-time performance is compared at the same time, and the results are as follows:

[0069] image 3 As the test scene model of this example, the model depicts a desk model with a computer in the office. Among them, the x coordinate points to the right, the y coordinate points down, and the z coordinate points to the table model.

[0070] In the 3D scene, set the start point to (0,0,-1) and the end point to (1.5,-0.6,4). The detailed path analysis results are shown in Table 1, and the planning results are as follows Figure 4 shown.

[0071] Among them, the planning time refers to the overall time consumption of path planning, the number of intermediate nodes is the number of path nodes included in the final path result, and the path length refers to the total length of the final path in...

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Abstract

The invention discloses a multiwindow-heuristic three-dimensional space path planning method based on a magic cube model. The method includes: sensing environment information through a sensor, and filtering and integrating on this basis to convert into a three-dimensional space grid map; building 26 degree-of-freedom search space based on the magic cube model; using a multiwindow model to quicklydetermine accessibility of 26 degrees of freedom in batches according to a priority sequence; establishing a heuristic evaluation function, calculating a function value according to weight parameters,and utilizing the evaluation function for screening to acquire a local target; iterating step by step to finally acquire a globally unique optimal path. The method can be applied in quick path planning of unmanned aerial vehicles/unmanned underwater vehicles containing prior information in three-dimensional space, high degree of freedom in the three-dimensional space is fully taken into consideration, and a globally-optimal collisionless three-dimensional path can be acquired quickly.

Description

technical field [0001] The invention relates to three-dimensional space environment perception modeling and path planning technology, in particular to a multi-window heuristic three-dimensional space path planning method based on Rubik's Cube model. Background technique [0002] Path planning technology is a key technology necessary for unmanned systems such as robots and UAVs to be put into practical applications. With the continuous breakthrough of the current sensor technology, the speed and accuracy of environmental perception are also continuously improved. On this basis, the path planning of the unmanned system can be carried out more accurately and safely. [0003] The purpose of path planning is to find an optimal or suboptimal collision-free path from the start point to the end point according to some evaluation index in an environment with obstacles. Existing technologies can be roughly divided into two categories: global path planning and local path planning. Th...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/10
Inventor 杨嘉珩胡文学沈会良
Owner ZHEJIANG UNIV
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