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Shortest path planning method based on unidirectional searching model

A shortest path and model technology, applied to road network navigators, measuring devices, instruments, etc., can solve problems such as huge data files, difficulty in meeting the requirements of fast path planning, and reduced algorithm operation efficiency, and achieve high computing efficiency and search The effect of small number of nodes and improved computing efficiency

Active Publication Date: 2018-11-16
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

Therefore, if the adjacency matrix is ​​used to store road node and boundary value information, it will inevitably generate huge data files, which will reduce the operating efficiency of the algorithm, and it is difficult to meet the requirements of fast path planning for modern urban road traffic network

Method used

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  • Shortest path planning method based on unidirectional searching model
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  • Shortest path planning method based on unidirectional searching model

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Embodiment Construction

[0029] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0030] The present invention provides a shortest path planning method based on a unidirectional search model, such as figure 1 As shown, it can quickly solve the shortest path in the road network under the condition of given start point and end point, and has good real-time performance.

[0031] The input is a road network graph with a topological structure, which includes the coordinates of each node in the network, a weight matrix representing the connection relationship and distance of each node; or specify the nodes that must be passed or the roads that are prohibited.

[0032] In this example, a medium-scale road network diagram with 120 nodes is selected, and a shortest path planning method based on a one-way search model is described in detail. road network diagram Figure 4 As shown, the starting point is defined as node 16, and the end point is ...

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Abstract

The invention provides a shortest path planning method based on a unidirectional searching model. According to the geometric principle that the line segment between two points is the shortest, in thesearch process, the path is made to be close to a straight line. In comparison with the classic Dijkstra algorithm method of expanding outwards layer by layer with the starting point as the center, the method of the invention has the following advantages: the number of search nodes is small, memory usage is small, and the calculation efficiency is high. In a road network with more than 500 nodes,the calculation efficiency is improved by 90% and above; and through parameter setting, forbidden road sections are avoided or nodes that must be passes by are passed in the path planning process. Then, the method is more suitable for the path planning under actual traffic conditions.

Description

technical field [0001] The invention belongs to the technical field of path planning, and in particular relates to a shortest path planning method based on a unidirectional search model. Background technique [0002] Path planning is the process of finding the best driving route from the starting point to the destination before or during the driving of the vehicle based on the road network with topological structure. It is a specific application of the shortest path problem in the vehicle navigation system. Path planning has a wide range of applications in many fields, such as: path planning of robotic manipulators, autonomous collision-free movement of robots, autonomous obstacle avoidance flight of drones, traveling salesman problem, vehicle problem in logistics management, and similar Resource management and configuration issues, etc. In daily life, path planning can be used for GPS navigation, road planning based on GPS system, urban road network planning and navigation,...

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 刘彤沈宏梁刘冬宇周培德邓志红肖烜
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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