An intelligent optimization method for multi-vehicle paths in multi-dimensional space
A technology of intelligent optimization and tool path, applied in the direction of navigation calculation tools, etc., can solve the problem of a single carrier being unable to do what it wants
Active Publication Date: 2020-05-05
SOUTHWEST JIAOTONG UNIV
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Problems solved by technology
However, with the deepening of the research and the change of the working environment, it is found that a single vehicle is unable to do what it wants in some application fields. Therefore, the research on the collaborative path planning of multiple vehicles emerges as the times require.
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[0023] Exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be understood that the implementations shown and described in the drawings are only exemplary, intended to explain the principle and spirit of the present invention, rather than limit the scope of the present invention.
[0024] The embodiment of the present invention provides a multi-dimensional space multi-vehicle path intelligent optimization method, such as figure 1 As shown, including the following steps S1-S9:
[0025] S1. Construct a three-dimensional space coordinate system according to the movement scene of the vehicle, and equivalent each vehicle to a vector point in the three-dimensional space coordinate system with space coordinates and a motion direction.
[0026] In the current coordinate system, the vehicle has a three-dimensional space position coordinate at each moment to determine its specific position, and a space vect...
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The invention discloses a multi-dimensional space and multi-vehicle path intelligent optimization method. The operation of the vehicle does not need to specify a path. When there are no obstacles or interference from other vehicles on the operation path of the vehicle, the running direction of the vehicle is consistent with the vehicle and the destination point. If the connecting lines of the vehicle are coincident, the vehicle will drive directly to the destination point in a straight line; if there are no obstacles or other vehicle interference on the running path of the vehicle, but the initial running direction of the vehicle and the connecting line between the vehicle and the destination point are clamped angle, the above-mentioned included angle gradually decreases in the fastest direction until zero during the operation of the vehicle, and then continues to drive to the destination point in a straight line; when there are obstacles or other vehicles on the vehicle's running path, the vehicle will In between, the movement direction is changed through inertial motion rules, repulsion motion rules and destination attraction motion rules, automatically avoiding obstacles, and selecting the optimal path to drive to the destination point.
Description
technical field [0001] The invention belongs to the technical field of path planning, and in particular relates to the design of an intelligent optimization method for multi-dimensional space and multi-vehicle paths. Background technique [0002] With the rapid development of computer technology, communication technology, Internet of Things technology, and artificial intelligence technology, there are more and more forms of vehicles, and the operating system of vehicles is becoming more and more complex. The path planning of vehicles is not limited to In the two-dimensional space, it is developing towards a high-dimensional direction, which puts forward higher requirements for the path planning of the delivery vehicle. [0003] At present, there are many and mature researches on the path planning method of a single vehicle, such as the research on the obstacle avoidance of a single robot on a plane or the path planning method of a UAV in a three-dimensional space. However, ...
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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 徐菱付文浩李忠涛
Owner SOUTHWEST JIAOTONG UNIV