A multi-moving body collaborative full-coverage path planning method
A technology of path planning and moving body, applied in the direction of navigation calculation tools, etc., can solve the problems of insufficient search ability and difficult modeling, and achieve the effect of reducing complexity, high efficiency and strong practicability
Active Publication Date: 2021-01-01
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
[0004] Traditional full-coverage path planning methods often have problems such as difficult modeling or insufficient search capabilities
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[0038] Below in conjunction with accompanying drawing and embodiment the present invention is described in detail;
[0039] The invention provides a multi-moving body collaborative full-coverage path planning method; the method is to optimize the multi-moving body under the premise of considering the obstacle collision avoidance constraint and the multi-moving body collision avoidance constraint and ensuring that the coverage rate reaches 100%. The maximum task completion time of the collaborative task is planned for the moving body to plan an optimal path for the detection range to traverse the two-dimensional space of the area to be covered. The path planning problem in the present invention adopts the genetic algorithm as an optimal solution algorithm for multi-moving body collaborative full-coverage path planning driven by grid potential energy and motion mode.
[0040] Such as figure 1 As shown, the method for planning a multi-moving body cooperative full-coverage path, ...
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The invention provides a multi-moving-body collaborative full-coverage path planning method, comprising the steps of inputting path planning information; gridding a target region map; randomly generating an initial population that includes a plurality of individuals, wherein each individual is jointly determine by motion priorities and motion patterns of the multiple individuals and correspondingwalking steps in the motion patterns, the different motion patterns of the moving bodies refer to an order of different priorities of their neighborhoods; setting a next road point of each moving bodyto employ a double-layer selection strategy, wherein the first selection strategy is grid potential energy, and the second selection strategy is the motion patterns of the moving bodies; setting total time to complete a regional full-coverage task as an evaluation index; using particle swarm optimization to optimize the initial population, and selecting optimal individuals from the initial population. The method herein is suitable for planning a path for multiple moving bodies, and the path is suitable for quick traversing of a target region and ensuring low repetitive rate.
Description
technical field [0001] The invention belongs to the technical field of multi-moving body coordinated full-coverage path planning research, and in particular relates to a multi-moving body coordinated full-coverage path planning method, which is used to realize the path planning of multi-moving body cooperatively covering a target area under collision avoidance constraints. Background technique [0002] The full-coverage path planning problem of moving bodies refers to planning a sensor detection area traversal by optimizing certain performance indicators under the premise of satisfying certain constraints (avoiding obstacles and threats, avoiding collisions between multiple moving bodies). The problem of the optimal route of the area to be covered; the coverage efficiency of the full coverage path planning algorithm depends on the total coverage rate, the total time required for complete coverage, the total path length and energy consumption required for the covered path, etc...
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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 辛斌许萌窦丽华陈杰高冠强
Owner BEIJING INSTITUTE OF TECHNOLOGYGY