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Route planning algorithm optimization method

A technology of track planning and optimization method, applied in the field of navigation control of unmanned ships, can solve the problems of increasing algorithm execution time, reducing execution efficiency, redundant and invalid nodes, etc. Guaranteed superior results

Active Publication Date: 2019-07-12
智慧航海(青岛)科技有限公司
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AI Technical Summary

Problems solved by technology

However, in the application process of the path planning algorithm based on graph search space point finding, redundant and invalid nodes often appear, which not only occupy memory, reduce execution efficiency, but also increase the execution time of the algorithm
[0004] The existing node pruning technology can greatly reduce the number of redundant nodes in the path planning algorithm based on the graph search space, but because the existing node pruning technology is the adjustment of the node exploration strategy, it is still impossible to avoid the node going in the wrong direction explore extension

Method used

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Embodiment 1

[0050] Below, based on the grid map and the A-star algorithm, the optimization method of the track planning algorithm provided by the present invention is described in detail, as figure 1 shown.

[0051] Step S1. According to the obstacle environment information, the grid map is divided into feasible areas and unfeasible areas; in the grid map, the starting point and the end point of the ship's navigation are set according to the current position of the ship and the navigation task.

[0052] Step S2. Two empty lists, openlist and closelist, are established, wherein the openlist is used to store the waypoints used for judging, and the closelist is used to store the waypoints already judged.

[0053] Step S3. Determine whether the start point and end point of the ship's voyage are in the same connected area, if yes, execute step S4; if not, return to step S1, and reset the start point and end point of the ship's voyage.

[0054] According to the breadth-first search algorithm, ...

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Abstract

The invention discloses a route planning algorithm optimization method. The method comprises the steps of S1, obtaining a node set O which is used for judging way points and a node set C which alreadyjudges the way points in route planning by adoption of a route planning algorithm according to the current position and target position of a ship; S2, for each node in the set C, obtaining a target boundary frame of each node by adoption of a Dijkstra search method; S3, when traversing the neighborhood of each node in the set C to search the next feasible node, selecting the node located in a non-obstacle area in the neighborhood of the current node and located in the target boundary frame of the current node as the next feasible node, and updating the set O to judge the way points accordingto the next feasible node; and S4, traversing the set C to obtain an optimum route. The method is not only capable of preventing the route planning algorithm from exploring the redundant and ineffective nodes, but also capable of preventing the route planning algorithm from exploring the nodes to expand toward wrong directions, thereby improving the way finding speed and improving the algorithm operation efficiency.

Description

technical field [0001] The invention relates to the technical field of unmanned ship navigation control, in particular to an optimization method for a track planning algorithm. Background technique [0002] With the continuous development of the shipping industry, a large number of ships frequently move in ports and sea traffic arteries, coupled with the development of large-scale and high-speed ships, making sea navigation become crowded and navigation efficiency reduced. The research and development of geographic information system provides theoretical support and technical support for the construction of intelligent transportation system and improvement of marine transportation conditions. The choice of sea route is related to the efficiency issues such as the minimum time spent by the ship, which is related to the shipping cost of the ship. How to reduce the cost of shipping time, save shipping costs, and improve the competitiveness of maritime shipping has become the m...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/203
Inventor 王晓原夏媛媛姜雨函刘亚奇柴垒唐学大高杰朱慎超
Owner 智慧航海(青岛)科技有限公司
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