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An Optimal Method for Track Planning Algorithm

A track planning and optimization method technology, applied in the field of unmanned ship navigation control, can solve the problems of increasing algorithm execution time, reducing execution efficiency, redundant invalid nodes, etc., to speed up pathfinding, improve execution efficiency, The effect of guaranteeing superiority

Active Publication Date: 2021-05-04
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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  • An Optimal Method for Track Planning Algorithm
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  • An Optimal Method for Track Planning Algorithm

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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

A method for optimizing a track planning algorithm, comprising: S1. According to the current position of the ship and the position of the target point, the track planning algorithm is used to obtain the node set O used to determine the waypoint in the track planning and the node set that has already determined the waypoint C; S2. For each node in the set C, use the Dijkstra search method to obtain the target bounding box of each node; S3. When traversing the neighborhood of each node in the set C to search for the next feasible node, select the current node within the neighborhood of The node in the non-obstacle area and within the target bounding box of the current node is used as the next feasible node; according to the next feasible node, the set O is updated to judge the waypoint; S4, traverse the set C, and obtain the optimal track route. It not only avoids the path planning algorithm to explore redundant and invalid nodes, but also prevents the path planning algorithm from exploring nodes to expand in the wrong direction, thereby speeding up the speed of path finding and improving the efficiency of algorithm operation.

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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Patent Type & Authority Patents(China)
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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