Method and device for path planning

Abstract

The invention discloses a path planning method and device, and relates to the technical field of computers. A specific embodiment of the method includes: obtaining the starting point and the target point, determining the first road section with the starting point as the end point and the second road section with the starting point as the starting point; determining the destination angle of the starting point in the first road section, and The starting angle of the starting point in the second road segment; when the target angle of the starting point in the first road segment is the same as the starting angle in the second road segment, and the end point of the second road segment is the target point, it is determined that the second road segment is feasible path. This implementation mode provides a way of planning the path in combination with the direction of the head of the road section and the direction of travel of the vehicle, which is more in line with the actual road condition planning, improves the accuracy of planning, and avoids the situation of collision caused by crossing and walking on the route in the opposite direction of the head of the vehicle. .

Description

Technical field [0001] The present invention relates to computer technology, and in particular relates to a method and apparatus for path planning. Background technique [0002] Currently no truck travel path planning relies on the output line. However, since the conventional grinding unmanned forklift map design, all routes marked only the front of the traveling direction, wherein some sections truck can advance and retreat, some sections allow only unidirectional traveling forklift. [0003] Each section of the line by manually adding "whether the forward-reverse" attribute identification may be achieved in the truck backward and forward sections, but the two front direction (i.e., toward the front of the truck when traveling) and is connected to the opposite line, is not allowing a period of from traveling directly across the line to another section of the route, this route is called illegal. [0004] For example, see figure 1 It is assumed that all sections of the properties ...

AI Technical Summary

Problems solved by technology

[0008] In view of this, the embodiments of the present invention provide a method and device for path planning, which can at least solve the problem that the existing path planning does not support the judgment of the direction of the road conditions, causing the route with the opposite direction of the front of the vehicle to be planned according to the normal path, which affects the subsequent travel of forklifts. Happening

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