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Multi-target three-dimensional path planning method

A path planning, multi-objective technology, applied in the directions of road network navigators, measuring devices, instruments, etc., can solve the problem of not much research on path planning methods.

Active Publication Date: 2019-11-26
HUNAN UNIV
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Problems solved by technology

However, almost all of them are based on two-dimensional maps, and there are not many researches on path planning methods under three-dimensional maps.

Method used

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  • Multi-target three-dimensional path planning method
  • Multi-target three-dimensional path planning method
  • Multi-target three-dimensional path planning method

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Embodiment Construction

[0076] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0077] The main purpose of the present invention is to provide an energy-saving solution from the perspective of path planning. Since the energy consumption coefficient of electric vehicles uphill is significantly greater than that of flat roads, for a mountainous city, a flat and moderately long road may save energy far more than a relatively short road with many uphill and downhill roads, and There is no significant time-consuming cost. Different from the traditional path planning method that only considers the shortest distance, the present invention proposes a multi-objective three-dimensional path planning method on the basis of taking energy consumption and distance into consideration.

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Abstract

The invention discloses a multi-target three-dimensional path planning method, which is characterized in that a total estimation cost function F (n) is established, the F (n) is formed by summing an estimation cost function G (n) from a current point to an adjacent point and an estimation cost function H (n) from the adjacent point to an end point, and the G (n) is used for calculating energy consumption and path cost from the current point to the adjacent point in a three-dimensional space; the H (n) comprises the total energy consumption and the distance, the total energy consumption is obtained by calculating the energy consumption from the adjacent point to a target node, and the distance is obtained by calculating the linear distance and the curve distance from the adjacent point to the target; and finally, the multi-target optimization solving problem of the path planning method is solved by adopting a multi-target chaotic optimization algorithm, the three-dimensional planning considering energy consumption and distance can be realized, an optimized path for reducing the energy consumption in mountain terrain is found, and the endurance mileage of the intelligent mobile equipment is improved.

Description

technical field [0001] The invention belongs to the field of path planning and relates to a multi-objective three-dimensional path planning method, which can be used for path planning in fields such as intelligent navigation and unmanned driving. Background technique [0002] At present, battery energy storage is very limited, and improving battery life is an important research topic. Relevant research mainly includes two aspects: improving the storage capacity of the battery and reducing the unit energy consumption of the battery. Since the energy consumption coefficient of uphill is significantly greater than that of flat roads, for a mountainous city, a flat and moderately long road may save energy much more than a relatively short road with many ups and downs, and there is no Significantly more time-consuming costs. [0003] At present, many path planning methods have been proposed: such as artificial force field algorithm, neural network method, genetic algorithm, ran...

Claims

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3469G01C21/3446Y02D10/00
Inventor 袁小芳刘嘉鑫黄国明
Owner HUNAN UNIV
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