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Path planning method based on large-scale multi-center problem

A path planning and multi-center technology, applied to road network navigators, measuring devices, instruments, etc., can solve problems such as long time consumption, decreased satisfaction with path planning, and inability to obtain better control of total costs

Pending Publication Date: 2020-12-11
ANQING NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, when using the earlier method to deal with the problem of large-scale garbage cleaning, the problems often appear are: (1) the satisfaction of path planning is reduced, that is, the total cost has not been effectively reduced; (2) during the planning process, it will take a long time
[0006] An iterative structure vehicle path planning method is proposed in the prior art, but at the end of the current generation, the iterative structure of the prior art uses the obtained The optimal path for the next round of problem decomposition, the decomposition unit is the path; however, a path contains more complex information, the connection between any two tasks may be good or poor, and it is impossible to ensure the path task. Good connection, so there is still a decline in the satisfaction of the above path planning, and the total cost cannot be better controlled

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  • Path planning method based on large-scale multi-center problem
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Embodiment Construction

[0075] The technical solutions of the various embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them; based on the embodiments of the present invention, All other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0076] The capacity-constrained arc routing problem of multiple centers can be described based on a graph, given an undirected graph G=(V N ,V D ,E), where V N , V D Represent the non-central point vertex set and the central point vertex set respectively, E is the edge set; V N , V D together form the set of vertices V, that is to say V=V N ∪V D ; At the same time, each edge e i There are three non-negative attribute values: demand dem(e i ), service charge sc(e i ) and passing c...

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Abstract

The invention provides a path planning method based on a large-scale multi-center problem. The method comprises the steps of: firstly carrying out segmenting a vehicle service object, i.e., a street,through a three-standard problem decomposition method, and obtaining segmentation results; planning the path of a service vehicle by using the segmentation results to obtain feasible solutions; and obtaining a service route corresponding to the three-standard problem decomposition method by utilizing the feasible solutions. According to the method, path planning is divided into a plurality of relatively independent sub-problems, then the sub-problems are solved respectively, and finally solutions of the sub-problems are summarized, so that the solution of the whole problem is obtained, a goodvehicle path arrangement is finally obtained, high satisfaction of path planning can be obtained, the total cost of service is better controlled, and the application prospect of the method is brighter.

Description

technical field [0001] The invention relates to the field of path planning, in particular to a path planning method based on a large-scale multi-center problem, and belongs to the field of practical application of intelligent optimization. Background technique [0002] Capacitated Arc Routing Problem (CARP) is a classic and complex combinatorial optimization problem, which has a wide range of application backgrounds, such as winter road snow removal, road salt spreading, postal delivery, garbage cleaning, etc.; CARP The goal is to find the optimal path for a group of vehicles stationed in the parking center, so that all sides (roads) that need to be served are served, and the total cost of the vehicles is minimized, and there are certain constraints in the driving process, while the total Expenses include driving costs and service costs. [0003] There are certain constraints in the service: (1) vehicles depart from the station and return to the station at last; (2) each ve...

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Application Information

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IPC IPC(8): G01C21/34G06Q10/04
CPCG01C21/3446G01C21/3453G06Q10/047
Inventor 张玉州张海奇张子为梅一陶朗
Owner ANQING NORMAL UNIV