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A Navigation Path Modeling and Shortest Path Solving Method Based on Convex Hull Features

A shortest path and navigation path technology, applied in the field of intelligent transportation, it can solve the problems of reduced path solving speed, reduced computing efficiency, and increased number of nodes and edges.

Active Publication Date: 2022-07-05
WUHAN UNIV +1
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Problems solved by technology

With the increasing complexity of outdoor public spaces and indoor scenes, the number of nodes and edges is also increasing, resulting in a significant decrease in computational efficiency
In addition, the outdoor public space and indoor space are quite different from the road network in terms of the shape and description of the road: for the former, the road of walking is not always clear, and the accessibility should be based on the premise, so in the map construction There will also be differences in the method of modeling
[0003] For navigation path modeling, nodes and edges are the basic expression content, but the existing modeling methods often ignore that in a specific spatial form, the access relationship between nodes is implicit and does not need to be explicitly expressed, otherwise The navigation graph contains a large amount of redundant node and edge information, resulting in a slowdown in path solving

Method used

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  • A Navigation Path Modeling and Shortest Path Solving Method Based on Convex Hull Features

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Embodiment Construction

[0026] like figure 1 As shown, the present invention provides a navigation path modeling and shortest path solution method based on convex hull features, which mainly includes the following steps:

[0027] 1) Space division based on holes

[0028] Compared with the input floor plan, the polygonal areas such as local rooms and counters are regarded as holes, and the convex polygon space with holes is divided into the entire free space to form a convex hull set, which is expressed as:

[0029] C={c i |i∈n}

[0030] c i is a convex polygon; n is the number of convex polygons.

[0031] If a hole in space contains several portals and the portals belong to different convex hulls, the hole is recorded as a pseudo-convex hull.

[0032] 2) Node extraction

[0033] Using the convex polygon space partition map constructed in step 1), for each convex polygon, each portal is recorded as a node, which is expressed as:

[0034] V={v i |i∈n}

[0035] where, v i is a node, expressed ...

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Abstract

The invention discloses a navigation path modeling and shortest path solving method based on convex hull features, which is mainly oriented to outdoor public spaces and indoor scenes. A multi-level map representation is formed for a finite set of multiple convex hulls, and a hierarchical shortest path algorithm is designed on this basis. This method can effectively reduce the number of nodes and edges in the graph, thereby improving the solution speed of the shortest path algorithm.

Description

technical field [0001] The invention belongs to the technical field of intelligent transportation, in particular to a path modeling and planning method for large outdoor public spaces and building indoor spaces. Background technique [0002] With the improvement of human ability to transform the living environment, outdoor public space and indoor space are more and more large-scale, functional, and diversified. This is an extremely challenging task for the task of quickly finding the shortest path. The shortest path solution mainly abstracts the road access relationship into a mathematical graph, and uses nodes, edges, and weights to express the target point, connectivity, and the strength of the edge, respectively. Based on this structure, traditional shortest path algorithms include Dijkstra algorithm, A* algorithm, breadth / depth-first algorithm, greedy algorithm, etc. For navigation map representation, including grid map, polygon map, navigation grid, hierarchical map a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34G06Q10/04G06F16/29
CPCG01C21/3446G06Q10/047G06F16/29
Inventor 刘华杨鸿珍邵炜平洪建光范超沈佳辉由奇林娄佳王甜甜王亭
Owner WUHAN UNIV
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