Path planning method and device passing through necessary point set and having extra hard constraint

A technology of path planning and hard constraints, applied in two-dimensional position/course control, vehicle position/route/height control, non-electric variable control, etc., can solve problems such as large amount of calculation, slow solution speed, and infeasibility. Achieve the effect of fast calculation speed, good real-time performance and accurate judgment

Active Publication Date: 2021-06-15
TONGJI UNIV
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Problems solved by technology

In the process of exploring the path planning algorithm, the actual application scenario will have additional hard constraints due to the limitations of physical conditions, and the above-mentioned methods including the authorized invention patent CN201710535060.7 "A K-shortest path solution considering multiple types of cons

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  • Path planning method and device passing through necessary point set and having extra hard constraint
  • Path planning method and device passing through necessary point set and having extra hard constraint
  • Path planning method and device passing through necessary point set and having extra hard constraint

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Embodiment Construction

[0040] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0041] refer to figure 2 As shown, this embodiment provides a path planning method that passes through a set of necessary points and has additional hard constraints, including:

[0042] Step S1: In the preprocessing stage, the actual application environment information is converted into a mathematical description, and the processing and modeling of the undirected weighted graph of the problem is completed.

[0043] S1.1: According to the actual application environment information into a mathematical description, the regional location map can be modeled and abstracted as an undirecte...

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Abstract

The invention relates to a path planning method and device passing through a necessary point set and having extra hard constraint, wherein the path planning method comprises the following steps: S1, a preprocessing stage: converting the actual application environment information into mathematical description, and completing the processing and modeling of an undirected weighted graph of a problem; and S2, a shortest path solving stage: carrying out shortest path solving by using a random search algorithm, carrying out real-time judgment on the feasibility of the path in the search process, solving the shortest path problem of the necessary point set under the condition of meeting the requirement of extra hard constraint, and finally obtaining the shortest path meeting the requirement. According to the method, the additional hard constraint can be added, and the calculation result meeting the engineering requirements under the actual physical limitation condition can be ensured to be obtained within the short calculation time.

Description

technical field [0001] The invention relates to the fields of operations research, computer science, geographic information science and transportation, in particular to a path planning method and device with a set of necessary points and additional hard constraints. Background technique [0002] The shortest path problem has always been a research hotspot in the fields of operations research, computer science, geographic information science, and transportation, and has been widely used in practical problems such as public transportation network planning, unmanned autonomous driving, and robot autonomous navigation. Many problems in real life can be abstracted into the shortest path problem. Path planning requires finding a route from the starting position to the target position with the least cost in a given real environment according to certain optimization criteria. How to effectively calculate and solve the shortest path problem, the difficulty of research is how to find ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D1/0276G05D2201/0212
Inventor 郭展羽张志明
Owner TONGJI UNIV
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