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

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 ...

AI Technical Summary

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 constraints" When the algorithm deals with such problems, because it chooses to list all possible sequences and then solve the shortest path, it has a very large amount of calculation, and there will be problems such as high difficulty in solving, slow solving speed, unreliable or even infeasible solution results, etc. question

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