Obstacle avoidance shortest path planning method based on Voronoi diagram

A shortest path and obstacle avoidance technology, applied in the field of path search, can solve the problems of high complexity of obstacle avoidance algorithms, achieve the effects of eliminating the possibility of collision, reducing algorithm complexity, and high reliability

CN113358129APending Publication Date: 2021-09-07NANJING UNIV OF POSTS & TELECOMM
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2021-09-07

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Abstract

The invention discloses an obstacle avoidance shortest path planning method based on a Voronoi diagram, and the method comprises the steps: collecting the information of an obstacle, including the position of a starting point, the position of a destination point, the size of the obstacle, and the position of a central point of the obstacle; according to the positions of the center points of the obstacles, regarding the center points of the multiple obstacles as a point set S on a plane, constructing optimal triangulation for the point set S through adoption of a Delaunay triangulation method, and obtaining a triangulation straight line dual graph, namely a Voronoi graph corresponding to the point set S and the center points of the obstacles, through construction; expanding each edge of the Voronoi diagram in the direction in which the two obstacles determining the edge are located to obtain a simple polygon; and solving an Euclidean shortest path of two points in the simple polygon to obtain a final obstacle avoidance shortest path. The method is low in complexity, and has high self-adaptability and certain flexibility for obstacles with different threat degrees.
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Description

technical field

[0001] The invention relates to a Voronoi diagram-based shortest path planning method for obstacle avoidance, belonging to the technical field of path search. Background technique

[0002] With the development of technologies such as transportation and image processing at this stage, it is possible for cars and robots to automatically avoid obstacles and complete specific tasks. In order to achieve these goals and improve the productivity of human society, it is necessary to increase research on obstacle avoidance algorithms and path planning. Finding a mature and stable obstacle avoidance path planning algorithm has become the focus of people's attention at this stage.

[0003] At present, the popular path planning and obstacle avoidance algorithms mainly include A * Path planning algorithm, Dijkstra algorithm, RRT algorithm, artificial potential field method, etc. Although these classical algorithms can complete the task of path planning, it is difficult...

Examples

Embodiment Construction

[0038] Embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0039] Such as figure 1 As shown, the present invention is based on the obstacle avoidance shortest path planning method of Voronoi graph, and this method mainly comprises information collection, constructs Voronoi graph, Voronoi graph expands into simple polygon and obtains these four steps of the Euclidean shortest path of two points in simple polygon, Specific steps are as follows:

[0040] Step 1: Information collection.

[0041] Collect various information of obstacles through the camera, including the location of the starting point, the location of the destination point, the size of the obstacle and the location of the center point of the obstacle, and record these information; through the collection of information, the starting point, destination point and each obstacle can be obtained area of ​​things.

[0042] Wherein, the parameter for recording the...