Navigation path planning method and device

A navigation path and path technology, applied in the field of navigation, can solve problems such as not being in the middle of the road, and achieve the effect of being easy to move with the navigation

Pending Publication Date: 2021-11-30
杭州易现先进科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The embodiment of the present application provides a navigation route planning method and device to at least solve the problem in the related art that the route generated by the route planning method based on the navigation grid map is not in the middle of the road

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  • Navigation path planning method and device
  • Navigation path planning method and device

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Embodiment Construction

[0053]In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0054] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application, and those skilled in the art can also apply the present application to other similar scenarios. In addition, it can also be understood that although such development efforts may be complex and lengthy, for those of o...

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Abstract

The invention relates to a navigation path planning method and device, and is based on a navigation grid map. The navigation path planning method comprises the steps of obtaining a navigation starting point and a navigation ending point, taking the navigation starting point as a starting point, and obtaining a first path point by using a funnel algorithm; moving the first path point to the middle of the passable area to obtain a second path point, and connecting the starting point and the second path point to obtain a first path; determining passable areas from the starting point to the second path point, and determining whether the first path intersects with the common edge of each passable area or not under the condition that the passable areas are more than one; if not, adjusting the first path, and obtaining a navigation sub-path intersecting with the common edge. By means of the path planning method and device, the problem that a path generated through a path planning method based on a navigation grid map in the related technology is not in the middle of a road is solved, and the effect that a user moves along with navigation conveniently is achieved.

Description

technical field [0001] The present application relates to the technical field of navigation, in particular to a navigation path planning method and device. Background technique [0002] In related technologies, when planning a navigation path for a 3D scene, a navigation grid map can be selected as the navigation map, thereby avoiding the information loss of the undirected node map and the memory limitation of the grid map, and the navigation map also has a grid map The advantage of low environmental distortion. [0003] figure 1 It is a schematic diagram according to the path planning method based on the navigation grid map in the related art, such as figure 1 As shown, this method divides the scene into multiple passable areas with convex polygons, and uses the funnel algorithm to generate navigation paths based on the common vertices between the convex polygons, but the path points generated by this method are all passable areas Common vertices between these points are...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 万旭东丛林
Owner 杭州易现先进科技有限公司
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