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Improved JPS path optimization method based on Angle-Propagation Theta algorithm

A path optimization and algorithm technology, applied to road network navigators and other directions, to achieve the effects of reduced time consumption, shortened path length, and improved search efficiency

Pending Publication Date: 2022-04-15
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

Compared with the A* algorithm, the JPS algorithm and its above-mentioned optimization algorithm reduce the number of nodes that need to be traversed and improve the retrieval efficiency, but there is still a gap between the path obtained by it and the optimal path in the actual space.

Method used

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  • Improved JPS path optimization method based on Angle-Propagation Theta algorithm
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  • Improved JPS path optimization method based on Angle-Propagation Theta algorithm

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Embodiment Construction

[0033]The technical solutions in the embodiments of the present invention will be described clearly and in detail below with reference to the drawings in the embodiments of the present invention. The described embodiments are only some of the embodiments of the invention.

[0034] Such as Image 6 As shown, the JPS path optimization based on Angle-Propagation Theta* includes the following steps:

[0035] S1, such as figure 1 As shown, the neighbor pruning rule of the JPS algorithm based on the raster vertex map is:

[0036] S11, if the current node x is the starting point, and the node x does not have a parent node, then there is no neighbor pruning rule, and the search direction is the eight directions of the adjacent nodes.

[0037] S12, the current node x is not the starting node, and the parent node parent(x) of x node to x is the straight line search direction, and n is the neighbor node of x node. If there is a path from parent(x) to n without passing through x, and ...

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Abstract

The invention discloses an improved JPS path optimization method based on an Angle-Propagation Theta * algorithm. The method comprises the following steps: S1, modifying a forced neighbor and a neighbor pruning rule of the JPS algorithm; s2, a view triangle judgment method is adopted, and a generated path is optimized in a mode of selecting a succession search point; s3, an Angle-Propagation Theta * algorithm is adopted to carry out modification on the sight line reachability detection between the two nodes; and S4, reducing iterative computation and complexity by adopting a bidirectional optimization algorithm for continuously updating the secondary search points and the discrete function. A path-finding simulation comparison is carried out on an A * algorithm, a JPS algorithm, a JPS path optimization algorithm improved based on an Angle-Propagation Theta * algorithm and a double-calculation optimization algorithm on a grid map with four different types of sizes and the same obstacle proportion; experimental results show that the bidirectional optimization method provided by the invention can shorten the overall path length by 4-14% on the basis of maintaining the path search efficiency.

Description

technical field [0001] The invention belongs to the field of robot path planning, in particular to an improved JPS path optimization method based on the Angle-Propagation Theta* algorithm. Background technique [0002] As one of the key technologies of intelligent robot autonomous navigation technology, the path planning of mobile robot has gradually become a research hotspot in the field of robotics. Its purpose is to enable the intelligent robot to quickly plan a walking route from the initial position to the target area with a short path, high efficiency and strong safety in a complex work scene. At present, the commonly used path planning algorithms include geometric model grid method, intelligent search algorithm, artificial intelligence algorithm and other methods. Among them, the geometric model grid method is widely used because of its simplicity, high efficiency, and strong adaptability. [0003] In the geometric grid method, the A* algorithm is a heuristic algori...

Claims

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Application Information

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IPC IPC(8): G01C21/34
Inventor 罗元路嘉锴秦琼张毅
Owner CHONGQING UNIV OF POSTS & TELECOMM
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