Buffer analysis-based collision avoidance shortest path planning method and system and electronic equipment

Abstract

According to the shortest collision avoidance path planning method and system based on buffer area analysis and the electronic equipment disclosed by the invention, the problem of how to find the shortest collision avoidance path is simplified into the problem of plane point-line-plane processing by combining a plane geometry analysis means, so that the processing difficulty of the shortest path problem is reduced; further, on the basis of the intersection condition of the sidelines of the obstacle surrounding area and the initial connecting line, the short sidelines of the surrounding area directly replace the overlapped connecting line, and a first collision avoidance path with a certain use value is quickly obtained; at the moment, the first collision avoidance path is output as the shortest collision avoidance path, and an effective collision avoidance path can be obtained. Compared with the prior art, according to the technical scheme provided by the invention, the collision avoidance path can be generated, and the calculation output efficiency of the collision avoidance path can be improved.

Description

Technical Field

[0001] The present invention relates to the field of computer graphics and geographic information science and technology, and more specifically, to a collision avoidance shortest path planning method based on buffer zone analysis. In addition, the present invention also relates to a collision avoidance shortest path planning system and electronic equipment based on buffer zone analysis. Background Art

[0002] The collision avoidance shortest path planning method is a common task in path planning and is widely used in logistics, transportation, urban planning, tourist route planning, emergency prevention and handling and other fields.

[0003] This problem belongs to the category of shortest path, and its solution often adopts mathematical thinking such as D's algorithm or cluster thinking such as particle swarm algorithm and genetic algorithm, and analyzes multi-objective problems by simulating biological foraging behavior.

[0004] Wei Jinzhan and others proposed a new distance analysis algorithm in the Chinese invention "202510099441X-A method for designing the shortest path in an obstacle environment based on point-line distance analysis". Since this method does not take into account factors such as the size and turning angle of the moving object and the passable space around the obstacle, collision problems are prone to occur when it is implemented.

[0005] Therefore, how to provide a collision avoidance shortest path planning method based on buffer zone analysis, which can generate a collision avoidance path and improve the calculation output efficiency of the collision avoidance path, has become a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a collision avoidance shortest path planning method based on buffer zone analysis, which can generate a collision avoidance path and improve the calculation output efficiency of the collision avoidance path. In addition, the present invention also provides a collision avoidance shortest path planning and electronic device based on buffer zone analysis. The same technical effects are achieved.

[0007] The technical solution provided by the present invention is as follows:

[0008] The present invention provides a collision avoidance shortest path planning method based on buffer zone analysis, comprising the following steps: constructing an initial line based on the coordinates of a starting point, obtaining the coordinates and posture information of the initial line; obtaining obstacle enclosed edge line information, analyzing to obtain the coordinate information of the obstacle enclosed area and the edge line of the obstacle enclosed area; screening out the obstacle enclosed area overlapping with the initial line; analyzing the overlapping situation, wherein the initial line divides the edge line of the obstacle enclosed area into a long edge line of the enclosed area and a short edge line of the enclosed area, and the overlapping part of the initial line and the obstacle enclosed area is an overlapping line; replacing the overlapping line with the short edge line of the enclosed area, and fusing the initial line to obtain a first collision avoidance path.

[0009] Furthermore, in a preferred embodiment of the present invention, the method also includes: identifying standard turning points and feature segments to be processed on the first collision avoidance path, wherein the feature segments to be processed are arc segment turning points; constructing a feature buffer zone based on the feature segments to be processed; identifying and obtaining a feature center point of the feature buffer zone, and using the feature center point as a standard turning point; and constructing a second collision avoidance path based on the starting point and all standard turning points.

[0010] Furthermore, in a preferred embodiment of the present invention, the "constructing a feature buffer based on the feature segment to be processed" includes the following steps: breaking up the feature segment to be processed into continuous feature points; setting a feature buffer distance threshold; constructing a feature buffer circular area with the feature point as the center and the feature buffer distance threshold as the radius; and merging multiple continuous feature buffer circular areas to obtain the feature buffer.

[0011] Furthermore, in a preferred embodiment of the present invention, the method for generating obstacle enclosing edge line information comprises the following steps: acquiring obstacle contour edge line information; and outputting obstacle enclosing edge line information using the obstacle contour edge line information.

[0012] Furthermore, in a preferred embodiment of the present invention, the method for generating obstacle enclosure edge line information includes the following steps: obtaining obstacle contour edge line information; setting an obstacle buffer distance threshold; based on the obstacle contour edge line information and according to the obstacle buffer distance threshold, constructing an obstacle external buffer zone for the obstacle; and outputting the obstacle enclosure edge line information using the obstacle external buffer zone.

[0013] Furthermore, in a preferred embodiment of the present invention, the method also includes: screening the standard turning points of the second collision avoidance path, taking the starting point as the basis, connecting adjacent standard turning points in sequence, if there is a connecting line that does not overlap with the obstacle polygon, deleting the next standard turning point of the connecting line, otherwise retaining the next standard turning point; connecting the starting point and the retained standard turning point to construct a third collision avoidance path.

[0014] Furthermore, in a preferred embodiment of the present invention, the step of "taking the starting point as the basis, connecting adjacent standard inflection points in sequence, if there is a line that does not overlap with the obstacle polygon, deleting the next standard inflection point of the line, otherwise retaining the next standard inflection point" specifically includes the following steps: taking the starting point as the judgment reference point, judging backward in sequence, and defining the standard inflection point after the reference point as the nth point, n≥1; if there is a line connecting the reference point and the first point that does not overlap with the obstacle enclosed area, and a line connecting the reference point and the second point that overlaps with the obstacle enclosed area, then taking the first point as the judgment reference point, and continuing to judge and screen backward; if there is a line connecting the reference point and the 1st, ..., nth points that does not overlap with the obstacle enclosed area, and a line connecting the reference point and the n+1th point that overlaps with the obstacle enclosed area, then eliminating the 1st, ..., n-1th points, taking the n+1th point as the judgment reference point, and continuing to judge and screen backward.

[0015] Furthermore, in a preferred embodiment of the present invention, an initial connection line is constructed based on the coordinates of the starting point and the coordinates of the target point.

[0016] Furthermore, in a preferred embodiment of the present invention, an initial connection line is constructed based on the coordinates of the starting point and the target direction.

[0017] In addition, the present invention also provides a collision avoidance shortest path planning system based on buffer zone analysis, which is used to execute the collision avoidance shortest path planning method based on buffer zone analysis as described above; the system includes: a first acquisition module, which is used to construct an initial connection line based on the coordinates of the starting point, and obtain the coordinates and posture information of the initial connection line; a second acquisition module, which is used to obtain the obstacle encirclement edge line information, and analyze and obtain the coordinate information of the obstacle encirclement area and the obstacle encirclement area edge line; a first processing module, which is used to screen out the obstacle encirclement area overlapping with the initial connection line; a second processing module, which is used to analyze the overlapping situation, the initial connection line divides the obstacle encirclement area edge line into the encirclement area long edge line and the encirclement area short edge line, and the overlapping part of the initial connection line and the obstacle encirclement area is the overlapping connection line; a first generation module, which is used to generate the obstacle encirclement area with the encirclement area The overlapping lines are replaced by the short side lines of the domain, and the initial lines are merged to obtain the first collision avoidance path; a third processing module, the third processing module is used to identify the standard turning points and the feature segments to be processed on the first collision avoidance path, and the feature segments to be processed are the turning points of the arc segments; a feature buffer is constructed based on the feature segments to be processed; the feature center point of the feature buffer is identified and obtained, and the feature center point is used as the standard turning point; a second generation module, the second generation module is used to construct a second collision avoidance path for the starting point and all standard turning points; a fourth processing module, the fourth processing module is used to screen the standard turning points of the second collision avoidance path, based on the starting point, the adjacent standard turning points are connected in turn, if there is a line that does not overlap with the obstacle polygon, the next standard turning point of the line is deleted, otherwise the next standard turning point is retained; a third generation module, the third generation module is used to connect the starting point and the retained standard turning point to construct a third collision avoidance path.

[0018] In addition, the present invention also provides an electronic device, comprising: a computer program, the computer program is used to execute the collision avoidance shortest path planning method based on buffer zone analysis as described above; a memory, the memory is used to store the computer program; and a processor, the processor is used to execute the computer program.

[0019] Compared with the prior art, in a technical solution of a collision avoidance shortest path planning method based on buffer zone analysis provided in the present application, the problem of how to find the shortest collision avoidance path is simplified into a problem of plane point, line and surface processing by combining the analysis means of plane geometry, thereby reducing the difficulty of processing the shortest path problem; further, based on the intersection of the edge lines of the obstacle enclosed area and the initial lines, the overlapping lines are directly replaced with the short edge lines of the enclosed area, so as to quickly obtain a first collision avoidance path with a certain use value; at this time, the first collision avoidance path is output as the shortest collision avoidance path, and an effective collision avoidance path can be obtained. The technical solution provided in the present application can generate a collision avoidance path, and can improve the calculation and output efficiency of the collision avoidance path. In addition, the present invention also provides a collision avoidance shortest path planning and electronic equipment based on buffer zone analysis, which also have the above-mentioned technical effects.

[0020] Compared with the prior art, the collision avoidance shortest path planning method based on buffer zone analysis of the present invention has the following beneficial effects:

[0021] 1. A collision avoidance shortest path planning method based on buffer zone analysis is a point connection problem. Obstacles are analyzed in the buffer zone, and then the problem is solved with the help of line and surface analysis technology. It conforms to the most common human thinking, is highly efficient and has strong applicability.

[0022] 2. The invention realizes node fusion and thinning through range analysis, ensuring that the line can not only ensure the safe distance of must-see obstacles, but also appropriately reduce the number of path nodes, which is convenient for line scheduling and release;

[0023] 3. This method uses buffer zone boundary analysis to obtain a relatively scientific route, achieving an effective balance between efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of an obstacle and a target point case involved in an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of connecting target points involved in an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of generating a buffer zone for obstacle polygons involved in an embodiment of the present invention;

[0028] Figure 4A schematic diagram of a buffer zone extraction range line according to an embodiment of the present invention;

[0029] Figure 5 A schematic diagram of a target point connection clipping buffer boundary line involved in an embodiment of the present invention;

[0030] Figure 6 A schematic diagram of a path of a shorter portion of a target point connection line and a buffer zone edge line involved in an embodiment of the present invention;

[0031] Figure 7 A schematic diagram of an initial path involved in an embodiment of the present invention;

[0032] Figure 8 A schematic diagram of the distribution of initial path nodes involved in an embodiment of the present invention;

[0033] Fig. 9 A schematic diagram of an initial path node buffer analysis according to an embodiment of the present invention;

[0034] Fig.10 A schematic diagram of merging and dispersing initial path node buffers involved in an embodiment of the present invention;

[0035] Fig.11 A schematic diagram of extracting a central point of an initial path node buffer according to an embodiment of the present invention;

[0036] Fig.12 Generate a new path schematic diagram for connecting two sides of the central point involved in the embodiment of the present invention;

[0037] Fig.13 A schematic diagram of a process for removing nodes that are not on obstacles in a new path according to an embodiment of the present invention;

[0038] Fig.14 This is a schematic diagram of the result of removing nodes that are not on obstacles in a new path involved in an embodiment of the present invention;

[0039] Fig.15 A schematic diagram of a final path search result according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0041] It should be noted that when an element is referred to as being "fixed on" or "set on" another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0042] It should be understood that the terms "length", "width", "up", "down", "front", "back", "first", "second", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0043] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" and "several" is two or more, unless otherwise clearly and specifically defined.

[0044] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical contents disclosed by the present invention.

[0045] like Figures 1 to 15 As shown, an embodiment of the present invention provides a method for collision avoidance shortest path planning based on buffer zone analysis, including: constructing an initial line based on the coordinates of a starting point, obtaining the coordinates and posture information of the initial line; obtaining the obstacle enclosure edge line information, analyzing to obtain the coordinate information of the obstacle enclosure area and the obstacle enclosure area edge line; screening out the obstacle enclosure area overlapping with the initial line; parsing the overlapping situation, the initial line divides the obstacle enclosure area edge line into a long edge line of the enclosure area and a short edge line of the enclosure area, and the overlapping part of the initial line and the obstacle enclosure area is an overlapping line; replacing the overlapping line with the short edge line of the enclosure area, and fusing the initial line to obtain a first collision avoidance path.

[0046] In a technical solution of a collision avoidance shortest path planning method based on buffer zone analysis provided in the present application, the problem of how to find the shortest collision avoidance path is simplified to the problem of plane point, line and surface processing by combining the analysis method of plane geometry, thereby reducing the difficulty of processing the shortest path problem; further, based on the intersection of the edge lines of the obstacle enclosed area and the initial lines, the overlapping lines are directly replaced with the short edge lines of the enclosed area to quickly obtain a first collision avoidance path with a certain use value; at this time, the first collision avoidance path is output as the shortest collision avoidance path, and an effective collision avoidance path can be obtained. The technical solution provided in the present application can generate a collision avoidance path, and can improve the calculation and output efficiency of the collision avoidance path. In addition, the present invention also provides a collision avoidance shortest path planning and electronic equipment based on buffer zone analysis, which also have the above-mentioned technical effects.

[0047] Specifically, in an embodiment of the present invention, the method also includes: identifying standard turning points and feature segments to be processed on the first collision avoidance path, wherein the feature segments to be processed are arc segment turning points; constructing a feature buffer zone based on the feature segments to be processed; identifying and obtaining the feature center point of the feature buffer zone, and using the feature center point as the standard turning point; and constructing a second collision avoidance path using the starting point and all standard turning points.

[0048] It should be noted that if Figure 7 As shown in the attached drawings, when the first collision avoidance path is actually controlled to move along the first collision avoidance path, the direction of the moving object needs to be corrected multiple times continuously when passing the angle inflection point of the obstacle. Therefore, the speed of the moving object along the first collision avoidance path is greatly affected.

[0049] In this specific embodiment, the inflection point (angle) of the arc segment is simplified to a feature center point by merging the buffer zones and selecting the midpoint instead, thereby greatly reducing the turning action of the moving object when passing through and improving the passability.

[0050] Specifically, in an embodiment of the present invention, the "constructing a feature buffer based on the feature segment to be processed" includes the following steps: breaking up the feature segment to be processed into continuous feature points; setting a feature buffer distance threshold; constructing a feature buffer circular area with the feature point as the center and the feature buffer distance threshold as the radius; and merging multiple continuous feature buffer circular areas to obtain the feature buffer.

[0051] Specifically, in an embodiment of the present invention, the method for generating obstacle enclosure edge information includes the following steps: obtaining obstacle contour edge information; setting an obstacle buffer distance threshold; based on the obstacle contour edge information and according to the obstacle buffer distance threshold, constructing an obstacle external buffer zone for the obstacle; and outputting the obstacle enclosure edge information using the obstacle external buffer zone.

[0052] It should be noted that, in the prior art, the safe distance between the moving object and the obstacle is not taken into consideration, so that the moving object is prone to collide with the obstacle when moving along the first collision avoidance path and the second collision avoidance path.

[0053] In the above specific implementation, an obstacle external buffer zone is constructed by setting an obstacle buffer distance threshold, and a feature buffer zone is constructed by setting a feature buffer distance threshold; and the feature buffer distance threshold is less than half of the obstacle buffer distance threshold; and finally, the feature center point is used as the standard inflection point, which can ensure that the moving object can safely pass through the obstacle external buffer zone along the shortest path.

[0054] It should be additionally explained that the characteristic buffer is larger than the projection size of the moving object on the running plane.

[0055] Specifically, in an embodiment of the present invention, the method for generating obstacle enclosing edge line information includes the following steps: acquiring obstacle contour edge line information; and outputting obstacle enclosing edge line information using the obstacle contour edge line information.

[0056] It should be noted that if the boundary of the obstacle is clear, such as there is no shallow beach, there is no need to set an obstacle external buffer zone, and the obstacle enclosing edge information can be directly output using the obstacle contour edge information to further shorten the collision avoidance path.

[0057] Specifically, in an embodiment of the present invention, the method also includes: screening the standard turning points of the second collision avoidance path, taking the starting point as the basis, connecting adjacent standard turning points in sequence, if there is a connecting line that does not overlap with the obstacle polygon, deleting the next standard turning point of the connecting line, otherwise retaining the next standard turning point; connecting the starting point and the retained standard turning point to construct a third collision avoidance path.

[0058] It should be noted that if Figure 7 and Fig.13 As shown in , due to the first collision avoidance path and the second collision avoidance path, there are still detours, that is, some standard turning points are detour points and should be eliminated. The third collision avoidance path obtained after elimination is as follows Fig.15 The shortest collision avoidance path is shown.

[0059] Specifically, in the embodiment of the present invention, the “taking the starting point as the reference, sequentially connecting adjacent standard inflection points, if there is a connecting line that does not overlap with the obstacle polygon, deleting the next standard inflection point of the connecting line, otherwise retaining the next standard inflection point” specifically includes the following steps: taking the starting point as the judgment reference point, judging backward in sequence, and defining the standard inflection point after the reference point as the nth point, n≥1;

[0060] First judgment: if the line connecting the reference point and the first point does not overlap with the obstacle enclosed area, and the line connecting the reference point and the second point overlaps with the obstacle enclosed area, the first point is used as the judgment reference point, and the judgment and screening are continued;

[0061] Second judgment: If the line connecting the reference point and the 1st, ..., nth points does not overlap with the obstacle enclosed area, and the line connecting the reference point and the n+1th point overlaps with the obstacle enclosed area, then the 1st, ..., n-1th points are eliminated, and the n+1th point is used as the judgment reference point, and the judgment and screening are continued backward.

[0062] It should be noted that, through the above-mentioned first judgment and second judgment, the standard inflection points can be accurately sorted out quickly and orderly, thereby improving the accuracy of the path output.

[0063] Specifically, in the embodiment of the present invention, an initial connection line is constructed based on the coordinates of the starting point and the coordinates of the target point.

[0064] Specifically, in the embodiment of the present invention, an initial connection line is constructed based on the coordinates of the starting point and the target direction.

[0065] In addition, the present invention also provides a collision avoidance shortest path planning system based on buffer zone analysis, which is used to execute the collision avoidance shortest path planning method based on buffer zone analysis as described above; the system includes: a first acquisition module, which is used to construct an initial connection line based on the coordinates of the starting point, and obtain the coordinates and posture information of the initial connection line; a second acquisition module, which is used to obtain the obstacle encirclement edge line information, and analyze and obtain the coordinate information of the obstacle encirclement area and the obstacle encirclement area edge line; a first processing module, which is used to screen out the obstacle encirclement area overlapping with the initial connection line; a second processing module, which is used to analyze the overlapping situation, the initial connection line divides the obstacle encirclement area edge line into the encirclement area long edge line and the encirclement area short edge line, and the overlapping part of the initial connection line and the obstacle encirclement area is the overlapping connection line; a first generation module, which is used to generate the obstacle encirclement area with the encirclement area The overlapping lines are replaced by the short side lines of the domain, and the initial lines are merged to obtain the first collision avoidance path; a third processing module, the third processing module is used to identify the standard turning points and the feature segments to be processed on the first collision avoidance path, and the feature segments to be processed are the turning points of the arc segments; a feature buffer is constructed based on the feature segments to be processed; the feature center point of the feature buffer is identified and obtained, and the feature center point is used as the standard turning point; a second generation module, the second generation module is used to construct a second collision avoidance path for the starting point and all standard turning points; a fourth processing module, the fourth processing module is used to screen the standard turning points of the second collision avoidance path, based on the starting point, the adjacent standard turning points are connected in turn, if there is a line that does not overlap with the obstacle polygon, the next standard turning point of the line is deleted, otherwise the next standard turning point is retained; a third generation module, the third generation module is used to connect the starting point and the retained standard turning point to construct a third collision avoidance path.

[0066] In addition, the present invention also provides an electronic device, comprising: a computer program, the computer program is used to execute the collision avoidance shortest path planning method based on buffer zone analysis as described above; a memory, the memory is used to store the computer program; and a processor, the processor is used to execute the computer program.

[0067] It should be noted that this application discloses a collision avoidance shortest path planning method based on buffer zone analysis, which is analyzed by taking the case of simultaneous delivery of emergency supplies to epidemic areas across the river as an example, and includes the following steps:

[0068] like Figure 1 , 2 , S1. Construct the target point connection line,

[0069] like Figure 3 , S2. Build external buffer;

[0070] like Figure 4 , S3. Convert the buffer into a line;

[0071] like Figure 5 , S4. Use a connecting line to cut the buffer zone edge;

[0072] like Figure 6 , S5. Delete the longer part of the corresponding polygon in the cutting line and keep the shorter part;

[0073] like Figure 7 , S6. Merge the line connecting the two points with the retained shorter buffer boundary line;

[0074] like Figure 8 , S7. Extract feature points from the connecting line;

[0075] like Fig. 9 , S8. Generate a buffer zone for the line feature points, and the buffer zone range shall not exceed half of the obstacle polygon buffer zone range;

[0076] like Fig.10 , S9. Merge the connection buffers and break up the groups;

[0077] like Fig.11 , S10. extract the center point of the connection buffer;

[0078] like Fig.12 , S11. Get the simplified path;

[0079] like Fig.13 ,14,S12. Based on the starting point, remove the adjacent points. If the connecting line does not overlap with the obstacle polygon, delete the point, otherwise keep it;

[0080] like Fig.15 , S13. Finally, the target path is obtained.

[0081] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Any modification or equivalent substitution that does not depart from the spirit and scope of the present invention shall be included in the scope of the technical solution of the present invention.

[0082] It should be noted that the Chinese invention "A method for calculating the shortest distance of a moving object in a confined space" (patent number 2015103487057) proposes to optimize and search for paths in an obstacle environment based on the concept of angle of view, using the maximum angle of view. However, the maximum angle of the algorithm will expand the range, and the search results may be larger than the optimal result, so the search results are not ideal. Therefore, it is necessary to provide a collision avoidance shortest path planning method that considers avoiding obstacles at a certain distance to ensure travel safety.

[0083] The present invention performs a buffer zone analysis on the obstacles, and then solves the problem with the help of line and surface analysis technology, which conforms to the most common human thinking, is highly efficient and has strong applicability; and, through range analysis, the present invention realizes node fusion, thinning and other operations, ensuring that the line can not only ensure the safe distance of the must-see obstacles, but also appropriately reduce the number of path nodes, which is convenient for the scheduling and release of the line; in addition, the method involved in the present invention obtains a relatively scientific route through buffer zone boundary analysis, and realizes the effective unity of efficiency and accuracy. In short, compared with the prior art, the collision avoidance shortest path planning method based on buffer zone analysis provided by the embodiment of the present invention can improve the efficiency of parallel multi-target simultaneous delivery path planning, realize the effective unity of efficiency and accuracy, and has outstanding substantive characteristics and significant technical effects.

[0084] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A collision avoidance shortest path planning method based on buffer zone analysis, characterized in that: The method comprises the following steps: Construct the initial connection line based on the starting point coordinates, and obtain the initial connection line coordinates and posture information; Obtain the obstacle enclosed boundary information, and analyze to obtain the coordinate information of the obstacle enclosed area and the boundary of the obstacle enclosed area; Filter out the obstacle enclosed area overlapping with the initial connection line; Analyze the overlapping situation, the initial line divides the edge line of the obstacle enclosed area into a long edge line of the enclosed area and a short edge line of the enclosed area, and the overlapping part of the initial line and the obstacle enclosed area is an overlapping line; The overlapping lines are replaced by the short side lines of the enclosed area, and the initial lines are fused to obtain a first collision avoidance path.

2. The collision avoidance shortest path planning method based on buffer zone analysis according to claim 1 is characterized in that: The method further includes: Identifying a standard inflection point and a feature segment to be processed on the first collision avoidance path, wherein the feature segment to be processed is an arc segment inflection point; Building a feature buffer based on the feature segment to be processed; Identify and obtain a feature center point of the feature buffer, and use the feature center point as a standard inflection point; The starting point and all standard turning points construct the second collision avoidance path.

3. The collision avoidance shortest path planning method based on buffer zone analysis according to claim 2 is characterized in that: The "constructing a feature buffer based on the feature segment to be processed" comprises the following steps: Breaking up the feature segment to be processed into continuous feature points; Set feature buffer distance threshold; Taking the feature point as the center and the feature buffer distance threshold as the radius, a feature buffer circular area is constructed; The feature buffer area is obtained by merging a plurality of continuous feature buffer circular areas.

4. The method for collision avoidance shortest path planning based on buffer zone analysis according to claim 3 is characterized in that: The method for generating obstacle enclosing boundary information comprises the following steps: Obtain obstacle contour information; The obstacle contour edge information is used to output obstacle enclosing edge information.

5. The method for collision avoidance shortest path planning based on buffer zone analysis according to claim 3, characterized in that: The method for generating obstacle enclosing boundary information comprises the following steps: Obtain obstacle contour information; Set obstacle buffer distance threshold; Based on the obstacle contour edge information and according to the obstacle buffer distance threshold, construct an obstacle external buffer zone for the obstacle; The obstacle outer buffer area is used to output obstacle enclosing edge line information.

6. The collision avoidance shortest path planning method based on buffer zone analysis according to claim 1, characterized in that: The method further includes: Screening the standard turning points of the second collision avoidance path, Based on the starting point, connect the adjacent standard inflection points in sequence. If there is a line that does not overlap with the obstacle polygon, delete the next standard inflection point of the line, otherwise keep the next standard inflection point; The starting point and the retained standard turning point are connected to construct a third collision avoidance path.

7. The method for collision avoidance shortest path planning based on buffer zone analysis according to claim 6, characterized in that: The "taking the starting point as the reference, sequentially connecting adjacent standard inflection points, if there is a connecting line that does not overlap with the obstacle polygon, deleting the next standard inflection point of the connecting line, otherwise retaining the next standard inflection point" specifically includes the following steps: Take the starting point as the reference point, and judge backward in sequence. The standard inflection point after the reference point is defined as the nth point, n≥1; If the line connecting the reference point and the first point does not overlap with the obstacle enclosed area, and the line connecting the reference point and the second point overlaps with the obstacle enclosed area, the first point is used as the judgment reference point, and the judgment and screening are continued; If the line connecting the reference point and the 1st, ..., nth point does not overlap with the obstacle enclosed area, and the line connecting the reference point and the n+1th point overlaps with the obstacle enclosed area, then the 1st, ..., n-1th point is eliminated, and the n+1th point is used as the judgment reference point, and the judgment and screening are continued backward.

8. The collision avoidance shortest path planning method based on buffer zone analysis according to any one of claims 1 to 7, characterized in that: Construct an initial line based on the start point coordinates and the target point coordinates; or Construct an initial connection based on the starting point coordinates and the target direction.

9. The collision avoidance shortest path planning system based on buffer zone analysis is characterized by: The system is used to execute the collision avoidance shortest path planning method based on buffer zone analysis as described in any one of claims 1 to 8; The system includes: A first acquisition module, the first acquisition module is used to construct an initial connection line based on the starting point coordinates, and obtain the initial connection line coordinates and posture information; A second acquisition module, the second acquisition module is used to acquire obstacle enclosed boundary information, and analyze and obtain coordinate information of the obstacle enclosed area and the boundary of the obstacle enclosed area; A first processing module, the first processing module is used to screen out the obstacle enclosed area overlapping with the initial connection line; a second processing module, the second processing module is used to analyze the overlapping situation, the initial line divides the edge line of the obstacle enclosed area into a long edge line of the enclosed area and a short edge line of the enclosed area, and the overlapping part of the initial line and the obstacle enclosed area is an overlapping line; A first generating module, the first generating module is used to replace the overlapping lines with the short side lines of the enclosed area, and to fuse the initial lines to obtain a first collision avoidance path; A third processing module, the third processing module is used to identify the standard turning point and the feature segment to be processed on the first collision avoidance path, the feature segment to be processed is the turning point of the arc segment; construct a feature buffer based on the feature segment to be processed; identify and obtain the feature center point of the feature buffer, and use the feature center point as the standard turning point; A second generation module, wherein the second generation module is used to construct a second collision avoidance path for the starting point and all standard turning points; A fourth processing module, the fourth processing module is used to screen the standard turning points of the second collision avoidance path, based on the starting point, sequentially connect adjacent standard turning points, if there is a connecting line that does not overlap with the obstacle polygon, delete the next standard turning point of the connecting line, otherwise retain the next standard turning point; The third generation module is used to connect the starting point and the retained standard turning point to construct a third collision avoidance path.

10. An electronic device, characterized in that include: A computer program, the computer program being used to execute the collision avoidance shortest path planning method based on buffer zone analysis according to any one of claims 1 to 8; A memory, the memory being used to store the computer program; A processor is used to execute the computer program.

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