Two-dimensional fast route planning method based on direction guidance

Abstract

The invention discloses a two-dimensional fast route planning method based on direction guidance. The two-dimensional fast route planning method based on direction guidance comprises the steps that a data layer carries out data processing and regional modeling on a threat target; the algorithm layer constructs nodes composed of coordinates, actual cost, expected cost, a father node pointer, a direction vector, total cost and the like, and constructs an open table and a closed table. During initialization, a threat instance set is generated, the planning step length is determined, and starting and ending nodes are generated according to the longitude and latitude of the starting and ending points. According to the method, the direction vectors of the nodes are increased in a discretization mode, and the nodes with large direction changes in the adjacent nodes are filtered through the included angle condition of the direction vectors of the current node and the adjacent nodes, so that the feasibility of route planning is ensured, and the performance of route planning is improved.

Description

Technical Field

[0001] This invention relates to the technical field of path planning and navigation application methods, and particularly to a two-dimensional rapid route planning method based on direction guidance. Background Technology

[0002] Traditional route planning methods use the A* algorithm. While it can avoid dangerous areas and reduce flight risks, and its fast route planning technology can adjust routes in real time in emergency situations to cope with complex and ever-changing environments, it does not consider direction when planning routes and the planning path takes a long time, which cannot meet the real-time requirements of route planning. In addition, it may cause the turning radius of the planned path of the aircraft to be too large, which may exceed the limitations of the aircraft itself. Overall, the existing methods are inefficient in route planning.

[0003] In view of this, the present invention is hereby proposed. Summary of the Invention

[0004] The present invention provides a two-dimensional rapid route planning method based on direction guidance, which solves the technical problem of low efficiency in existing methods during route planning. The technical solution of this invention has many beneficial effects, as described below: A direction-guided two-dimensional rapid route planning method is provided, applicable to aircraft path planning. The two-dimensional rapid route planning method includes... S1: Obtain the latitude and longitude data of the aircraft's start and end points, maximum flight speed, and threat point parameters. Threat point parameters include the latitude and longitude data of the threat point and the threat point's own attributes. The step size for path planning is set based on the maximum flight speed. S2: The threat point parameters are used to construct a threat region model based on the model building method. The threat region model is used to determine whether any point in the path planning is within the threat region. S3: Construct nodes for the start and end points based on their latitude and longitude. These nodes are used for path planning. Each node includes a horizontal coordinate x, a vertical coordinate y, the actual cost g of the route from the start point to the current node, the expected cost h of the route from the current node to the end point, a parent node pointer parent, a node direction vector curDirection(e0,e1), the total cost f of the route planning when passing through the node, and a node initialization function. The actual cost g is the actual distance already planned to the current node in the path planning, and the node initialization function is used to initialize the node's attributes. The path planning involves constructing an open set and a close node set. The open set is a priority queue that arranges all nodes in ascending order of total cost. The close node set is an unordered set used to store used nodes. S4: During path planning initialization, the coordinates of the start and end points are calculated based on the latitude and longitude of the start and end points. The direction vector of the initial node is calculated by discretization, and the expected cost of the initial node is calculated based on the coordinates of the initial node. The expected cost of the initial node is calculated based on the polar tautology of the direction vector to complete the route planning.

[0005] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects: The data layer processes data and models the target area; the algorithm layer constructs nodes consisting of coordinates, actual cost, expected cost, parent node pointer, direction vector, and total cost, and builds open and closed tables. During initialization, a threat instance set is generated and the planning step size is determined, generating start and end nodes based on their latitude and longitude. This method adds node direction vectors in a discretized manner, filtering out nodes with significant direction changes among neighboring nodes by using the angle between the current node's direction vector and those of neighboring nodes, thus ensuring the feasibility of the planned route and improving route planning performance. Attached Figure Description

[0006] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0007] Figure 1 This is a flowchart of the two-dimensional rapid route planning process based on direction guidance of the present invention; Figure 2 This is a flowchart of the data layer processing of the present invention; Figure 3 This is a schematic diagram of the path planning in the algorithm layer of this invention. Detailed Implementation

[0008] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0009] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this invention, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0010] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0011] Furthermore, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that aspects can be practiced without these specific details. To enable those skilled in the art to better understand the invention, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of that feature. In the description of the invention, unless otherwise stated, "a plurality of" means two or more.

[0012] like Figures 1 to 3 The direction-guided two-dimensional rapid route planning method shown is applicable to aircraft path planning, such as... Figure 1 The system architecture shown can be layered into a data layer, an algorithm layer, and an application layer. The two-dimensional rapid route planning method includes... S1: Acquire the latitude and longitude data of the aircraft's origin and destination points, maximum flight speed (e.g., the latitude and longitude of the origin and destination points input by the operator through human-machine interaction, or other airborne latitude and longitude data containing origin and destination points and planning commands, etc.), and threat point parameters. Threat point parameters include the latitude and longitude data of the threat point and the threat point's own attributes. Threat points refer to obstacles that the aircraft may encounter in its path, such as those provided by the data link in the airborne avionics system. The step size for path planning is set based on the maximum flight speed; S2: The threat point parameters are used to construct a threat region model based on the model building method. The threat region model is used to determine whether any point in the path planning is within the threat region. S3: Construct nodes for the start and end points based on their latitude and longitude. Any point on the path can be used as a node. These nodes are used for path planning. Each node includes: horizontal coordinate x, vertical coordinate y, actual cost g from the start point to the current node, expected cost h from the current node to the end point (calculated using Manhattan distance), parent node pointer parent, node direction vector curDirection(e0,e1), total cost f when the route passes through the node (generally, f=g+h), and a node initialization function. The actual cost g is the actual distance already planned to the current node in the path planning, and the node initialization function is used to initialize the node's attributes. The path planning involves constructing an open set and a close node list (openNodes). The open set is a priority queue that can arrange all nodes in ascending order of total cost. The closed table is an unordered set used for storing used nodes; S4: During path planning initialization, the coordinates of the start and end points are calculated based on the latitude and longitude of the start and end points (at this time, path planning has already begun). The direction vector of the initial node is calculated by discretization, and the expected cost of the initial node is calculated based on the coordinates of the initial node. Since the aircraft's path has not yet been planned, the expected cost is also the total cost at this time. Route planning is completed by calculating the expected cost of the initial node based on the direction vector and coordinates. The discretization method increases the direction vector of the node, and the angle between the direction vectors of the current node and its neighboring nodes is used to filter out nodes with significant direction changes among the neighboring nodes, thereby ensuring the feasibility of the planned route and improving the performance of route planning. Specifically... The parent pointer of the initial node is initialized to a null pointer, and the initial node is placed in the open list openSet. It is then checked whether the open list openSet is empty. If it is empty, an empty list is returned (indicating that the path planning has failed due to too many obstacles ahead, etc., and a message is returned). If it is not empty, the first node of the open list openSet is taken out as the current node current, and the current node current is taken as the used node and placed in the closed list closeNodes. Based on the current node current, a preset number (e.g., 8) of neighbor node sets neighbors are constructed with a step size step. The coordinates of the current node current are used as the basis for adding or subtracting the step size step according to the coordinate system vector to form the coordinates of the neighbor node set. The direction between the current node and the set of neighboring nodes forms the direction vector of the neighboring node set. Using the current node as the parent node of the neighboring node set, each node in the set is evaluated sequentially. The evaluation checks whether the node is in the closed list `closeNodes` (its purpose is to avoid reusing already planned nodes, improving path planning efficiency), whether the angle between the node and the current node's direction exceeds a preset angle (usually 90 degrees), or whether the node is within a threat area. If any condition is met, the node is skipped, and the next node in the neighboring node set is evaluated. If none of these conditions are met, the actual cost `g`, expected cost `h`, and total cost `f` of the node are calculated, and the node is added to the open list `openSet`. Figure 3 As shown, black represents obstacles, gray represents neighboring nodes filtered by directional angle, blue and green represent optional nodes, and green represents the final planned path. The process iterates through the open list (openSet) to check if it is empty. If it is empty, it returns an empty list. If it is not empty, it takes the first node of the open list (openSet) as the current node (current) and puts the current node (current) into the closed list (closeNodes). It then checks if the horizontal and vertical coordinates of the current node (current) are both less than the step size (step) from the horizontal and vertical coordinates of the endpoint. If so, it recursively searches for all parent nodes in reverse order of the current node (current) until a parent node is empty (because only the parent node of the initial node is empty; when a parent node is found to be empty, it means the initial node has been found). All the found nodes are used as path points for constructing the path planning.

[0013] This method adds a directional judgment to determine whether the angle between the OR node and the current node exceeds a preset angle. This ensures that the turning radius of the planned route will not exceed the aircraft's own limitations, thus guaranteeing smooth flight and turning. At the same time, the directional judgment filters out most of the nearby nodes that need to be judged, improving the efficiency of path planning.

[0014] The product provided by this invention has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to the invention without departing from the principles of the invention, and these improvements and modifications also fall within the protection scope of the invention claims.

Claims

1. A two-dimensional rapid route planning method based on direction guidance, applicable to aircraft path planning, characterized in that, The two-dimensional rapid route planning method includes: S1: Obtain the latitude and longitude data of the aircraft's start and end points, maximum flight speed, and threat point parameters. Threat point parameters include the latitude and longitude data of the threat point and the threat point's own attributes. The step size for path planning is set based on the maximum flight speed; S2: The threat point parameters are used to construct a threat region model based on the model building method. The threat region model is used to determine whether any point in the path planning is within the threat region. S3: Construct nodes for the start and end points based on their latitude and longitude. These nodes are used for path planning. Each node includes a horizontal coordinate x, a vertical coordinate y, the actual cost g of the route from the start point to the current node, the expected cost h of the route from the current node to the end point, a parent node pointer parent, a node direction vector curDirection(e0,e1), the total cost f of the route planning when passing through the node, and a node initialization function. The actual cost g is the actual distance already planned to the current node in the path planning, and the node initialization function is used to initialize the node's attributes. The path planning involves constructing an open set and a close node set. The open set is a priority queue that arranges all nodes in ascending order of total cost. The close node set is an unordered set used to store used nodes. S4: During path planning initialization, the coordinates of the start and end points are calculated based on the latitude and longitude of the start and end points. The direction vector of the initial node is calculated by discretization, and the expected cost of the initial node is calculated based on the coordinates of the initial node. The route planning is completed based on the expected cost of the initial node calculated by the direction vector and coordinates.

2. The two-dimensional rapid route planning method according to claim 1, characterized in that, The threat point parameters include the latitude and longitude data of the threat point and the threat point's own attributes. The threat point is an obstacle that the aircraft may encounter in its path.

3. The two-dimensional rapid route planning method according to claim 2, characterized in that, The total cost f of the route planning when passing through this node is the sum of the expected cost h of the current node to reach the destination and the actual cost g of the starting point to reach the current node.

4. The two-dimensional rapid route planning method according to claim 3, characterized in that, S4 includes calculating the expected cost of the initial node based on the direction vector and coordinates to complete the route planning. The parent pointer of the initial node is initialized to a null pointer, and the initial node is placed in the open list openSet. It is then checked whether the open list openSet is empty. If it is empty, an empty list is returned. If it is not empty, the first node of the open list openSet is taken out as the current node current, and the current node current is taken as the used node and placed in the closed list closeNodes. Based on the current node current, a preset number of neighbor set neighbors are constructed with a step size step. The coordinates of the current node current are used as the basis to add or subtract the step size step according to the coordinate system vector to form the coordinates of the neighbor set. The direction between the current node and the set of neighboring nodes forms the direction vector of the neighboring node set, with the current node serving as the parent node of the neighboring node set. The nodes in the neighboring node set are judged sequentially. The judgment is whether the node is in the closed list closeNodes, whether the angle between the node and the current node in the current direction exceeds the preset angle, or whether the node is in the threat area. If any judgment condition is met, the node is skipped and the next node in the neighboring node set is judged. If none of the conditions are met, the actual cost g, expected cost h, and total cost f of the node are calculated, and the node is put into the open list openSet. The program iterates through the openSet list to check if it is empty. If it is empty, it returns an empty list. If not empty, take the first node of the open set as the current node and put the current node into the closed list closeNodes. Then check if the horizontal and vertical coordinates of the current node are both less than the step size if they are less than the horizontal and vertical coordinates of the endpoint. If so, recursively search all parent nodes in reverse order with the current node until the parent node is empty. Use all the found nodes as path points for the path planning.

5. The two-dimensional rapid route planning method according to claim 4, characterized in that, The preset angle is 90°.

Images