CN109752015A - Route planning method, computer-readable medium and control device - Google Patents
Route planning method, computer-readable medium and control device Download PDFInfo
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- CN109752015A CN109752015A CN201811639312.1A CN201811639312A CN109752015A CN 109752015 A CN109752015 A CN 109752015A CN 201811639312 A CN201811639312 A CN 201811639312A CN 109752015 A CN109752015 A CN 109752015A
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Abstract
The present invention proposes a kind of route planning method, computer-readable medium and control device.The route planning method includes the following steps: S1, current location and target position line is vertically divided into D parts, generates route at random；S2, it is calculated according to the velocity vector on node and the node, and the optimal case in log history；S3, n times iteration, and more new node and velocity vector, the computer-readable medium, the program including realizing above-mentioned steps, the control device, including above-mentioned computer-readable medium are carried out to every route.Route planning method, computer-readable medium and control device of the present invention, after being divided by the multistage carried out to each route, random walk route, and calculating and iteration are carried out to obtain multiple shortest schemes of mobile device moving distance summation in multiple mobile device mobile routes, to realize the energy conservation of multiple mobile devices, efficiently group's route planning according to the velocity vector at node, node.
Description
Technical field
The invention belongs to field of intelligent control more particularly to a kind of route planning methods, computer-readable medium and control
Device processed.
Background technique
With the gradually hair of the oceanographic observations modes such as oceanographic research ship, buoy, submersible, remote sensing and Argo monitoring net
Exhibition, the requirement for oceanographic equipment is also higher and higher, because there are this biggish risk in ocean, oceanographic survey
Equipment mostly uses unpiloted mode.
The acquisition of oceanographic data generally requires multiple equipment while carrying out, and generally requires the association between multiple equipment at this time
Same control, and the limited energy that oceanographic equipment can carry, so, one kind can effectively control multiple equipment collaboration progress and can be most
The method for the saving energy changed greatly be those skilled in the art there is an urgent need to.
Summary of the invention
The present invention for the above technical issues, proposes that one kind can save path and the mobile road of Collaborative Control multiple equipment
Route planning method, computer-readable medium and the control device of diameter.
To achieve the goals above, the present invention provides a kind of route planning methods, can be used for the road of multiple mobile devices
Line gauge is drawn, and includes the following steps: S1, the current location of each mobile device and target position line are vertically divided into D parts, at random
Generate N route；S2, it is calculated according to the velocity vector on the node and the node of every route, and records repeatedly meter
The shortest scheme of moving distance summation of the every route apart from shortest scheme and all mobile devices in calculation；S3, to multiple
Every route of mobile device carries out the update of n times iteration, to calculate the shortest scheme of moving distance summation of all mobile devices
And more new node and velocity vector.
Preferably, step S3 is iterated in the following way:
Wherein,Indicate velocity amplitude of the route i in+1 iteration of kth on d dimension component；
Indicate positional value of the route i in+1 iteration of kth on d dimension component；
pidIndicate positional value of the route i on d dimension component；
Indicate positional value of the group on d dimension component.
A kind of computer-readable medium, including pre-set programs, which, which is performed, can be realized any one as above
Described in route planning method.
A kind of control device, including the first receiving unit can receive mobile device current location, target position and surrounding
Environmental information further includes the processing unit being electrically connected with the receiving unit, and be electrically connected with the processing unit
First transmitting unit, the processing unit include computer-readable medium as described above.
Compared with prior art, the advantages and positive effects of the present invention are:
Route planning method of the present invention, after being divided by the multistage carried out to each route, random walk route,
And calculating and iteration are carried out according to the scheme of velocity vector and the route shortest distance at node, node, to obtain multiple shiftings
Multiple shortest schemes of mobile device moving distance summation in dynamic equipment mobile route, to realize the section of multiple mobile devices
Energy, efficiently group's route planning.
Computer-readable medium of the present invention, including pre-set programs, which, which is performed, can be realized
The route planning method stated, after being divided by the multistage carried out to each route, random walk route, and according to node, node
The velocity vector at place and the scheme of the route shortest distance carry out calculating and iteration, to obtain in multiple mobile device mobile routes
Multiple shortest schemes of mobile device moving distance summation, to realize the energy conservation of multiple mobile devices, efficiently group's route
Planning.
Control device of the present invention, including above-mentioned computer-readable medium, by receiving different multiple mobile devices
Information, to each route carry out multistage divide after, random walk route, and according to the velocity vector at node, node with
And the scheme of the route shortest distance carries out calculating and iteration, is moved with obtaining multiple mobile devices in multiple mobile device mobile routes
It moves apart from the shortest scheme of summation, to realize the energy conservation of multiple mobile devices, efficiently group's route planning.
Detailed description of the invention
Fig. 1 is the flow chart of route planning method of the present invention；
Fig. 2 is the schematic diagram of control device of the present invention.
Wherein: 1, the first receiving unit；2, processing unit；3, the first transmitting unit.
Specific embodiment
Hereinafter, a specific embodiment of the invention is further described in conjunction with attached drawing.
With reference to Fig. 1, the present invention proposes a kind of route planning method, can be used for the route planning of multiple mobile devices, including
Following steps:
S1, the current location of each mobile device and target position line are vertically divided into D parts, generate N route at random；
S2, it is calculated according to the velocity vector on the node and the node of every route: every route xi={ xi1,
xi2..., xiD, wherein xidIndicate the node on every route, vi={ vi1, vi2..., viD, indicate in each of route i
The velocity vector of node, pbestRoute i is indicated in the historical optimal solution of optimizing, the position on D dimension search space is expressed as
pi={ pi1, pi2..., piD}；gbestThe optimal solution that entire group finds in search history is indicated, in D dimension search space
Position is expressed as pg={ pg1, pg2..., pgD}；Every route is apart from shortest scheme and all shiftings in the multiple calculating of record
The shortest scheme of moving distance summation of dynamic equipment；
S3, the update of n times iteration is carried out to every route of multiple mobile devices, with calculate the movements of all mobile devices away from
From the shortest scheme of summation and more new node and velocity vector.
Preferably, step S3 is iterated in the following way:
Wherein,Indicate velocity amplitude of the route i in+1 iteration of kth on d dimension component；
Indicate positional value of the route i in+1 iteration of kth on d dimension component；
pidIndicate positional value of the route i on d dimension component；
Indicate positional value of the group on d dimension component.
The optimal solution for seeking every route is calculated, i.e. measurement shortest path；
Wherein, the smaller expression route of L is more excellent,Indicate adjacent two nodes P in routei, Pi+1The distance between then
Update the node and velocity vector of every route.
Route planning method of the present invention, after being divided by the multistage carried out to each route, random walk route,
And calculating and iteration are carried out according to the scheme of velocity vector and the route shortest distance at node, node, to obtain multiple shiftings
Multiple shortest schemes of mobile device moving distance summation in dynamic equipment mobile route, to realize the section of multiple mobile devices
Energy, efficiently group's route planning.
The present invention also proposes a kind of computer-readable medium, including pre-set programs, which is performed can be real
Now route planning method described in any one as above, after being divided by the multistage carried out to each route, random walk route,
And calculating and iteration are carried out according to the scheme of velocity vector and the route shortest distance at node, node, to obtain multiple shiftings
Multiple shortest schemes of mobile device moving distance summation in dynamic equipment mobile route, to realize the section of multiple mobile devices
Energy, efficiently group's route planning.
With reference to Fig. 2, the present invention also proposes a kind of control device, including the first receiving unit 1, and it is current to can receive mobile device
Position, target position and ambient condition information further include the processing unit 2, Yi Jiyu being electrically connected with the receiving unit 1
The first transmitting unit 3 that the processing unit 2 is electrically connected, the processing unit 2 include computer-readable Jie as described above
Matter, by receiving the information of different multiple mobile devices, after being divided to the multistage that each route carries out, random walk route, and
Calculating and iteration are carried out according to the scheme of velocity vector and the route shortest distance at node, node, to obtain multiple movements
Multiple shortest schemes of mobile device moving distance summation in equipment mobile route, thus realize the energy conservation of multiple mobile devices,
Efficiently group's route planning, and can be issued instruction by first transmitting unit 3, so that multiple movements be commanded to set
The standby route according to planning is mobile, wherein such as AIS, maritime affairs can be used in first receiving unit 1 and first transmitting unit 3
The modes such as satellite, mobile communications network and mobile Internet carry out the transmission of information, and processing unit 2 can select core as needed
Piece, herein it should be noted that the control device can be a kind of platform of cloud computing, it is possible to use the network application of p2p, i.e.,
There is the arithmetic facility equipped with stronger computing capability in multiple mobile devices, other multiple mobile devices are set with the operation
Standby to carry out communication connection by p2p network, in group's operation process, which, which calculates and pass through the sending of p2p network, refers to
It enables to control multiple mobile devices.
The above described is only a preferred embodiment of the present invention, being not that the invention has other forms of limitations, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
It imitates embodiment and is applied to other fields, but without departing from the technical solutions of the present invention, according to the technical essence of the invention
Any simple modification, equivalent variations and remodeling to the above embodiments, still fall within the protection scope of technical solution of the present invention.
Claims (4)
1. a kind of route planning method can be used for the route planning of multiple mobile devices, which comprises the steps of:
S1, the current location of each mobile device and target position line are vertically divided into D parts, generate N route at random；S2, basis
The node of every route and the velocity vector on the node are calculated, and record repeatedly calculate in every route distance it is most short
Scheme and all mobile devices the shortest scheme of moving distance summation；S3, to every route of multiple mobile devices into
Row n times iteration updates, to calculate the shortest scheme of moving distance summation and more new node and velocity vector of all mobile devices.
2. route planning method according to claim 1, which is characterized in that step S3 is iterated in the following way:
Wherein,Indicate velocity amplitude of the route i in+1 iteration of kth on d dimension component；
Indicate positional value of the route i in+1 iteration of kth on d dimension component；
pidIndicate positional value of the route i on d dimension component；
Indicate positional value of the group on d dimension component.
3. a kind of computer-readable medium, which is characterized in that including pre-set programs, the pre-set programs be performed can be realized as
Route planning method described in claim any one of 1-2.
4. a kind of control device, which is characterized in that including the first receiving unit, can receive mobile device current location, target position
Set and ambient condition information, further include the processing unit being electrically connected with the receiving unit, and with the processing unit
The first transmitting unit being electrically connected, the processing unit includes computer-readable medium as claimed in claim 3.
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|---|---|---|---|---|
| JP2005289284A (en) * | 2004-04-02 | 2005-10-20 | Furuno Electric Co Ltd | Other vessel movement monitoring device |
| CN103198366A (en) * | 2013-04-09 | 2013-07-10 | 北京理工大学 | Multi-target route planning method considering target node timeliness |
| CN104236569A (en) * | 2013-06-21 | 2014-12-24 | 株式会社日立制作所 | Method and device for determining optimal meeting point |
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Application publication date: 20190514 |