CN101996516A - Path planning pretreatment method based on vector method - Google Patents

Path planning pretreatment method based on vector method Download PDF

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CN101996516A
CN101996516A CN 201010552741 CN201010552741A CN101996516A CN 101996516 A CN101996516 A CN 101996516A CN 201010552741 CN201010552741 CN 201010552741 CN 201010552741 A CN201010552741 A CN 201010552741A CN 101996516 A CN101996516 A CN 101996516A
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polygon
path planning
convex polygon
intersect
distance
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赵英男
孟宪权
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Nanjing University of Information Science and Technology
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Nanjing University of Information Science and Technology
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Abstract

The invention discloses a path planning pretreatment method based on the vector method, which is used for path planning of a simulation system represented by the vector method. The method comprises the following steps: firstly modeling each obstacle in a simulation environment to a convex polygon; then carrying out convergence processing on any two convex polygons between which the distance is smaller than a preset threshold, and sequentially carrying out iterative processing till the distance between any two of the finally obtained convex polygons is larger than the preset threshold, wherein the threshold is set according to the size of a maximum mobile main body in the path planning; and finally regarding the convergence result as the initial state of the path planning in the simulation system. The method can reduce the follow-up path planning workload in the simulation system and further improve the real-time processing capacity of the whole system by merging the obstacles with the distances which are smaller than the size of the mobile main body against the fact that the mobile main body in the simulation environment can not traverse the obstacles with the distances which are smaller than the mobile main body.

Description

Path planning preprocess method based on vector method
Technical field
The present invention relates to the path planning preprocess method, relate in particular to a kind of path planning preprocess method, be used for simulation technical field based on vector method.
Background technology
Path planning (Path Planning) is meant according to certain evaluation criterion (as shortest path length, the shortest traveling time, minimal energy consumption etc.), satisfy certain constraint condition (as avoiding and barrier collision etc.), plan one from initial point position arrive impact point position optimum (or suboptimum) the path (but the detailed content list of references [wear light. the algorithm research of obstacle-avoiding route planning [D]. Wuhan: the Central China University of Science and Technology, 2004]).Path planning has obtained extensive and deep research as the artificial intelligence problem of classics in fields such as emulation, robot, automatic driving vehicles.At present, the paths planning method that uses in these fields mainly contains graph search algorithm (as A* algorithm [Su Hao, Li Qinfu, Cai Jun. the A* algorithm is based on the application in the path planning of road net. research institute of China Electronics journal, 2010,5 (4): 419-422.], dijkstra's algorithm [WAN Ming, ZHANG Wei, MURRAY Marie O., KAUFMAN Arie. Automatic target tracking on multi-resolution terrain. Journal of Zhejiang University, 2006,7 (7): 1275-1281.], based on the planing method of soft calculating (as genetic algorithm [Liang Xiaohui, Wu Wei, Zhao Qinping. the global path planning method in the extensive real terrain data---based on the research of genetic algorithm. computer research and development, 2002,39 (3): 301-306.], ant group algorithm [TAN Guan-zheng, HE Huan, Aaron Sloman. Global optimal path planning for mobile robot based on improved Dijkstra algorithm and ant system algorithm. Journal of Central South University of Technology, 2006,13 (1): 80-86], planing method based on stochastic sampling (is set (Rapidly-exploring Random Tree at random as quick expansion, RRT[Fan Xiao is flat, Peng's exhibition, Zhang Heng, sieve bear. study based on robot path planning's emulation experiment platform that quick expansion is set at random. railway science and engineering journal, 2005,2 (2): 86-92]) etc.Said method all is based upon on certain spatial data structure method for expressing, and commonly used have vector method and a grid method.
In analogue system, real-time is an important factors.If hysteresis or delay can cause the sense of reality of analogue system to descend.And at the path planning this respect, existing technology is absorbed in some optimisation techniques of system's run duration, and does not pay close attention to the data pre-service in early stage.
Summary of the invention
The present invention seeks to path planning overlong time, propose a kind of path planning preprocess method, the real-time processing speed when this method can effectively improve the analogue system path planning based on vector method at present analogue system.
Thinking of the present invention be at the mobile agent in the simulated environment can not traverse distance less than self this fact of barrier, size according to maximum mobile agent in the path planning is provided with a threshold value, to merge apart from barrier less than this threshold value, thereby the workload of subsequent path planning in the reduction analogue system, the processing capability in real time of raising total system.
Particularly, the present invention is by the following technical solutions:
A kind of path planning preprocess method based on vector method is used for the analogue system path planning that vector method is represented, this method may further comprise the steps:
Steps A, each barrier in the simulated environment all is modeled as convex polygon;
Step B, be a new convex polygon less than any two convex polygon fusion treatment of pre-set threshold with the convex polygon middle distance that obtains in the steps A, and iterative processing successively, distance any two in the convex polygon that finally obtains is all greater than above-mentioned pre-set threshold; Wherein, described pre-set threshold equals the size of maximum mobile agent in the path planning;
Step C, result that step B is obtained are as the original state of path planning in the analogue system.
Modeling method in the analogue system has a lot, and as three-dimensional modeling, grid method etc., in order to simplify calculating and to be convenient to follow-up crossing judgement and fusion treatment, the present invention preferably realizes in European plane when barrier is modeled as convex polygon.
Wherein, the distance between the convex polygon adopts the minimum distance method definition, i.e. distance between minimum two points of distance on two convex polygons.
Step B specifically comprises following each step:
Step B1, the initial value that variable is set are the quantity of the convex polygon that obtains of steps A;
Step B2, be provided with variable,
Figure 2010105527412100002DEST_PATH_IMAGE001
Value be:
Figure 433753DEST_PATH_IMAGE002
,
Figure 2010105527412100002DEST_PATH_IMAGE003
Step B3, calculate the
Figure 69265DEST_PATH_IMAGE001
Individual convex polygon and
Figure 273982DEST_PATH_IMAGE004
The distance of individual convex polygon also judges that this distance whether greater than a pre-set threshold, in this way, then changes step B5; As not, then change step B4;
Step B4, with
Figure 410565DEST_PATH_IMAGE001
Individual convex polygon and
Figure 946021DEST_PATH_IMAGE004
Individual convex polygon permeate a new convex polygon and delete former the with the
Figure 877068DEST_PATH_IMAGE004
Individual convex polygon will
Figure 2010105527412100002DEST_PATH_IMAGE005
Value be revised as
Figure 506763DEST_PATH_IMAGE006
Step B2 is changeed in the back;
Step B5, judge whether
Figure 2010105527412100002DEST_PATH_IMAGE007
, in this way, then change step B6; As not, then Jiang value is revised as Step B3 is changeed in the back;
Step B6, judge whether
Figure 2010105527412100002DEST_PATH_IMAGE011
, in this way, then finish; As not, then will
Figure 2010105527412100002DEST_PATH_IMAGE013
Value be revised as And will
Figure 929261DEST_PATH_IMAGE015
Value be revised as
Figure 2010105527412100002DEST_PATH_IMAGE017
And step B3 is changeed in the back.
Among the present invention, be a new convex polygon with two convex polygon fusion treatment, specifically in accordance with the following methods:
With one of them polygonal center is initial point, and the line on these polygonal two summits is the longitudinal axis, and two polygonal lines of centres are transverse axis, set up relative coordinate system; In this relative coordinate system, in two polygons, seek and carry out 4 summits of ordinate absolute value maximum as the one-level merging point; If the line of one-level merging point and polygon intersect, then in the set of one-level merging point, seek the secondary merging point, make it line with polygon is non-intersect, delete the one-level merging point of this secondary merging point replacement simultaneously; To have the merging point synthetic convex polygon that connects together now, finish two polygonal fusions.
The present invention is based on path planning space vector representation commonly used, at first the barrier in the simulated environment is modeled as the convex polygon in the Euclidean plane; Any two convex polygon fusion treatment of adjusting the distance then less than a certain threshold value are a new convex polygon, and iterative processing successively, and distance any two in the convex polygon that finally obtains is all greater than above-mentioned pre-set threshold.Be about to synthesize one, thereby effectively reduce the calculated amount of path planning apart from multi-obstacle avoidance less than threshold value.Compared to existing technology, the invention has the advantages that at the mobile agent in the simulated environment can not traverse distance less than self this fact of barrier, to merge apart from barrier less than a certain threshold value, path planning is carried out pre-service, thereby effectively accelerate the actual path planning time, improve the real-time processing speed of system.
Description of drawings
Fig. 1 is the path planning preprocess method process flow diagram based on vector method of the present invention;
Fig. 2 is the synoptic diagram of distance calculation between two convex polygons in the inventive method;
Fig. 3 is the distance calculation synoptic diagram of the inventive method mid point to figure, and wherein (a) arrives polygonal distance calculation for point, (b) is the distance calculation of point to straight-line segment;
Fig. 4 is the calculating synoptic diagram of merging point in the inventive method, and wherein (a) is computation process, (b) is result of calculation;
Fig. 5 is ray described in the embodiment and polygonal crossing determination methods synoptic diagram;
Fig. 6 is the synoptic diagram of the inventive method different phase in the fusion treatment process;
Fig. 7 is that the result who adopts grid method and the inventive method to carry out path planning respectively compares;
Fig. 8 is that the time result who adopts grid method and the inventive method to carry out path planning respectively compares.
Embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is elaborated:
Present embodiment adopts the two-dimensional virtual simulated environment as Fig. 6 (a) shown in, has 26 barriers of representing with convex polygon after the modelling processing, according to the size of mobile agent in this simulated environment with threshold value
Figure 2010105527412100002DEST_PATH_IMAGE019
Be set at 5.In accordance with the following methods these 26 convex polygons are handled (treatment scheme is as shown in Figure 1) then:
Step B1, variable is set
Figure 2010105527412100002DEST_PATH_IMAGE021
Initial value be the quantity of the convex polygon that obtains of steps A, in the present embodiment Initial value be 26;
Step B2, variable is set
Figure 2010105527412100002DEST_PATH_IMAGE023
,
Figure 508589DEST_PATH_IMAGE015
Value be:
Figure 2010105527412100002DEST_PATH_IMAGE025
,
Figure 2010105527412100002DEST_PATH_IMAGE027
Step B3, calculate the
Figure 503877DEST_PATH_IMAGE015
Individual convex polygon and
Figure 654366DEST_PATH_IMAGE028
The distance of individual convex polygon also judges that this distance whether greater than a pre-set threshold, in this way, then changes step B5; As not, then change step B4;
Step B4, with
Figure 235521DEST_PATH_IMAGE015
Individual convex polygon and
Figure 2010105527412100002DEST_PATH_IMAGE029
A permeate new convex polygon and delete former the of individual convex polygon
Figure 443123DEST_PATH_IMAGE015
Individual with the
Figure 109728DEST_PATH_IMAGE009
Individual convex polygon will
Figure 126226DEST_PATH_IMAGE021
Value be revised as
Figure 2010105527412100002DEST_PATH_IMAGE031
Step B2 is changeed in the back;
Step B5, judge whether
Figure DEST_PATH_IMAGE033
, in this way, then change step B6; As not, then will
Figure 437252DEST_PATH_IMAGE013
Value be revised as
Figure 208899DEST_PATH_IMAGE009
Step B3 is changeed in the back;
Step B6, judge whether
Figure 34904DEST_PATH_IMAGE011
, in this way, then finish; As not, then will
Figure 869741DEST_PATH_IMAGE013
Value be revised as
Figure 159908DEST_PATH_IMAGE015
And will
Figure 40139DEST_PATH_IMAGE015
Value be revised as
Figure 415757DEST_PATH_IMAGE017
And step B3 is changeed in the back.
Among the present invention, any two polygonal distances adopt the minimum spacing method to calculate and judge whether to merge according to pre-set threshold,
Adopt the minimum spacing determining method to calculate distance between two polygons, at first as shown in Figure 2, set up with O 1Be the former heart, O 1 O 2Direction is the axial relative coordinate system of horizontal ordinate O' x' y', under this coordinate system
Figure DEST_PATH_IMAGE035
=(
Figure 711740DEST_PATH_IMAGE037
) (
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),
Figure 235443DEST_PATH_IMAGE041
=(
Figure 98356DEST_PATH_IMAGE043
) (
Figure 257418DEST_PATH_IMAGE045
), O 1=(0,0), O 2=( l 12, 0), l 12=
Figure 256598DEST_PATH_IMAGE047
Calculate earlier O 1All vertex distances O 2Minimum value:
Figure 478632DEST_PATH_IMAGE049
1: relatively
Figure 2010105527412100002DEST_PATH_IMAGE050
Horizontal ordinate, to the limit , and
Figure 2010105527412100002DEST_PATH_IMAGE054
Figure 704208DEST_PATH_IMAGE049
2: order , calculate the summit
Figure 2010105527412100002DEST_PATH_IMAGE058
,
Figure 2010105527412100002DEST_PATH_IMAGE060
,
Figure 2010105527412100002DEST_PATH_IMAGE062
With polygon O 2Distance, be respectively
Figure 2010105527412100002DEST_PATH_IMAGE064
,
Figure 2010105527412100002DEST_PATH_IMAGE066
,
Figure 2010105527412100002DEST_PATH_IMAGE068
Figure 298918DEST_PATH_IMAGE049
3: if
Figure 2010105527412100002DEST_PATH_IMAGE070
Figure 2010105527412100002DEST_PATH_IMAGE072
Figure 355867DEST_PATH_IMAGE073
, then ,
Figure 317799DEST_PATH_IMAGE077
=
Figure 821593DEST_PATH_IMAGE064
, change
Figure 60944DEST_PATH_IMAGE049
4.If
Figure 359202DEST_PATH_IMAGE070
Figure 684004DEST_PATH_IMAGE072
Figure 53805DEST_PATH_IMAGE066
, then =
Figure 554505DEST_PATH_IMAGE066
, change
Figure 163341DEST_PATH_IMAGE049
8.If
Figure 265727DEST_PATH_IMAGE070
Figure 214091DEST_PATH_IMAGE072
Figure 119731DEST_PATH_IMAGE081
, then ,
Figure 2010105527412100002DEST_PATH_IMAGE084
= , change
Figure 678199DEST_PATH_IMAGE049
6;
Figure 481070DEST_PATH_IMAGE049
4: calculate the summit
Figure 554681DEST_PATH_IMAGE058
With polygon O 2Distance
Figure 75792DEST_PATH_IMAGE064
Figure 263191DEST_PATH_IMAGE049
5: if
Figure 2010105527412100002DEST_PATH_IMAGE086
Figure 999197DEST_PATH_IMAGE089
, then
Figure 246638DEST_PATH_IMAGE075
, = , change
Figure 186748DEST_PATH_IMAGE049
4.If
Figure 26528DEST_PATH_IMAGE064
Figure 382554DEST_PATH_IMAGE077
, then change
Figure 612679DEST_PATH_IMAGE049
8;
6: calculate the summit With polygon O 2Distance
Figure 690990DEST_PATH_IMAGE081
Figure 671060DEST_PATH_IMAGE049
7: if
Figure 2010105527412100002DEST_PATH_IMAGE094
Figure 941635DEST_PATH_IMAGE088
, then ,
Figure 658553DEST_PATH_IMAGE090
= , change
Figure 136119DEST_PATH_IMAGE049
6.If
Figure 347393DEST_PATH_IMAGE081
Figure 101723DEST_PATH_IMAGE092
Figure 776417DEST_PATH_IMAGE077
, then change
Figure 237486DEST_PATH_IMAGE049
8;
Figure 605013DEST_PATH_IMAGE049
8: output O 1All vertex distances O 2Minimum value
Figure 518743DEST_PATH_IMAGE077
Calculate again O 2All vertex distances O 1Minimum value:
Figure 997128DEST_PATH_IMAGE049
1: relatively
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Horizontal ordinate, to the limit
Figure DEST_PATH_IMAGE097
, and
Figure DEST_PATH_IMAGE099
Figure 450719DEST_PATH_IMAGE049
2: order
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, calculate the summit
Figure DEST_PATH_IMAGE103
, ,
Figure DEST_PATH_IMAGE107
With polygon O 1Distance, be respectively
Figure 474301DEST_PATH_IMAGE064
,
Figure 140906DEST_PATH_IMAGE066
,
Figure 157403DEST_PATH_IMAGE081
Figure 595993DEST_PATH_IMAGE049
3: if
Figure 102061DEST_PATH_IMAGE070
Figure 255962DEST_PATH_IMAGE072
Figure 76150DEST_PATH_IMAGE073
, then
Figure 366317DEST_PATH_IMAGE075
,
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=
Figure 184232DEST_PATH_IMAGE064
, change
Figure 559850DEST_PATH_IMAGE049
4.If
Figure 918150DEST_PATH_IMAGE070
Figure 325473DEST_PATH_IMAGE072
Figure 111026DEST_PATH_IMAGE066
, then
Figure 973940DEST_PATH_IMAGE110
=
Figure 135931DEST_PATH_IMAGE066
, change
Figure 400690DEST_PATH_IMAGE049
8.If
Figure 972934DEST_PATH_IMAGE072
Figure 673037DEST_PATH_IMAGE081
, then
Figure 783513DEST_PATH_IMAGE083
,
Figure DEST_PATH_IMAGE111
=
Figure 176449DEST_PATH_IMAGE085
, change
Figure 13955DEST_PATH_IMAGE049
6;
4: calculate the summit
Figure DEST_PATH_IMAGE113
With polygon O 1Distance
Figure 429204DEST_PATH_IMAGE064
Figure 993040DEST_PATH_IMAGE049
5: if
Figure 317842DEST_PATH_IMAGE086
Figure 356818DEST_PATH_IMAGE088
Figure 450676DEST_PATH_IMAGE111
, then
Figure 185414DEST_PATH_IMAGE075
,
Figure 731933DEST_PATH_IMAGE111
=
Figure 905425DEST_PATH_IMAGE064
, change
Figure 791473DEST_PATH_IMAGE049
4.If
Figure 697112DEST_PATH_IMAGE064
Figure 117564DEST_PATH_IMAGE109
, then change
Figure 186015DEST_PATH_IMAGE049
8;
6: calculate the summit
Figure DEST_PATH_IMAGE115
With polygon O 1Distance
Figure 783666DEST_PATH_IMAGE081
Figure 971065DEST_PATH_IMAGE049
7: if
Figure 894022DEST_PATH_IMAGE094
Figure 141463DEST_PATH_IMAGE088
Figure 149871DEST_PATH_IMAGE111
, then
Figure 138031DEST_PATH_IMAGE083
,
Figure 915494DEST_PATH_IMAGE111
=
Figure 333837DEST_PATH_IMAGE081
, change
Figure 563961DEST_PATH_IMAGE049
6.If
Figure 358742DEST_PATH_IMAGE081
Figure 990711DEST_PATH_IMAGE092
Figure 579956DEST_PATH_IMAGE109
, then change 8;
8: output O 2All vertex distances O 1Minimum value
Figure 396972DEST_PATH_IMAGE109
Polygon O 1With O 2Between distance =
Figure DEST_PATH_IMAGE119
, when Just will when being less than or equal to pre-set threshold O 1With O 2Synthetic polygon.
More than need solution point to arrive polygonal distance in the process of distance between the calculating polygon, adopt following method in this embodiment: as Fig. 3 (a), O 1:
Figure 2010105527412100002DEST_PATH_IMAGE122
= It is the plane OxyInterior polygon, QBe any point in this plane.With QPoint is initial point, with O 1 QLine is an abscissa axis, sets up relative coordinate system O' x' y'; Under this coordinate system
Figure DEST_PATH_IMAGE125
=(
Figure 2010105527412100002DEST_PATH_IMAGE126
) (
Figure 121586DEST_PATH_IMAGE039
), Q=(0,0), O 1=( l 12, 0), l 12=
Figure 2010105527412100002DEST_PATH_IMAGE128
, QArrive O 1Minimum distance LCan be calculated as follows:
Figure 728148DEST_PATH_IMAGE049
1: relatively
Figure 924774DEST_PATH_IMAGE125
Horizontal ordinate, to the limit
Figure DEST_PATH_IMAGE129
, and
Figure DEST_PATH_IMAGE131
Figure 226574DEST_PATH_IMAGE049
2: order
Figure DEST_PATH_IMAGE133
, calculation level QWith line segment
Figure DEST_PATH_IMAGE135
Distance
Figure 107461DEST_PATH_IMAGE064
, the point QWith line segment
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Distance
Figure 506212DEST_PATH_IMAGE066
Figure 608160DEST_PATH_IMAGE049
3: if
Figure 849786DEST_PATH_IMAGE086
Figure 643747DEST_PATH_IMAGE085
, then
Figure 182175DEST_PATH_IMAGE075
,
Figure DEST_PATH_IMAGE139
=
Figure 517954DEST_PATH_IMAGE073
, change
Figure 800031DEST_PATH_IMAGE049
4; If
Figure 235691DEST_PATH_IMAGE064
Figure DEST_PATH_IMAGE141
Figure 617125DEST_PATH_IMAGE142
, then ,
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=
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, change 6;
Figure 747959DEST_PATH_IMAGE049
4: calculation level QWith line segment
Figure 362611DEST_PATH_IMAGE135
Distance
Figure 738229DEST_PATH_IMAGE064
Figure 362108DEST_PATH_IMAGE049
5: if
Figure 620231DEST_PATH_IMAGE088
Figure 483145DEST_PATH_IMAGE117
, then
Figure 642206DEST_PATH_IMAGE075
,
Figure 906965DEST_PATH_IMAGE139
=
Figure 66682DEST_PATH_IMAGE073
, change
Figure 88996DEST_PATH_IMAGE049
5.If
Figure 992361DEST_PATH_IMAGE064
Figure 114557DEST_PATH_IMAGE092
Figure 507492DEST_PATH_IMAGE120
, then change
Figure 344998DEST_PATH_IMAGE049
8;
6: calculation level QWith line segment
Figure DEST_PATH_IMAGE147
Distance
Figure 697930DEST_PATH_IMAGE142
Figure 324083DEST_PATH_IMAGE049
7: if
Figure 318060DEST_PATH_IMAGE085
Figure 625544DEST_PATH_IMAGE088
Figure 719402DEST_PATH_IMAGE117
, then ,
Figure 264575DEST_PATH_IMAGE139
=
Figure 110171DEST_PATH_IMAGE142
, change 5.If
Figure 873356DEST_PATH_IMAGE092
Figure 522643DEST_PATH_IMAGE120
, then change
Figure 653410DEST_PATH_IMAGE049
8;
Figure 732880DEST_PATH_IMAGE049
8: output point QWith polygon O 1Distance
Figure 988412DEST_PATH_IMAGE120
More than need the minimum distance of solution point in the process of distance between the calculating polygon, adopt following method in this embodiment to straight-line segment: as Fig. 3 (b), P 1 P 2Be one to be positioned at the plane OxyInterior straight-line segment, QBe any point in this plane.Arbitrary end points with this line segment is that (what select among the figure is initial point P 1Point), be abscissa axis with line segment place straight line, set up relative coordinate system O' x' y', obviously, P 1The point and O' the some coincidence.If QPoint exists O' x' y' under coordinate figure be ( x 1, y 1), P 1Point exists O' x' y' under coordinate figure be ( x 2, 0), then QArrive P 1 P 2Minimum distance LCan be calculated as follows:
(1) when
Figure DEST_PATH_IMAGE149
＜0 o'clock,
Figure DEST_PATH_IMAGE151
(2) when
Figure 379074DEST_PATH_IMAGE149
Figure DEST_PATH_IMAGE153
The time,
Figure DEST_PATH_IMAGE155
(3) when The time,
Figure DEST_PATH_IMAGE159
Calculate O 1All vertex distances O 2Minimum value and point and polygon O 2Apart from the time, all be summit from most possible generation minor increment, then toward both sides expansions, up to running into the situation of distance greater than this point, the minor increment of this moment is exactly desired value.
With two convex polygon fusion treatment is a new convex polygon, specifically in accordance with the following methods:
1: in the coordinate system of Jian Liing, seek 4 summits of ordinate absolute value maximum in two polygons as shown in Figure 2, these 4 summits as the one-level merging point, are seen among Fig. 4 (a) K 1, K 2, K 3With K 4
Figure 234958DEST_PATH_IMAGE049
2: utilization straight line and polygon intersect algorithm, to straight line K 1 K 2And polygon O 1Calculate, judge whether the two intersects ( K 1Except the point), if intersect, obtain the secondary merging point and replace K 1The point;
Figure 977786DEST_PATH_IMAGE049
3: to straight line K 1 K 2And polygon O 2Repeat 2 operations;
Figure 746339DEST_PATH_IMAGE049
4: to straight line K 1 K 2, polygon O 1And polygon O 2Repeat
Figure 164682DEST_PATH_IMAGE049
2 Hes
Figure 660385DEST_PATH_IMAGE049
3, up to K 1 K 2With O 1With O 2Till no longer intersecting;
5: to straight line K 3 K 4, polygon O 1And polygon O 2Repeat
Figure 16030DEST_PATH_IMAGE049
2,
Figure 605274DEST_PATH_IMAGE049
3 Hes
Figure 322694DEST_PATH_IMAGE049
4;
SHAPE * MERGEFORMAT 6: press the clockwise direction of figure, set polygonal fusion starting point and merge terminal point, the summit between keeping at 2 synthesizes a new polygon, and deletes original polygon.In Fig. 4 (a), polygon O 1The fusion starting point be K 4, the fusion terminal point is K 1, then according to clockwise direction, keep from K 4Arrive K 1 O 1The summit; Polygon O 2The fusion starting point be K, the fusion terminal point is K 3, equally according to clockwise direction, keep from KArrive K 3 O 2The summit.To keep according to clockwise direction O 1With O 2The summit couple together, obtained new polygon O, shown in Fig. 4 (b).
In the above-mentioned calculation procedure of finding the solution merging point, need carry out the judgement that straight line, ray, line segment and polygon intersect, the corresponding judgment method is as follows:
(1) straight line and polygon intersect evaluation algorithm: in relative coordinate system, if the ordinate value of polygonal each summit A, B, C, D, E, F all is a jack per line, promptly all be on the occasion of or all be negative value, then straight line and this polygon are non-intersect; If there is the contrary sign situation, then intersect.
(2) ray and polygon intersect evaluation algorithm: as shown in Figure 5, P 1 P 2Be one and be positioned at the plane OxyInterior ray, P 1Be end points, set up relative coordinate system as shown in FIG. O' x' y', Z 1, Z 2Be polygonal two points that are positioned at the abscissa axis both sides in this plane, Z 3For Z 1 Z 2With the intersection point of transverse axis, Z 3Abscissa value be x 3And, P 1Put not in this polygon, then this polygon and ray P 1 P 2Position relation can judge as follows:
=1 * GB3 1. work as
Figure DEST_PATH_IMAGE161
The time, both are non-intersect;
=2 * GB3 2. work as
Figure DEST_PATH_IMAGE163
The time, both intersect.
(3) line segment and polygon intersect evaluation algorithm: two end points with line segment are starting point respectively, set up two rays according to the direction of line segment, then these two rays and polygon are intersected judgement, the polygon and this line segment intersection that all intersect with these two rays.
Accompanying drawing 6 has shown that this merges the result of example, and whole fusion process carried out for 12 steps altogether, had only shown the wherein result of 4 steps here.After the fusion, barrier is originally represented with the polygon of light colour lines, illustrates that this barrier has not existed, the barrier after its peripheral dark colour polygon is represented to merge.After merging end, the distance between the barrier is all greater than 5, and the quantity of barrier has become 12.
With the original state of the result after the fusion end as path planning in the analogue system, can adopt existing various method based on vector method to carry out path planning this moment.
In order to verify the effect of preprocess method of the present invention, adopt following method to verify: to carry out pre-service simulated environment afterwards through the present invention and adopt genetic algorithm to carry out path planning, and compare with A* algorithm commonly used.Carry out path planning relatively at simulated environment shown in Figure 7.Fig. 7 has shown that the present invention and A* algorithm carry out result's comparison of path planning, wherein
Figure 217761DEST_PATH_IMAGE164
Value represent the mobile agent of different size.The path planning of gained of the present invention roughly is identical with the path of A* algorithm gained as can be seen.
Fig. 8 has shown that the present invention and A* algorithm are in the temporal comparison of path planning.Wherein,
Figure 977907DEST_PATH_IMAGE166
Being the time that planning space generates, is exactly the rasterizing process of planning space for the A* algorithm, is exactly that barrier is merged the time that pre-service spends for the present invention.
Figure 182623DEST_PATH_IMAGE168
Be the time in algorithm search path,
Figure 319207DEST_PATH_IMAGE170
It is the final path that generates.
Figure 988085DEST_PATH_IMAGE166
With
Figure DEST_PATH_IMAGE171
Unit be second.According to experimental result shown in Figure 8, can obtain to draw a conclusion:
(1) when mobile agent physical dimension hour, the grid quantity in the planning space is more, space grating format and A* algorithm search process spended time all longer.And algorithm of the present invention does not need the barrier that merges this moment, just need not move the GA algorithm, so the route searching process is very fast yet, particularly ought Route searching time of=2 o'clock even less than 1 millisecond, illustrated that the planning speed of this algorithm is very fast;
(2) when mobile agent physical dimension becomes big gradually, the grid quantity in the planning space reduces thereupon, and space grating is formatted and all mutually deserved rapid minimizing of A* algorithm search process spended time.And in the algorithm of the present invention owing to the barrier that needs merge occurred, increase search time, cause algorithm of the present invention route searching process institute spended time (
Figure DEST_PATH_IMAGE175
) also increase thereupon;
(3) along with the increase of mobile agent physical dimension, the path that two kinds of algorithmic rules obtain is all increasing, but the path overwhelming majority that algorithm of the present invention obtains little than A* algorithm all.

Claims (6)

1. the path planning preprocess method based on vector method is used for the analogue system path planning that vector method is represented, it is characterized in that, may further comprise the steps:
Steps A, each barrier in the simulated environment all is modeled as convex polygon;
Step B, be a new convex polygon less than any two convex polygon fusion treatment of pre-set threshold with the convex polygon middle distance that obtains in the steps A, and iterative processing successively, distance any two in the convex polygon that finally obtains is all greater than above-mentioned pre-set threshold; Wherein, described pre-set threshold equals the size of maximum mobile agent in the path planning;
Step C, result that step B is obtained are as the original state of path planning in the analogue system.
2. according to claim 1 based on the path planning preprocess method of vector method, it is characterized in that described in the steps A barrier being modeled as convex polygon is to realize in European plane.
3. according to claim 1 based on the path planning preprocess method of vector method, it is characterized in that the distance described in the step B between the convex polygon adopts the minimum spacing determining method to calculate.
4. according to claim 1 based on the path planning preprocess method of vector method, it is characterized in that described step B specifically comprises following each step:
Step B1, variable is set Initial value be the quantity of the convex polygon that obtains of steps A;
Step B2, variable is set
Figure 758366DEST_PATH_IMAGE002
,
Figure 465027DEST_PATH_IMAGE004
Value be:
Figure 405301DEST_PATH_IMAGE006
,
Step B3, calculate the
Figure 968317DEST_PATH_IMAGE004
Individual convex polygon and
Figure 147626DEST_PATH_IMAGE010
The distance of individual convex polygon also judges that this distance whether greater than a pre-set threshold, in this way, then changes step B5; As not, then change step B4;
Step B4, with
Figure 688329DEST_PATH_IMAGE004
Individual convex polygon and
Figure 2010105527412100001DEST_PATH_IMAGE011
A permeate new convex polygon and delete former the of individual convex polygon Individual with the
Figure 480015DEST_PATH_IMAGE012
Individual convex polygon will
Figure 878111DEST_PATH_IMAGE014
Value be revised as
Figure 160188DEST_PATH_IMAGE016
Step B2 is changeed in the back;
Step B5, judge whether
Figure 330269DEST_PATH_IMAGE018
, in this way, then change step B6; As not, then will
Figure 39599DEST_PATH_IMAGE020
Value be revised as
Figure 990238DEST_PATH_IMAGE012
Step B3 is changeed in the back;
Step B6, judge whether
Figure 2010105527412100001DEST_PATH_IMAGE022
, in this way, then finish; As not, then will
Figure 748109DEST_PATH_IMAGE020
Value be revised as
Figure 38276DEST_PATH_IMAGE023
And will
Figure 918508DEST_PATH_IMAGE023
Value be revised as
Figure 2010105527412100001DEST_PATH_IMAGE025
And step B3 is changeed in the back.
As in the claim 1 to 4 as described in each based on the path planning preprocess method of vector method, it is characterized in that,
Described two convex polygons permeate a new convex polygon specifically in accordance with the following methods:
With one of them polygonal center is initial point, and the line on these polygonal two summits is the longitudinal axis, and two polygonal lines of centres are transverse axis, set up relative coordinate system; In this relative coordinate system, in two polygons, seek and carry out 4 summits of ordinate absolute value maximum as the one-level merging point; If the line of one-level merging point and polygon intersect, then in the set of one-level merging point, seek the secondary merging point, make it line with polygon is non-intersect, delete the one-level merging point of this secondary merging point replacement simultaneously; To have the merging point synthetic convex polygon that connects together now, finish two polygonal fusions; Described line comprises straight line, ray, line segment.
As described in the claim 5 based on the path planning preprocess method of vector method, it is characterized in that, adopt following determination methods when carrying out judgement that straight line, ray, line segment and convex polygon intersect respectively:
Straight line and polygon intersect determination methods: in relative coordinate system, if the ordinate value on polygonal each summit all is a jack per line, then straight line and this polygon are non-intersect; If there is the contrary sign situation, then intersect;
Ray and polygon intersect determination methods: as initial point, as transverse axis, set up relative coordinate system with the summit of this ray with this ray, and the horizontal ordinate of the intersection point of polygonal limit and relative coordinate system, if less than 0, then this polygon and ray are non-intersect; If greater than 0, this polygon and ray intersect;
Line segment and polygon intersect determination methods: two end points with line segment are starting point respectively, set up two rays according to the direction of line segment, then these two rays and polygon are intersected judgement, the polygon and this line segment intersection that all intersect with these two rays.
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CN111708369A (en) * 2020-07-17 2020-09-25 武汉科技大学 Route planning method for transformer substation inspection robot
CN116329774A (en) * 2023-02-24 2023-06-27 百超(深圳)激光科技有限公司 Intelligent cutting control system and method for high-speed optical fiber laser cutting machine

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Publication number Priority date Publication date Assignee Title
CN102854880A (en) * 2012-10-08 2013-01-02 中国矿业大学 Robot whole-situation path planning method facing uncertain environment of mixed terrain and region
CN102854880B (en) * 2012-10-08 2014-12-31 中国矿业大学 Robot whole-situation path planning method facing uncertain environment of mixed terrain and region
CN104933228B (en) * 2015-05-27 2018-03-02 西安交通大学 Unmanned vehicle real-time track planing method based on Speed Obstacles
CN109634284A (en) * 2019-01-15 2019-04-16 安徽工程大学 The paths planning method of robot actuating station avoidance based on nested three points of algorithms
CN109634284B (en) * 2019-01-15 2021-07-23 安徽工程大学 Robot execution end obstacle avoidance path planning method based on nested three-division algorithm
CN110986955A (en) * 2019-12-19 2020-04-10 拉扎斯网络科技（上海）有限公司 Robot path planning method and device, electronic equipment and storage medium
CN111708369A (en) * 2020-07-17 2020-09-25 武汉科技大学 Route planning method for transformer substation inspection robot
CN111708369B (en) * 2020-07-17 2021-07-23 武汉科技大学 Route planning method for transformer substation inspection robot
CN116329774A (en) * 2023-02-24 2023-06-27 百超(深圳)激光科技有限公司 Intelligent cutting control system and method for high-speed optical fiber laser cutting machine
CN116329774B (en) * 2023-02-24 2023-10-20 百超(深圳)激光科技有限公司 Intelligent cutting control system and method for high-speed optical fiber laser cutting machine

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