CN106052692A - Shortest route planning and navigating method and system - Google Patents

Abstract

The invention relate to a shortest route planning and navigating method. The method comprises the following steps: step one, according to the user preference, adding a user preference weight to a route distance weight, and using a formula: M(n)=P(n)+Q(n)*A to preprocessing the data to obtain a comprehensive evaluation weight M(n); step two, selecting a special node that a user has to pass by, taking the special node as the cutting point, cutting the road network into a first network and a second network by the cutting point, wherein the first network is a node network from the start point to the special node, and the second network is a node network from the special node to the final point; step three, replacing the route distance weight P(n) in Dijkstra algorithm by the comprehensive evaluation weight M(n) obtained in the step one, and then using the improved Dijkstra algorithm to carry out shortest route on the first network and the second network so as to obtain the shortest route from the start point to the special node to the final point.

Description

A kind of shortest path planning air navigation aid and system

Technical field

The present invention relates to path planning navigation field, specific design one shortest path planning air navigation aid and system.

Background technology

Path planning navigation has accuracy, ageing, is closely related with user's daily life simultaneously, go on a journey user, Search and rescue are speedily carried out rescue work and the application of the field such as scientific research is quite varied, and such as, Path Planning Technique can be applied in megastore Route guidance, it is simple to user finds a shortest path from starting point to destination, greatly facilitates user's real life.? In path planning, path planning algorithm is its pith, the most traditional dijkstra's algorithm, and it is applicable to calculate point-to-point transmission Shortest route problem, one of classic algorithm in the path planning being well recognized as.It is set up on abstract network model, and section is taken out As for the limit in network, using the weights on limit as the distance in section, being mainly characterized by centered by starting point outwards extending layer by layer, Until expanding to terminal.When calculating shortest path by Dijkstra, need to specify starting point s, start meter from summit s Calculate.Introduce two set S and U.The effect of S is the node recording and obtaining shortest path, and U is to record also not obtain shortest path Node.Traditional dijkstra's algorithm basic step is as follows:

(1), time initially, S set only comprises starting point s；U set comprises other summits in addition to s, the distance on summit in U Begin to the distance on this summit for starting point s.If (s and v is non-conterminous, and U interior joint, the distance of some v are (s, length v)；If s Non-conterminous with v, then the distance of v is ∞).

(2) select, from set U, the node k that distance is the shortest, and node k is added in S, meanwhile, from U, remove node k。

(3) each node is recalculated in U to the distance of starting point s.Update the distance on summit in set U, be because Determining k in one step is the node obtaining shortest path, thus utilize k to update the distance of other node because (s, v) away from From being likely larger than (s, k)+(k, distance v).

(4) above step (2) and (3) is repeated, untilTraversalComplete all nodes, finally select one from starting point to end The shortest path of point.

But, traditional dijkstra's algorithm has to the shortest path from starting point to terminal, in actual path choosing Selecting in problem, only consider that the length factor in path is inadequate, along with the variation of Path selection, some affect Path selection The factor be necessary studied.Such as, in the most each section of starting point to terminal, the traveler preference to each section Difference, on the way in the select permeability of some special joints.

For problems, traditional dijkstra's algorithm cannot complete, to this end, the present invention is at the base of dijkstra's algorithm On plinth, it is proposed that a kind of improved method that practical problem in path planning is carried out comprehensive assessment, data are processed, To meeting the shortest path of physical constraint condition and being applied in actual path planning, closer to the path planning that user is actual Navigation.

Chinese invention patent " method seeking length of a game's optimal path time dynamic under changing environment " (authorizes public number CN103994768A) the invention discloses a kind of dynamic time changing environment under seek the method for length of a game's optimal path.The method Including: the extraction to environmental state information；Spatial modeling to environment；According to environmental state information, the environment time of carrying out is drawn Point, several time intervals will be divided into by time shaft, and represent the ambient condition of each time interval with time loss；Use Environmental model is scanned for obtaining length of a game's optimal path by the A* algorithm improved；Multiple dimensioned road is reached by introducing weight Footpath planning purpose.With its difference, the present invention is that the present invention is to improve on the basis of dijkstra's algorithm, and it is Use the A* algorithm improved, invention increases the constraints in Actual path planning simultaneously, comprehensively carry out path planning, more It is close to the users reality.

Summary of the invention

Traditional dijkstra's algorithm as weights, obtains a shortest path from starting point to terminal using the length in path Footpath, but in actual Path Selection, only consider that the length in path is inadequate, various along with Path selection Changing, some affect the factor of Path selection: such as, in the most each section of starting point to terminal, traveler is to each section Preference, on the way in the selection etc. of some special joints, be all the problem that should be taken into account.

In order to overcome above-mentioned existing methodical deficiency, the invention provides a kind of shortest path planning air navigation aid and be System, is more suitable for Actual path planning navigation.

The technical scheme is that

A kind of shortest path planning air navigation aid, comprises the following steps:

Step S1: according to user preference be path distance weights add user preference weights, utilize formula: M (n)=P (n) + Q (n) * A carries out pretreatment to path distance weights P (n) and user preference weights Q (n) data, it is thus achieved that comprehensive assessment weights M N () wherein, A is user preference weights proportion, each node in n delegated path；

Step S2, selected user need the special joint of process, using special joint as cut-point, by cut-point road Net is divided into first network and the second network, and first network is the meshed network between starting point to special joint, the second network For the meshed network between special joint to terminal；

Step S3, path distance weights P (n) in dijkstra's algorithm is replaced with the comprehensive assessment obtained in step S1 Weights M (n), it is thus achieved that the dijkstra's algorithm of improvement, are utilized respectively the dijkstra's algorithm of improvement to first network and the second net Network carries out shortest path calculating, finally gives the shortest path reached home from starting point through special joint.

Further, in described step S3, it is utilized respectively the dijkstra's algorithm of improvement to first network and the second network Carry out shortest path calculating respectively, be specially and calculate the shortest subpath of first from starting point to special joint respectively and from special Node, to the second the shortest subpath of terminal, comprehensive first the shortest subpath and the second the shortest subpath, obtains from starting point warp Cross the shortest path that special joint is reached home.

A kind of shortest path planning navigation system, including with lower module:

User preference weights add module, and being used for according to user preference is that path distance weights add user preference weights, Utilize formula: M (n)=P (n)+Q (n) * A that path distance weights P (n) and user preference weights Q (n) data are carried out pretreatment, Obtaining comprehensive assessment weights M (n) wherein, A is user preference weights proportion, each node in n delegated path；

Network segmentation module, needs the special joint of process for selecting user, using special joint as cut-point, passes through Cut-point is divided into first network and the second network road network, and first network is the node net between starting point to special joint Network, the second network is the meshed network between special joint to terminal；

Path calculation module, obtains for being replaced with in step S1 by path distance weights P (n) in dijkstra's algorithm Comprehensive assessment weights M (n), it is thus achieved that the dijkstra's algorithm of improvement, be utilized respectively the dijkstra's algorithm of improvement to the first net Network and the second network carry out shortest path calculating, finally give the shortest path reached home from starting point through special joint.

Further, described path calculation module includes first network computing unit, first network computing unit and comprehensive Computing unit；

Described first network computing unit is for calculating the first the shortest subpath from starting point to special joint；

Described second network calculations unit is for calculating the second the shortest subpath from special joint to terminal；

Described COMPREHENSIVE CALCULATING unit is used for comprehensive first the shortest subpath and the second the shortest subpath, obtains from starting point warp Cross the shortest path that special joint is reached home.

The present invention is on the basis of dijkstra's algorithm, it is proposed that the dijkstra's algorithm of improvement, considers path Practical problem in planning, generates the shortest path meeting physical constraint condition, is applied to the path planning of reality.Institute of the present invention The main points of the technical scheme used are as follows:

1., in traditional dijkstra's algorithm, the only weights of delegated path distance, at the dijkstra's algorithm improved In, introduce publicity: M (n)=P (n)+Q (n) * A, wherein M (n) represents comprehensive assessment weights, P (n) delegated path distance weights, Q N () represents user preferences weights, A is user preference weights proportion.

Path distance and user preference are taken into consideration, it is to avoid the weight of traditional dijkstra's algorithm is single Property, comprehensive assessment weights are constituted by two, it is possible to by the setting of A value, and changing the two affects ratio to final Path selection Weight.

User preference weights represent user's preference to each path, and such as user preference crowding is low, have elevator to wash one's hands Between wait mark path, user preference weights are also to affect user to carry out the key factor of Path selection.It is contemplated that path Distance weights and the combined influence of user preference weights, A is user preference weights relative to shared by path distance weights Proportion.When A is equal equal to 1 expression path distance weights and the proportion of user preference weights, when A is less than 1, represent path away from More great than the ratio of user preference weights from weights, when A is more than 1, represent the path distance weights ratio than user preference weights Weight is little.The setting of A value refers to following module (wherein aij represents A):

Aij=1, represents that element i and element j is identical to the importance of last layer time factor；

Aij=3, represents that element i is more important than element j；

Aij=5, represents that element i is more important than element j；

Aij=7, represents that element i is than element j much more significant；Otherwise, if element j is more important than element i, then aij is respectively Reciprocal 1/3,1/5,1/7,1/9.

The importance of the numeric representation element i of i.e. aij and the ratio size of the importance of element j, aij value is the biggest, represents The most important compared with element j of element i, aij value is the least, represents the most important compared with element i of element j.

The most traditional dijkstra's algorithm solves shortest path, and obtain is a shortest path from starting point to terminal Footpath, but in the path planning problem of reality, user often have some want must through special joint, at this moment we will look for Go out a shortest path through special joint.

In innovatory algorithm in order to select in view of user must through intermediate node, we using this node as cut-point, Path network is divided into two networks, solves the shortest path from starting point to this node respectively and from this node to terminal Shortest path, finally obtains the shortest path reached home from starting point through this Dominator.

The invention has the beneficial effects as follows: the present invention proposes improvement to traditional dijkstra's algorithm, it is to avoid traditional Dijkstra's algorithm only considers path length factor, obtains the shortest path from starting point to terminal, and the present invention combines User to the preference in each section and on the way in the select permeability of special joint, this is improved, and should modified hydrothermal process In Actual path is planned, it is met the shortest path of physical constraint condition, solves the user in Actual path planning Preference and particular point select permeability, closer to user actual paths planning navigation, have wide application scenarios.

Accompanying drawing explanation

Fig. 1 is the path comprehensive assessment weights figure after the interpolation user preference of the present invention；

Fig. 2 is the design sketch before special joint carries out network segmentation of the present invention；

Fig. 3 is the design sketch after special joint carries out network segmentation of the present invention；

Fig. 4 is the schematic diagram during the present invention overall realizes before network segmentation；

Fig. 5 is the schematic diagram during the present invention overall realizes after network segmentation.

Detailed description of the invention

Being described principle and the feature of the present invention below in conjunction with accompanying drawing, example is served only for explaining the present invention, and Non-for limiting the scope of the present invention.

In traditional dijkstra's algorithm, the only weights of delegated path distance, as it is shown in figure 1, in improvement In dijkstra's algorithm, introducing formula: M (n)=P (n)+Q (n) * A, wherein M (n) represents comprehensive assessment weights, and P (n) represents road Footpath distance weights, Q (n) represents user preference weights, and A is user preference weights proportion.Path distance and user preference Both take into consideration, it is to avoid the weight unicity of traditional dijkstra's algorithm, and comprehensive assessment weights are constituted by two, and can With the setting by A value, changing the two affects proportion to final Path selection.

Fig. 2 is the design sketch before special joint carries out network segmentation of the present invention.Traditional dijkstra's algorithm solves Short path, obtain is a shortest path from starting point to terminal, but in the path planning problem of reality, user is often Have some want must through node, at this moment we will find out a shortest path through special joint.At innovatory algorithm In must be through intermediate node in order to select in view of user, we as cut-point, are divided into two path network using this node Individual network, solves the shortest path from starting point to this node and the shortest path from terminal to this node respectively, finally obtains The shortest path reached home through this Dominator from starting point.Assuming that Dominator is 5 nodes, using 5 nodes as network Cut-point, has been divided into the two parts such as Fig. 3 Fig. 2 network.Two networks after segmentation are obtained with Di jkstra algorithm respectively Article two, shortest path, one is from starting point to Dominator, and one is from Dominator to terminal, last comprehensive Liang Tiao road Footpath, obtains a shortest path reached home from starting point through Dominator, and this shortest path is through must warp knuckle The shortest path of point.

Fig. 4 is that the entirety of the present invention realizes procedure chart.First we are to data prediction, if wherein two nodes not phase Neighbour, then distance is ∞.The two-dimensional array having figure can obtain routine weight value and user preference weights is respectively as follows:

$\begin{array}{c}P\left(n\right):\\ \left[\begin{array}{cccccc}0& 5& 6& \mathrm{\∞}& \mathrm{\∞}& \mathrm{\∞}\\ 5& 0& 5& 10& 10& \mathrm{\∞}\\ 6& 5& 0& \mathrm{\∞}& 8& \mathrm{\∞}\\ \mathrm{\∞}& 10& \mathrm{\∞}& 0& 8& 10\\ \mathrm{\∞}& 10& 8& 8& 0& 8\\ \mathrm{\∞}& \mathrm{\∞}& \mathrm{\∞}& 10& 8& 0\end{array}\right]\end{array}$

With

$\begin{array}{c}Q\left(n\right):\\ \left[\begin{array}{cccccc}0& 1& 2& \mathrm{\∞}& \mathrm{\∞}& \mathrm{\∞}\\ 1& 0& 4& 8& 10& \mathrm{\∞}\\ 2& 4& 0& \mathrm{\∞}& 8& \mathrm{\∞}\\ \mathrm{\∞}& 8& \mathrm{\∞}& 0& 7& 2\\ \mathrm{\∞}& 10& 8& 8& 0& 8\\ \mathrm{\∞}& \mathrm{\∞}& \mathrm{\∞}& 2& 3& 0\end{array}\right]\end{array}$

By formula M (n)=P (n)+Q (n) * A, it is assumed that A=1, i.e. path distance weights and user preference weights institute accounting Heavy phase etc., we obtain comprehensive assessment weights M (n) and are:

$\left[\begin{array}{cccccc}0& 6& 8& \mathrm{\∞}& \mathrm{\∞}& \mathrm{\∞}\\ 6& 0& 9& 18& 20& \mathrm{\∞}\\ 8& 9& 0& \mathrm{\∞}& 16& \mathrm{\∞}\\ \mathrm{\∞}& 18& \mathrm{\∞}& 0& 15& 12\\ \mathrm{\∞}& 20& 16& 16& 0& 16\\ \mathrm{\∞}& \mathrm{\∞}& \mathrm{\∞}& 12& 11& 0\end{array}\right]$

Then we carry out network segmentation, it is assumed that 2 nodes are must thus to split network through intermediate node, as it is shown in figure 5, Figure is divided into two networks through Dominator 2, so try to achieve respectively from starting point 0 to the shortest path of intermediate node 2 and from Intermediate node 2, to the shortest path of terminal 5, finally connects two paths, obtains from starting point 0 through middle Dominator 2 A shortest path to terminal 5.

The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and Within principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.

Claims (4)

1. a shortest path planning air navigation aid, it is characterised in that comprise the following steps:

Step S1: according to user preference be path distance weights add user preference weights, utilize formula: M (n)=P (n)+Q N () * A carries out pretreatment to path distance weights P (n) and user preference weights Q (n) data, it is thus achieved that comprehensive assessment weights M (n) Wherein, A is user preference weights proportion, each node in n delegated path；

Step S2, selected user need the special joint of process, using special joint as cut-point, by cut-point, road network are divided Becoming first network and the second network, first network is the meshed network between starting point to special joint, the second network be from Special joint is to the meshed network between terminal；

Step S3, path distance weights P (n) in dijkstra's algorithm is replaced with the comprehensive assessment weights obtained in step S1 M (n), it is thus achieved that the dijkstra's algorithm of improvement, first network and the second network are entered by the dijkstra's algorithm being utilized respectively improvement Row shortest path calculates, and finally gives the shortest path reached home from starting point through special joint.

Shortest path planning air navigation aid the most according to claim 1, it is characterised in that in described step S3, respectively profit With improve dijkstra's algorithm first network and the second network are carried out shortest path calculating respectively, be specially calculate respectively from Starting point is to the first the shortest subpath of special joint and the second the shortest subpath from special joint to terminal, and comprehensive first Short subpath and the second the shortest subpath, obtain the shortest path reached home from starting point through special joint.

3. a shortest path planning navigation system, it is characterised in that include with lower module:

User preference weights add module, for being that path distance weights add user preference weights according to user preference, utilize Formula: M (n)=P (n)+Q (n) * A carries out pretreatment to path distance weights P (n) and user preference weights Q (n) data, it is thus achieved that Wherein, A is user preference weights proportion in comprehensive assessment weights M (n), each node in n delegated path；

Network segmentation module, needs the special joint of process for selecting user, using special joint as cut-point, by segmentation Point is divided into first network and the second network road network, and first network is the meshed network between starting point to special joint, the Two networks are the meshed network between special joint to terminal；

Path calculation module, for replacing with combining of obtaining in step S1 by path distance weights P (n) in dijkstra's algorithm Close assessment weights M (n), it is thus achieved that the dijkstra's algorithm of improvement, be utilized respectively the dijkstra's algorithm of improvement to first network and Second network carries out shortest path calculating, finally gives the shortest path reached home from starting point through special joint.

Shortest path planning navigation system the most according to claim 3, it is characterised in that described path calculation module includes First network computing unit, first network computing unit and COMPREHENSIVE CALCULATING unit；

Described first network computing unit is for calculating the first the shortest subpath from starting point to special joint；

Described second network calculations unit is for calculating the second the shortest subpath from special joint to terminal；

Described COMPREHENSIVE CALCULATING unit is used for comprehensive first the shortest subpath and the second the shortest subpath, obtains from starting point through spy The shortest path that different node is reached home.