CN107677277A - A kind of determining method of path based on dijkstra's algorithm - Google Patents
A kind of determining method of path based on dijkstra's algorithm Download PDFInfo
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- CN107677277A CN107677277A CN201710913955.XA CN201710913955A CN107677277A CN 107677277 A CN107677277 A CN 107677277A CN 201710913955 A CN201710913955 A CN 201710913955A CN 107677277 A CN107677277 A CN 107677277A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
A kind of determining method of path based on dijkstra's algorithm, the present invention relates to a kind of determining method of path.The present invention is in order to which existing dijkstra's algorithm has nonnegative weights non-directed graph, haves no right non-directed graph, can not form actual optimum routing problem.Then the present invention determines weights using crossing as the summit in dijkstra's algorithm using the weighted average value-based algorithm of additional Kalman filter model weights and distanceIt is then based on weights and determines optimal path using dijkstra's algorithm.The present invention is applied to path and determined.
Description
Technical field
The present invention relates to a kind of determining method of path.
Background technology
With the arrival in 3G epoch, wireless telecommunications fast development, and the renewal of hardware technology, increasing high-performance
The mobile terminal such as smart mobile phone and palm PC, tablet personal computer is received by people.At the same time, the mankind have also stepped into informationization
Epoch, and the mobility of personnel is also more and more frequent, and these all make everyone demand to Simulation spatial service increasing.People
More concerned about " it is current I where", " facility nearby wanted either with or without me", " how most fast arrive at "
The problems such as.Under the demand of this social development, GIS-Geographic Information System (Geographic Information are generated
System, i.e. GIS).By feat of its great ability to geographic information data analysis, rapidly it is applied to based on location-based service
In the construction of platform, important support is provided for the trip of people.
At the same time, the continuous progress of computer software technology and the lifting of hardware computation speed, for the application based on GIS
Popularization provides possibility.Mainly to handle based on geographic information data, its backstage needs KXG based on GIS
Powerful database is wanted to support, because geographic information data is magnanimity, it is necessary to have powerful software and hardware.Common
GIS applications are exactly electronic map, it provide the user the function of information inquiry, and user can search phase with input paramete information
The map datum and supplemental characteristic of pass, and in visual form to user to feed back.It also allows user directly to operate map
Data, in addition can also be analyzed diagram data and business processing etc..But traditional GIS applications can not meet outdoor
The use at family, because traditional GIS applications are typically all based on C/S frameworks, it can only be used in PC or work station.Cause
This, how allowing GIS to apply to provide to service for outdoor moving user will solve the problems, such as us.In consideration of it, based on mobile whole
The geographic information management system at end is an important research direction in current GIS fields, and its main research includes：It is how sharp
With the wireless networking capabilities (including GPRS, 3G and wifi etc.) of mobile terminal, network is connected to anywhere or anytime, is believed with geography
Cease service provider and carry out data communication, and obtain result on mobile terminals.Therefore, using GIS as theoretical foundation, GPS is used
Positioning, and the Study on Integration to be communicated by wireless network, that is, move GIS and generate.How it utilizes if being solved
The problem that mobile terminal obtains real-time geography information and handles spatial information has been concentrated use in computer skill in mobile GIS
Art, wireless communication technology and Technique of Satellite Navigation and Positioning (GPS), very easily it can be gathered and handled in real time by mobile terminal
Data, make GIS application be increased.Mobile GIS system is the comprehensive digitization system for incorporating a variety of high-end technologies,
It can provide geographic information services, including information inquiry and decision references etc. for mobile subscriber anywhere or anytime, meet people
To the demand of high fluidity.
And an important topic for moving GIS application studies is exactly that optimal path searches problem, it is to provide location-based service
Basis, the problem has more complexity relative to the optimum path problems in data structure.Since in mobile GIS, all kinds of roads
The factors such as road, crossing and time at that time are all likely to become the reason for influenceing optimal path computation.Optimal path algorithm has very
More, classical optimal path algorithm is dijkstra's algorithm, and it is by Dutch computer scientist Chinese mugwort hereby Hull Dai Kesite
Draw (Edsger Wybe Dijkstra) invention.Shortest path of the summit to other all summits in algorithm calculating figure
Footpath, it be mainly characterized by centered on starting point outwards extend layer by layer, untill expanding to terminal.At present, it is most of to move
Dynamic GIS applications all solve the theoretical foundation of optimum path problems using dijkstra's algorithm as it.But if directly use
Traditional dijkstra's algorithm, network topological diagram can be caused more complicated, summit and side number also can be a lot, but also can additionally count
Calculate the path that need not be calculated.So result in the problems such as computationally intensive, time overhead is big.Again because the end of mobile GIS applications
Hold computing capability current or relatively low, these factors affects execution speed of algorithm, also just reduce the efficiency of algorithm.And
And dijkstra's algorithm has nonnegative weights non-directed graph, haves no right non-directed graph, can not form actual optimum routing problem, simultaneously
Dijkstra's algorithm does not account for the other influences factors such as the coast is clear degree, traffic lights density, real-time road condition information yet, it is impossible to has
The path for cooking up actual optimum of effect.
The content of the invention
The present invention is in order to which existing dijkstra's algorithm has nonnegative weights non-directed graph, haves no right non-directed graph, can not form reality
Border optimum path problems.And then propose a kind of determining method of path based on dijkstra's algorithm.
A kind of determining method of path based on dijkstra's algorithm, including：
If Vi、VjDifferent crossings, i=1,2 ..., n are represented respectively；J=1,2 ..., n；N represents crossing sum；With ＜ Vi,
Vj＞ represents the path between two crossings；＜ Vi,Vj＞ weights d ＜ Vi,Vj＞ is defined as：
Wherein：Di represents the factor of the influence in selection path；Wherein d1 is Vi,VjDistance between two crossings, d2 are from Vi
Drive to VjTraffic limitation, d3 is ＜ Vi,Vj＞ congestion in road probability；Pi is the ratio that each factor influences time of vehicle operation
Weight；
Using crossing as the summit in dijkstra's algorithm, crossing Vi、VjAs summit Vi、Vj；
It is defined as follows a group code：
S is starting point；T is terminal；S is the set on the summit for having obtained shortest path；T=V-S is not yet to determine shortest path
The vertex set in footpath；V is the set on all summits；
Optimal path is determined using dijkstra's algorithm.
Further, it is described to determine that the detailed process of optimal path is as follows using dijkstra's algorithm：
(1) if ＜ V be presenti,Vj＞, d ＜ Vi,Vj＞ is ＜ Vi,VjWeights on ＞ arcs；If ＜ V are not presenti,Vj＞, d ＜
Vi,Vj＞ is ∞；
(2) S={ s }, T={ summit in all summits in addition to the s of summit } are initialized；
(3) a weights are chosen from T as minimum summit w, and w is not in S；Then w is added into S；
(4) weights on summit in T are modified：
If w is added in S makees intermediate vertex, from ViTo VjWeights it is shorter than the weights that w is added without in S, then by w make among
Summit, and based on the weights on summit in the T after w modification removings w；
(5) repeat step (3) and step (4), untill including terminal t in S；Summit order now in S is as true
Fixed path.
The invention has the advantages that：
The present invention is for solving nonnegative weights non-directed graph in dijkstra's algorithm, having no right non-directed graph, can not form reality
Optimum path problems, using additional Kalman filter model weights and the weighted average value-based algorithm of distance, a reality can be obtained
Border optimal path；And the present invention considers the influence of other factors in Actual path determination process, one can determine effectively
Trip route；The present invention realizes that algorithm is simple simultaneously, improves operational efficiency to a certain extent.
Brief description of the drawings
Fig. 1 is the flow chart for determining optimal path.
Embodiment
Embodiment one：
A kind of determining method of path based on dijkstra's algorithm, including：
In traditional dijkstra's algorithm, ＜ Vi,VjWeights d ＜ V on ＞ arcsi,Vj＞ represent two nodes between away from
From.Set forth herein innovatory algorithm except the distance between two nodes, it is also contemplated that the influence that magnitude of traffic flow factor travels to vehicle,
If Vi、VjDifferent crossings, i=1,2 ..., n are represented respectively；J=1,2 ..., n；N represents crossing sum；With ＜ Vi,Vj＞ is represented
Path between two crossings；＜ Vi,Vj＞ weights d ＜ Vi,Vj＞ is defined as：
Wherein：Di represents the factor of the influence in selection path；Wherein d1 is Vi,VjDistance between two crossings, d2 are from Vi
Drive to VjTraffic limitation, d3 is ＜ Vi,Vj＞ congestion in road probability, these three influence factors can be only selected, can also
Increase selects the factor of the influence in path on the basis of this again；Pi is the proportion that each factor influences time of vehicle operation；
Using crossing as the summit in dijkstra's algorithm, crossing Vi、VjAs summit Vi、Vj；
In order to describe conveniently, a group code is defined as follows：
S is starting point；T is terminal；S is the set on the summit for having obtained shortest path；T=V-S is not yet to determine shortest path
The vertex set in footpath；V is the set on all summits；
As shown in figure 1, determining optimal path using dijkstra's algorithm, detailed process is as follows：
(1) if ＜ V be presenti,Vj＞, i.e., from ViV can be reachedj, d ＜ Vi,Vj＞ is ＜ Vi,VjWeights on ＞ arcs；If no
＜ V be presenti,Vj＞, i.e., from ViV can not be reachedj, d ＜ Vi,Vj＞ is ∞；
(2) S={ s }, T={ summit in all summits in addition to the s of summit } are initialized；
(3) a weights are chosen from T as minimum summit w, and w is not in S；Then w is added into S；
(4) weights on summit in T are modified：
If w is added in S makees intermediate vertex, from ViTo VjWeights it is shorter than the weights that w is added without in S, then by w make among
Summit, and based on the weights on summit in the T after w modification removings w；
(5) repeat step (3) and step (4), untill including terminal t in S；Summit order now in S is as true
Fixed path.
Claims (2)
- A kind of 1. determining method of path based on dijkstra's algorithm, it is characterised in that including：In traditional dijkstra's algorithm, ＜ Vi,VjWeights d ＜ V on ＞ arcsi,Vj＞ represents the distance between two nodes.Herein The innovatory algorithm of proposition is except the distance between two nodes, it is also contemplated that the influence that magnitude of traffic flow factor travels to vehicle, if Vi、Vj Different crossings, i=1,2 ..., n are represented respectively；J=1,2 ..., n；N represents crossing sum；With ＜ Vi,Vj＞ represents two crossings Between path；＜ Vi,Vj＞ weights d ＜ Vi,Vj＞ is defined as：<mrow> <mi>d</mi> <mo><</mo> <msub> <mi>V</mi> <mi>i</mi> </msub> <mo>,</mo> <msub> <mi>V</mi> <mi>j</mi> </msub> <mo>></mo> <mo>=</mo> <munderover> <mo>&Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <mi>p</mi> <mi>i</mi> <mo>&CenterDot;</mo> <mi>d</mi> <mi>i</mi> </mrow>Wherein：Di represents the factor of the influence in selection path；Wherein d1 is Vi,VjDistance between two crossings, d2 are from ViTraveling To VjTraffic limitation, d3 is ＜ Vi,Vj＞ congestion in road probability, can only select these three influence factors, can also again this On the basis of increase selection path influence factor；Pi is the proportion that each factor influences time of vehicle operation；Using crossing as the summit in dijkstra's algorithm, crossing Vi、VjAs summit Vi、Vj；In order to describe conveniently, a group code is defined as follows：S is starting point；T is terminal；S is the set on the summit for having obtained shortest path；T=V-S is not yet to determine shortest path Vertex set；V is the set on all summits；Optimal path is determined using dijkstra's algorithm.
- A kind of 2. determining method of path based on dijkstra's algorithm according to claim 1, it is characterised in that the profit Determine that the detailed process of optimal path is as follows with dijkstra's algorithm：(1) if ＜ V be presenti,Vj＞, i.e., from ViV can be reachedj, d ＜ Vi,Vj＞ is ＜ Vi,VjWeights on ＞ arcs；If it is not present ＜ Vi,Vj＞, i.e., from ViV can not be reachedj, d ＜ Vi,Vj＞ is ∞；(2) S={ s }, T={ summit in all summits in addition to the s of summit } are initialized；(3) a weights are chosen from T as minimum summit w, and w is not in S；Then w is added into S；(4) weights on summit in T are modified：If w is added in S makees intermediate vertex, from ViTo VjWeights it is shorter than the weights that w is added without in S, then w is made into intermediate vertex, And based on the weights on summit in the T after w modification removings w；(5) repeat step (3) and step (4), untill including terminal t in S；Now the summit order in S is what is determined Path.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109460491A (en) * | 2018-10-19 | 2019-03-12 | 中山大学 | Timing shortest path query method based on Neo4j database |
| CN110378502A (en) * | 2018-09-13 | 2019-10-25 | 北京京东尚科信息技术有限公司 | The method and apparatus that auxiliary unmanned vehicle determines path |
| CN114783189A (en) * | 2022-06-20 | 2022-07-22 | 安徽交欣科技股份有限公司 | AI and GIS-based intelligent early warning and path planning traffic system |
| CN116703984A (en) * | 2023-08-07 | 2023-09-05 | 福州和众信拓科技有限公司 | Robot path planning and infrared light image fusion method, system and storage medium |
-
2017
- 2017-09-30 CN CN201710913955.XA patent/CN107677277A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110378502A (en) * | 2018-09-13 | 2019-10-25 | 北京京东尚科信息技术有限公司 | The method and apparatus that auxiliary unmanned vehicle determines path |
| CN109460491A (en) * | 2018-10-19 | 2019-03-12 | 中山大学 | Timing shortest path query method based on Neo4j database |
| CN109460491B (en) * | 2018-10-19 | 2021-12-10 | 中山大学 | Neo4j database-based time sequence shortest path query method |
| CN114783189A (en) * | 2022-06-20 | 2022-07-22 | 安徽交欣科技股份有限公司 | AI and GIS-based intelligent early warning and path planning traffic system |
| CN116703984A (en) * | 2023-08-07 | 2023-09-05 | 福州和众信拓科技有限公司 | Robot path planning and infrared light image fusion method, system and storage medium |
| CN116703984B (en) * | 2023-08-07 | 2023-10-10 | 福州和众信拓科技有限公司 | Robot path planning and infrared light image fusion method, system and storage medium |
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Application publication date: 20180209 |