CN108106624B - Multi-user reservation scheduling path planning method and related device - Google Patents
Multi-user reservation scheduling path planning method and related device Download PDFInfo
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- CN108106624B CN108106624B CN201711339138.4A CN201711339138A CN108106624B CN 108106624 B CN108106624 B CN 108106624B CN 201711339138 A CN201711339138 A CN 201711339138A CN 108106624 B CN108106624 B CN 108106624B
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
The application discloses a multi-user reservation scheduling path planning method, which comprises the following steps: constructing a time window variable according to the time limit of the destination allowed access in the path planning; constructing a matching degree variable according to the matching degree of each actor and the destination in the path planning; adding the time window variable and the matching degree variable into the ant colony algorithm to obtain a multi-user appointment scheduling ant colony algorithm; and planning the path by utilizing a multi-user reservation scheduling ant colony algorithm. The time window variable and the matching degree variable are added in the original ant colony algorithm according to the multi-person reservation scheduling path planning to obtain the ant colony algorithm variant, the parameter data is added in the calculation to obtain the scheduling path of the actor under the condition of multi-person reservation scheduling, and the problem of multi-person reservation scheduling path planning is solved. The application also discloses a multi-user reservation scheduling path planning device, a computer and a computer readable storage medium, which have the beneficial effects.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a multi-user reservation and scheduling path planning method, a multi-user reservation and scheduling path planning apparatus, a computer, and a computer-readable storage medium.
Background
With the development of the computing power of the computer, the real planning problem can also calculate a solution in the computer according to different algorithms. Among them, the most widely used method is to efficiently allocate human resources through a computer and a corresponding planning algorithm in solving the path planning problem, and as the performance of the computer is enhanced, the allocation speed is faster and faster. Algorithms currently applied to the problems include ant colony algorithm, particle swarm algorithm, tabu algorithm, genetic algorithm, simulated annealing algorithm and the like.
In the continuous application of computer aided planning, the problems to be solved are also continuously changed. The multi-user reservation scheduling path planning problem is a variation of the path planning problem and is a special combination optimization problem. Such a problem is based on a purely multi-person path planning problem, and limits the time period for accessing the target, and requires that the visitor and the interviewee have a sufficient matching degree in some aspects. Under the new limitation of the path planning problem, the difficulty in solving the optimal total path planning is higher, and the original path planning algorithm is not suitable for the algorithm any more, so that certain calculation difficulty is caused.
Therefore, how to solve the problem of planning the multi-user reservation scheduling path is a key problem that those skilled in the art are concerned about.
Disclosure of Invention
The application aims to provide a multi-user reservation scheduling path planning method, a multi-user reservation scheduling path planning device, a computer and a computer readable storage medium.
In order to solve the above technical problem, the present application provides a multi-user reservation scheduling path planning method, including:
constructing a time window variable according to the time limit of the destination allowed access in the path planning;
constructing a matching degree variable according to the matching degree of each actor in the path plan and the destination;
adding the time window variable and the matching degree variable into an ant colony algorithm to obtain a multi-user appointment scheduling ant colony algorithm;
and planning a path by utilizing the multi-user reservation scheduling ant colony algorithm.
Optionally, constructing a time window variable according to a time limit allowed to be accessed by a destination in the path plan includes:
setting an upper arrival time limit and a lower arrival time limit of a destination in the path plan;
and according to the upper limit of the arrival time and the lower limit of the arrival time, adding a consumed time parameter and a current time parameter of the movement of the actor to construct a time window value mode of the time window variable and the time window variable.
Optionally, the constructing a matching degree variable according to the matching degree between each actor in the path plan and the destination includes:
setting an actor match value for the actor and a destination match value for the destination;
and constructing a matching degree value mode of the matching degree variable and the matching degree variable according to the actor matching value and the destination matching value.
The present application further provides a multi-user reservation scheduling path planning device, including:
the time window variable acquisition module is used for constructing a time window variable according to the time limit of the destination allowed access in the path planning;
a matching degree variable obtaining module, configured to construct a matching degree variable according to a matching degree between each actor in the path plan and the destination;
the ant colony algorithm improvement module is used for adding the time window variable and the matching degree variable into an ant colony algorithm to obtain a multi-user appointment scheduling ant colony algorithm;
and the path planning module performs path planning by using the multi-user reservation scheduling ant colony algorithm.
Optionally, the time window variable obtaining module includes:
a time limit setting unit for setting an upper arrival time limit and a lower arrival time limit of a destination in the path plan;
and the time window variable constructing unit is used for adding the consumption time length parameter of the movement of the actor and the current time parameter to construct the time window variable and the time window value mode of the time window variable according to the upper limit of the arrival time and the lower limit of the arrival time.
Optionally, the matching degree variable obtaining module includes:
a matching degree setting unit for setting an actor matching value of the actor and a destination matching value of the destination;
and the matching degree variable constructing unit is used for constructing a matching degree value mode of the matching degree variable and the matching degree variable according to the actor matching value and the destination matching value.
The present application further provides a computer, comprising:
a memory for storing a computer program;
a processor for implementing the following steps when executing the computer program:
constructing a time window variable according to the time limit of the destination allowed access in the path planning;
constructing a matching degree variable according to the matching degree of each actor in the path plan and the destination;
adding the time window variable and the matching degree variable into an ant colony algorithm to obtain a multi-user appointment scheduling ant colony algorithm;
and planning a path by utilizing the multi-user reservation scheduling ant colony algorithm.
The present application further provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, performs the steps of:
constructing a time window variable according to the time limit of the destination allowed access in the path planning;
constructing a matching degree variable according to the matching degree of each actor in the path plan and the destination;
adding the time window variable and the matching degree variable into an ant colony algorithm to obtain a multi-user appointment scheduling ant colony algorithm;
and planning a path by utilizing the multi-user reservation scheduling ant colony algorithm.
The application provides a multi-user reservation scheduling path planning method, which comprises the following steps: constructing a time window variable according to the time limit of the destination allowed access in the path planning; constructing a matching degree variable according to the matching degree of each actor in the path plan and the destination; adding the time window variable and the matching degree variable into an ant colony algorithm to obtain a multi-user appointment scheduling ant colony algorithm; and planning a path by utilizing the multi-user reservation scheduling ant colony algorithm.
The time window variable and the matching degree variable are added in the original ant colony algorithm according to the multi-person reservation scheduling path planning to obtain the ant colony algorithm variant, the parameter data is added in the calculation to obtain the scheduling path of the actor under the condition of multi-person reservation scheduling, and the problem of multi-person reservation scheduling path planning is solved.
The application also provides a multi-user reservation scheduling path planning device, a computer and a computer readable storage medium, which have the beneficial effects and are not repeated.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a multi-user reservation scheduling path planning method according to an embodiment of the present disclosure;
fig. 2 is a flowchart of acquiring a time window variable of a multi-user reservation scheduling path planning method according to an embodiment of the present application;
fig. 3 is a flowchart of obtaining a matching degree variable according to the multi-user reservation scheduling path planning method provided in the embodiment of the present application;
fig. 4 is a schematic structural diagram of a multi-user reservation scheduling path planning apparatus according to an embodiment of the present application.
Detailed Description
With the improvement of computer computing power, the problems which can be solved according to the algorithm become more and more complex, and the problems which can be solved by the algorithm are closer to the practical problems. In the path planning, not only how an actor reaches a destination but also when the actor reaches the destination need to be considered, and if a plurality of actors and a plurality of destinations exist, whether the destination reached by the actor is a matched destination or not is considered, so that the problem of multi-user reservation scheduling path planning is derived. Because new limits and new variables are added based on the basic path planning problem, the original path planning problem is not applicable to the problems.
The method comprises the steps of adding a time window variable and a matching degree variable according to the multi-person reservation scheduling path planning in the original ant colony algorithm to obtain a variant of the ant colony algorithm, adding parameter data in calculation to obtain a scheduling path of an actor under the condition of multi-person reservation scheduling, and solving the problem of multi-person reservation scheduling path planning.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a flowchart of a multi-user reservation scheduling path planning method according to an embodiment of the present application.
The embodiment provides a multi-user reservation scheduling path planning method, which can solve the problem of multi-user reservation scheduling path planning, and the method can comprise the following steps:
s101, constructing a time window variable according to the time limit of destination allowed access in the path planning;
this step is intended to construct a time window variable based on the time limit of allowed access of the destination.
The technical scheme is to solve the problem that time limit and matching degree limit are added on the basis of basic problems, so that the step mainly aims at constructing relevant variables aiming at the time limit. The mathematical formula of the variable can be constructed according to the content about the time limit in the path planning, and the variable can reflect the change rule and the value mode of the variable about the time limit, so that the mathematical formula can be well applied to subsequent calculation.
The specific form of the variable may be a linear function with respect to the time limit, a piecewise function with respect to the time limit, or a constant coefficient. The time limit may be a time limit of the actor about reaching the destination, and the specific form may be a time range, a specific time point, or a plurality of time periods, and the time limit may be different according to the setting of the specific question, and the mathematical description of the time limit may also be different.
Therefore, the time window variable may be embodied in any form as long as the change with respect to the time limit can be plotted by the data.
S102, constructing a matching degree variable according to the matching degree of each actor and a destination in the path planning;
on the basis of step S101, this step aims to construct a variable related to the degree of matching from the degree of matching between the actor and the destination in the problem solution. Therefore, the specific configuration of the matching degree variable needs to be determined according to the expression of the matching degree between the actor and the destination.
The expression mode of the matching degree between the actor and the destination can be represented by the numerical value change of the one-way degree, the matching numerical value of the actor is larger than the numerical value of the destination to represent that the actor and the destination are matched, and the actor and the destination are not matched if the matching numerical value of the actor and the destination is smaller than the numerical value of the destination; or a function of the degree of match, where the input function of the degree of match of the actor represents a match when the value of the output is the last specified value, or the output is within a certain range. The specific representation may vary from problem to problem. Therefore, the construction mode of the matching degree variable varies with the representation mode, that is, different construction modes are selected according to specific problems.
However, whatever construction mode is selected by the matching degree variable, the requirement that the change of the matching degree can be drawn through mathematical description is met so as to improve the original path planning algorithm.
S103, adding the time window variable and the matching degree variable into the ant colony algorithm to obtain a multi-user reservation scheduling ant colony algorithm;
on the basis of step S101 and step S102, this step aims to add the obtained two new variables to the original ant colony algorithm to obtain an improved ant colony algorithm.
The ant colony algorithm is a probabilistic algorithm for finding an optimized path. The algorithm mainly comprises the steps of circularly traversing all actors to all destinations, calculating transition probabilities, updating pheromones and finally circulating an optimal planning path. Variables in the step are added when the transition probability is calculated so as to control the transition probability of the actor under the double limits of time and matching degree, and the obtained improved ant colony algorithm can plan a path according to the new limit of a new problem.
And S104, performing path planning by using a multi-user reservation scheduling ant colony algorithm.
On the basis of step S103, this step aims to perform path planning according to the improved ant colony algorithm. The calculation mode of the path planning is approximately the same as that of the basic algorithm, only the adaptive change is needed on the basis of the basic algorithm according to the newly added variables, and other parts are approximately the same and are not repeated.
In summary, in the embodiment, the time window variable and the matching degree variable are added to the original ant colony algorithm according to the new limit of the scheduling problem to obtain the new ant colony algorithm variant, and new calculation data is added to the calculation to obtain the planned path of the actor under the condition of multi-user reservation scheduling, so that the problem of multi-user reservation scheduling path planning is solved.
Referring to fig. 2, fig. 2 is a flowchart illustrating a time window variable obtaining method for a multi-user reservation scheduling path planning method according to an embodiment of the present disclosure.
In combination with the previous embodiment, this embodiment is mainly a specific explanation on how to obtain the time window variable in the previous embodiment, other parts are substantially the same as those in the previous embodiment, and the same parts may refer to the previous embodiment, which is not described herein again.
The embodiment may include:
s201, setting an upper arrival time limit and a lower arrival time limit of a destination in path planning;
in this step, the upper limit of the destination arrival time and the lower limit of the arrival time in the route planning are set, and in this embodiment, the time is limited by the time range in which the actor arrives at the destination.
Expressed by a mathematical formula is
(bj,ej]
May be referred to as a time window.
Wherein, bjIs the upper time limit of arrival of the destination j, also called the upper time window limit of the destination, ejThe lower limit of the arrival time of j, which is the destination, is also called the lower limit of the destination time window.
S202, according to the upper limit and the lower limit of the arrival time, adding the consumption time length parameter and the current time parameter of the movement of the actor to construct a time window variable and a time window value mode of the time window variable.
On the basis of step S201, this step aims to add the elapsed time parameter and the current time parameter of the actor' S movement, and perform variable construction with the time window upper limit and the time window lower limit of the arrival time, so as to construct the value mode of the time window variable and the time window variable.
Wherein the time window variable can be represented by ωijAnd (4) performing representation. Will be provided withCijThe time taken for the actor to reach the destination j from the location i is the time consumed by the movement, and t is the current time.
Further, the value of the time window may be represented by a piecewise function, as follows:
the time from top to bottom is compared as follows:
bj≤t+Cij≤ejrepresenting arrival time within the time window of j (destination), t + Cij≤bjRepresenting the arrival time before the upper time window limit of j and t + Cij＞ejRepresenting the arrival time after the lower time window limit of j.
Where i represents the destination from which the actor departs and j represents the destination.
In this way, a time window variable related to the time limit is obtained, and different change rules can be made according to the time limit through the variable to control the calculation of the transition probability in the ant colony algorithm.
Referring to fig. 3, fig. 3 is a flowchart illustrating a method for planning a multi-user reservation scheduling path according to an embodiment of the present disclosure to obtain a matching degree variable.
In combination with the previous embodiment, this embodiment is mainly a specific explanation on how to obtain the matching degree variable in the previous embodiment, other parts are substantially the same as those in the previous embodiment, and the same parts may refer to the previous embodiment, and are not described herein again.
The embodiment may include:
s301, setting an actor matching numerical value of an actor and a destination matching numerical value of a destination;
s302, a matching degree value mode of a matching degree variable and a matching degree variable is constructed according to the actor matching value and the destination matching value.
In the embodiment, different matching values are set according to the matching degree limit, and a matching degree variable and a variable value mode are constructed. Whether the matching is carried out is judged by comparing the matching value of the actor with the matching value of the destination, and the size of the transition probability is further controlled.
The variable of the degree of matching is represented as deltaij，sjAs a matching value for the actor moving to destination j, ljIs the matching value for destination j.
Further, the value of the matching degree variable may be as follows:
wherein s isj≥ljIndicating that the actor match value is greater than or equal to the destination match value, sj＜ljIndicating that the actor match value is less than the destination match value.
On the basis of the above steps, an improved ant colony algorithm can be obtained, and a path is planned by using the improved ant colony algorithm, and the specific method can be as follows:
first, known information and algorithm parameters of the problem need to be set at the beginning of the calculation.
Wherein the problem known information includes: number of actors, match value for each actor, coordinates of all destinations, time window each destination is allowed to access, match value for each destination. The algorithm parameters include: ant colony scale, initial pheromone amount, pheromone increment, pheromone residual coefficient, visibility value, pheromone weight in a transition probability equation, visibility weight in a transition probability equation, maximum iteration number of an inner loop and maximum iteration number of an outer loop.
Then, an outer loop is performed, comprising the steps of:
step w1, selecting a new actor;
step w2, executing an inner loop;
step w3, if the list allowed is not visitedaIf not, returning to step w1, if not, allowing the listaIf the path set is empty, outputting the moving path sets of all the actors, storing the moving path sets in a scheduling table, and when a new path set is output, taking the optimal path set, and outputting the optimal path set after the maximum external circulation times are reached.
Wherein, the internal circulation comprises the following steps:
step n1, determining the current actor, inputting the corresponding actor matching value;
step n2, placing ants at the starting point;
step n3, calculating allowed of ants on unviewed listaTransition probability of moving from location i to destination j
The calculation formula is as follows:
wherein, ω isijFor the above introduced time window variable, its values are:
δijfor the above introduced matching degree variable, its values are:
τij(t) pheromone concentration on the road section (i, j) at time t;
ηijthe visibility of the point j when the ant is positioned at the point i is represented, and the higher the visibility is, the shorter the distance between the two points is;
alpha is pheromone weight, and determines pheromone concentration tau of ants during selectionij(t) degree of influence on its decision;
beta is a visibility weight and determines the leechVisibility η of ants at selectionijThe degree of influence on its decision;
allowedathe unviewed list of ant a includes all targets that can be used as destinations, wherein a is the ant number, i.e. the actor number, which indicates the next actor;
j∈allowedaindicates when destination j belongs to an element in the unviewed list;
other indicates when destination j does not belong to an element in the unviewed list;
k∈allowedaindicating when destination k belongs to an element in the unviewed list, where k is indicated as the destination;
step n4, the actor moves according to the transition probability, changes the destination j to the current location of the actor, and changes j from the unviewed list allowedaDeleting;
and step n5, if j is not the same as the starting point, returning to the step n3, selecting the next moving destination, if j is the same as the starting point, completing one internal loop by the current actor, updating the pheromone content of the road sections among the destinations according to the path, and updating the pheromone content according to the equation:
τij(t')＝ρ·τij(t)+Δτij
the equation represents the pheromone update process for each sub-loop segment (i, j);
wherein rho is an pheromone residual coefficient; tau isij(t ') represents the pheromone concentration on the section (i, j) at time t';
Δτijexpressing the pheromone increment left on the road section (i, j) by each subcycle ant, and the calculation formula is as follows:
wherein m is the number of ants, i.e. actors, and a is the ant number, i.e. actor number.
Step n6, if the internal loop does not reach the maximum number, the result path and the last internal loop output sub-path are connectedComparing, retaining by preferred person, resetting unviewed list allowedaReturning to step n1, if the maximum number of times has been reached, the sub-path of the current actor is output, and the process proceeds to step w 3.
The embodiment of the application provides a multi-user reservation scheduling path planning method, a time window variable and a matching degree variable are added in an original ant colony algorithm according to new limits of scheduling problems to obtain a new ant colony algorithm variant, new calculation data are added in calculation to obtain a planned path of an actor under the condition of multi-user reservation scheduling, and the problem of multi-user reservation scheduling path planning is solved.
In the following, a multi-user reservation scheduling path planning apparatus provided in the embodiment of the present application is introduced, and a multi-user reservation scheduling path planning apparatus described below and a multi-user reservation scheduling path planning method described above may be referred to correspondingly.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a multi-user reservation scheduling path planning apparatus according to an embodiment of the present application.
The embodiment provides a multi-user reservation scheduling path planning device, which may include:
a time window variable obtaining module 100, configured to construct a time window variable according to a time limit allowed for a destination to access in a path plan;
a matching degree variable obtaining module 200, configured to construct a matching degree variable according to the matching degree between each actor and the destination in the path planning;
the ant colony algorithm improvement module 300 is configured to add the time window variable and the matching degree variable to the ant colony algorithm to obtain a multi-user appointment scheduling ant colony algorithm;
the path planning module 400 performs path planning by using the multi-user reservation scheduling ant colony algorithm.
Optionally, the time window variable obtaining module 100 may include:
a time limit setting unit for setting an upper arrival time limit and a lower arrival time limit of a destination in a path plan;
and the time window variable constructing unit is used for constructing the time window variable and the time window value-taking mode of the time window variable by adding the consumption time parameter of the movement of the actor and the current time parameter according to the upper limit and the lower limit of the arrival time.
Optionally, the matching degree variable obtaining module 200 may include:
a matching degree setting unit for setting an actor matching value of an actor and a destination matching value of a destination;
and the matching degree variable constructing unit is used for constructing a matching degree variable and a matching degree value mode of the matching degree variable according to the actor matching value and the destination matching value.
An embodiment of the present application further provides a computer, including:
a memory for storing a computer program;
a processor, configured to implement the following steps when executing the computer program:
constructing a time window variable according to the time limit of the destination allowed access in the path planning;
constructing a matching degree variable according to the matching degree of each actor and the destination in the path planning;
adding the time window variable and the matching degree variable into the ant colony algorithm to obtain a multi-user appointment scheduling ant colony algorithm;
and planning the path by utilizing a multi-user reservation scheduling ant colony algorithm.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the following steps are implemented:
constructing a time window variable according to the time limit of the destination allowed access in the path planning;
constructing a matching degree variable according to the matching degree of each actor and the destination in the path planning;
adding the time window variable and the matching degree variable into the ant colony algorithm to obtain a multi-user appointment scheduling ant colony algorithm;
and planning the path by utilizing a multi-user reservation scheduling ant colony algorithm.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The multi-user reservation scheduling path planning method, the multi-user reservation scheduling path planning device, the computer and the computer readable storage medium provided by the present application are introduced in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
Claims (8)
1. A multi-user reservation scheduling path planning method is characterized by comprising the following steps:
constructing a time window variable according to the time limit of the destination allowed access in the path planning;
constructing a matching degree variable according to the matching degree of each actor in the path plan and the destination;
adding the time window variable and the matching degree variable into an ant colony algorithm to obtain a multi-user appointment scheduling ant colony algorithm; the multi-user reservation scheduling ant colony algorithm obtained by adding the time window variable and the matching degree variable is specifically as follows:
wherein, ω isijThe values of the time window variable are as follows:
δijthe matching degree variable is obtained by the following values:
and planning a path by utilizing the multi-user reservation scheduling ant colony algorithm.
2. The multi-user reservation scheduling path planning method according to claim 1, wherein constructing the time window variable according to the time limit allowed for the destination in the path planning comprises:
setting an upper arrival time limit and a lower arrival time limit of a destination in the path plan;
and according to the upper limit of the arrival time and the lower limit of the arrival time, adding a consumed time parameter and a current time parameter of the movement of the actor to construct a time window value mode of the time window variable and the time window variable.
3. The multi-user reservation scheduling path planning method according to claim 2, wherein the constructing a matching degree variable according to the matching degree of each actor and the destination in the path planning comprises:
setting an actor match value for the actor and a destination match value for the destination;
and constructing a matching degree value mode of the matching degree variable and the matching degree variable according to the actor matching value and the destination matching value.
4. A multi-user reservation scheduling path planning device is characterized by comprising:
the time window variable acquisition module is used for constructing a time window variable according to the time limit of the destination allowed access in the path planning;
a matching degree variable obtaining module, configured to construct a matching degree variable according to a matching degree between each actor in the path plan and the destination;
the ant colony algorithm improvement module is used for adding the time window variable and the matching degree variable into an ant colony algorithm to obtain a multi-user appointment scheduling ant colony algorithm; the multi-user reservation scheduling ant colony algorithm obtained by adding the time window variable and the matching degree variable is specifically as follows:
wherein, ω isijThe values of the time window variable are as follows:
δijthe matching degree variable is obtained by the following values:
and the path planning module performs path planning by using the multi-user reservation scheduling ant colony algorithm.
5. The multi-user reservation scheduling path planning apparatus according to claim 4, wherein the time window variable acquiring module comprises:
a time limit setting unit for setting an upper arrival time limit and a lower arrival time limit of a destination in the path plan;
and the time window variable constructing unit is used for adding the consumption time length parameter of the movement of the actor and the current time parameter to construct the time window variable and the time window value mode of the time window variable according to the upper limit of the arrival time and the lower limit of the arrival time.
6. The multi-user reservation scheduling path planning apparatus according to claim 5, wherein the matching degree variable acquiring module comprises:
a matching degree setting unit for setting an actor matching value of the actor and a destination matching value of the destination;
and the matching degree variable constructing unit is used for constructing a matching degree value mode of the matching degree variable and the matching degree variable according to the actor matching value and the destination matching value.
7. A computer, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the multi-person reservation scheduling path planning method according to any of claims 1 to 3 when executing said computer program.
8. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the multi-person reservation scheduling path planning method according to any one of claims 1 to 3.
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