CN109324621A - A kind of unmanned cruiser paths planning method - Google Patents
A kind of unmanned cruiser paths planning method Download PDFInfo
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- CN109324621A CN109324621A CN201811123894.8A CN201811123894A CN109324621A CN 109324621 A CN109324621 A CN 109324621A CN 201811123894 A CN201811123894 A CN 201811123894A CN 109324621 A CN109324621 A CN 109324621A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
A kind of unmanned cruiser paths planning method includes the following steps: S1, obtains planning chorography；S2 matches the positioning of unmanned cruiser with the high-precision map reference in the planning region；S3 after matching, plans unmanned cruiser route on the planning chorography.The present invention constructs heuristic function by heuristic information, carries out cost evaluation to accessed node at plan search path, to meet index request, reaches that the time is most short, space is minimum, forms the optimal node visit path of cost.
Description
Technical field
The present invention relates to the technical field of unmanned vehicle layout of roads more particularly to a kind of unmanned cruiser path planning sides
Method.
Background technique
In unmanned vehicle field, the map of rice dimension accuracy is only suitable for manual drive, and it is then smart to reach unmanned condition
Degree must reach a centimetre rank；The other map of Centimeter Level can be provided to Unmanned Systems using GPS- inertial navigation system,
But it is constrained to the factors such as satellite-signal, specific patrol environment and architectural barriers object.GPS/INS has certain limitation, entirely
Office's path planning algorithm has ant group algorithm, genetic algorithm etc., but it is low to there is slow convergence rate, poor universality, anti-noise ability
And parameter often relys on the problems such as experience determines.
Summary of the invention
The purpose of the present invention is to provide a kind of unmanned cruiser paths planning methods, to solve to exist in the prior art
Foregoing problems.
To achieve the goals above, The technical solution adopted by the invention is as follows:
A kind of unmanned cruiser paths planning method, includes the following steps:
S1 obtains planning chorography；
S2 matches the positioning of unmanned cruiser with the high-precision map reference in the planning region；
S3 after matching, plans unmanned cruiser route on the planning chorography；
The method for planning unmanned cruiser route are as follows:
The high-precision map in planning region is converted into grating map by WebGIS grid technique by S31；Grid is big in grating map
Small numerical value represents pixel value；Grid includes two category informations, respectively area of feasible solutions information and obstacle information；
A, using the grid where the coordinate of current starting point as A, is added to grid column in the grating map by S32
In table open list；
S33, judges whether the grid adjacent with A has barrier, and the grid B of clear is added to the open
In list, and using A as the parent of the B, subclass of the B as the A；
S34, if the distance of A to B is G, the E distance of B to destination is H；If B is multiple values, when the sum of G+H is minimum
The grid that B is moved in next step as A；
S34 then removes A after A is mobile from open list, and is added in closing list close list；
S35 repeats S32-S34, until the E to arrive at the destination.
Preferably, the geospatial coordinates of the positioning of unmanned cruiser are matched on high-precision map；Matched side
Method are as follows:
S211 sets the geospatial coordinates of position with (B, L) expression, and B corresponds to longitude, L corresponding latitude；Grating map is corresponding
Projected coordinate system is indicated with (x, y)；
The geospatial coordinates (B, L) of the positioning are projected in grating map projection according to Gauss conformal projection by S212
On coordinate system；Using the projection of central meridian as ordinate after projection, it is denoted as x, using equatorial projection as abscissa, is denoted as y.
Preferably, according to Gauss conformal projection, the geospatial coordinates (B, L) of the positioning is projected in grating map and are thrown
Method on shadow coordinate system are as follows:
Longitude and latitude is carried out gauss projection by S311 on the basis of the reference ellipsoid of WGS-84；
S312 just calculates formula using Gauss Kru&4&ger projection, and the geospatial coordinates (B, L) of the positioning are projected to
On projected coordinate system (x, y).
Preferably, when the sum of G+H is minimum multiple in S34, then select the B being eventually adding in openlist point as under A
The grid that one moved further arrives.
Explanation of nouns: WebGIS (network geographic information system) refers to the work GIS online in Web, is that traditional GIS exists
Extension and development on network, have the characteristics that traditional GIS, and the retrieval, inquiry, cartography export, volume of spatial data may be implemented
Equal GIS basic function is collected, while being also GIS publishing on Internet, basis that is shared and exchanging cooperation.
The beneficial effects of the present invention are: the present invention constructs heuristic function by heuristic information, at plan search path pair
Accessed node carries out cost evaluation, to meet index request, reaches that the time is most short, space is minimum, forms the optimal node of cost
Access path.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is carried out further detailed
Explanation.It should be appreciated that the specific embodiments described herein are only used to explain the present invention, it is not intended to limit the present invention.
A kind of unmanned cruiser paths planning method, includes the following steps:
S1 obtains planning chorography；
S2 matches the positioning of unmanned cruiser with the high-precision map reference in planning region；
S3 after matching, plans unmanned cruiser route on planning chorography；
The method for planning unmanned cruiser route are as follows:
The high-precision map in planning region is converted into grating map by WebGIS grid technique by S31；Grid is big in grating map
Small numerical value represents pixel value；Grid includes two category informations, respectively area of feasible solutions information and obstacle information；
A, using the grid where the coordinate of current starting point as A, is added to grid list in grating map by S32
In open list；
S33, judges whether the grid adjacent with A has barrier, and the grid B of clear is added in open list,
And using A as the parent of B, subclass of the B as A；
S34, if the distance of A to B is G, the E distance of B to destination is H；If B is multiple values, when the sum of G+H is minimum
The grid that B is moved in next step as A；
S34 then removes A after A is mobile from open list, and is added in closing list close list；
S35 repeats S32-S34, until the E to arrive at the destination.
The geospatial coordinates of the positioning of unmanned cruiser are matched on high-precision map；Matched method are as follows:
S211 sets the geospatial coordinates of position with (B, L) expression, and B corresponds to longitude, L corresponding latitude；Grating map is corresponding
Projected coordinate system is indicated with (x, y)；
The geospatial coordinates (B, L) of positioning are projected in grating map projection coordinate according to Gauss conformal projection by S212
It fastens；Using the projection of central meridian as ordinate after projection, it is denoted as x, using equatorial projection as abscissa, is denoted as y.
According to Gauss conformal projection, the geospatial coordinates (B, L) of positioning are projected in grating map projection coordinate and are fastened
Method are as follows:
Longitude and latitude is carried out gauss projection by S311 on the basis of the reference ellipsoid of WGS-84；
S312 just calculates formula using Gauss Kru&4&ger projection, and the geospatial coordinates (B, L) of positioning are projected to projection
On coordinate system (x, y).
When the sum of G+H is minimum multiple in S34, then select the B being eventually adding in openlist point as the lower moved further of A
The grid arrived.
High-precision map accordingly manages space coordinates, with (B, L) expression, corresponding longitude and latitude；The corresponding projection of grating map
Coordinate system is indicated with (x, y), corresponds to the point of projected coordinate system.Wherein: x=F1 (B, L)；Y=F2 (B, L)
The projecting method used in this patent for Gauss conformal projection, the projecting method using the projection of central meridian as
Ordinate is denoted as x, using equatorial projection as abscissa, is denoted as y.In the patent, the method for coordinate conversion are as follows: first by longitude and latitude
Gauss projection is carried out on the basis of the reference ellipsoid of WGS-84.Formula is just calculated using Gauss Kru&4&ger projection, WGS can be passed through
Latitude (dimension B, longitude L) projects to plane coordinate system (x, y), projects the positive calculation formula (Gauss-of Gauss Kru&4&ger projection
The positive formula of calculating of Ke Lvge projection is rectangular co-ordinate geodetic coordinates being converted into Gauss Kru&4&ger projection's plane):
Wherein:
C1=2 (A1-2A2+3A3-4A4+5A5-6A6)
C2=2 (4A2-16A3+40A4-80A5+140A6)
C3=2 (16A3-96A4+336A5-896A6)
X=C0B-cos B(C1sin B+C2sin3B+C3sin5B)
A is the elliptical major semiaxis length of the earth, and b is the elliptical semi-minor axis radius of the earth,For ellipse first
Eccentricity,For oval second eccentricity.Therefore C0, C1, C2, C2It is unrelated with point and only has with ellipsoidal parameter
The constant coefficient of pass, L0For central meridian longitude, X is the Meridian arc length from the amount of equator, and N is radius of curvature in prime vertical.
Present example constructs heuristic function by heuristic information, carries out cost to accessed node at plan search path
Evaluation reaches that the time is most short, space is minimum to meet index request, forms the optimal node visit path of cost.It is described above
It is only the preferred embodiment of the present invention, it is noted that for those skilled in the art, do not departing from this
Under the premise of inventive principle, several improvements and modifications can also be made, these improvements and modifications should also regard protection model of the invention
It encloses.
Claims (4)
1. a kind of unmanned cruiser paths planning method, it is characterised in that include the following steps:
S1 obtains planning chorography；
S2 matches the positioning of unmanned cruiser with the high-precision map reference in the planning region；
S3 after matching, plans unmanned cruiser route on the planning chorography；
The method for planning unmanned cruiser route are as follows:
The high-precision map in planning region is converted into grating map by WebGIS grid technique by S31；Grid size in grating map
Numerical value represents pixel value；Grid includes two category informations, respectively area of feasible solutions information and obstacle information；
A, using the grid where the coordinate of current starting point as A, is added to grid list in the grating map by S32
In open list；
S33, judges whether the grid adjacent with A has barrier, and the grid B of clear is added in the open list,
And using A as the parent of the B, subclass of the B as the A；
S34, if the distance of A to B is G, the E distance of B to destination is H；If B is multiple values, B when the sum of G+H is minimum makees
The grid being moved in next step for A；
S34 then removes A after A is mobile from open list, and is added in closing list close list；
S35 repeats S32-S34, until the E to arrive at the destination.
2. unmanned cruiser paths planning method according to claim 1, feature exist: by the positioning of unmanned cruiser
Geospatial coordinates are matched on high-precision map；Matched method are as follows:
S211 sets the geospatial coordinates of position with (B, L) expression, and B corresponds to longitude, L corresponding latitude；The corresponding projection of grating map
Coordinate system is indicated with (x, y)；
The geospatial coordinates (B, L) of the positioning are projected in grating map projection coordinate according to Gauss conformal projection by S212
It fastens；Using the projection of central meridian as ordinate after projection, it is denoted as x, using equatorial projection as abscissa, is denoted as y.
3. unmanned cruiser paths planning method according to claim 2, feature exist:, will according to Gauss conformal projection
The geospatial coordinates (B, L) of the positioning are projected in the method that grating map projection coordinate fastens are as follows:
Longitude and latitude is carried out gauss projection by S311 on the basis of the reference ellipsoid of WGS-84；
S312 just calculates formula using Gauss Kru&4&ger projection, and the geospatial coordinates (B, L) of the positioning are projected to projection
On coordinate system (x, y).
4. unmanned cruiser paths planning method according to claim 1, feature exist: the sum of G+H is minimum more in S34
When a, then select the B being eventually adding in openlist point as the A grid that is moved in next step.
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Cited By (6)
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| CN110111442A (en) * | 2019-06-03 | 2019-08-09 | 湖北南邦创电科技有限公司 | Equipment routing inspection method and inspection device in a kind of region |
| CN110260865A (en) * | 2019-07-11 | 2019-09-20 | 国网上海市电力公司 | A kind of ultra-high voltage transformer station fortune inspection route planning method |
| CN110456789A (en) * | 2019-07-23 | 2019-11-15 | 中国矿业大学 | A kind of complete coverage path planning method of clean robot |
| CN110852470A (en) * | 2019-09-20 | 2020-02-28 | 合肥工业大学 | Optimization method for traffic patrol task allocation under cooperation of unmanned aerial vehicle and vehicle |
| CN113777913A (en) * | 2021-09-02 | 2021-12-10 | 盐城中科高通量计算研究院有限公司 | Patrol car high-precision tracking method based on improved extreme learning machine |
| CN113867341A (en) * | 2021-09-18 | 2021-12-31 | 盐城中科高通量计算研究院有限公司 | Patrol car path planning and tracking algorithm with high-precision tracking and control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110111442A (en) * | 2019-06-03 | 2019-08-09 | 湖北南邦创电科技有限公司 | Equipment routing inspection method and inspection device in a kind of region |
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| CN110456789A (en) * | 2019-07-23 | 2019-11-15 | 中国矿业大学 | A kind of complete coverage path planning method of clean robot |
| CN110852470A (en) * | 2019-09-20 | 2020-02-28 | 合肥工业大学 | Optimization method for traffic patrol task allocation under cooperation of unmanned aerial vehicle and vehicle |
| CN113777913A (en) * | 2021-09-02 | 2021-12-10 | 盐城中科高通量计算研究院有限公司 | Patrol car high-precision tracking method based on improved extreme learning machine |
| CN113777913B (en) * | 2021-09-02 | 2023-12-08 | 盐城中科高通量计算研究院有限公司 | Patrol car high-precision tracking method based on improved extreme learning machine |
| CN113867341A (en) * | 2021-09-18 | 2021-12-31 | 盐城中科高通量计算研究院有限公司 | Patrol car path planning and tracking algorithm with high-precision tracking and control |
| CN113867341B (en) * | 2021-09-18 | 2023-12-22 | 盐城中科高通量计算研究院有限公司 | Patrol car path planning and tracking method with high-precision tracking and control |
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