CN109816131A - Paths planning method, path planning apparatus and computer readable storage medium - Google Patents
Paths planning method, path planning apparatus and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses a kind of paths planning method, path planning apparatus and computer readable storage mediums, are related to mobile robot technology field.Paths planning method therein includes: to determine that the hot spot of adjacent node transports cost according to the road conditions of the adjacent node of present node；It is added the fixed transport cost that the hot spot of adjacent node transports cost and present node to path between adjacent node to obtain dynamic transport cost；By dynamic transport cost and adjacent node to terminal between the fixed transport cost in path be added, obtain the multi-transportation cost of transporting equipment to terminal from present node；Transporting equipment is planned to making the smallest adjacent node of multi-transportation cost；It recalculates transporting equipment and plans from present node multi-transportation cost to terminal and constantly by transporting equipment to the smallest adjacent node of multi-transportation cost is made, until the present node of transporting equipment is terminal.The present invention can plan that more reasonable transportation route mitigates the congestion of transporting equipment, Lifting Convey efficiency.
Description
Technical field
The present invention relates to mobile robot technology field, in particular to a kind of paths planning method, path planning apparatus and
Computer readable storage medium.
Background technique
In the intelligent logistics system of modernization, improving production efficiency using automatic technology is constant trend.Sorting
The newest a kind of sort mode that center uses is that automated guided vehicle is used to carry delivery of packages, can be related in this process
And transported to extensive automated guided vehicle, how to improve sorting efficiency and is an important issue.
Wherein how reasonably to coordinate the navigation of more automated guided vehicles, avoid the congestion of automated guided vehicle traffic with
The problem of paralysing to entire transport road network, be a core.In the transport scene of automated guided vehicle, uses and be based on
The grating map that two-dimension code navigation is constituted, automated guided vehicle passes through two-dimension code navigation on map.
In traditional paths planning method, shortest path is solved using dijkstra's algorithm.However dijkstra's algorithm is imitated
Rate is low, needs to traverse terminal layer by layer and just stops, there are the wastings of resources in ergodic process in this way.
Summary of the invention
Inventor study and find to the algorithm designed in path planning, using A-Star algorithm by estimating letter
Number estimates remaining unfinished path, can achieve the purpose of fast searching.However is although had using A-Star algorithm and efficiently sought
Road ability, but it is to rely on the accuracy for estimating function.If estimating function closer to actual value, more quickly can accurately solve
Path.If obstacle on the way can not accurately be estimated by estimating function, still there are huge for A-Star algorithm in pathfinding ability
Waist performance.Meanwhile traditional paths planning method reasonably estimates dynamic road network shortage, in road network the case where congestion
It can not participate in new route planning, will cause the congestion of transporting equipment, efficiency is delivered in whole transport will receive influence.
The technical problem that the present invention solves is how to plan that more reasonable transportation route mitigates gathering around for transporting equipment
It is stifled, Lifting Convey efficiency.
According to an aspect of an embodiment of the present invention, a kind of paths planning method is provided, comprising: work as according to transporting equipment
The road conditions of the adjacent node of front nodal point determine the hot spot transport cost of adjacent node；By the hot spot of adjacent node transport cost with
And the fixed transport cost in present node to path between adjacent node is added, obtain present node between adjacent node path it is dynamic
State transports cost；By the dynamic transport cost and adjacent node of present node to path between adjacent node to terminal between path consolidate
Surely transport cost is added, and obtains the multi-transportation cost of transporting equipment to terminal from present node；Transporting equipment is planned to making
The smallest adjacent node of multi-transportation cost；The multi-transportation cost of transporting equipment to terminal from present node is recalculated, and
Constantly transporting equipment is planned to the smallest adjacent node of multi-transportation cost is made, until the present node of transporting equipment is eventually
Point.
In some embodiments, according to the road conditions of the adjacent node of transporting equipment present node, the heat of adjacent node is determined
Point transport cost includes at least one of following situations: according to feelings of the adjacent node in the planning path of other transporting equipments
Condition determines the hot spot transport cost of adjacent node；According to there is the case where current obstacle on adjacent node, adjacent node is determined
Hot spot transports cost；It whether is the hot spot transport cost that adjacent node is determined the case where turning node according to adjacent node.
In some embodiments, the situation according to adjacent node in the planning path of other transporting equipments determines adjacent
The hot spot transport cost of node includes: in adjacent node in the planning path of other transporting equipments, is adjacent segments
The hot spot transport cost of point increases by the first cost value.
In some embodiments, the first cost value and the quantity of other transporting equipments are positively correlated.
In some embodiments, the situation according to adjacent node in the planning path of other transporting equipments determines adjacent
The hot spot of node transports cost further include: in situation of the adjacent node in the opposite planning path of other multiple transporting equipments
Under, it is that the hot spot of adjacent node transports cost the second cost value of increase.
In some embodiments, the second cost value and the quantity of other multiple transporting equipments are positively correlated.
In some embodiments, according to there is the case where current obstacle on adjacent node, the hot spot fortune of adjacent node is determined
Defeated cost include: adjacent node the closed loop that other multiple transporting equipments are formed lock on path or adjacent node for therefore
It is that the hot spot of adjacent node transports cost increase third cost value in the case where barrier point.
It in some embodiments, whether is the hot spot fortune that adjacent node is determined the case where turning node according to adjacent node
Defeated cost includes: in the case where adjacent node is turning node, is that the hot spot of adjacent node transports cost increase forth generation valence
Value.
In some embodiments, paths planning method further include: generate fixed transport worth of data library, fixed transport cost
Fixed transport cost of the database comprising the path of cut-through between any two node；Utilize present node and adjacent node
The fixed transport worth of data library of inquiry obtains the fixed transport cost of present node to path between adjacent node；Utilize adjacent segments
Point and the fixed transport worth of data library of terminal inquiry, the fixed transport cost in path between obtaining adjacent node to terminal.
In some embodiments, the fixed transport cost in the path of cut-through is to pass through between any two node
What dijkstra's algorithm was calculated.
According to an aspect of an embodiment of the present invention, a kind of path planning apparatus is provided, comprising: it is true that hot spot transports cost
Cover half block determines the hot spot transport cost of adjacent node for the road conditions according to the adjacent node of transporting equipment present node；It is dynamic
State transports cost determining module, for the hot spot of adjacent node to be transported cost and present node to path between adjacent node
Fixed transport cost is added, and obtains the dynamic transport cost of present node to path between adjacent node；Multi-transportation cost determines
Module, for by the dynamic transport cost and adjacent node of present node to path between adjacent node to terminal between path fixation
It transports cost to be added, obtains the multi-transportation cost of transporting equipment to terminal from present node；Transporting equipment planning module, is used for
Transporting equipment is planned to making the smallest adjacent node of multi-transportation cost；Iterative processing module is set for recalculating transport
The standby multi-transportation cost from present node to terminal, and constantly plan transporting equipment to making the smallest phase of multi-transportation cost
Neighbors, until the present node of transporting equipment is terminal.
In some embodiments, hot spot transport cost determining module is at least one of following situations: according to adjacent
Situation of the node in the planning path of other transporting equipments determines the hot spot transport cost of adjacent node；According to adjacent node
It is upper to there is the case where current obstacle, determine the hot spot transport cost of adjacent node；It whether is turning node according to adjacent node
Situation determines the hot spot transport cost of adjacent node.
In some embodiments, hot spot transport cost determining module be used for: adjacent node other transporting equipments rule
It is that the hot spot of adjacent node transports cost the first cost value of increase in the case where drawing on path.
In some embodiments, the first cost value and the quantity of other transporting equipments are positively correlated.
In some embodiments, hot spot transport cost determining module is also used to: being set in adjacent node in other multiple transports
It is that the hot spot of adjacent node transports cost the second cost value of increase in the case where in standby opposite planning path.
In some embodiments, the second cost value and the quantity of other multiple transporting equipments are positively correlated.
In some embodiments, hot spot transport cost determining module is used for: in adjacent node in other multiple transporting equipments
The closed loop of formation locks on path or in the case that adjacent node is fault point, is that the hot spot of adjacent node transports cost increasing
Add third cost value.
In some embodiments, hot spot transport cost determining module is used for: in the case where adjacent node is turning node,
Cost increase forth generation value is transported for the hot spot of adjacent node.
In some embodiments, path planning apparatus further include: database generation module, for generating fixed transport cost
Database, fixed transport cost of the fixed transport worth of data library comprising the path of cut-through between any two node；Data
Library inquiry module obtains present node extremely for inquiring fixed transport worth of data library using present node and adjacent node
The fixed transport cost in path between adjacent node；And fixed transport worth of data library is inquired using adjacent node and terminal,
The fixed transport cost in path between obtaining adjacent node to terminal.
In some embodiments, the fixed transport cost in the path of cut-through is to pass through between any two node
What dijkstra's algorithm was calculated.
Another aspect according to an embodiment of the present invention provides a kind of path planning apparatus, wherein includes: memory；
And it is coupled to the processor of memory, processor is configured as executing road above-mentioned based on instruction stored in memory
Diameter planing method.
Another aspect according to an embodiment of the present invention provides a kind of computer readable storage medium, wherein computer
Readable storage medium storing program for executing is stored with computer instruction, and instruction realizes paths planning method above-mentioned when being executed by processor.
Paths planning method provided by the invention can plan that more reasonable transportation route mitigates gathering around for transporting equipment
It is stifled, Lifting Convey efficiency.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 shows the flow diagram of the paths planning method of one embodiment of the invention.
Fig. 2 shows the flow diagrams of the paths planning method of another embodiment of the present invention.
Fig. 3 shows the structural schematic diagram of the path planning apparatus of one embodiment of the invention.
Fig. 4 shows the structural schematic diagram of the path planning apparatus of another embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or make
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under all other embodiment obtained, shall fall within the protection scope of the present invention.
Fig. 1 is combined to introduce the paths planning method of one embodiment of the invention first.
Fig. 1 shows the flow diagram of the paths planning method of one embodiment of the invention.As shown in Figure 1, this implementation
Example in paths planning method include:
Step S102 determines the hot spot transport of adjacent node according to the road conditions of the adjacent node of transporting equipment present node
Cost.
Wherein, according to the road conditions of the adjacent node of transporting equipment present node, the hot spot transport cost of adjacent node y is determined
Cost (y) includes at least one of following situations:
(1) situation according to adjacent node in the planning path of other transporting equipments determines the hot spot fortune of adjacent node
Defeated cost；
(2) according to there is the case where current obstacle on adjacent node, the hot spot transport cost of adjacent node is determined；
It (3) whether is the hot spot transport cost that adjacent node is determined the case where turning node according to adjacent node.
The specific quantization method of hot spot transport cost cost (y) describes in detail below.
The hot spot of adjacent node is transported cost cost (y) and present node a to road between adjacent node y by step S104
Fixed transport cost s (a, y) of diameter is added, obtain present node a to path between adjacent node y dynamic transport cost d (a,
y)。
For example, fixed transport cost can be quantified according to the distance of internode path.For example, node a is to adjacent segments
The distance in path is 10 between point y, then fixed transport cost s (a, y)=10.
Step S106, extremely by the dynamic transport cost d (a, y) and adjacent node y of present node to path between adjacent node
Fixed transport cost s (y, b) in path is added between terminal b, obtains the multi-transportation generation of transporting equipment to terminal from present node
Valence f (a, b).
Step S108 plans transporting equipment to making the smallest adjacent node of multi-transportation cost.
Step S110 recalculates the multi-transportation cost of transporting equipment to terminal from present node, and constantly will transport
Facility planning is to the smallest adjacent node of multi-transportation cost is made, until the present node of transporting equipment is terminal.
Wherein, step S110 is actually iterative calculation step.Specific alternative manner for example can be in the following way
It realizes:
Two set are created first, and OPEN set saves all generated and the node that is not accessed, in CLOSED set
Store the node accessed.Present node is put into OPEN set, traversal OPEN set.Cost is taken most from OPEN set
Small node n, checks whether destination node, directly returns if it is destination node.
Then, all adjacent node k of this node n are traversed.If node k gathers interior and node k comprehensive in OPEN
The multi-transportation cost that transport cost is less than in OPEN set is closed, then n point and k point is established into anterior-posterior approach relationship, updated simultaneously
Multi-transportation cost in OPEN set；If node k does not also gather in CLOSE in OPEN set, explanation is discovery
Node k is then put into OPEN set, while n point and k point is established front and back queue relationship by new not visited node.
After having traversed node n, node n is put into the set CLOSE accessed, and to the node in OPEN set according to comprehensive
Transport cost ascending order arrangement is closed, preferentially to look for the point apart from source point cost minimization, reduces the complexity of traversal OPEN set.Weight
This multiple process is placed to CLOSE set until finding terminal.
In above-described embodiment, when for transporting equipment planning path in dynamic road network, fully considers the road conditions of node, draw
Enter the transport cost of hot spot caused by road conditions, and do unified operation with fixed transport cost, obtains having in a dynamic road network dynamic
The path of state transport cost.Then, use and contain hot spot transport cost as multi-transportation cost when planning, can move
More reasonable transportation route is planned for transporting equipment in state road network, mitigates the congestion of transporting equipment, so that road network transport is more
It is smooth, Lifting Convey efficiency.
The detailed calculating process of hot spot transport cost cost (y) of adjacent node y is illustrated below.
In the present invention, a hotspot map system can be generated, which records the position that transporting equipment reports in real time
And the information such as unfinished route, hot spot cost map is generated according to factors such as road conditions, is had recorded in hot spot cost map each
The hot spot of node transports cost.
(1) situation according to adjacent node in the planning path of other transporting equipments determines the hot spot fortune of adjacent node
Defeated cost.
In adjacent node in the planning path of other transporting equipments, it can be transported for the hot spot of adjacent node
Cost increases by the first cost value.Wherein, the first cost value can be positively correlated with the quantity of other transporting equipments.
For example, the planning path of some transporting equipment is node m- > n- > p- > q, it is a little n that current transportation equipment, which reports, then
N- > p- > q is not complete route, then there are unfinished route costs for point set { n, p, q }.When the planning of no other transporting equipments
There are when adjacent node n on path, the hot spot transport cost of point n is zero under situation (1).Whenever other transporting equipments
There are when adjacent node n in planning path, the hot spot transport cost of point n increases by 5.It will be understood by those skilled in the art that the first generation
Value may be arranged as (5,10] other preset values in range.
It further, is adjacent in adjacent node in the opposite planning path of other multiple transporting equipments
The hot spot transport cost of node increases by the second cost value.Wherein, the second cost value can be with the quantity of other multiple transporting equipments
It is positively correlated.
For example, the planning path of some transporting equipment is node m- > n- > p- > q, there are opposite transports in two-way road
The planning path of equipment is node q- > p- > n, then overlapping roads point set is { n, p, q }, then the point set exists and is overlapped into accordingly
This.Whenever, there are when adjacent node n, the hot spot transport cost of point n increases by 20 in the planning path of other two transporting equipments.This
Field is it should be understood to the one skilled in the art that the second cost value may be arranged as other preset values.
(2) according to there is the case where current obstacle on adjacent node, the hot spot transport cost of adjacent node is determined.
It is locked on path in adjacent node in the closed loop that other multiple transporting equipments are formed or adjacent node is fault point
In the case where, it is that the hot spot of adjacent node transports cost increase third cost value.
For example, transporting equipment because failure is in certain node m pause, then it can be to save that node m, which exists, which hinders current failure,
Point m hot spot transports cost and increases third cost value 500.For another example, transporting equipment agv_1 route is m- > n- > p- > q, currently in m
Point；Transporting equipment agv_2 route is n- > p- > q- > m, currently in n point；Transporting equipment agv_3 route is p- > q- > m- > n, currently
In p point；Transporting equipment agv_4 route is q- > m- > n- > p, currently in q point.Then trolley collection { avg_1, agv_2, agv_3, agv_
4 }, a closed loop deadlock is constituted, there are additional deadlock point costs for the point in closed loop.Cost can be transported for the hot spot of node
Increase third cost value 500.
It (3) whether is the hot spot transport cost that adjacent node is determined the case where turning node according to adjacent node.
It is that the hot spot of adjacent node transports cost increase forth generation value in the case where adjacent node is turning node.
For example, transporting equipment running route m- > n- > p, such as needs to turn in n point, then there is hot spot caused by turning in n point
Transportation cost can determine that movement is by certain point and turning by certain point time-consuming than determining with the physical characteristic of transporting equipment
Hot spot transportation cost caused by turning, such as it is 30 that forth generation value, which can be set,.
It will be understood by those skilled in the art that above (1), (2), the hot spot transportation cost calculation method in the case of (3) three kinds,
An exclusive use can be selected, two or three of situation is also can choose and merges use.In the case where merging use, by every kind of feelings
Hot spot transportation cost under condition is added.
The paths planning method of another embodiment of the present invention is introduced below with reference to Fig. 2.
Fig. 2 shows the flow diagrams of the paths planning method of another embodiment of the present invention.As shown in Fig. 2, in Fig. 1
Paths planning method on the basis of illustrated embodiment, before step S102, in the present embodiment further include:
Step S202, the fixed transport worth of data library of generation, fixed transport worth of data library is comprising between any two node
The fixed transport cost in the path of cut-through.
For example, a storage system unit can be provided, the fixation transportation cost for being stored in advance between any two points.It deposits
Storage media uses key value database memory-based, and the data structure of storage can be start_end:s.Any two of them section
The fixed transport cost in the path of cut-through can be calculated by dijkstra's algorithm between point.
Step S204 inquires fixed transport worth of data library using present node and adjacent node, obtains present node
To the fixed transport cost in path between adjacent node.
Step S206 inquires fixed transport worth of data library using adjacent node and terminal, obtains adjacent node to end
The fixed transport cost in path between point.
In above-described embodiment, the fixation transportation cost of cut-through between any two points is stored in advance, and with fixation transport
Fixation transportation cost of the cost as subsequent path planning algorithm is capable of providing quickly response and hides solid obstacle, quickly search
Rope transit point is to achieve the purpose that fast search path, so that quick planning path, improves the efficiency of path planning.
The path planning apparatus of one embodiment of the invention is introduced below with reference to Fig. 3.
Fig. 3 shows the structural schematic diagram of the path planning apparatus of one embodiment of the invention.As shown in figure 3, this implementation
Example path planning apparatus 30 include:
Hot spot transports cost determining module 302, for the road conditions according to the adjacent node of transporting equipment present node, determines
The hot spot of adjacent node transports cost；
Dynamic transport cost determining module 304, for the hot spot of adjacent node to be transported cost and present node to phase
The fixed transport cost in path is added between neighbors, obtains the dynamic transport cost of present node to path between adjacent node；
Multi-transportation cost determining module 306, for the dynamic transport cost by present node to path between adjacent node
With adjacent node to terminal between the fixed transport cost in path is added, obtain the comprehensive fortune of transporting equipment to terminal from present node
Defeated cost；
Transporting equipment planning module 308, for planning transporting equipment to making the smallest adjacent node of multi-transportation cost；
Iterative processing module 310, for recalculating the multi-transportation cost of transporting equipment to terminal from present node, and
Constantly transporting equipment is planned to the smallest adjacent node of multi-transportation cost is made, until the present node of transporting equipment is eventually
Point.
In above-described embodiment, when for transporting equipment planning path in dynamic road network, fully considers the road conditions of node, draw
Enter the transport cost of hot spot caused by road conditions, and do unified operation with fixed transport cost, obtains having in a dynamic road network dynamic
The path of state transport cost.Then, use and contain hot spot transport cost as multi-transportation cost when planning, can move
More reasonable transportation route is planned for transporting equipment in state road network, mitigates the congestion of transporting equipment, so that road network transport is more
It is smooth, Lifting Convey efficiency.
In some embodiments, hot spot transport cost determining module 302 is at least one of following situations:
According to situation of the adjacent node in the planning path of other transporting equipments, the hot spot transport generation of adjacent node is determined
Valence；
According to there is the case where current obstacle on adjacent node, the hot spot transport cost of adjacent node is determined；
It whether is the hot spot transport cost that adjacent node is determined the case where turning node according to adjacent node.
In some embodiments, hot spot transport cost determining module 302 is used for: in adjacent node in other transporting equipments
It is that the hot spot of adjacent node transports cost the first cost value of increase in the case where in planning path.
In some embodiments, the first cost value and the quantity of other transporting equipments are positively correlated.
In some embodiments, hot spot transport cost determining module 302 is also used to: in adjacent node in other multiple transports
It is that the hot spot of adjacent node transports cost the second cost value of increase in the case where in the opposite planning path of equipment.
In some embodiments, the second cost value and the quantity of other multiple transporting equipments are positively correlated.
In some embodiments, hot spot transport cost determining module 302 is used for: being set in adjacent node in other multiple transports
The standby closed loop formed locks on path or in the case that adjacent node is fault point, is that the hot spot of adjacent node transports cost
Increase third cost value.
In some embodiments, hot spot transport cost determining module 302 is used for: the case where adjacent node is turning node
Under, it is that the hot spot of adjacent node transports cost increase forth generation value.
In some embodiments, path planning apparatus 30 further include:
Database generation module 300, for generating fixed transport worth of data library, fixed transport worth of data library includes to appoint
It anticipates the fixed transport cost in the path of cut-through between two nodes；
Database query module 301, for inquiring fixed transport worth of data library using present node and adjacent node,
Obtain the fixed transport cost of present node to path between adjacent node；And it is fixed using adjacent node and terminal inquiry
Worth of data library is transported, the fixed transport cost in path between obtaining adjacent node to terminal.
In some embodiments, the fixed transport cost in the path of cut-through is to pass through between any two node
What dijkstra's algorithm was calculated.
In above-described embodiment, the fixation transportation cost of cut-through between any two points is stored in advance, and with fixation transport
Fixation transportation cost of the cost as subsequent path planning algorithm is capable of providing quickly response and hides solid obstacle, quickly search
Rope transit point is to achieve the purpose that fast search path, so that quick planning path, improves the efficiency of path planning.
Fig. 4 shows the structural schematic diagram of another embodiment of path planning apparatus of the present invention.As shown in figure 4, the reality
The path planning apparatus 40 for applying example includes: memory 410 and the processor 420 for being coupled to the memory 410, processor 420
It is configured as the instruction in store 410 based on storage, executes the paths planning method in any one aforementioned embodiment.
Wherein, memory 410 is such as may include system storage, fixed non-volatile memory medium.System storage
Device is for example stored with operating system, application program, Boot loader (Boot Loader) and other programs etc..
Path planning apparatus 40 can also include input/output interface 430, network interface 440, memory interface 450 etc..This
It can for example be connected by bus 450 between a little interfaces 430,440,450 and memory 410 and processor 420.Wherein, defeated
Enter output interface 430 and provides connecting interface for input-output equipment such as display, mouse, keyboard, touch screens.Network interface 440
Connecting interface is provided for various networked devices.The external storages such as memory interface 450 is SD card, USB flash disk provide connecting interface.
The invention also includes a kind of computer readable storage mediums, are stored thereon with computer instruction, and the instruction is processed
Device realizes the paths planning method in any one aforementioned embodiment when executing.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The calculating implemented in non-transient storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) can be used
The form of machine program product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (22)
1. a kind of paths planning method, comprising:
According to the road conditions of the adjacent node of transporting equipment present node, the hot spot transport cost of the adjacent node is determined；
The hot spot of the adjacent node is transported to the fixed transport generation of cost and present node to path between the adjacent node
Valence is added, and obtains the dynamic transport cost of present node to path between the adjacent node；
By present node to the dynamic transport cost in path between the adjacent node and the adjacent node to terminal between path
Fixed transport cost is added, and obtains the multi-transportation cost of transporting equipment to terminal from present node；
Transporting equipment is planned to making the smallest adjacent node of the multi-transportation cost；
The multi-transportation cost of transporting equipment to terminal from present node is recalculated, and constantly plans transporting equipment to making
The smallest adjacent node of multi-transportation cost is stated, until the present node of transporting equipment is terminal.
2. paths planning method as described in claim 1, wherein the adjacent node according to transporting equipment present node
Road conditions determine that the hot spot transport cost of the adjacent node includes at least one of following situations:
According to situation of the adjacent node in the planning path of other transporting equipments, the hot spot fortune of the adjacent node is determined
Defeated cost；
According to there is the case where current obstacle on the adjacent node, the hot spot transport cost of the adjacent node is determined；
It whether is the hot spot transport cost that the adjacent node is determined the case where turning node according to the adjacent node.
3. paths planning method as claimed in claim 2, wherein it is described according to the adjacent node in other transporting equipments
Situation in planning path determines that the hot spot transport cost of the adjacent node includes:
It is that the hot spot of the adjacent node transports in the adjacent node in the planning path of other transporting equipments
Cost increases by the first cost value.
4. paths planning method as claimed in claim 3, wherein the number of first cost value and other transporting equipments
Amount is positively correlated.
5. paths planning method as claimed in claim 2, wherein it is described according to the adjacent node in other transporting equipments
Situation in planning path determines the hot spot transport cost of the adjacent node further include:
It is the adjacent node in the adjacent node in the opposite planning path of other multiple transporting equipments
Hot spot transports cost and increases by the second cost value.
6. paths planning method as claimed in claim 5, wherein second cost value and other multiple transporting equipments
Quantity be positively correlated.
7. paths planning method as claimed in claim 2, wherein described according to there is current obstacle on the adjacent node
Situation determines that the hot spot transport cost of the adjacent node includes:
It is locked on path in the adjacent node in the closed loop that other multiple transporting equipments are formed or the adjacent node is event
It is that the hot spot of the adjacent node transports cost increase third cost value in the case where barrier point.
8. paths planning method as claimed in claim 2, wherein it is described according to the adjacent node whether be turning node
Situation determines that the hot spot transport cost of the adjacent node includes:
It is that the hot spot of the adjacent node transports cost increase forth generation valence in the case where the adjacent node is turning node
Value.
9. paths planning method as described in claim 1, wherein the paths planning method further include:
Fixed transport worth of data library is generated, the fixed transport worth of data library includes cut-through between any two node
The fixed transport cost in path；
Fixed transport worth of data library is inquired using present node and adjacent node, obtains present node to road between adjacent node
The fixed transport cost of diameter；
Fixed transport worth of data library is inquired using adjacent node and terminal, the fixation in path between obtaining adjacent node to terminal
Transport cost.
10. paths planning method as claimed in claim 9, wherein the path of cut-through is consolidated between any two node
Surely transport cost is calculated by dijkstra's algorithm.
11. a kind of path planning apparatus, comprising:
Hot spot transports cost determining module, for the road conditions according to the adjacent node of transporting equipment present node, determines the phase
The hot spot of neighbors transports cost；
Dynamic transport cost determining module, for the hot spot of the adjacent node to be transported cost and present node to the phase
The fixed transport cost in path is added between neighbors, obtains the dynamic transport generation of present node to path between the adjacent node
Valence；
Multi-transportation cost determining module, for by present node to path between the adjacent node dynamic transport cost and institute
The fixed transport cost in path is added between stating adjacent node to terminal, obtains the comprehensive fortune of transporting equipment to terminal from present node
Defeated cost；
Transporting equipment planning module, for planning transporting equipment to making the smallest adjacent segments of the multi-transportation cost
Point；
Iterative processing module for recalculating the multi-transportation cost of transporting equipment to terminal from present node, and constantly will
Transporting equipment is planned to the smallest adjacent node of multi-transportation cost is made, until the present node of transporting equipment is terminal.
12. path planning apparatus as claimed in claim 11, wherein the hot spot transport cost determining module is used for following feelings
At least one of condition:
According to situation of the adjacent node in the planning path of other transporting equipments, the hot spot fortune of the adjacent node is determined
Defeated cost；
According to there is the case where current obstacle on the adjacent node, the hot spot transport cost of the adjacent node is determined；
It whether is the hot spot transport cost that the adjacent node is determined the case where turning node according to the adjacent node.
13. path planning apparatus as claimed in claim 12, wherein the hot spot transport cost determining module is used for:
It is that the hot spot of the adjacent node transports in the adjacent node in the planning path of other transporting equipments
Cost increases by the first cost value.
14. path planning apparatus as claimed in claim 13, wherein first cost value and other transporting equipments
Quantity is positively correlated.
15. path planning apparatus as claimed in claim 12, wherein the hot spot transport cost determining module is also used to:
It is the adjacent node in the adjacent node in the opposite planning path of other multiple transporting equipments
Hot spot transports cost and increases by the second cost value.
16. path planning apparatus as claimed in claim 15, wherein second cost value is set with other multiple transports
Standby quantity is positively correlated.
17. path planning apparatus as claimed in claim 12, wherein the hot spot transport cost determining module is used for:
It is locked on path in the adjacent node in the closed loop that other multiple transporting equipments are formed or the adjacent node is event
It is that the hot spot of the adjacent node transports cost increase third cost value in the case where barrier point.
18. path planning apparatus as claimed in claim 12, wherein the hot spot transport cost determining module is used for:
It is that the hot spot of the adjacent node transports cost increase forth generation valence in the case where the adjacent node is turning node
Value.
19. path planning apparatus as claimed in claim 11, wherein the path planning apparatus further include:
Database generation module, for generating fixed transport worth of data library, the fixed transport worth of data library includes any
The fixed transport cost in the path of cut-through between two nodes；
Database query module is worked as inquiring fixed transport worth of data library using present node and adjacent node
Front nodal point to the fixed of path between adjacent node transports cost；And fixed transport generation is inquired using adjacent node and terminal
Valence database, the fixed transport cost in path between obtaining adjacent node to terminal.
20. path planning apparatus as claimed in claim 19, wherein the path of cut-through between any two node
Fixed transport cost is calculated by dijkstra's algorithm.
21. a kind of path planning apparatus, wherein include:
Memory；And
It is coupled to the processor of the memory, the processor is configured to the instruction based on storage in the memory,
Execute the paths planning method as described in any one of claims 1 to 10.
22. a kind of computer readable storage medium, wherein the computer-readable recording medium storage has computer instruction, institute
It states when instruction is executed by processor and realizes paths planning method described in any one of claims 1 to 10.
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