CN110826755B - Method and device for determining intelligent agent traveling path - Google Patents

Method and device for determining intelligent agent traveling path Download PDF

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CN110826755B
CN110826755B CN201810914223.7A CN201810914223A CN110826755B CN 110826755 B CN110826755 B CN 110826755B CN 201810914223 A CN201810914223 A CN 201810914223A CN 110826755 B CN110826755 B CN 110826755B
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reachable
current
time
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agent
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CN110826755A (en
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彭成
严孝伟
朱礼君
刘衡
周恺
杨志远
赵海兵
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Cainiao Smart Logistics Holding Ltd
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Priority to PCT/CN2019/099720 priority patent/WO2020034887A1/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping

Abstract

The application provides a method for determining a travel path of an intelligent agent, which comprises the following steps: determining an reachable position between the current position of the current agent and the target position and reachable time corresponding to the reachable position; determining at least one alternative traveling path from the current position to the target position of the current agent according to the reachable position and the reachable time corresponding to the reachable position; and determining an actual travel path of the current agent from the current position to the target position according to the at least one alternative travel path. According to the technical scheme, the time when the intelligent agent reaches the reachable position is controlled through the reachable time, so that the intelligent agent can reach the reachable position within the reachable time, the intelligent agent can move to the reachable position at a certain speed without special requirements, can move at a non-uniform speed and the like, and can move for a period of time and stop for a period of time, so that the intelligent agent can reach the target position at a non-uniform speed within continuous time.

Description

Method and device for determining intelligent agent traveling path
Technical Field
The application relates to the field of path planning, in particular to a method and a device for determining a travel path of an intelligent agent, and also relates to electronic equipment and a computer-readable storage medium.
Background
In the field of logistics, an intelligent agent (such as a logistics robot) can replace a human to complete a sorting task. Among them, the technology of path planning for a large number of agents is particularly critical. Path Planning is performed on a large number of agents, which is a classical optimization problem called Multi-Agent Path Planning (MAPF). Specifically, a map composed of a point set and an edge set and a certain number of agents (agents) are given, initial positions and destinations are set for the agents, and a moving route of each Agent is solved, so that each Agent can move from the respective initial positions to the respective destinations without conflict (without conflict with fixed obstacles or other agents).
Previously, research on Multi-agent path Planning has been conducted on Multi-Robot Motion Planning (MMP) in addition to MAPF. Almost all MAPF studies have two settings: 1) discretizing time, namely forming a time axis by unit time; 2) based on a Constant Velocity Network (CVN), no consideration is given to the motion model of the agents themselves, i.e., all agents are considered to be in Constant motion at any time, i.e., in a unit distance in a time unit at any time. Researchers also put forward the MAPF-POST algorithm to perform POST-processing on the path planned by the traditional MAPF algorithm. After finding the paths of all the agents in the ideal environment through any MAPF algorithm, drawing the paths as an enhanced time sequence planning chart, wherein the path of each agent occupies one line, and each point represents an event and a point
Figure BDA0001762516650000011
Indicating that agent i will rank at the jth access point X. If a point is accessed by multiple agents, the latter agent can only advance the point after the former agent leaves. The MAPF-POST algorithm enables the solution solved by various MAPF algorithms to be converted into a non-colliding execution solution.
In a real scene, such as a logistics robot, the logistics robot operates in continuous time, and each robot has its own physical motion model, such as an acceleration process when starting and a deceleration process before stopping. The MAPF algorithm in the past cannot effectively process the real scene of continuous time and non-uniform motion. The traditional MMP algorithm and MAPF-POST algorithm are also not suitable for solving the large-scale intelligent body path planning problem of the real scene.
Disclosure of Invention
The application provides a method and a device for determining an advancing path of an intelligent agent, and aims to solve the technical problem of path planning of a large number of intelligent agents in continuous time and non-uniform motion. The application also relates to an electronic device and a computer-readable storage medium.
The method for determining the intelligent agent traveling path comprises the following steps:
determining an reachable position between the current position of the current agent and the target position and reachable time corresponding to the reachable position;
Determining at least one alternative traveling path from the current position to the target position of the current intelligent agent according to the reachable position and the reachable time corresponding to the reachable position;
and determining an actual travel path of the current agent from the current position to the target position according to the at least one alternative travel path.
In this embodiment, the reachable position between the current position and the target position is determined by:
determining a first reachable direction according to the current position and the current direction of the current agent, and obtaining the first reachable direction and the corresponding reachable position of the current position in the current direction;
aiming at the current position and the current direction of the current agent, determining a straight-going reachable position in the current direction of the current position according to an action space which is straight-going in the current direction by a plurality of unit distances, and obtaining a second reachable direction and a corresponding reachable position;
and aiming at the first reachable direction and the second reachable direction and the corresponding reachable positions, determining a new reachable direction and a corresponding reachable position until a target direction and a corresponding target position are reached.
In this embodiment, the reachable position between the current position and the target position is determined by:
Determining a third reachable direction according to the current position of the current agent;
aiming at a third reachable direction of the current position, determining the reachable direction of the current position in the third reachable direction and a corresponding reachable position according to the action space of a plurality of straight lines in unit distance;
and determining a new reachable direction, a reachable direction in the new reachable direction and a corresponding reachable position according to the reachable direction of the current position in the third reachable direction and the corresponding reachable position until the target direction and the corresponding target position are reached.
In this embodiment, the first reachable direction and the third reachable direction are both determined as follows:
determining whether the current agent conflicts with other agents at the current position when the current position of the current agent changes direction;
when the direction and the current direction which can be converted are determined as a first reachable direction or a third reachable direction when the direction and the current direction are not conflicted;
and when in conflict, determining the current direction as the first reachable direction or the third reachable direction.
In this embodiment, when only a single agent exists, the reachable time corresponding to the reachable position is any time.
In this embodiment, when there are a plurality of agents, the reachable time corresponding to the reachable location is determined by:
And determining the time allowed for the current intelligent body to reach the reachable position as the reachable time corresponding to the reachable position, wherein the reachable time corresponding to the reachable position does not conflict with the time of other intelligent bodies in the reachable position.
In this embodiment, the reachable time corresponding to the reachable position does not conflict with the time when other intelligent objects are located at the reachable position, and is determined in the following manner:
inquiring a time occupation table, wherein the time occupation table is used for recording the time of other intelligent bodies in the reachable position;
and if the reachable time corresponding to the reachable position does not conflict with the time of other intelligent positions in the time record table when the reachable position is located in the reachable position, determining that the reachable time corresponding to the reachable position does not conflict with the time of other intelligent positions when the other intelligent positions are located in the reachable position.
In this embodiment, the step of determining the time allowed for the current agent to reach the reachable location as the reachable time corresponding to the reachable location includes:
and determining the time allowed for the current agent to reach the reachable position as the reachable time corresponding to the reachable position according to the available time corresponding to the current position, the time spent from the current position to the reachable position and the available time corresponding to the reachable position.
In this embodiment, the step of determining, according to the available time corresponding to the current location, the time required to reach the reachable location from the current location, and the available time corresponding to the reachable location, the time allowed for the current agent to reach the reachable location as the reachable time corresponding to the reachable location includes:
and translating the available time corresponding to the current position by the intersection of the time obtained after the time spent for the current position to reach the reachable position and the available time corresponding to the reachable position, and determining the time as the reachable time corresponding to the reachable position.
In this embodiment, the step of determining an actual travel path of the current agent from the current location to the target location according to the at least one alternative travel path includes:
and selecting the path with the least time consumption as the actual travel path from the current position to the target position of the current agent according to the at least one alternative travel path.
In this embodiment, the method further includes:
and determining the speed of the current agent between each adjacent reachable position according to the reachable time of each adjacent reachable position on the alternative traveling path.
The utility model provides a determination device of route is travelled to agent includes:
The reachable position and reachable time determining unit is used for determining a reachable position between the current position of the current agent and the target position and reachable time corresponding to the reachable position;
the alternative traveling path determining unit is used for determining at least one alternative traveling path from the current position to the target position of the current intelligent agent according to the reachable position and the reachable time corresponding to the reachable position;
and the actual traveling path determining unit is used for determining the actual traveling path of the current intelligent agent from the current position to the target position according to the at least one alternative traveling path.
In this embodiment, the reachable position and reachable time determining unit is configured to:
determining a first reachable direction aiming at the current position and the current direction of the current agent to obtain the first reachable direction and the corresponding reachable position of the current position in the current direction;
aiming at the current position and the current direction of the current agent, determining a straight-going reachable position in the current direction of the current position according to an action space which is straight-going in the current direction by a plurality of unit distances, and obtaining a second reachable direction and a corresponding reachable position;
and aiming at the first reachable direction and the second reachable direction and the corresponding reachable positions, determining a new reachable direction and a corresponding reachable position until a target direction and a corresponding target position are reached.
In this embodiment, the reachable position and reachable time determining unit is configured to:
determining a third reachable direction according to the current position of the current agent;
aiming at a third reachable direction of the current position, determining the reachable direction of the current position in the third reachable direction and a corresponding reachable position according to the action space of a plurality of straight lines with unit distances;
and determining a new reachable direction, a reachable direction in the new reachable direction and a corresponding reachable position according to the reachable direction of the current position in the third reachable direction and the corresponding reachable position until the target direction and the corresponding target position are reached.
In this embodiment, the apparatus further includes a reachable direction determining unit, configured to:
determining whether the current agent conflicts with other agents at the current position when the current position of the current agent changes direction;
when the direction and the current direction which can be converted are determined as a first reachable direction or a third reachable direction when the direction and the current direction are not conflicted;
and when in conflict, determining the current direction as the first reachable direction or the third reachable direction.
In this embodiment, when there are a plurality of agents, the reachable location and reachable time determining unit includes:
And the reachable time determining subunit is used for determining the time for allowing the current intelligent agent to reach the reachable position as the reachable time corresponding to the reachable position, wherein the reachable time corresponding to the reachable position does not conflict with the time for other intelligent agents to be positioned at the reachable position.
In this embodiment, the reachable time determining subunit is configured to:
inquiring a time occupation table, wherein the time occupation table is used for recording the time of other intelligent bodies in the reachable position;
and if the reachable time corresponding to the reachable position does not conflict with the time of other intelligent positions in the time record table when the reachable position is located in the reachable position, determining that the reachable time corresponding to the reachable position does not conflict with the time of other intelligent positions when the other intelligent positions are located in the reachable position.
In this embodiment, the reachable time determining subunit is configured to: and determining the time allowed for the current agent to reach the reachable position as the reachable time corresponding to the reachable position according to the available time corresponding to the current position, the time spent from the current position to the reachable position and the available time corresponding to the reachable position.
In this embodiment, the reachable time determining subunit is configured to: and translating the available time corresponding to the current position by the intersection of the time obtained after the time spent for the current position to reach the reachable position and the available time corresponding to the reachable position, and determining the time as the reachable time corresponding to the reachable position.
In this embodiment, the actual travel path determining unit is configured to:
and selecting the path which takes the least time as the actual travel path from the current position to the target position of the current agent according to the at least one alternative travel path.
In this embodiment, the apparatus further includes:
and the speed determining unit is used for determining the speed of the current intelligent agent between each adjacent reachable position according to the reachable time of each adjacent reachable position on the alternative traveling path.
The application provides an electronic device, including:
a memory and a processor;
the memory is to store computer-executable instructions, and the processor is to execute the computer-executable instructions to:
determining an reachable position between the current position of the current agent and the target position and reachable time corresponding to the reachable position;
determining at least one alternative traveling path from the current position to the target position of the current agent according to the reachable position and the reachable time corresponding to the reachable position;
and determining an actual travel path of the current agent from the current position to the target position according to the at least one alternative travel path.
A computer-readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, performs the following:
A memory and a processor;
the memory is to store computer-executable instructions, and the processor is to execute the computer-executable instructions to:
determining an reachable position between the current position of the current agent and the target position and reachable time corresponding to the reachable position;
determining at least one alternative traveling path from the current position to the target position of the current agent according to the reachable position and the reachable time corresponding to the reachable position;
and determining an actual travel path of the current agent from the current position to the target position according to the at least one alternative travel path.
In the technical scheme of the application, an reachable position between the current position of the current agent and the target position and reachable time corresponding to the reachable position are determined; determining at least one traveling path from the current position to the target position of the current agent according to the reachable time corresponding to the reachable position; and finally, determining an alternative travel path from the current position to the target position of the current intelligent agent according to the reachable time corresponding to the reachable position on the at least one travel path. According to the technical scheme, the time when the intelligent agent reaches the reachable position is controlled through the reachable time, so that the intelligent agent can reach the reachable position within the reachable time, the intelligent agent can move to the reachable position at a certain speed without special requirements, can move at a non-uniform speed and the like, and can move for a period of time and stop for a period of time, so that the intelligent agent can reach the target position at the non-uniform speed within continuous time.
Drawings
FIG. 1 is a process flow diagram of an embodiment of a method for determining a path of travel of an agent as provided herein;
FIG. 2 is a schematic diagram of an application scenario of a method for determining a travel path of an agent according to the present application;
FIG. 3 is a schematic diagram of an embodiment of an apparatus for determining a path of travel of an agent provided herein;
fig. 4 is a schematic diagram of an embodiment of an electronic device provided in the present application.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.
The application provides a method for determining a travel path of an intelligent agent, and fig. 1 is a processing flow chart of an embodiment of the method for determining the travel path of the intelligent agent provided by the application. The following describes a technical solution of the method for determining an intelligent agent travel path provided by the present application with reference to a processing flow chart of an embodiment of the method for determining an intelligent agent travel path shown in fig. 1.
The processing flow of the embodiment of the method for determining the travel path of the intelligent agent, which is shown in fig. 1, comprises the following steps:
step S101, determining an reachable position between the current position of the current agent and the target position and reachable time corresponding to the reachable position.
The current agent is an agent that is planning a path. The current location of the current agent refers to the location where the current agent is currently located. The method comprises the steps of determining each reachable position from the current position to the target position and reachable time corresponding to each reachable position based on the current position of the current agent.
In this embodiment, the reachable position between the current position and the target position is determined in the following manner.
The first mode is as follows:
A) and determining a first reachable direction according to the current position and the current direction of the current agent to obtain the first reachable direction and the corresponding reachable position of the current position in the current direction. At this time, the direction is not straight, but only the reachable direction is determined, so that the position is not changed, the direction is changed, and the changed direction and the corresponding original position are obtained.
B) And aiming at the current position and the current direction of the current agent, determining a straight-going reachable position in the current direction of the current position according to the action space of straight-going in the current direction by a plurality of unit distances, and obtaining a second reachable direction and a corresponding reachable position. At this time, the direction is not changed, and the device only moves straight, so that the position is changed, the direction is not changed, and the original direction and the reachable position after corresponding change are obtained.
C) And aiming at the first reachable direction and the second reachable direction and the corresponding reachable positions, determining a new reachable direction and a corresponding reachable position until a target direction and a corresponding target position are reached. And at the moment, repeating the step A) and the step B), and aiming at the first reachable direction and the second reachable direction and the corresponding reachable positions, determining a new reachable direction and a corresponding reachable position until the target direction and the corresponding target position are reached.
Wherein the first reachable direction may be determined by: first, it is determined whether the current agent is in conflict with other agents at the current location when the current location changes direction. Secondly, when the direction is not conflicted, the direction which can be converted and the current direction are determined as the first reachable direction. And when the collision happens, determining that the current direction is the first reachable direction.
For avoiding redundancy, the detailed description of the first manner can be understood with reference to the relevant portions of the second implementation.
The second implementation mode comprises the following steps:
A) and determining a third reachable direction according to the current position of the current agent.
The step aims to determine the reachable direction corresponding to the current position. The third reachable direction refers to whether steering is possible at the current position to continue traveling in the direction after steering. Wherein the third reachable direction may be determined by: first, it is determined whether the current agent is in conflict with other agents at the current location when the current location changes direction. And secondly, when the direction and the current direction which can be converted are not conflicted, determining the direction and the current direction as a third reachable direction. And when the collision happens, determining that the current direction is the third reachable direction.
The process that the intelligent agent changes direction at the current position can occupy a part of time, if the current position has other intelligent agents to arrive in the time quantum occupied by turning, it indicates that the current intelligent agent should not turn at the current position, but should continue to advance along the original direction to leave the current position, vacate the space for other intelligent agents, avoid conflicting with other intelligent agents. If no other agents arrive at the current position within the time period occupied by the turn, the current agent can turn at the current position. Wherein the direction of the turn can be taken as the third reachable direction. The agent may turn in various directions in which it may turn, and then continue to travel in the direction following the turn. The direction in which the smart agent can turn means that there is no obstacle in the direction after the turn, and the smart agent can continue traveling in the direction after the turn. The third reachable direction may be one or more. For example, there are no obstacles in front, left, and right, and both left and right may be directions that are accessible. The agent can continue to go straight at the current position, and can turn to the left or the right.
B) And aiming at the third reachable direction of the current position, determining the reachable direction of the current position in the third reachable direction and the corresponding reachable position according to the action space of the straight line with a plurality of unit distances.
After the third reachable direction of the current position is determined in step a), the reachable position of the current position in the third reachable direction can be determined in step B) according to the action space which is straightly arranged by a plurality of unit distances according to the third reachable direction of the current position. For example, when the left direction is the third reachable direction, the reachable position in the left direction of the current position may be determined according to an action space that is a straight line by several unit distances with respect to the left direction of the current position. Similarly, when the right direction is the reachable direction, the reachable position in the right direction can be determined according to the action space of a plurality of unit distances in a straight line in the right direction of the current position. The action space of several unit distances in a straight line refers to a position set which passes by several unit distances in a straight line. For example, when going straight for 3 unit distances, the set of positions in the action space includes the following elements: position one, position two, position three. Similarly, when moving straight by 2 unit distances, the position set of the motion space includes the following elements: position one and position two. Wherein, the action space of a plurality of unit distances of straight line can be determined according to the following modes: the positions without obstacles in the straight direction are all taken as elements in the motion space. For example, when the first position and the second position have no obstacle and the third position has an obstacle in the straight traveling direction, the motion space of 2 units of distance is determined. And in the straight-going direction, the first position, the second position and the third position have no obstacles, and the fourth position has obstacles, so that the motion space of 3 unit distances is determined. Through the step B), the action space of a plurality of unit distances of straight movement in one or more reachable directions of the current position can be determined, so that the reachable position in the third reachable direction of the current position is determined.
C) And determining a new reachable direction, a reachable direction in the new reachable direction and a corresponding reachable position according to the reachable direction of the current position in the third reachable direction and the corresponding reachable position until the target direction and the corresponding target position are reached.
After determining the action space of several unit distances for each reachable direction of the current position based on step B) and determining the reachable position in the third reachable direction, the agent cannot reach the target position, usually, by performing the step of determining the reachable position in the third reachable direction at the current position only once. Therefore, it is also necessary to determine each reachable position in the third reachable direction as a new current position, and determine a third reachable direction of the new current position and a reachable position in the third reachable direction of the new current position. For example, when a motion space of 3 units of distance in the reachable direction to the left of the current location is determined, it may be determined that the agent may turn to the left from the current location and travel 3 units of distance straight in the direction after the turn. When the agent reaches the position corresponding to the 1 st, 2 nd or 3 rd unit distance, the position is used as a new current position again, and a third reachable direction and a reachable position in the third reachable direction corresponding to the new current position are determined. By continuously determining the new current position, the third reachable direction of the new current position and the reachable position in the third reachable direction, the intelligent agent can finally reach the target direction and the corresponding target position by sequentially circulating.
In this embodiment, when only a single agent exists, the reachable time corresponding to the reachable location is any time. In this embodiment, when there are a plurality of agents, the reachable time corresponding to the reachable location is determined by: and determining the time allowed for the current intelligent body to reach the reachable position as the reachable time corresponding to the reachable position, wherein the reachable time corresponding to the reachable position does not conflict with the time of other intelligent bodies in the reachable position.
Under the condition that the paths of a plurality of agents are planned first, the time of the agents with the completed path planning at each position is determined. The planned intelligent agent does not conflict with the planned intelligent agent when the intelligent agent planning the path arrives in the time except the time occupied by a certain position. In this embodiment, the reachable time corresponding to the reachable position does not conflict with the time when other intelligent objects are located at the reachable position, and is determined in the following manner: firstly, inquiring a time occupation table, wherein the time occupation table is used for recording the time of other intelligent bodies in the reachable position. Secondly, if the reachable time corresponding to the reachable position does not conflict with the time items of other intelligent positions in the time record table when the other intelligent positions are located at the reachable position, determining that the reachable time corresponding to the reachable position does not conflict with the time items of other intelligent positions when the other intelligent positions are located at the reachable position. For example, after determining the motion space of 3 unit distances straight in the left direction of the current location and determining three reachable locations, i.e., the first, second, and third locations in the left direction, the time when the current agent can reach the first, second, and third locations should also be determined. The time of the planned agent at the first, second and third positions recorded on the time occupancy table can be inquired. And determining other times than the occupation times recorded on the time occupation table about the first, second and third positions as the time when the current agent can reach the first, second and third positions.
In this embodiment, the step of determining the time allowed for the current agent to reach the reachable location as the reachable time corresponding to the reachable location includes: and determining the time allowed for the current agent to reach the reachable position as the reachable time corresponding to the reachable position according to the available time corresponding to the current position, the time spent from the current position to the reachable position and the available time corresponding to the reachable position. After determining the action space that is straightly moved by 3 unit distances in the left direction of the current position and determining 3 reachable positions, the reachable time corresponding to the nearest reachable position may be determined first. And after the reachable time corresponding to the nearest reachable position is determined, determining the second reachable position as a new nearest position, and determining the reachable time corresponding to the new nearest position. By the method, the reachable time corresponding to each position in the space with a plurality of unit distances in a straight line can be calculated.
In this embodiment, the step of determining, according to the available time corresponding to the current location, the time required to reach the reachable location from the current location, and the available time corresponding to the reachable location, the time allowed for the current agent to reach the reachable location as the reachable time corresponding to the reachable location includes: and translating the available time corresponding to the current position by the intersection of the time obtained after the time spent for the current position to reach the reachable position and the available time corresponding to the reachable position, and determining the time as the reachable time corresponding to the reachable position.
For example, the available time for the current location is 6-9 seconds, and the available time for the first location is 5-8 seconds, 9 to 12 seconds. It took 1 second to go from the current position to the first position. The available time of the current position is 6 th to 9 th seconds, and the time obtained after 1 second of translating the current position to the first position is 7 th to 10 th seconds. And the intersection of the obtained time 7-10 seconds and the available time 5-8 seconds and 9-12 seconds of the first position is 7-8 seconds and 9-12 seconds. That is, the 7 th to 8 th seconds and the 9 th to 12 th seconds of the time intersection are the reachable times corresponding to the first position.
And S102, determining at least one alternative traveling path from the current position to the target position of the current agent according to the reachable position and the reachable time corresponding to the reachable position.
This step is intended to determine a likely path of travel of the current agent from the current location to the target location. Since there are many reachable locations between the current location and the target location, selecting one of the reachable locations may constitute a travel path from the current location to the target location. Typically, there may be multiple sets of such reachable locations from the current location to the target location, and thus multiple paths of travel from the current location to the target location. Meanwhile, the reachable time corresponding to each reachable position on the multiple paths must be enough for the current agent to run through from the current position to the target position. That is, there is an intersection between the reachable times corresponding to adjacent positions on each path, and in this case, such a path is a travel path that enables the agent to travel from the current position to the target position. Of course, when there is only one agent, there is no time requirement between reachable locations since the agent can reach reachable locations at any time.
Step S103, determining an actual travel path from the current position to the target position of the current agent according to the at least one alternative travel path.
Based on step S102, at least one alternative travel path from the current position to the target position may be determined. This step S103 is intended to determine an actual travel path of the current agent from the current location to the target location from the at least one travel path. The actual travel path is a travel path that satisfies a condition among the at least one alternative travel path.
In this embodiment, a route having the shortest distance from the current position to the target position may be selected. The distance corresponding to the at least one travel path between the current location to the target location may be determined by: determining the number of each reachable position on the traveling path; and determining the distance of the travel path according to the number of the reachable positions and the length of each reachable position. For example, there are 15 reachable positions on the travel path, and the length of each reachable position is 1m, so that the distance of the travel path can be calculated to be 15 m. According to this method, the distance between the travel paths can be calculated, and the travel path having the shortest distance can be selected from the travel paths. In this embodiment, according to the at least one alternative travel path, the path that takes the least time is selected as the actual travel path from the current location to the target location of the current agent. Because each reachable position on the travel path corresponds to each reachable time, the path with the least time can be selected according to the reachable time corresponding to each reachable position on the travel path. For example, when the reachable time corresponding to the target position on one of the paths is shorter than the reachable time corresponding to the target position on the other path, the travel path is the path that takes the least time. In this embodiment, the method for determining the travel path of the agent further includes:
And determining the speed of the current agent between each adjacent reachable position according to the reachable time of each adjacent reachable position on the alternative traveling path. Since the reachable time corresponding to each reachable position on the travel path can be determined, the reachable time between adjacent reachable positions can also be determined. In addition, the distance between adjacent reachable positions can be obtained by measurement. The speed of the intelligent agent passing through between the adjacent reachable positions can be determined according to the distance between the adjacent reachable positions and the difference between the reachable time corresponding to the adjacent reachable positions. Based on the determined speed, the agent may be caused to pass the corresponding location at that speed.
The technical effect that can be obtained by the technical scheme of the present application is analyzed by combining an application scenario diagram of the method for determining the intelligent agent travel path shown in fig. 2.
As shown in FIG. 2, wherein a1Representing an agent, S1Representing an agent a1Current position of g1Representing the target location of the agent. The agent may travel to the right or downward at the current location. Meanwhile, when the agent travels to the right, it may travel 1 unit distance or 2 unit distances.. 4 unit distances because there is no obstacle on the right. Similarly, when the agent travels downward, it may travel 1 unit distance or 2 unit distances.. 4 unit distances because there is no obstacle below it. It can be seen that there are 4 reachable positions for the agent to travel from the current position to the right. Meanwhile, as can be seen from the figure, the 1 st and 2 nd reachable positions of the 4 reachable positions have both reachable positions of right travel and reachable positions of down travel. The 3 rd of the 4 reachable positions has only a reachable position of right travel, and the 4 th of the 4 reachable positions has only a reachable position of down travel. Similarly, it can also be known that there are 4 reachable positions in the process of traveling downward from the current position, and the 1 st reachable position and the 4 th reachable position in the reachable positions in the process of traveling downward have both a reachable position of traveling downward and a reachable position of traveling rightward; while the 2 nd and 3 rd reachable positions have only reach of downward travel A position. From the above description, there are several reachable positions, whether from the current position to the right or from the current position to the down. Meanwhile, some reachable positions in the traveling process have respective several reachable positions. Meanwhile, each reachable position has a corresponding reachable time. According to the reachable position and the corresponding reachable time of the current position and the reachable time of the reachable position of the current position, a plurality of traveling paths from the current position to the target position can be determined. A path satisfying a certain condition may be selected from the plurality of travelable paths.
In the technical scheme of the application, an reachable position between the current position of the current agent and the target position and reachable time corresponding to the reachable position are determined; determining at least one traveling path from the current position to the target position of the current agent according to the reachable time corresponding to the reachable position; and finally, determining an alternative travel path from the current position to the target position of the current intelligent agent according to the reachable time corresponding to the reachable position on the at least one travel path. According to the technical scheme, the time when the intelligent agent reaches the reachable position is controlled through the reachable time, so that the intelligent agent can reach the reachable position within the reachable time, the intelligent agent can move to the reachable position at a certain speed without special requirements, can move at a non-uniform speed and the like, and can move for a period of time and stop for a period of time, so that the intelligent agent can reach the target position at the non-uniform speed within continuous time.
The application also provides a device for determining the travel path of the intelligent agent. Fig. 3 is a schematic diagram of an embodiment of the determination device for the travel path of the intelligent agent provided by the present application. Since the apparatus embodiments are substantially similar to the method embodiments, they are described in a relatively simple manner, and reference may be made to the corresponding description of the method embodiments provided above for relevant portions.
The apparatus for determining the travel path of the agent in the embodiment shown in fig. 3 includes:
an reachable position and reachable time determining unit 301, configured to determine a reachable position between the current position of the current agent and the target position and a reachable time corresponding to the reachable position;
an alternative traveling path determining unit 302, configured to determine, according to the reachable position and the reachable time corresponding to the reachable position, at least one alternative traveling path from the current position to the target position of the current agent;
an actual travel path determining unit 303, configured to determine, according to the at least one alternative travel path, an actual travel path from the current location to the target location of the current agent.
In this embodiment, the reachable position and reachable time determining unit 301 is configured to:
determining a first reachable direction according to the current position and the current direction of the current agent, and obtaining the first reachable direction and the corresponding reachable position of the current position in the current direction;
Aiming at the current position and the current direction of the current agent, determining a straight-going reachable position in the current direction of the current position according to an action space which is straight-going in the current direction by a plurality of unit distances, and obtaining a second reachable direction and a corresponding reachable position;
and aiming at the first reachable direction and the second reachable direction and the corresponding reachable positions, determining a new reachable direction and a corresponding reachable position until a target direction and a corresponding target position are reached.
In this embodiment, the reachable position and reachable time determining unit 301 may be further configured to:
determining a third reachable direction according to the current position of the current agent;
aiming at a third reachable direction of the current position, determining the reachable direction of the current position in the third reachable direction and a corresponding reachable position according to the action space of a plurality of straight lines in unit distance;
and determining a new reachable direction, a reachable direction in the new reachable direction and a corresponding reachable position according to the reachable direction of the current position in the third reachable direction and the corresponding reachable position until the target direction and the corresponding target position are reached.
In this embodiment, the apparatus further includes a reachable direction determining unit, configured to:
Determining whether the current agent conflicts with other agents at the current position when the current position of the current agent changes direction;
when the direction and the current direction which can be converted are determined as a first reachable direction or a third reachable direction when the direction and the current direction are not conflicted;
and when in conflict, determining the current direction as the first reachable direction or the third reachable direction.
In this embodiment, when only a single agent exists, the reachable time corresponding to the reachable position is any time.
In this embodiment, when there are a plurality of agents, the reachable location and reachable time determining unit 301 includes:
and the reachable time determining subunit is used for determining the time for allowing the current intelligent body to reach the reachable position as the reachable time corresponding to the reachable position, and the reachable time corresponding to the reachable position does not conflict with the time for other intelligent bodies to be positioned at the reachable position.
In this embodiment, the reachable time determining subunit is configured to:
inquiring a time occupation table, wherein the time occupation table is used for recording the time of other intelligent bodies in the reachable position;
and if the reachable time corresponding to the reachable position does not conflict with the time of other intelligent positions in the time record table when the reachable position is located in the reachable position, determining that the reachable time corresponding to the reachable position does not conflict with the time of other intelligent positions when the other intelligent positions are located in the reachable position.
In this embodiment, the reachable time determining subunit is configured to: and determining the time allowed for the current agent to reach the reachable position as the reachable time corresponding to the reachable position according to the available time corresponding to the current position, the time spent from the current position to the reachable position and the available time corresponding to the reachable position.
In this embodiment, the reachable time determining subunit is configured to: and translating the available time corresponding to the current position by the intersection of the time obtained after the time spent for the current position to reach the reachable position and the available time corresponding to the reachable position, and determining the time as the reachable time corresponding to the reachable position.
In this embodiment, the actual travel path determining unit 303 is configured to:
and selecting the path with the least time consumption as the actual travel path from the current position to the target position of the current agent according to the at least one alternative travel path.
In this embodiment, the apparatus further includes:
and the speed determining unit is used for determining the speed of the current intelligent agent between each adjacent reachable position according to the reachable time of each adjacent reachable position on the alternative traveling path.
The application also provides an electronic device. Fig. 4 shows an embodiment of the electronic device. Since the embodiment of the electronic device is basically similar to the method embodiment, it is relatively simple to describe, and please refer to the corresponding description of the method embodiment provided above for the relevant part.
The electronic device in the embodiment shown in fig. 4 comprises:
a memory 401 and a processor 402;
the memory is to store computer-executable instructions, and the processor is to execute the computer-executable instructions to:
the application provides an electronic device, includes:
a memory and a processor;
the memory is to store computer-executable instructions, and the processor is to execute the computer-executable instructions to:
determining an reachable position between the current position of the current agent and the target position and reachable time corresponding to the reachable position;
determining at least one alternative traveling path from the current position to the target position of the current agent according to the reachable position and the reachable time corresponding to the reachable position;
and determining an actual travel path of the current agent from the current position to the target position according to the at least one alternative travel path.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the operations of:
determining an reachable position between the current position of the current agent and the target position and reachable time corresponding to the reachable position;
determining at least one alternative traveling path from the current position to the target position of the current agent according to the reachable position and the reachable time corresponding to the reachable position;
And determining an actual travel path of the current agent from the current position to the target position according to the at least one alternative travel path.
Although the present application has been described with reference to the preferred embodiments, it is not intended to limit the present application, and those skilled in the art can make variations and modifications without departing from the spirit and scope of the present application, therefore, the scope of the present application should be determined by the claims that follow.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

Claims (25)

1. A method for determining a path of travel of an agent, the method comprising:
determining an reachable position between a current position of a current agent and a target position and reachable time corresponding to the reachable position, wherein the reachable time is used for controlling the time when the current agent reaches the reachable position;
determining at least one alternative traveling path from the current position to the target position of the current agent according to the reachable position and the reachable time corresponding to the reachable position;
and determining an actual travel path of the current agent from the current position to the target position according to the at least one alternative travel path.
2. The method of claim 1, wherein the reachable location between the current location of the current agent to the target location is determined by:
Determining a first reachable direction aiming at the current position and the current direction of the current agent to obtain the first reachable direction and the corresponding reachable position of the current position in the current direction;
aiming at the current position and the current direction of the current agent, determining a straight-going reachable position in the current direction of the current position according to an action space which is straight-going in the current direction by a plurality of unit distances, and obtaining a second reachable direction and a corresponding reachable position;
and aiming at the first reachable direction and the second reachable direction and the corresponding reachable positions, determining a new reachable direction and a corresponding reachable position until a target direction and a corresponding target position are reached.
3. The method of claim 1, wherein the reachable location between the current location and the target location is determined by:
determining a third reachable direction according to the current position of the current agent;
aiming at a third reachable direction of the current position, determining the reachable direction of the current position in the third reachable direction and a corresponding reachable position according to the action space of a plurality of straight lines in unit distance;
and determining a new reachable direction, a reachable direction in the new reachable direction and a corresponding reachable position according to the reachable direction of the current position in the third reachable direction and the corresponding reachable position until the target direction and the corresponding target position are reached.
4. The method of claim 2, wherein the first reachable direction is determined by:
determining whether the current agent conflicts with other agents at the current position when the current position of the current agent changes direction;
when the direction and the current direction which can be converted are determined as a first reachable direction;
and when in conflict, determining the current direction as the first reachable direction.
5. The method of claim 3, wherein the third reachable direction is determined by:
determining whether the current agent conflicts with other agents at the current position when the current agent changes direction at the current position;
when the direction and the current direction which can be converted are not conflicted, the direction and the current direction which can be converted are determined as a third reachable direction;
and when in conflict, determining the current direction as a third reachable direction.
6. The method of any of claims 1-3, wherein the reachable location corresponds to an arbitrary time when only a single agent is present.
7. The method of any one of claims 1-3, wherein when there are multiple agents, the reachable time for the reachable location is determined by:
And determining the time allowed for the current intelligent body to reach the reachable position as the reachable time corresponding to the reachable position, wherein the reachable time corresponding to the reachable position does not conflict with the time of other intelligent bodies in the reachable position.
8. The method of claim 7, wherein the reachable time corresponding to the reachable location is determined without conflict with times when other smarts are located at the reachable location by:
inquiring a time occupation table, wherein the time occupation table is used for recording the time of other intelligent bodies in the reachable position;
and if the reachable time corresponding to the reachable position does not conflict with the time of other intelligent positions in the time record table when the reachable position is located in the reachable position, determining that the reachable time corresponding to the reachable position does not conflict with the time of other intelligent positions when the other intelligent positions are located in the reachable position.
9. The method of claim 7, wherein the step of determining the time allowed for the current agent to reach the reachable location as the reachable time corresponding to the reachable location comprises:
and determining the time allowed for the current agent to reach the reachable position as the reachable time corresponding to the reachable position according to the available time corresponding to the current position, the time spent from the current position to the reachable position and the available time corresponding to the reachable position.
10. The method of claim 9, wherein the step of determining the time allowed for the current agent to reach the reachable location as the reachable time corresponding to the reachable location according to the available time corresponding to the current location, the time taken to reach the reachable location from the current location, and the available time corresponding to the reachable location comprises:
and translating the available time corresponding to the current position by the intersection of the time obtained after the time spent for the current position to reach the reachable position and the available time corresponding to the reachable position, and determining the time as the reachable time corresponding to the reachable position.
11. The method of claim 1, wherein the step of determining an actual travel path of the current agent from the current location to the target location based on the at least one alternative travel path comprises:
and selecting the path with the least time consumption as the actual travel path from the current position to the target position of the current agent according to the at least one alternative travel path.
12. The method of claim 1, further comprising:
and determining the speed of the current agent between each adjacent reachable position according to the reachable time of each adjacent reachable position on the alternative traveling path.
13. An apparatus for determining a path of travel of an agent, the apparatus comprising:
the system comprises an reachable position and reachable time determining unit, a position determining unit and a reachable time determining unit, wherein the reachable position and reachable time corresponding to the reachable position are determined between the current position of the current agent and a target position, and the time when the current agent reaches the reachable position is controlled through the reachable time;
the alternative traveling path determining unit is used for determining at least one alternative traveling path from the current position to the target position of the current intelligent agent according to the reachable position and the reachable time corresponding to the reachable position;
and the actual traveling path determining unit is used for determining the actual traveling path of the current agent from the current position to the target position according to the at least one alternative traveling path.
14. The apparatus of claim 13, wherein the reachable location and time determination unit is configured to:
determining a first reachable direction according to the current position and the current direction of the current agent, and obtaining the first reachable direction and the corresponding reachable position of the current position in the current direction;
aiming at the current position and the current direction of the current agent, determining a straight-going reachable position in the current direction of the current position according to an action space which is straight-going in the current direction by a plurality of unit distances, and obtaining a second reachable direction and a corresponding reachable position;
And aiming at the first reachable direction and the second reachable direction and the corresponding reachable positions, determining a new reachable direction and a corresponding reachable position until a target direction and a corresponding target position are reached.
15. The apparatus of claim 13, wherein the reachable location and reachable time determining unit is configured to:
determining a third reachable direction according to the current position of the current agent;
aiming at a third reachable direction of the current position, determining the reachable direction of the current position in the third reachable direction and a corresponding reachable position according to the action space of a plurality of straight lines with unit distances;
and aiming at the reachable direction of the current position in the third reachable direction and the corresponding reachable position, determining a new reachable direction, the reachable direction in the new reachable direction and the corresponding reachable position until the target direction and the corresponding target position are reached.
16. The apparatus according to any of claims 14-15, further comprising a reachable direction determining unit configured to:
determining whether the current agent conflicts with other agents at the current position when the current agent changes direction at the current position;
when the direction is not conflicted, the direction which can be converted and the current direction are determined as a first reachable direction or a third reachable direction;
And when in conflict, determining the current direction as the first reachable direction or the third reachable direction.
17. The apparatus of any of claims 13-15, wherein the reachable location corresponds to a reachable time that is arbitrary time when only a single agent is present.
18. The apparatus according to any one of claims 13-15, wherein when there are a plurality of agents, the reachable location and reachable time determining unit comprises:
and the reachable time determining subunit is used for determining the time for allowing the current intelligent body to reach the reachable position as the reachable time corresponding to the reachable position, and the reachable time corresponding to the reachable position does not conflict with the time for other intelligent bodies to be positioned at the reachable position.
19. The apparatus of claim 18, wherein the achievable time determination subunit is configured to:
inquiring a time occupation table, wherein the time occupation table is used for recording the time of other intelligent bodies in the reachable position;
and if the reachable time corresponding to the reachable position does not conflict with the time of other intelligent positions in the time record table when the reachable position is located in the reachable position, determining that the reachable time corresponding to the reachable position does not conflict with the time of other intelligent positions when the other intelligent positions are located in the reachable position.
20. The apparatus of claim 18, wherein the achievable time determination subunit is configured to:
and determining the time allowed for the current agent to reach the reachable position as the reachable time corresponding to the reachable position according to the available time corresponding to the current position, the time spent from the current position to the reachable position and the available time corresponding to the reachable position.
21. The apparatus of claim 20, wherein the achievable time determination subunit is configured to:
and translating the available time corresponding to the current position by the intersection of the time obtained after the time spent for the current position to reach the reachable position and the available time corresponding to the reachable position, and determining the time as the reachable time corresponding to the reachable position.
22. The apparatus of claim 14, wherein the actual travel path determination unit is configured to:
and selecting the path with the least time consumption as the actual travel path from the current position to the target position of the current agent according to the at least one alternative travel path.
23. The apparatus of claim 14, further comprising:
and the speed determining unit is used for determining the speed of the current intelligent agent between each adjacent reachable position according to the reachable time of each adjacent reachable position on the alternative traveling path.
24. An electronic device, comprising:
a memory and a processor;
the memory is to store computer-executable instructions, and the processor is to execute the computer-executable instructions to:
determining an reachable position between a current position of a current agent and a target position and reachable time corresponding to the reachable position, wherein the reachable time is used for controlling the time when the current agent reaches the reachable position;
determining at least one alternative traveling path from the current position to the target position of the current agent according to the reachable position and the reachable time corresponding to the reachable position;
and determining an actual travel path of the current agent from the current position to the target position according to the at least one alternative travel path.
25. A computer-readable storage medium having a computer program stored thereon, the program, when executed by a processor, performing operations comprising:
determining an reachable position between a current position of a current agent and a target position and reachable time corresponding to the reachable position, wherein the reachable time is used for controlling the time when the current agent reaches the reachable position;
determining at least one alternative traveling path from the current position to the target position of the current intelligent agent according to the reachable position and the reachable time corresponding to the reachable position;
And determining an actual travel path of the current agent from the current position to the target position according to the at least one alternative travel path.
CN201810914223.7A 2018-08-13 2018-08-13 Method and device for determining intelligent agent traveling path Active CN110826755B (en)

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