CN111189467A - Dubins-based global path planning method and device, computer equipment and storage medium - Google Patents
Dubins-based global path planning method and device, computer equipment and storage medium Download PDFInfo
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- CN111189467A CN111189467A CN202010013124.9A CN202010013124A CN111189467A CN 111189467 A CN111189467 A CN 111189467A CN 202010013124 A CN202010013124 A CN 202010013124A CN 111189467 A CN111189467 A CN 111189467A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The invention discloses a method, a device, computer equipment and a storage medium for global path planning based on Dubins, wherein the method comprises the following steps: according to the map and the obstacle information, performing A-star operation to obtain an output path; and carrying out Dubins operation smoothing processing on the output path to obtain a smooth curve path. Compared with the prior art, the embodiment of the invention provides a Dubins-based global path planning method, a Dubins-based global path planning device, computer equipment and a storage medium.
Description
Technical Field
The invention relates to the technical field of path planning algorithms, in particular to a Dubins-based global path planning method and device, computer equipment and a storage medium.
Background
The traditional global path planning algorithm solves the problem of path search, but the path search algorithm does not consider whether the curvature is continuous or not, so that the smoothness of the output path is poor.
Disclosure of Invention
The embodiment of the invention provides a Dubins-based global path planning method, a Dubins-based global path planning device, computer equipment and a storage medium, and aims to solve the problem that the continuity of curvature is not considered in the conventional path planning algorithm.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
in a first aspect, the present invention provides a Dubins-based global path planning method, which includes the following steps:
according to the map and the obstacle information, performing A-star operation to obtain an output path;
and carrying out Dubins operation smoothing processing on the output path to obtain a smooth curve path.
Wherein, before the step of performing an a-star operation to obtain an output path according to the map and the obstacle information, the method further comprises: and acquiring map data and obstacle information.
Wherein, before the step of obtaining the map data and the obstacle information, the method further comprises: the steps of initializing the Dubins smoother and the A-star planner.
In a second aspect, the present invention further provides a path planning apparatus, which includes:
the route planning unit is used for carrying out A-star operation according to the map and the barrier information to obtain an output route;
and the smoothing processing unit is used for carrying out Dubins operation smoothing processing on the output path so as to obtain a smooth curve path.
The system further comprises an information acquisition unit, wherein the information acquisition unit is used for acquiring the map data and the obstacle information.
The system also comprises an initialization unit, wherein the initialization unit is used for initializing the Dubins smoother and the A-star planner.
In a third aspect, the present invention also provides a computer device comprising a memory having a computer program stored thereon and a processor that, when executing the computer program, implements the method according to any of claims 1-3.
In a fourth aspect, the invention also provides a storage medium storing a computer program comprising program instructions which, when executed by a processor, implement the method according to any one of claims 1 to 3.
Compared with the prior art, the embodiment of the invention provides a Dubins-based global path planning method, a Dubins-based global path planning device, computer equipment and a storage medium.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a main flow chart of a Dubins-based global path planning method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of Dubins operation based on the Dubins global path planning method according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a path planning apparatus according to an embodiment of the present invention; and
FIG. 4 is a schematic block diagram of a computer device provided by an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 is a flowchart of a Dubins-based global path planning algorithm according to the present invention, and the Dubins-based global path planning method includes the following steps:
step S300, according to the map and the obstacle information, performing A-star operation to obtain an output path; the a-star operation is a commonly used path search algorithm,
the a-Star algorithm is the most efficient direct search method for solving shortest paths, and is also a common heuristic algorithm for many other problems.
The formula is expressed as: (n) g (n) + h (n),
where f (n) is a cost estimate from the initial state to the target state via state n; g (n) is the actual cost in state space from the initial state to state n; h (n) is the estimated cost of the best path from state n to the target state.
And step S400, carrying out Dubins operation smoothing processing on the output path to obtain a smooth curve path. Because the existing A-star algorithm does not consider the problem of non-smoothness caused by abrupt curvature change of the path (path) input in path planning, the Betz curve operation is carried out again on the path obtained by the A-star operation, so that the output path is smoother, and the problem of abrupt curvature change is effectively solved.
In another embodiment, a more specific method for global path planning based on bezier curves includes the following steps:
step S100, initializing a Dubins smoother and an A-star planner, namely, firstly, clearing initial input data of the Dubins smoother and the A-star planner, wherein the Dubins smoother is used for carrying out smoothing approximation processing on a non-curve abrupt change line to form an operation module of a curve, and the A-star planner is used for obtaining an operation module of a searched optimal path through operation on input information.
And step S200, acquiring map data and obstacle information. Global path planning is performed based on complete electronic map data, and for specific path planning, one of the main functions is to avoid obstacles on a path, so that manual processing of map data and obstacle information needs to be realized, so as to perform path calculation better and faster.
Step S300, according to the map and the obstacle information, performing A-star operation to obtain an output path; the a-star operation is a commonly used path search algorithm,
the a-star algorithm is the most efficient direct search method for solving shortest paths, and is also a common heuristic algorithm for many other problems.
The formula is expressed as: (n) g (n) + h (n),
where f (n) is a cost estimate from the initial state to the target state via state n; g (n) is the actual cost in state space from the initial state to state n; h (n) is the estimated cost of the best path from state n to the target state.
And step S400, carrying out Dubins operation smoothing processing on the output path to obtain a smooth curve path. Because the existing A-star algorithm does not consider the problem of non-smoothness caused by abrupt curvature change of the path (path) input in path planning, the Betz curve operation is carried out again on the path obtained by the A-star operation, so that the output path is smoother, and the problem of abrupt curvature change is effectively solved.
As shown in fig. 2, Dubins addresses such a problem: given the coordinates and orientation angles of the start and end points, a dubins curve can then connect these two points, where the curve is free of abrupt changes in curvature. The Dubins curves have six kinds of RSR, RSL, LSR, LSL, RLR, LRL, two kinds of which are shown in the figure:
the principle is as follows: a dubins curve is divided into three sections, L in 2 represents left, R represents right, and S represents Stright, and a mathematical model of the three sections can be obtained through a geometric constraint relation and a boundary condition. And then aggregated together for output.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a Dubins-based global path planning apparatus according to the present invention, and the path planning apparatus 100 of the present invention includes:
a path planning unit 103, configured to perform an a-star operation according to the map and the obstacle information to obtain an output path;
and a smoothing unit 104, configured to perform Dubins operation smoothing on the output path to obtain a smooth curve path.
More specifically, the route planning apparatus further includes an information acquisition unit 101, and the information acquisition unit 101 is configured to acquire map data and obstacle information.
Wherein, the device also comprises an initialization unit 102, and the initialization unit 102 is used for initializing the Dubins smoother and the A-star planner.
Referring to fig. 4, the embodiment further provides a computer device, the computer device 500 includes a processor 502, a memory and a network interface 505 connected by a system bus 501, wherein the memory may include a nonvolatile storage medium 503 and an internal memory 504.
The network interface 505 is used for network communication with other devices. Those skilled in the art will appreciate that the configuration shown in fig. 4 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation of the computer device 500 to which the present application may be applied, and that a particular computer device 500 may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The non-volatile storage medium 503 may store an operating system 5031 and a computer program 5032. The computer programs 5032 include program instructions that, when executed, cause the processor 502 to perform a Dubins-based global path planning method.
The processor 502 is used to provide computing and control capabilities to support the operation of the overall computer device 500.
The internal memory 504 provides an environment for the operation of the computer program 5032 in the non-volatile storage medium 503, and when the computer program 5032 is executed by the processor 502, the processor 502 can perform the following steps:
the method for planning the global path based on the Betz curve comprises the following steps:
step S100, initializing a Dubins smoother and an A-star planner, namely, firstly, clearing initial input data of the Dubins smoother and the A-star planner, wherein the Dubins smoother is used for carrying out smoothing approximation processing on a non-curve abrupt change line to form an operation module of a curve, and the A-star planner is used for obtaining an operation module of a searched optimal path through operation on input information.
And step S200, acquiring map data and obstacle information. Global path planning is performed based on complete electronic map data, and for specific path planning, one of the main functions is to avoid obstacles on a path, so that manual processing of map data and obstacle information needs to be realized, so as to perform path calculation better and faster.
Step S300, according to the map and the obstacle information, performing A-star operation to obtain an output path; the a-star operation is a commonly used path search algorithm,
the a-star algorithm is the most efficient direct search method for solving shortest paths, and is also a common heuristic algorithm for many other problems.
The formula is expressed as: (n) g (n) + h (n),
where f (n) is a cost estimate from the initial state to the target state via state n; g (n) is the actual cost in state space from the initial state to state n; h (n) is the estimated cost of the best path from state n to the target state.
And step S400, carrying out Dubins operation smoothing processing on the output path to obtain a smooth curve path. Because the existing A-star algorithm does not consider the problem of non-smoothness caused by abrupt curvature change of the path (path) input in path planning, the Betz curve operation is carried out again on the path obtained by the A-star operation, so that the output path is smoother, and the problem of abrupt curvature change is effectively solved.
As shown in fig. 2, Dubins addresses such a problem: given the coordinates and orientation angles of the start and end points, a dubins curve can then connect these two points, where the curve is free of abrupt changes in curvature. The Dubins curves have six kinds of RSR, RSL, LSR, LSL, RLR, LRL, two kinds of which are shown in the figure:
the principle is as follows: a dubins curve is divided into three sections, L in 2 represents left, R represents right, and S represents Stright, and a mathematical model of the three sections can be obtained through a geometric constraint relation and a boundary condition. And then aggregated together for output.
The present invention also provides a storage medium storing a computer program comprising program instructions which, when executed by a processor, implement a Dubins-based global path planning method as follows: the method for planning the global path based on the Betz curve comprises the following steps:
step S100, initializing a Dubins smoother and an A-star planner; s200, acquiring map data and obstacle information; step S300, according to the map and the obstacle information, performing A-star operation to obtain an output path; and step S400, carrying out Dubins operation smoothing processing on the output path to obtain a smooth curve path.
The storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk, which can store various computer readable storage media.
Compared with the prior art, the embodiment of the invention provides a Dubins-based global path planning method, a Dubins-based global path planning device, computer equipment and a storage medium.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the invention can be merged, divided and deleted according to actual needs. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention.
The above-mentioned embodiments are merely preferred examples of the present invention, and not intended to limit the present invention, and those skilled in the art can easily make various changes and modifications according to the main concept and spirit of the present invention, so that the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A global path planning method based on Dubins is characterized by comprising the following steps:
according to the map and the obstacle information, performing A-star operation to obtain an output path;
and carrying out Dubins operation smoothing processing on the output path to obtain a smooth curve path.
2. The Dubins-based global path planning method according to claim 1, wherein the step of performing an a-star operation to obtain an output path according to the map and the obstacle information further comprises: and acquiring map data and obstacle information.
3. The Dubins-based global path planning method according to claim 2, wherein the step of obtaining map data and obstacle information further comprises: the steps of initializing the Dubins smoother and the A-star planner.
4. A path planning apparatus, comprising:
the route planning unit is used for carrying out A-star operation according to the map and the barrier information to obtain an output route;
and the smoothing processing unit is used for carrying out Dubins operation smoothing processing on the output path so as to obtain a smooth curve path.
5. The path planning device according to claim 4, further comprising an information acquisition unit configured to acquire the map data and the obstacle information.
6. The path planner according to claim 5 further comprising an initialization unit for initializing the Dubins smoother and the a-star planner.
7. A computer arrangement, characterized in that the computer arrangement comprises a memory having stored thereon a computer program and a processor implementing the method according to any of claims 1-3 when executing the computer program.
8. A storage medium, characterized in that the storage medium stores a computer program comprising program instructions which, when executed by a processor, implement the method according to any one of claims 1-3.
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