CN113341991A - 一种基于动态窗口和冗余节点过滤的路径优化方法 - Google Patents
一种基于动态窗口和冗余节点过滤的路径优化方法 Download PDFInfo
- Publication number
- CN113341991A CN113341991A CN202110678202.1A CN202110678202A CN113341991A CN 113341991 A CN113341991 A CN 113341991A CN 202110678202 A CN202110678202 A CN 202110678202A CN 113341991 A CN113341991 A CN 113341991A
- Authority
- CN
- China
- Prior art keywords
- node
- path
- nodes
- global
- optimization
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000005457 optimization Methods 0.000 title claims abstract description 35
- 238000001914 filtration Methods 0.000 title claims abstract description 18
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 42
- 230000004888 barrier function Effects 0.000 claims abstract description 8
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 239000000126 substance Substances 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000003068 static effect Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 7
- 238000004088 simulation Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 229920000858 Cyclodextrin Polymers 0.000 description 1
- 239000001116 FEMA 4028 Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- WHGYBXFWUBPSRW-FOUAGVGXSA-N beta-cyclodextrin Chemical compound OC[C@H]([C@H]([C@@H]([C@H]1O)O)O[C@H]2O[C@@H]([C@@H](O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O3)[C@H](O)[C@H]2O)CO)O[C@@H]1O[C@H]1[C@H](O)[C@@H](O)[C@@H]3O[C@@H]1CO WHGYBXFWUBPSRW-FOUAGVGXSA-N 0.000 description 1
- 235000011175 beta-cyclodextrine Nutrition 0.000 description 1
- 229960004853 betadex Drugs 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (4)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110678202.1A CN113341991B (zh) | 2021-06-18 | 2021-06-18 | 一种基于动态窗口和冗余节点过滤的路径优化方法 |
US17/403,243 US11747826B2 (en) | 2021-06-18 | 2021-08-16 | Method for route optimization based on dynamic window and redundant node filtering |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110678202.1A CN113341991B (zh) | 2021-06-18 | 2021-06-18 | 一种基于动态窗口和冗余节点过滤的路径优化方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113341991A true CN113341991A (zh) | 2021-09-03 |
CN113341991B CN113341991B (zh) | 2022-08-09 |
Family
ID=77477354
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202110678202.1A Active CN113341991B (zh) | 2021-06-18 | 2021-06-18 | 一种基于动态窗口和冗余节点过滤的路径优化方法 |
Country Status (2)
Country | Link |
---|---|
US (1) | US11747826B2 (zh) |
CN (1) | CN113341991B (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113848911A (zh) * | 2021-09-28 | 2021-12-28 | 华东理工大学 | 基于Q-learning和RRT*的移动机器人全局路径规划方法 |
CN114442634A (zh) * | 2022-01-30 | 2022-05-06 | 中国第一汽车股份有限公司 | 一种车辆的路径规划方法、装置、设备及介质 |
WO2023036044A1 (zh) * | 2021-09-13 | 2023-03-16 | 灵动科技(北京)有限公司 | 全局路径规划方法、运动控制方法及计算机程序产品 |
CN115860409A (zh) * | 2022-12-20 | 2023-03-28 | 深圳运捷迅信息系统有限公司 | 港口运行调度方法、系统、电子设备及可读存储介质 |
CN116484798A (zh) * | 2023-04-27 | 2023-07-25 | 北京容汇科技有限公司 | 一种基于分段并行搜索的pcb布线加速优化方法 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN117519151A (zh) * | 2023-11-02 | 2024-02-06 | 霞智科技有限公司 | 一种基于动态窗口法和动力学模型的移动机器人控制方法 |
CN117553819A (zh) * | 2024-01-10 | 2024-02-13 | 齐鲁空天信息研究院 | 无人叉车室外装卸路径规划方法及装置 |
CN117733308B (zh) * | 2024-02-19 | 2024-05-17 | 浙江大学 | 一种超声波焊接机器人路径规划方法和装置 |
Citations (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20190094866A1 (en) * | 2017-09-22 | 2019-03-28 | Locus Robotics Corporation | Dynamic window approach using optimal reciprocal collision avoidance cost-critic |
CN109945885A (zh) * | 2019-04-16 | 2019-06-28 | 清华大学 | 无人摩托的动态障碍物避障路径规划计算方法 |
CN110823240A (zh) * | 2019-11-19 | 2020-02-21 | 齐鲁工业大学 | 一种具有航向约束的跟随机器人路径规划方法及系统 |
CN111174798A (zh) * | 2020-01-17 | 2020-05-19 | 长安大学 | 一种足式机器人路径规划方法 |
CN111338359A (zh) * | 2020-04-30 | 2020-06-26 | 武汉科技大学 | 一种基于距离判断和角度偏转的移动机器人路径规划方法 |
WO2020136977A1 (ja) * | 2018-12-27 | 2020-07-02 | 本田技研工業株式会社 | 経路決定装置、ロボット及び経路決定方法 |
CN111506070A (zh) * | 2020-04-26 | 2020-08-07 | 北京踏歌智行科技有限公司 | 一种基于路径点偏移的局部路径规划方法 |
CN111694364A (zh) * | 2020-06-30 | 2020-09-22 | 山东交通学院 | 一种应用于智能车路径规划的基于改进蚁群算法与动态窗口法的混合算法 |
CN111694357A (zh) * | 2020-06-19 | 2020-09-22 | 国网福建省电力有限公司福州供电公司 | 基于遗传算法和人工势场法的机器人行走路径规划方法 |
CN111721297A (zh) * | 2020-06-19 | 2020-09-29 | 重庆大学 | 一种智能车库多agv的路径规划方法 |
CN112378408A (zh) * | 2020-11-26 | 2021-02-19 | 重庆大学 | 一种实现轮式移动机器人实时避障的路径规划方法 |
CN112540602A (zh) * | 2019-11-27 | 2021-03-23 | 深圳优地科技有限公司 | 一种机器人局部路径的优化方法及机器人 |
CN112631294A (zh) * | 2020-12-16 | 2021-04-09 | 上海应用技术大学 | 一种移动机器人智能路径规划方法 |
CN112650242A (zh) * | 2020-12-22 | 2021-04-13 | 天津理工大学 | 一种基于混合算法的移动机器人路径规划方法 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140324342A1 (en) * | 2013-04-25 | 2014-10-30 | Tencent Technology (Shenzhen) Company Limited | Systems and Methods for Path Finding in Maps |
JP7259274B2 (ja) * | 2018-11-12 | 2023-04-18 | ソニーグループ株式会社 | 情報処理装置、情報処理方法、及びプログラム |
CN110658813A (zh) * | 2019-09-17 | 2020-01-07 | 五邑大学 | 基于物联网和slam技术的智能医疗物资补给机器人 |
CN112711249B (zh) * | 2019-10-24 | 2023-01-03 | 科沃斯商用机器人有限公司 | 机器人定位方法、装置、智能机器人和存储介质 |
-
2021
- 2021-06-18 CN CN202110678202.1A patent/CN113341991B/zh active Active
- 2021-08-16 US US17/403,243 patent/US11747826B2/en active Active
Patent Citations (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20190094866A1 (en) * | 2017-09-22 | 2019-03-28 | Locus Robotics Corporation | Dynamic window approach using optimal reciprocal collision avoidance cost-critic |
WO2020136977A1 (ja) * | 2018-12-27 | 2020-07-02 | 本田技研工業株式会社 | 経路決定装置、ロボット及び経路決定方法 |
CN109945885A (zh) * | 2019-04-16 | 2019-06-28 | 清华大学 | 无人摩托的动态障碍物避障路径规划计算方法 |
CN110823240A (zh) * | 2019-11-19 | 2020-02-21 | 齐鲁工业大学 | 一种具有航向约束的跟随机器人路径规划方法及系统 |
CN112540602A (zh) * | 2019-11-27 | 2021-03-23 | 深圳优地科技有限公司 | 一种机器人局部路径的优化方法及机器人 |
CN111174798A (zh) * | 2020-01-17 | 2020-05-19 | 长安大学 | 一种足式机器人路径规划方法 |
CN111506070A (zh) * | 2020-04-26 | 2020-08-07 | 北京踏歌智行科技有限公司 | 一种基于路径点偏移的局部路径规划方法 |
CN111338359A (zh) * | 2020-04-30 | 2020-06-26 | 武汉科技大学 | 一种基于距离判断和角度偏转的移动机器人路径规划方法 |
CN111694357A (zh) * | 2020-06-19 | 2020-09-22 | 国网福建省电力有限公司福州供电公司 | 基于遗传算法和人工势场法的机器人行走路径规划方法 |
CN111721297A (zh) * | 2020-06-19 | 2020-09-29 | 重庆大学 | 一种智能车库多agv的路径规划方法 |
CN111694364A (zh) * | 2020-06-30 | 2020-09-22 | 山东交通学院 | 一种应用于智能车路径规划的基于改进蚁群算法与动态窗口法的混合算法 |
CN112378408A (zh) * | 2020-11-26 | 2021-02-19 | 重庆大学 | 一种实现轮式移动机器人实时避障的路径规划方法 |
CN112631294A (zh) * | 2020-12-16 | 2021-04-09 | 上海应用技术大学 | 一种移动机器人智能路径规划方法 |
CN112650242A (zh) * | 2020-12-22 | 2021-04-13 | 天津理工大学 | 一种基于混合算法的移动机器人路径规划方法 |
Non-Patent Citations (8)
Title |
---|
HUANG LI 等: "Multicast routing algorithm based on tabu search", 《JOURNAL OF DALIAN UNIVERSITY OF TECHNOLOGY》 * |
KIM HYOGON 等: "Improved Dynamic Window Approach With Path-Following for Unmanned Surface Vehicle", 《IEMEK JOURNAL OF EMBEDDED SYSTEMS AND APPLICATIONS》 * |
LIU TIANYU 等: "Local Path Planning Algorithm for Blind-guiding Robot Based on Improved DWA Algorithm", 《2019 CHINESE CONTROL AND DECISION CONFERENCE》 * |
PENG WANG 等: "Distributed Subgradient-Based Multiagent Optimization With More General Step Sizes", 《IEEE TRANSACTIONS ON AUTOMATIC CONTROL》 * |
刘建娟 等: "融合改进A*与DWA算法的机器人动态路径规划", 《计算机工程与应用》 * |
张文等: "基于方向A~*算法的温室机器人实时路径规划", 《农业机械学报》 * |
李丹勇 等: "面向任务的多机器人协调运动控制", 《控制工程》 * |
蔡诚 等: "基于节点优化的A*算法路径规划", 《唐山师范学院学报》 * |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023036044A1 (zh) * | 2021-09-13 | 2023-03-16 | 灵动科技(北京)有限公司 | 全局路径规划方法、运动控制方法及计算机程序产品 |
CN113848911A (zh) * | 2021-09-28 | 2021-12-28 | 华东理工大学 | 基于Q-learning和RRT*的移动机器人全局路径规划方法 |
CN114442634A (zh) * | 2022-01-30 | 2022-05-06 | 中国第一汽车股份有限公司 | 一种车辆的路径规划方法、装置、设备及介质 |
CN115860409A (zh) * | 2022-12-20 | 2023-03-28 | 深圳运捷迅信息系统有限公司 | 港口运行调度方法、系统、电子设备及可读存储介质 |
CN116484798A (zh) * | 2023-04-27 | 2023-07-25 | 北京容汇科技有限公司 | 一种基于分段并行搜索的pcb布线加速优化方法 |
CN116484798B (zh) * | 2023-04-27 | 2024-05-03 | 苏州容汇科技有限公司 | 一种基于分段并行搜索的pcb布线加速优化方法 |
Also Published As
Publication number | Publication date |
---|---|
US11747826B2 (en) | 2023-09-05 |
CN113341991B (zh) | 2022-08-09 |
US20220404836A1 (en) | 2022-12-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN113341991B (zh) | 一种基于动态窗口和冗余节点过滤的路径优化方法 | |
CN111343585B (zh) | 一种基于隐马尔可夫模型的移动用户轨迹地图匹配方法 | |
CN112985445B (zh) | 基于高精地图的车道级精度实时性运动规划方法 | |
CN111562785B (zh) | 一种群集机器人协同覆盖的路径规划方法及系统 | |
WO2023155371A1 (zh) | 室内移动机器人的平稳移动全局路径规划方法 | |
CN108827335B (zh) | 一种基于单向搜索模型的最短路径规划方法 | |
US6259988B1 (en) | Real-time mission adaptable route planner | |
CN111811514A (zh) | 一种基于正六边形栅格跳点搜索算法的路径规划方法 | |
CN101694749A (zh) | 一种路径推测方法及装置 | |
CN109737965B (zh) | 一种三维虚拟场景下的导航路径最优选择的方法 | |
CN114510057A (zh) | 一种室内环境中基于ros的移动机器人自主导航方法 | |
CN107917716B (zh) | 固定线路导航方法、装置、终端及计算机可读存储介质 | |
CN113485369A (zh) | 改进a*算法的室内移动机器人路径规划和路径优化方法 | |
JPH07129238A (ja) | 障害物回避経路生成方式 | |
CN107092978A (zh) | 一种面向虚拟地球的最短路径分层规划方法 | |
JP4997597B2 (ja) | 最短経路探索方法 | |
CN115713856A (zh) | 一种基于交通流预测与实际路况的车辆路径规划方法 | |
CN114577214B (zh) | 一种应用于跨异构多层空间的轮式机器人路径规划方法 | |
CN115373384A (zh) | 一种基于改进rrt的车辆动态路径规划方法及系统 | |
CN113515127B (zh) | 一种移动机器人路径规划方法及系统 | |
CN109307513B (zh) | 一种基于行车记录的实时道路匹配方法及系统 | |
CN117249842A (zh) | 一种基于轨迹平滑优化的无人车混合轨迹规划方法 | |
CN116839609A (zh) | 全覆盖路径规划方法、装置及计算机可读存储介质 | |
CN111596664A (zh) | 一种基于三层架构的无人驾驶汽车路径规划方法 | |
CN116465425A (zh) | 一种局部优化和双向计算的启发式路径规划方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230810 Address after: 401233 No. 6 Xinmin Road, new city street, Changshou District, Chongqing Patentee after: DIBI (CHONGQING) INTELLIGENT TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. Address before: 400044 No. 174 Sha Jie street, Shapingba District, Chongqing Patentee before: Chongqing University Patentee before: STAR INSTITUTE OF INTELLIGENT SYSTEMS Patentee before: DIBI (CHONGQING) INTELLIGENT TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230927 Address after: 401233 No. 6 Xinmin Road, new city street, Changshou District, Chongqing Patentee after: DIBI (CHONGQING) INTELLIGENT TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. Patentee after: Chongqing Yingdi Industrial (Group) Co.,Ltd. Address before: 401233 No. 6 Xinmin Road, new city street, Changshou District, Chongqing Patentee before: DIBI (CHONGQING) INTELLIGENT TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. |