CN113873610A - Route planning method, device, equipment and medium for wireless information transmission - Google Patents

Route planning method, device, equipment and medium for wireless information transmission Download PDF

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CN113873610A
CN113873610A CN202111052376.3A CN202111052376A CN113873610A CN 113873610 A CN113873610 A CN 113873610A CN 202111052376 A CN202111052376 A CN 202111052376A CN 113873610 A CN113873610 A CN 113873610A
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path
sampling
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wireless information
information transmission
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CN113873610B (en
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林凡
刘晨阳
李沐
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GCI Science and Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
    • 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

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Abstract

The invention provides a path planning method, a device, equipment and a medium for wireless information transmission. By adopting the embodiment of the invention, a feasible initial path can be obtained by an artificial potential field method with better stability, a heuristic sampling set is constructed according to the initial path, and sampling is carried out in the heuristic sampling set by limiting, so that the sampling efficiency is improved, the invalid sampling times are reduced, and an optimal information propagation path is obtained.

Description

Route planning method, device, equipment and medium for wireless information transmission
Technical Field
The present invention relates to the field of path planning technologies, and in particular, to a method, an apparatus, a device, and a medium for path planning in wireless information transmission.
Background
With the rapid advance and development of intelligent cities, wireless sensor networks are more and more widely applied to the aspects of people's life. The wireless sensor network is a novel intelligent network system integrating comprehensive management, information optimization and global regulation, and by means of the wireless sensor network, people can establish a more portable and faster global management mechanism, so that more convenience is provided for life of people, the life quality of people is improved, and the construction of a flat and stable social environment is facilitated. In the wireless sensing network, the process of network routing and addressing and information transmission is realized by the process of mutual transmission of radio waves with data information among a sensor, a router and a host, but the transmission of the radio waves is often blocked and interfered by cement walls, so that how to select a better or even optimal information transmission path in the wireless information transmission, reduce the interference in the information transmission process and accelerate the information transmission is an important problem in the current establishment of the wireless sensing network updated in real time.
Currently, the commonly used path planning algorithms mainly include a × algorithm, D × algorithm and fast search random number (RRT) algorithm. However, the inventor finds that the following technical problems exist in the prior art in the process of implementing the invention: the performance of the a-algorithm and the D-algorithm is greatly affected by environmental factors, so that the obtained planned route is also easily affected by the environmental factors, while the RRT algorithm can ensure the accuracy of the calculation in route planning, but the calculation time is long, the convergence speed of the algorithm is slow, and the RRT algorithm is not beneficial to the rapid transmission of data.
Disclosure of Invention
The invention provides a path planning method, a device, equipment and a medium for wireless information transmission, which can solve the problems of unstable wireless information transmission and longer transmission time in the prior art, thereby improving the efficiency of information transmission and optimizing the path of information transmission.
In order to achieve the above object, an embodiment of the present invention provides a path planning method for wireless information transmission, including the following steps:
according to an artificial potential field method, path planning is carried out in a target transmission space to obtain an initial path;
constructing a heuristic sampling set containing target path data according to the initial path;
and adopting a preset sampling method to sample data in the heuristic sampling set, and obtaining a target planning path of wireless information transmission based on the initial path.
As an improvement of the above scheme, the performing path planning in the target transmission space according to the artificial potential field method to obtain an initial path includes:
determining a starting point, a target point and the position of an obstacle of wireless information transmission in a target transmission space;
setting the obstacle as a repulsive stage and the target point as a gravitational stage;
and acquiring the attractive force and the repulsive force applied to the wireless information in the transmission process, and calculating the magnitude and the direction of the resultant force according to the attractive force and the repulsive force to obtain an initial path.
As an improvement of the above scheme, the constructing a heuristic sample set including target path data according to the initial path includes:
acquiring the position of a starting point and the position of a target point of wireless information transmission in the target transmission space;
and constructing a heuristic sampling set containing target path data according to the initial path, the position of the starting point and the position of the target point.
As an improvement of the above scheme, the obtaining a target planning path based on the initial path by performing data sampling in the heuristic sampling set by using a preset sampling method includes:
carrying out uniform sampling in an elliptical area formed by the heuristic sampling set to obtain a uniform sampling point calculation model; the uniform sampling point calculation model is used for indicating the incidence relation between the uniform sampling point and the initial path;
inputting the initial path into the uniform sampling point calculation model to obtain uniform sampling points in an elliptical region of the heuristic sampling set;
and obtaining a target planning path of the wireless transmission signal according to the uniform sampling point and the position of the pre-acquired starting point of the wireless information transmission.
As an improvement of the above scheme, the manner of acquiring the attractive force and the repulsive force applied to the wireless information in the transmission process is specifically as follows:
target point XgoalGenerating gravitation UatThe formula is as follows:
Figure BDA0003253250650000031
obstacle XobsGenerated repulsive force Ure：
Figure BDA0003253250650000032
Figure BDA0003253250650000033
By
Figure BDA0003253250650000034
It is possible to obtain:
Fat＝Kad(X-Xgoal) (4)
Figure BDA0003253250650000035
Figure BDA0003253250650000036
wherein, KaDenotes the gravitational coefficient, d (X-X)goal) Indicating the linear distance, K, from the wireless transmitting initiator to the target pointrDenotes the number of repulsive force, dminRepresents the shortest distance between the routing node and the obstacle, and X' represents XobsMiddle closest point to the current position, dobsIndicating repulsion of obstaclesForce range.
As an improvement of the above scheme, the calculating, according to the attractive force and the repulsive force, to obtain a magnitude and a direction of a resultant force to obtain an initial path specifically includes:
Fres＝Fat+Fre
wherein, FresTo said resultant force, Fres>The path of 0 is the initial path.
Another embodiment of the present invention correspondingly provides a path planning apparatus for wireless information transmission, including:
the initial path acquisition module is used for planning a path in a target transmission space according to an artificial potential field method to obtain an initial path;
the sampling set construction module is used for constructing a heuristic sampling set containing target path data according to the initial path;
and the planned path acquisition module is used for sampling data in the heuristic sampling set by adopting a preset sampling method and obtaining a target planned path for wireless information transmission based on the initial path.
Another embodiment of the present invention correspondingly provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the processor implements the path planning method for wireless information transmission according to the above embodiment of the present invention.
Another embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, and when the computer program runs, a device where the computer-readable storage medium is located is controlled to execute the path planning method for wireless information transmission according to the above-described embodiment of the present invention.
Compared with the prior art, the embodiment of the invention provides a path planning method, a device, equipment and a medium for wireless information transmission, which can obtain a feasible initial path through an artificial potential field method with better stability, construct a heuristic set according to the initial path, and perform sampling in the heuristic set by limiting, thereby improving the sampling efficiency, reducing the times of invalid sampling, and further obtaining an optimal information transmission path.
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Fig. 1 is a schematic flowchart of a path planning method for wireless information transmission according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a path planning apparatus for wireless information transmission according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a terminal device according to 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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1, a schematic flow chart of a method for planning a path for wireless information transmission according to an embodiment of the present invention is shown, where the method includes steps S11 to S13:
s11, planning a path in a target transmission space according to an artificial potential field method to obtain an initial path; s12, constructing a heuristic sampling set containing target path data according to the initial path;
and S13, performing data sampling in the heuristic sampling set by adopting a preset sampling method, and obtaining a target planning path for wireless information transmission based on the initial path.
It is worth to be noted that by adopting a path planning method based on an artificial potential field method and heuristic sampling, a path with the shortest route and the highest transmission efficiency can be selected for routing addressing and information transmission and transmission quickly, interference of external obstacles on wireless information data in the transmission process is avoided as much as possible, transmission of data information is accelerated, and establishment of a wireless sensor network updated in real time is facilitated.
Illustratively, the transport network state space is defined as X ═ 0,1 for the entire network state space in which routing and data transmission are locatedd，XobsRepresenting an obstacle space, XfreeThe remaining barrier-free space after the barrier space is removed is represented as the entire state space and is denoted as Xfree＝X-Xobs. By (X)free,Xinit,Xgoal) A path planning problem is defined, wherein Xinit∈XfreeIndicating an initial state in the path planning problem, Xgoal∈XfreeAnd represents a transfer destination set. Let the continuous function f: [0,1 ]]→ X represents a path from the starting point to the target point, then for
Figure BDA0003253250650000051
Having f (τ) being E.Xfree. It will be appreciated that the following two provisions are made for the path plan:
(1) in the path planning algorithm, a continuous path f can be generated, and the path does not collide with any obstacles and satisfies the following conditions:
Figure BDA0003253250650000052
the path is called a feasible path, and meets the requirements of path planning.
(2) Let c (f) denote that the path f is taken from the starting point XinitTo the target point XgoalSuch as the euclidean distance of the available paths as the cost function of the paths, let f ═ X1,X2,X3,…XnIn which X isiIndicates the ith routing node on the path, so there is
Figure BDA0003253250650000061
When f, which makes the function c (f) take the minimum value, is regarded as the optimal path.
Compared with the prior art, the embodiment of the invention provides a path planning method for wireless information transmission, which can be used for constructing an initial path based on an artificial potential field method instead of an RRT algorithm, has strong stability, and can obviously shorten the time for generating the initial path by the algorithm and reduce the cost of the initial path; in addition, after a feasible initial path is obtained through an artificial potential field method with good stability, a heuristic set is constructed according to the initial path, and sampling is carried out in the heuristic set in a limiting mode, so that the initial heuristic sampling set is reduced. Meanwhile, by adopting a uniform sampling mode in the uniform random sampling heuristic sampling set in the unit circle, the problem of taking or rejecting random points after multiple sampling is needed is avoided, the algorithm efficiency and the sampling efficiency are improved, the invalid sampling times are reduced, and the optimal information propagation path is obtained.
As an alternative embodiment, the step S11 includes:
s111, determining a starting point, a target point and the position of an obstacle of wireless information transmission in a target transmission space;
s112, setting the barrier as a repulsion level and setting the target point as a guidance level;
s113, acquiring attractive force and repulsive force applied to the wireless information in the transmission process, and calculating the magnitude and direction of resultant force according to the attractive force and the repulsive force to obtain an initial path.
It can be understood that the basic principle of the artificial potential field method is to establish the information transmission environment as a two-dimensional virtual force field and a target point XgoalGenerating gravitational field UatAttracting the radio waves to move to the target point; but at the same time, the obstacle XobsGenerate a repulsive force field U within a certain rangereHindering the movement of interfering radio waves, gravitational field UatAnd repulsive force field UreTogether form a virtual force field U in the overall environmentresVirtual force field UresActing on the radio wave as giving it a virtual force FresAt FresThe lower radio wave is driven to move toward the target point.
As an alternative embodiment, in step S113, for example, the manner of acquiring the attractive force and the repulsive force applied to the wireless information during transmission is specifically:
target point XgoalGenerating gravitation UatThe formula is as follows:
Figure BDA0003253250650000071
obstacle XobsGenerated repulsive force Ure：
Figure BDA0003253250650000072
Figure BDA0003253250650000073
By
Figure BDA0003253250650000074
It is possible to obtain:
Fat＝Kad(X-Xgoal) (4)
Figure BDA0003253250650000075
Figure BDA0003253250650000076
wherein, KaDenotes the gravitational coefficient, d (X-X)goal) Indicating the linear distance, K, from the wireless transmitting initiator to the target pointrDenotes the number of repulsive force, dminRepresents the shortest distance between the routing node and the obstacle, and X' represents XobsMiddle closest point to the current position, dobsIndicating the range of repulsion of the obstacle.
Here, X is a radio wave transmission initiating device (sensor, router, etc.) XinitIs not a radio wave in motion, where the distance d (X-X)goal) To a transmission targetThe straight-line distance between the point and the transmission initiation point.
It is worth to be noted that the conventional artificial potential field method is prone to the problem of path oscillation, that is, situations such as paths with inaccessible targets are generated, and in order to avoid the situations, the idea of path rewriting in the RRT is utilized to optimize the paths in the process of generating the paths by the artificial potential field method, so that the problem of initial path oscillation is solved. And when the route addressing and information transmission path searching is directly carried out by using an artificial potential field algorithm through adopting a single distance square proportional relation gravitational equation, the condition that the algorithm finds the inaccessible path of the target is prevented.
As an alternative embodiment, in step S113, for example, the magnitude and the direction of the resultant force are calculated according to the attractive force and the repulsive force to obtain an initial path, specifically:
Fres＝Fat+Fre
wherein, FresTo said resultant force, Fres>The path of 0 is the initial path.
It will be appreciated that by performing the path screening, F is screened outres>Path of 0, discard FresA path of ≦ 0, then Fres>The path of 0 is the initial path.
As an alternative embodiment, the step S12 includes:
s121, acquiring the position of a starting point and the position of a target point of wireless information transmission in the target transmission space;
and S122, constructing a heuristic sampling set containing target path data according to the initial path, the position of the starting point and the position of the target point.
It will be understood that when there is a path fcurrThen, then
Figure BDA0003253250650000081
Has fcurr(τ)∈XfreeAnd satisfies the following conditions:
Figure BDA0003253250650000082
then call fcurrIs a feasible path. When f iscurrWhen the optimal path f is not obtained, X' belongs to XfreeSo that:
c(fcurr)>c(finit→x′)+c(fx′→goal) (7)
wherein, c (f)curr) Representing the path of the propagation path, c (f)init→x′) Represents XinitThe linear distance to the X' line is,
c(fx′→goal) Represents XgoalLinear distance to X', at XfreeThe set of all X's in the state space that satisfy equation (7) is Ximp，Ximp∈XfreeIf the algorithm is limited to XimpInternal sampling is carried out, and the path is rewritten, so that the path tends to the optimal path can be ensured, and the speed of the algorithm converging to the optimal path can be accelerated and the path planning efficiency can be improved due to the avoidance of the sampling of the algorithm to the invalid range.
But XimpOnly an ideal sampling set is needed, and strict X cannot be done in the algorithm implementation processimpAnd (4) internal sampling. Meanwhile, since the following expression (8) is always satisfied in the two-dimensional plane, if the path cost can be reduced at a certain point X' in the environment, the following expression (9) is always satisfied:
c(fstart→end)≥(Xstart-Xend)2 (8)
(X′-Xinit)2+(X′-Xgoal)2≤c(fcurr) (9)
note the book
Figure BDA0003253250650000091
Is XimpThe estimated sampling set of
Figure BDA0003253250650000092
I.e. all the sampling points satisfying equation (7) must belong to
Figure BDA0003253250650000093
Balance
Figure BDA0003253250650000094
A set of heuristic samples. (X' -X)init)2Denotes X' to XinitSquare of straight-line distance, (X' -X)goal)2Denotes X' to XgoalThe square of the linear distance.
Obviously, the set of all the state points satisfying the expression (9) is an elliptical region in the plane, each represented by XinitAnd XgoalAs left and right focuses of the elliptical region, the length of the major axis is the current path cost c (f)curr) I.e. the total path of the information propagation path, the minor axis length being
Figure BDA0003253250650000095
Wherein c isminIs XinitAnd XgoalThe straight-line distance between them, and an initial heuristic sampling set is established. Then the path cost c (f) of the condition is satisfied as the path planning algorithm proceedscurr) Will gradually decrease, all feasible paths f satisfying the artificial potential field methodcurrThe method can be sorted out, and the lengths of the major axis and the minor axis of the elliptical area are reduced under the condition of keeping the focus unchanged, so that the elliptical area is finally converged to a limit state. A set of heuristic samples is established by the method.
It should be noted that the feasible paths referred to herein refer to a set of all propagation paths, and as the path planning (i.e., the artificial potential field method) proceeds, the number of feasible paths is gradually screened to be the set of paths meeting the artificial potential field method. In addition, X' in the present embodiment represents a point in the entire transport network state space where routing and data transmission are located, in the unobstructed space.
It should be noted that, in the conventional RRT path planning algorithm, the probability that any point in the state space is selected is equal, which is generally based on uniform sampling in the complete sense in the state space. However, the presence of obstacles causes the wireless information transmission path to tend to occupy only a small portion of the space, which results in the presence of a large number of redundant sampling points, reducing the efficiency of the algorithm. Compared with the prior art, the method and the device have the advantages that an initial path in the environment is obtained through a sampling artificial potential field method, the heuristic set is established through the path, redundant sampling points are reduced through uniform sampling in the heuristic set, the algorithm efficiency in path planning is improved, the algorithm operation time is shortened, and rapid transmission of data information is facilitated.
As an optional embodiment, in step S13, the sampling data in the heuristic sample set by using a preset sampling method, and obtaining a target planned path based on the initial path, includes:
carrying out uniform sampling in an elliptical area formed by the heuristic sampling set to obtain a uniform sampling point calculation model; the uniform sampling point calculation model is used for indicating the incidence relation between the uniform sampling point and the initial path;
inputting the initial path into the uniform sampling point calculation model to obtain uniform sampling points in an elliptical region of the heuristic sampling set;
and obtaining a target planning path of the wireless transmission signal according to the uniform sampling point and the position of the pre-acquired starting point of the wireless information transmission.
Illustratively, let XcircleIs a uniformly sampled random point, namely X, in a unit circle with the origin as the centercircle～U(Xcircle) Wherein X iscircle＝{x∈X|(X)2Less than or equal to 1}, then:
Xellipse＝CLXcircle+Xcenter (10)
wherein the content of the first and second substances,
Figure BDA0003253250650000101
Xcenter＝(Xinit+Xgoal) 2 represents by XinitAnd XgoalThe center of the sampling region is inspired by an ellipse as a left focus and a right focus; l represents a linear transformation matrix from a unit circle to an elliptical sampling region; c denotes two focal points of the sampling regionThe connecting line is a coordinate transformation matrix from a relative coordinate system of a horizontal axis to a world coordinate system.
Get xcircleIs a unit circle XcircleAt some point in, let xellipse′＝LxcircleFor a linear transformation of a unit circle to an ellipse, there are:
Figure BDA0003253250650000102
obtained from equation (11):
LTSL＝I (12)
wherein the content of the first and second substances,
Figure BDA0003253250650000111
i denotes the identity matrix, solving equation (12) yields:
Figure BDA0003253250650000112
and is further xellipse＝Cxellipse' is an ellipse that inspires the coordinate transformation of the relative coordinate system to the absolute coordinate system of the sampling region, where formula (14) is a coordinate transformation matrix:
Figure BDA0003253250650000113
wherein the content of the first and second substances,
Figure BDA0003253250650000114
is XinitAnd XgoalThe included angle between the straight line and the horizontal axis of the absolute coordinate system.
Combining equations (10), (13) and (14), uniform sampling within a unit circle can be converted to uniform sampling within an elliptical heuristic sampling region by equation (15):
Figure BDA0003253250650000115
sampling in an elliptic heuristic sampling region through a formula (15), substituting a plurality of feasible paths in a heuristic sampling set screened by an artificial potential field method into the formula (15) to obtain uniform sampling points x in the elliptic heuristic sampling regionellipseUsing a curve to set the signal initial point XinitEnd point XgoalAnd a plurality of uniform sampling points xellipseConnected too far from the uniform sampling point x of the curveellipseThe information can be discarded to obtain the final optimal information propagation path.
In addition, x isellipseRepresenting a uniform sampling point within the elliptical heuristic sampling region is a point in the optimal propagation path in space. Each feasible path meeting the artificial potential field method is substituted into the formula 15 to obtain a sampling point, and then the sampling point is connected with the starting point of radio wave transmission by a curve, so that the optimal information propagation path can be obtained.
It should be noted that there are various ways of uniform sampling based on the heuristic sample set, because other algorithms are performed, and many times of sampling need to be repeated to acquire a random point falling in the heuristic sample set. In this embodiment, random points are obtained by uniformly and randomly sampling in the unit circle and converting coordinate transformation into random points in the elliptical area, so that the problem of selection after repeated sampling for many times is solved, and the algorithm efficiency can be improved.
Referring to fig. 2, a schematic structural diagram of a path planning apparatus for wireless information transmission according to an embodiment of the present invention is shown, including:
an initial path obtaining module 21, configured to perform path planning in a target transmission space according to an artificial potential field method to obtain an initial path;
a sampling set constructing module 22, configured to construct, according to the initial path, a heuristic sampling set including target path data;
and the planned path obtaining module 23 is configured to perform data sampling in the heuristic sampling set by using a preset sampling method, and obtain a target planned path for wireless information transmission based on the initial path.
Compared with the prior art, the path planning device for wireless information transmission disclosed by the embodiment of the invention obtains an initial path through the initial path obtaining module 21, constructs a heuristic sampling set containing target path data through the sampling set constructing module 22, and obtains a target planning path for wireless information transmission through the planning path obtaining module 23. By adopting the embodiment of the invention, a feasible initial path can be obtained by an artificial potential field method with better stability, a heuristic set is constructed according to the initial path, and sampling is carried out in the heuristic set by limiting, so that the sampling efficiency is improved, the invalid sampling times are reduced, and an optimal information propagation path is obtained.
As an optional embodiment, the planning a path in a target transmission space according to an artificial potential field method to obtain an initial path includes:
determining a starting point, a target point and the position of an obstacle of wireless information transmission in a target transmission space;
setting the obstacle as a repulsive stage and the target point as a gravitational stage;
and acquiring the attractive force and the repulsive force applied to the wireless information in the transmission process, and calculating the magnitude and the direction of the resultant force according to the attractive force and the repulsive force to obtain an initial path.
As an alternative embodiment, the constructing a set of heuristic samples containing target path data according to the initial path includes:
acquiring the position of a starting point and the position of a target point of wireless information transmission in the target transmission space;
and constructing a heuristic sampling set containing target path data according to the initial path, the position of the starting point and the position of the target point.
As an optional embodiment, the sampling data in the heuristic sampling set by using a preset sampling method, and obtaining a target planning path based on the initial path, includes:
carrying out uniform sampling in an elliptical area formed by the heuristic sampling set to obtain a uniform sampling point calculation model; the uniform sampling point calculation model is used for indicating the incidence relation between the uniform sampling point and the initial path;
inputting the initial path into the uniform sampling point calculation model to obtain uniform sampling points in an elliptical region of the heuristic sampling set;
and obtaining a target planning path of the wireless transmission signal according to the uniform sampling point and the position of the pre-acquired starting point of the wireless information transmission.
As an optional embodiment, the manner of acquiring the attractive force and the repulsive force applied to the wireless information in the transmission process is specifically as follows:
target point XgoalGenerating gravitation UatThe formula is as follows:
Figure BDA0003253250650000131
obstacle XobsGenerated repulsive force Ure：
Figure BDA0003253250650000132
Figure BDA0003253250650000141
By
Figure BDA0003253250650000142
It is possible to obtain:
Fat＝Kad(X-Xgoal) (4)
Figure BDA0003253250650000143
Figure BDA0003253250650000144
wherein, KaDenotes the gravitational coefficient, d (X-X)goal) Indicating the linear distance, K, from the wireless transmitting initiator to the target pointrDenotes the number of repulsive force, dminRepresents the shortest distance between the routing node and the obstacle, and X' represents XobsMiddle closest point to the current position, dobsIndicating the range of repulsion of the obstacle.
As an alternative embodiment, the calculating, according to the attractive force and the repulsive force, a magnitude and a direction of a resultant force to obtain an initial path specifically includes:
Fres＝Fat+Fre
wherein, FresTo said resultant force, Fres>The path of 0 is the initial path.
It should be noted that, as will be clear to those skilled in the art, for convenience and brevity of description, for specific descriptions of the working process and beneficial effects of the apparatus in the foregoing embodiments, reference may be made to the foregoing method embodiments, and no further description is provided herein.
Fig. 3 is a schematic structural diagram of a terminal device according to an embodiment of the present invention. The terminal device 3 of this embodiment includes: a processor 30, a memory 31 and a computer program stored in said memory 31 and executable on said processor 30. The processor 30 implements the steps in the above-mentioned embodiments of the path planning method for wireless information transmission when executing the computer program. Alternatively, the processor 30 implements the functions of the modules in the above device embodiments when executing the computer program.
Illustratively, the computer program may be divided into one or more modules, which are stored in the memory 31 and executed by the processor 30 to accomplish the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program in the terminal device 3.
The terminal device 3 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device 3 may include, but is not limited to, a processor 30 and a memory 31. It will be appreciated by those skilled in the art that the schematic diagram is merely an example of a terminal device, and does not constitute a limitation of the terminal device, and may include more or less components than those shown, or combine some components, or different components, for example, the terminal device 3 may further include an input-output device, a network access device, a bus, etc.
The Processor 30 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 30 is the control center of the terminal device 3 and connects the various parts of the whole terminal device 3 by various interfaces and lines.
The memory 31 may be used for storing the computer programs and/or modules, and the processor 30 implements various functions of the terminal device 3 by running or executing the computer programs and/or modules stored in the memory 31 and calling data stored in the memory 31. The memory 31 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory 31 may include a high speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein, the module integrated by the terminal device 3 can be stored in a computer readable storage medium if it is implemented in the form of software functional unit and sold or used as a stand-alone product. Based on such understanding, all or part of the flow in the method according to the above embodiments may be implemented by a computer program, which may be stored in a computer readable storage medium and used by the processor 30 to implement the steps of the above embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
The embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, and when the computer program runs, the apparatus where the computer-readable storage medium is located is controlled to execute the above-mentioned path planning method for wireless information transmission.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims (9)

1. A path planning method for wireless information transmission is characterized by comprising the following steps:
according to an artificial potential field method, path planning is carried out in a target transmission space to obtain an initial path;
constructing a heuristic sampling set containing target path data according to the initial path;
and adopting a preset sampling method to sample data in the heuristic sampling set, and obtaining a target planning path of wireless information transmission based on the initial path.
2. The method according to claim 1, wherein the step of planning a path in a target transmission space according to an artificial potential field method to obtain an initial path comprises:
determining a starting point, a target point and the position of an obstacle of wireless information transmission in a target transmission space;
setting the obstacle as a repulsive stage and the target point as a gravitational stage;
and acquiring the attractive force and the repulsive force applied to the wireless information in the transmission process, and calculating the magnitude and the direction of the resultant force according to the attractive force and the repulsive force to obtain an initial path.
3. The method of claim 1, wherein constructing a set of heuristic samples containing target path data based on the initial path comprises:
acquiring the position of a starting point and the position of a target point of wireless information transmission in the target transmission space;
and constructing a heuristic sampling set containing target path data according to the initial path, the position of the starting point and the position of the target point.
4. The method according to claim 1, wherein the sampling data in the heuristic sampling set by using a predetermined sampling method and obtaining a target planned path based on the initial path comprises:
carrying out uniform sampling in an elliptical area formed by the heuristic sampling set to obtain a uniform sampling point calculation model; the uniform sampling point calculation model is used for indicating the incidence relation between the uniform sampling point and the initial path;
inputting the initial path into the uniform sampling point calculation model to obtain uniform sampling points in an elliptical region of the heuristic sampling set;
and obtaining a target planning path of the wireless transmission signal according to the uniform sampling point and the position of the pre-acquired starting point of the wireless information transmission.
5. The method for planning a path for wireless information transmission according to claim 2, wherein the manner of acquiring the attractive force and the repulsive force applied to the wireless information during the transmission process is specifically as follows:
target point XgoalGenerating gravitation UatThe formula is as follows:
Figure FDA0003253250640000021
obstacle XobsGenerated repulsive force Ure：
Figure FDA0003253250640000022
Figure FDA0003253250640000023
By
Figure FDA0003253250640000024
It is possible to obtain:
Fat＝Kad(X-Xgoal) (4)
Figure FDA0003253250640000025
Figure FDA0003253250640000026
wherein, KaDenotes the gravitational coefficient, d (X-X)goal) Indicating the linear distance, K, from the wireless transmitting initiator to the target pointrDenotes the number of repulsive force, dminRepresents the shortest distance between the routing node and the obstacle, and x' represents xobsMiddle closest point to the current position, dobsIndicating the range of repulsion of the obstacle.
6. The method for planning a path for wireless information transmission according to claim 5, wherein the magnitude and direction of the resultant force are calculated according to the attractive force and the repulsive force to obtain an initial path, specifically:
Fres＝Fat+Fre
wherein, FresIs a stand forTotal force of said, Fres>The path of 0 is the initial path.
7. A path planning apparatus for wireless information transmission, comprising:
the initial path acquisition module is used for planning a path in a target transmission space according to an artificial potential field method to obtain an initial path;
the sampling set construction module is used for constructing a heuristic sampling set containing target path data according to the initial path;
and the planned path acquisition module is used for sampling data in the heuristic sampling set by adopting a preset sampling method and obtaining a target planned path for wireless information transmission based on the initial path.
8. A terminal device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing a path planning method for wireless information transmission according to any one of claims 1 to 6 when executing the computer program.
9. A computer-readable storage medium, comprising a stored computer program, wherein when the computer program runs, the computer-readable storage medium controls a device to execute the method for path planning of wireless information transmission according to any one of claims 1 to 6.
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