CN114323045B - Path planning method and device - Google Patents
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Abstract
The application discloses a path planning method and a path planning device. Wherein the method comprises the following steps: determining a plurality of anchor points of the target path; determining a starting position where an initial starting point is located and/or an ending position where an initial ending point is located as an initial position, and adjusting the initial position to obtain an adjusted target point, wherein the target point at least comprises one of the following: an adjusted target starting point and an adjusted target ending point; determining an effective anchor point from the plurality of anchor points based on the relative positions between the target point and the plurality of anchor points; and planning a path based on the effective anchor point and the target point to obtain a target path. The application solves the technical problems that the path state is reset, the path searching efficiency is low, the path searching path is longer and the expected user cannot be reached because the path searching algorithm in the related technology ignores the adjustment of the target path by the user.
Description
Technical Field
The present application relates to the field of path finding, and in particular, to a path planning method and apparatus.
Background
The path finding algorithm is a basic technology applied to path planning by avoiding obstacles between two points on a map, and how to improve the path finding experience of a user and the path finding efficiency is an important direction of path finding algorithm research. The algorithm A belongs to a widely applied type of path searching algorithm, and is a heuristic search algorithm, so that a large number of unnecessary search paths can be omitted, and the efficiency is improved. However, the path-finding algorithm in the related art needs to re-plan the whole path every time of path finding, so that the path which is adjusted by the user cannot be saved, and path planning is performed based on the adjusted path.
For example, a path from a starting point, avoiding an obstacle, and going to an end point is planned based on a path finding algorithm, so that a target path 1 can be obtained, but the target path 1 may coincide with the target path 2, at this time, the user adjusts the target path 1 to avoid repetition with the target path 2, at this time, if the user readjust the position of the starting point or the end point, the path finding algorithm in the related art will readjust all paths, ignoring the adjustment made by the user on the target path 1, and repeating to the state before path adjustment, which not only affects the use experience of the user, but also affects the efficiency of path finding, and increases the path length of the path-finding part.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the application provides a path planning method and a path planning device, which at least solve the technical problems that the path state is reset, the path searching efficiency is low, the path searching path is longer and the expected technical problem of a user cannot be achieved because a path searching algorithm in the related technology ignores the adjustment of a target path by the user.
According to an aspect of an embodiment of the present application, there is provided a path planning method including: adjusting the initial path to obtain a target path, and determining a plurality of anchor points of the target path, wherein the anchor points are turning points after moving in the process of determining the target path, and the initial path comprises: a path obtained by avoiding the obstacle in the process of going from the initial starting point to the initial ending point; determining a starting position where an initial starting point is located and/or an ending position where an initial ending point is located as an initial position, and adjusting the initial position to obtain an adjusted target point, wherein the target point at least comprises one of the following: an adjusted target starting point and an adjusted target ending point; determining an effective anchor point from the plurality of anchor points based on the relative positions between the target point and the plurality of anchor points; and planning a path based on the effective anchor point and the target point to obtain a target path.
Optionally, determining the active anchor point from the plurality of anchor points based on the relative positions between the target point and the plurality of anchor points includes: determining a first anchor point closest to the target point from a plurality of anchor points; determining the position relation between the target point and the first anchor point; determining whether the target point is in the effective area of the first anchor point based on the position relation; and under the condition that the target point is determined to be in the effective area of the first anchor point, determining that the first anchor point is the effective anchor point.
Optionally, determining whether the target point is in the active area of the first anchor point based on the positional relationship includes: determining a connecting line of the first anchor point and the target turning point as an effective area dividing line, wherein the target turning point comprises: a turning point closest to the target point; and determining the area on the same side as the initial position as an effective area of the first anchor point.
Optionally, the method further comprises: determining an area which is not positioned on the same side as the initial position as an invalid area of the first anchor point; determining an anchor point in the invalid region as an invalid anchor point; and acquiring an anchor point list at the current moment, and removing invalid anchor points from the anchor point list.
Optionally, path planning is performed based on the effective anchor point and the target point to obtain a target path, including: determining a first effective area dividing line in the transverse direction and a second effective area dividing line in the longitudinal direction; determining priorities of the first effective area dividing line and the second effective area dividing line, wherein the priorities are used for indicating a time sequence for planning a path; planning paths according to the time sequence indicated by the priority, and obtaining new paths; and obtaining a target path according to the newly-built path and the unchanged historical path.
Optionally, after path planning is performed according to the time sequence indicated by the priority, the method further includes: judging whether three turning points in the same straight line exist in the target path; and eliminating the turning points positioned at the middle positions of the three turning points under the condition that the judging result indicates that the three turning points positioned at the same straight line exist.
Optionally, before determining the plurality of anchor points of the target path, the method further comprises: performing two-dimensional gridding on the display interface to obtain a networked target display interface; setting an initial starting point, an initial end point and an obstacle on a target display interface; obtaining a shortest path obtained by avoiding an obstacle in the process of going from an initial starting point to an initial end point based on a path finding algorithm, and determining the shortest path as an initial path; and receiving an operation instruction of a user, and adjusting the initial path based on the operation instruction to obtain a target path.
According to an aspect of the embodiment of the present application, there is also provided a path planning apparatus, including: the first determining module is configured to adjust an initial path to obtain a target path, and determine a plurality of anchor points of the target path, where the anchor points are turning points after moving in a process of determining the target path, and the initial path includes: a path obtained by avoiding the obstacle in the process of going from the initial starting point to the initial ending point; the second determining module is configured to determine an initial position at which an initial starting point is located and/or an end position at which an initial end point is located as an initial position, and adjust the initial position to obtain an adjusted target point, where the target point at least includes one of the following: an adjusted target starting point and an adjusted target ending point; a third determining module, configured to determine an effective anchor point from the plurality of anchor points based on a relative position between the target point and the plurality of anchor points; and the fourth determining module is used for planning a path based on the effective anchor point and the target point to obtain a target path.
According to another aspect of the embodiment of the present application, there is also provided a nonvolatile storage medium, the nonvolatile storage medium including a stored program, wherein when the program runs, a device in which the nonvolatile storage medium is controlled to execute any one of path planning methods.
According to another aspect of the embodiment of the present application, there is further provided a processor, configured to execute a program, where the program executes any one of the path planning methods.
In the embodiment of the application, a way of searching a path is adopted by adopting an effective anchor point and a dragging point, and a plurality of anchor points of a target path are determined, wherein the anchor points are turning points after moving in the process of determining the target path; determining a starting position where an initial starting point is located and/or an ending position where an initial ending point is located as an initial position, and adjusting the initial position to obtain an adjusted target point, wherein the target point at least comprises one of the following: an adjusted target starting point and an adjusted target ending point; determining an effective anchor point from the plurality of anchor points based on the relative positions between the target point and the plurality of anchor points; the path planning is carried out based on the effective anchor point and the target point to obtain a target path, so that the purpose of searching a path based on the path adjusted by the user is achieved, the technical effect based on the user pair is achieved, and the problems that the path state is reset, the path searching efficiency is low, the path searching path is long and the expected technical problem of the user cannot be achieved due to the fact that the path searching algorithm in the related technology ignores the adjustment of the target path by the user are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow diagram of an alternative path planning method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an alternative path based routing algorithm in accordance with an embodiment of the present application;
FIG. 3 is a schematic diagram of an alternative anchor point in accordance with an embodiment of the present application;
FIG. 4 is a schematic illustration of an alternative anchor active area in accordance with an embodiment of the present application;
fig. 5 is a schematic diagram of an alternative path planning apparatus according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In order to facilitate a better understanding of the related embodiments of the present application by those skilled in the art, technical terms or partial terms that may be involved in the present application are explained as follows:
1. Anchor point way finding: after searching the route and generating the shortest route based on the A-algorithm, the user adjusts the route, takes the adjusted turning point as an anchor point, determines an effective anchor point when the user moves a starting point or an end point, and performs partial re-route searching on the route according to the effective anchor point.
2. Heuristic search: searches in the state space evaluate the location of each search to get the best location from which the search is performed until the target.
A (a-Star) algorithm: the method is a direct searching method for solving the shortest path in the static road network, is a heuristic searching algorithm, can omit a large number of unnecessary searching paths and improves the efficiency.
4. Trip point routing algorithm (JPS): is a Grid-based routing algorithm proposed by two teachings in australia in 2011. The JPS algorithm further optimizes the operation of the a algorithm to find the subsequent node while preserving the framework of the a algorithm.
In accordance with an embodiment of the present application, there is provided an embodiment of a path planning method, it being noted that the steps shown in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order other than that shown or described herein.
Fig. 1 is a path planning method according to an embodiment of the present application, as shown in fig. 1, the method includes the steps of:
Step S102, an initial path is adjusted to obtain a target path, a plurality of anchor points of the target path are determined, wherein the anchor points are turning points after moving in the process of determining the target path, and the initial path comprises: a path obtained by avoiding the obstacle in the process of going from the initial starting point to the initial ending point;
Step S104, determining a starting position where an initial starting point is located and/or an end position where an initial end point is located as an initial position, and adjusting the initial position to obtain an adjusted target point, wherein the target point at least comprises one of the following: an adjusted target starting point and an adjusted target ending point;
step S106, determining effective anchor points from the anchor points based on the relative positions between the target point and the anchor points;
And step S108, path planning is carried out based on the effective anchor point and the target point, and a target path is obtained.
In the path planning method, a plurality of anchor points of a target path are determined, wherein the anchor points are turning points after moving in the process of determining the target path, the target path is a path after adjusting an initial path, and the initial path is a path obtained based on a path finding algorithm; then determining the initial position of the initial starting point and/or the final position of the initial final point as the initial position, and adjusting the initial position to obtain an adjusted target point, wherein the target point at least comprises one of the following: an adjusted target starting point and an adjusted target ending point; determining effective anchor points from the anchor points based on the relative positions of the target points and the anchor points; finally, path planning is carried out based on the effective anchor point and the target point to obtain a target path, and the purpose of searching paths based on the paths adjusted by the user is achieved, so that the technical effect based on the user pair is achieved, and the problems that the path state is reset, the path searching efficiency is low, the path searching path is long and the expected technical problem of the user cannot be achieved due to the fact that the path searching algorithm in the related technology ignores the adjustment of the target path by the user are solved.
It should be noted that, the drag point refers to a drag point where the initial start point can be obtained after the start point or the end point is dragged, for example, after the initial start point is dragged. The starting point may be a starting block in the two-dimensional grid, and similarly, the ending point may be an ending block in the two-dimensional grid. It will be appreciated that the above-mentioned turning point after moving in the process of determining the target path refers to a target turning point in the target path, where the position is changed compared with the turning point in the initial path.
In some optional embodiments of the present application, before determining multiple anchor points of the target path, two-dimensional gridding may be performed on the display interface to obtain a networked target display interface; setting an initial starting point, an initial end point and an obstacle on a target display interface; obtaining a shortest path obtained by avoiding an obstacle in the process of going from an initial starting point to an initial end point based on a path finding algorithm, and determining the shortest path as an initial path; and receiving an operation instruction of a user, and adjusting the initial path based on the operation instruction to obtain a target path.
It should be noted that the above-mentioned routing algorithm includes, but is not limited to: a, algorithm, JPS algorithm.
The initial path may be implemented by the following way, for example:
firstly, dividing canvas into two-dimensional grids, and initializing the two-dimensional grids;
and secondly, setting coordinates of a starting point and an end point of the current path finding, namely determining the positions of an initial starting point and an initial end point.
And thirdly, acquiring all the obstacles on the canvas, and sequentially setting the obstacles as the obstacle for the current road finding, wherein it can be understood that at least the obstacle should be determined, and the path of the obstacle is avoided in the process of determining the initial starting point to the initial end point.
(IV) performing path searching according to the horizontal priority or the vertical priority.
Fifthly, carrying out a path searching operation between the starting point and the ending point by using an A-algorithm to obtain a two-dimensional grid path
And (six) converting the two-dimensional grid path into a path on the canvas to finish the path searching, namely obtaining the shortest path obtained by avoiding the obstacle in the process of going from the initial starting point to the initial end point based on the path searching algorithm.
In some optional embodiments of the present application, determining an effective anchor point from a plurality of anchor points based on a correlation position between a target point and the plurality of anchor points is implemented by specifically determining a first anchor point closest to the target point from the plurality of anchor points; determining the position relation between the target point and the first anchor point; determining whether the target point is in the effective area of the first anchor point based on the position relation; and under the condition that the target point is determined to be in the effective area of the first anchor point, determining that the first anchor point is the effective anchor point.
In some implementations of the present application, whether the target point is in the effective area of the first anchor point may be determined based on the position relationship, specifically, determining a connection line between the first anchor point and the target turning point as an effective area dividing line, where the target turning point includes: a turning point closest to the target point; and determining the area on the same side as the initial position as an effective area of the first anchor point.
In some implementations of the present application, an area not located on the same side as the initial position may be determined as an invalid area of the first anchor point; determining an anchor point in the invalid region as an invalid anchor point; and acquiring an anchor point list at the current moment, and removing invalid anchor points from the anchor point list.
That is, if the user adjusts the path-finding path (i.e. adjusts the initial path to obtain the target path), the anchor point (i.e. the turning point after moving) is confirmed according to the path adjusted by the user, and the anchor point generated by the current modification is confirmed as follows:
The step of determining whether the new location (i.e., the target point) is within the active area of the anchor point is as follows:
① Taking the connecting line of the anchor point and the break point far away from the new position as an effective area separation line;
② One side of the original position of the limited area separation line is an anchor point effective area, and the other side is an anchor point non-effective area;
In some optional embodiments of the present application, path planning is performed based on the effective anchor point and the target point, so as to obtain the target path, which may be implemented by the following implementation manner: determining a first effective area dividing line in the transverse direction and a second effective area dividing line in the longitudinal direction; determining priorities of the first effective area dividing line and the second effective area dividing line, wherein the priorities are used for indicating a time sequence for planning a path; planning paths according to the time sequence indicated by the priority, and obtaining new paths; and obtaining a target path according to the newly-built path and the unchanged historical path.
In some embodiments of the present application, after path planning is performed according to the time sequence indicated by the priority, it may further be determined whether three turning points in the same straight line exist in the target path; and eliminating the turning points positioned at the middle positions of the three turning points under the condition that the judging result indicates that the three turning points positioned at the same straight line exist. Illustratively, after finding the active anchor point, a rerouting of the active anchor point with the moving point (target point) is started. The route searching step is as follows:
1. and according to the transverse and vertical relation of the separation lines of the effective anchor points, carrying out row priority or column priority rerouting on the effective anchor points and the moving points so as to reduce the number of folding points as much as possible.
2. And splicing the re-route-finding part paths with the non-re-route-finding part paths to form new route-finding paths.
3. And judging whether each folding point is positioned at the folding line position or not, so that invalid folding points in the path are removed. The judging method comprises the following steps: if the three break points are in the same straight line, the middle break point is removed from the list of break points.
4. Judging whether the anchor point is removed as an invalid point, if so, removing the anchor point from the anchor point list, namely eliminating the invalid anchor point, and updating the data in the anchor point list according to the inflection point list of the new path.
For the convenience of those skilled in the art, the related embodiments of the present application will be described with reference to a specific application scenario:
As shown in fig. 2, the left side is a start block, named sine wave block; the middle position is provided with an obstacle block, which is named script block, and the right side is provided with two end point blocks, which are named Tag1 and Tag2. As can be seen from fig. 2, when the user does not adjust the path, the initial path 1 from the Y point of the sine wave block to the Tag1 obtained based on the path finding algorithm has a partial line overlapping phenomenon with the initial path 2 from the ERR point of the sine wave block to the Tag2.
Since there is a coincidence phenomenon, at this time, in order to make the display effect more obvious, the path needs to be adjusted, and the adjusted effect is shown in fig. 3, and as can be seen from fig. 3, at this time, 4 anchor points (points shown by rectangular boxes) are generated from left to right, which are anchor point 1, anchor point 2, anchor point 3 and anchor point 4.
In this case, after the user adjusts the paths, if the user drags the start point block or the end point block based on the scheme in the related art, that is, without searching based on the anchor point, all paths will be re-searched, so that the state before the user adjusts (for example, the state that the two paths overlap in fig. 2) is restored, and thus the user needs to perform repeated operation adjustment; after the anchor point is found, when the starting and ending point adjusted by the user is in the effective range, the path is found again by partial paths, so that the paths modified by the user are not reset, and the user experience is enhanced. For example, when the user adjusts the initial block (i.e. the sine wave block), when the sine wave block drags beyond the validity judging area of the anchor point 1, the anchor point 1 fails, at this time, it will be judged whether the movement exceeds the valid area of the anchor point 2, the valid area of the anchor point 2 is the area 3 of the cross coordinate system shown in fig. 4, when the sine wave block moves in the area three, the anchor point 2 is always valid, and after the dragging is finished, the route will be re-searched between the anchor point 2 and the sine wave block, and the rest route is unchanged. The rest of anchor points are judged and so on.
It is easy to notice that by means of the above method, only partial rerouting of the path can be achieved, and the path length required for rerouting is reduced, thereby increasing the speed of the route searching and reducing the performance consumption. And by judging the mode of the effective anchor point of the modification, the user behavior expectation is simulated, so that the route searching effect of the time can be reduced and the route searching effect of the proper route can be finished while the route regulated by the user is modified as much as possible.
Fig. 5 is a path planning apparatus according to an embodiment of the present application, as shown in fig. 5, the apparatus includes:
the first determining module 40 is configured to adjust an initial path to obtain a target path, and determine a plurality of anchor points of the target path, where the anchor points are turning points after moving in a process of determining the target path, and the initial path includes: a path obtained by avoiding the obstacle in the process of going from the initial starting point to the initial ending point;
The second determining module 42 is configured to determine a starting position where the initial starting point is located and/or an ending position where the initial ending point is located as an initial position, and adjust the initial position to obtain an adjusted target point, where the target point includes at least one of the following: an adjusted target starting point and an adjusted target ending point;
A third determining module 44, configured to determine an effective anchor point from the plurality of anchor points based on the relative positions between the target point and the plurality of anchor points;
and a fourth determining module 46, configured to perform path planning based on the effective anchor point and the target point, so as to obtain a target path.
In the path planning device, a first determining module 40 is configured to adjust an initial path to obtain a target path, and determine a plurality of anchor points of the target path, where the anchor points are turning points after moving in a process of determining the target path, and the initial path includes: a path obtained by avoiding the obstacle in the process of going from the initial starting point to the initial ending point; the second determining module 42 is configured to determine a starting position where the initial starting point is located and/or an ending position where the initial ending point is located as an initial position, and adjust the initial position to obtain an adjusted target point, where the target point includes at least one of the following: an adjusted target starting point and an adjusted target ending point; a third determining module 44, configured to determine an effective anchor point from the plurality of anchor points based on the relative positions between the target point and the plurality of anchor points; the fourth determining module 46 is configured to perform path planning based on the effective anchor point and the target point to obtain a target path, thereby achieving the purpose of searching paths based on the path adjusted by the user, and further achieving the technical effect based on the user pair, and solving the technical problems that the path state is reset, the path searching efficiency is low, the path searching path is long, and the expected technical problem of the user cannot be achieved because the path searching algorithm in the related art ignores the adjustment of the target path by the user.
According to another aspect of the embodiment of the present application, there is also provided a nonvolatile storage medium, the nonvolatile storage medium including a stored program, wherein when the program runs, a device in which the nonvolatile storage medium is controlled to execute any one of path planning methods.
According to another aspect of the embodiment of the present application, there is further provided a processor, configured to execute a program, where the program executes any one of the path planning methods.
Specifically, the storage medium is used for storing program instructions for executing the following functions, and the following functions are realized:
Determining a plurality of anchor points of a target path, wherein the anchor points are turning points after moving in the process of determining the target path, the target path is a path after adjusting an initial path, and the initial path is a path obtained based on a path finding algorithm; determining a starting position where an initial starting point is located and/or an ending position where an initial ending point is located as an initial position, and adjusting the initial position to obtain an adjusted target point, wherein the target point at least comprises one of the following: an adjusted target starting point and an adjusted target ending point; determining an effective anchor point from the plurality of anchor points based on the relative positions between the target point and the plurality of anchor points; and planning a path based on the effective anchor point and the target point to obtain a target path.
Specifically, the above processor is configured to call program instructions in the memory, and implement the following functions:
Determining a plurality of anchor points of a target path, wherein the anchor points are turning points after moving in the process of determining the target path, the target path is a path after adjusting an initial path, and the initial path is a path obtained based on a path finding algorithm; determining a starting position where an initial starting point is located and/or an ending position where an initial ending point is located as an initial position, and adjusting the initial position to obtain an adjusted target point, wherein the target point at least comprises one of the following: an adjusted target starting point and an adjusted target ending point; determining an effective anchor point from the plurality of anchor points based on the relative positions between the target point and the plurality of anchor points; and planning a path based on the effective anchor point and the target point to obtain a target path.
In the related embodiment of the application, a way of searching for an effective anchor point and a dragging point can be adopted, and a plurality of anchor points of a target path are determined, wherein the anchor points are turning points after moving in the process of determining the target path; determining a starting position where an initial starting point is located and/or an ending position where an initial ending point is located as an initial position, and adjusting the initial position to obtain an adjusted target point, wherein the target point at least comprises one of the following: an adjusted target starting point and an adjusted target ending point; determining an effective anchor point from the plurality of anchor points based on the relative positions between the target point and the plurality of anchor points; the path planning is carried out based on the effective anchor point and the target point to obtain a target path, so that the purpose of searching a path based on the path adjusted by the user is achieved, the technical effect based on the user pair is achieved, and the problems that the path state is reset, the path searching efficiency is low, the path searching path is long and the expected technical problem of the user cannot be achieved due to the fact that the path searching algorithm in the related technology ignores the adjustment of the target path by the user are solved.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a read-only memory (ROM), a random access memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (7)
1. A method of path planning, comprising:
adjusting an initial path to obtain a target path, and determining a plurality of anchor points of the target path, wherein the anchor points are turning points after moving in the process of determining the target path, and the initial path comprises: a path obtained by avoiding the obstacle in the process of going from the initial starting point to the initial ending point;
Determining a starting position where the initial starting point is located and/or an ending position where the initial ending point is located as an initial position, and adjusting the initial position to obtain an adjusted target point, wherein the target point at least comprises one of the following: an adjusted target starting point and an adjusted target ending point;
Determining an effective anchor point from the plurality of anchor points based on the relative positions between the target point and the plurality of anchor points;
planning a path based on the effective anchor point and the target point to obtain a target path;
wherein determining an effective anchor point from the plurality of anchor points based on the relative positions between the target point and the plurality of anchor points comprises: determining a first anchor point closest to the target point from the plurality of anchor points; determining the position relation between the target point and the first anchor point; determining whether the target point is in an effective area of the first anchor point based on the position relation; under the condition that the target point is determined to be in the effective area of the first anchor point, determining that the first anchor point is an effective anchor point;
Determining whether the target point is within the active area of the first anchor point based on the positional relationship includes: determining a connecting line of the first anchor point and a target turning point as an effective area dividing line, wherein the target turning point comprises: a turning point nearest to the target point; determining a region which is positioned on the same side as the initial position as an effective region of the first anchor point; determining an area which is not positioned on the same side as the initial position as an invalid area of the first anchor point; determining the anchor points in the invalid region as invalid anchor points; and acquiring an anchor point list at the current moment, and eliminating the invalid anchor point from the anchor point list.
2. The method of claim 1, wherein path planning based on the active anchor point and the target point results in a target path, comprising:
determining a first effective area dividing line in the transverse direction and a second effective area dividing line in the longitudinal direction;
Determining priorities of the first effective area dividing line and the second effective area dividing line, wherein the priorities are used for indicating a time sequence for path planning;
Planning paths according to the time sequence indicated by the priority, and obtaining new paths;
and obtaining the target path according to the newly-built path and the unchanged historical path.
3. The method of claim 2, wherein after path planning is performed according to the time sequence indicated by the priority, the method further comprises:
Judging whether three turning points in the same straight line exist in the target path or not;
And eliminating the turning points positioned at the middle position in the three turning points under the condition that the judging result indicates that the three turning points positioned at the same straight line exist.
4. The method of claim 1, wherein prior to determining the plurality of anchor points for the target path, the method further comprises:
performing two-dimensional gridding on the display interface to obtain a networked target display interface;
Setting the initial starting point, the initial end point and the obstacle on the target display interface;
determining the shortest path as the initial path based on a shortest path obtained after the obstacle is avoided in the process of going from the initial starting point to the initial end point by a path finding algorithm;
And receiving an operation instruction of a user, and adjusting the initial path based on the operation instruction to obtain the target path.
5. A path planning apparatus, comprising:
the first determining module is configured to adjust an initial path to obtain a target path, and determine a plurality of anchor points of the target path, where the anchor points are turning points after moving in a process of determining the target path, and the initial path includes: a path obtained by avoiding the obstacle in the process of going from the initial starting point to the initial ending point;
The second determining module is configured to determine an initial position at which an initial starting point is located and/or an end position at which an initial end point is located as an initial position, and adjust the initial position to obtain an adjusted target point, where the target point at least includes one of the following: an adjusted target starting point and an adjusted target ending point;
a third determining module, configured to determine an effective anchor point from the plurality of anchor points based on a relative position between the target point and the plurality of anchor points, including: determining a first anchor point closest to the target point from the plurality of anchor points; determining the position relation between the target point and the first anchor point; determining whether the target point is in an effective area of the first anchor point based on the position relation; under the condition that the target point is determined to be in the effective area of the first anchor point, determining that the first anchor point is an effective anchor point;
the fourth determining module is used for planning a path based on the effective anchor point and the target point to obtain a target path;
Wherein determining whether the target point is within the effective area of the first anchor point based on the positional relationship comprises: determining a connecting line of the first anchor point and a target turning point as an effective area dividing line, wherein the target turning point comprises: a turning point nearest to the target point; determining a region which is positioned on the same side as the initial position as an effective region of the first anchor point; determining an area which is not positioned on the same side as the initial position as an invalid area of the first anchor point; determining the anchor points in the invalid region as invalid anchor points; and acquiring an anchor point list at the current moment, and eliminating the invalid anchor point from the anchor point list.
6. A non-volatile storage medium, characterized in that the non-volatile storage medium comprises a stored program, wherein the program, when run, controls a device in which the non-volatile storage medium is located to perform the path planning method according to any one of claims 1 to 4.
7. A processor, characterized in that the processor is adapted to run a program, wherein the program when run performs the path planning method of any one of claims 1 to 4.
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