TWI453374B - A mobile navigation for specific area route plan method - Google Patents
A mobile navigation for specific area route plan method Download PDFInfo
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本發明是有關於一種行動式導航系統及其路徑規劃方法,特別是指一種應用於一特定區域之行動式導航系統及其路徑規劃方法。The invention relates to a mobile navigation system and a path planning method thereof, in particular to a mobile navigation system applied to a specific area and a path planning method thereof.
現今運用於道路導航的全球衛星導航系統(Global Positioning System,GPS),其所使用的電子地圖大多僅侷限應用於一般開放性道路上,而對於公園、賣場、風景區或校園等等特定區域之內部道路,往往不在全球衛星導航系統執行路徑規劃時的規劃條件內,因此,對於使用者而言,其所得到的路徑規劃結果並不一定會是最佳路徑,舉例來說,參閱圖1,當一使用者欲由城市A前往城市B,而且於城市A與城市B之間有一風景區C,在現今技術之下,全球衛星導航系統將會規劃使用者以路徑S1由城市A前往城市B,然而,若是全球衛星導航系統於規劃路徑時可以考慮風景區內部路徑的話,以路徑S2由城市A前往城市B相較於路徑S1而言,可以得到較短之距離,因此,可見現今全球衛星導航系統之路徑規劃技術仍存有盲點。The Global Positioning System (GPS), which is now used for road navigation, uses electronic maps that are mostly limited to general open roads, but for specific areas such as parks, stores, scenic areas or campuses. Internal roads are often not within the planning conditions of the global satellite navigation system when performing path planning. Therefore, the result of the path planning obtained by the user is not necessarily the best path. For example, refer to Figure 1. When a user wants to travel from city A to city B, and there is a scenic area C between city A and city B, under current technology, the global satellite navigation system will plan users to travel from city A to city B with path S1. However, if the global satellite navigation system can consider the internal route of the scenic area when planning the route, the distance from the city A to the city B to the city S can be shorter than the path S1. Therefore, the current global satellite can be seen. There are still blind spots in the path planning technology of the navigation system.
而一般而言,導航路徑規劃的演算法往往被歸類為旅行業務員問題(travelling salesman problem),因此,由演算法基本理論可以得知此類問題的計算複雜度為一高於非確定性多項式問題(NP-Hard),所以計算付雜度相當高且硬體運算成本亦相對較高。此外,系統開發廠商開發導航系統時,往往需要支付所需的地理資訊系統(Geographic Information System,GIS)之商業授權金,因此,會增加系統開發的成本支出。In general, the algorithm of navigation path planning is often classified as traveling salesman problem. Therefore, the basic theory of algorithms can know that the computational complexity of such problems is higher than non-deterministic. Polynomial problem (NP-Hard), so the computational complexity is quite high and the hardware computing cost is relatively high. In addition, when system developers develop navigation systems, they often need to pay the required commercial authorization for the Geographic Information System (GIS), thus increasing the cost of system development.
綜合上述,如何有效規劃一特定區域之內部路徑,並可以降低路徑規劃所需的成本,對於現今導航路徑規劃技術而言,仍是相當值得相關領域之人士研究改善的議題之一。In summary, how to effectively plan the internal path of a specific area and reduce the cost required for path planning is still one of the topics worthy of research and improvement for people in related fields for today's navigation path planning technology.
因此,本發明之目的,即在提供一種特定區域之行動式導航路徑規劃方法,適用於以一處理器接收一起始節點與一終止節點的座標值,其包含以下步驟:Therefore, the object of the present invention is to provide a mobile navigation path planning method for a specific area, which is suitable for receiving a coordinate value of a start node and a termination node by a processor, which includes the following steps:
(A)組配該處理器,根據該起始節點與該終止節點的座標值,以計算出至少一個中間節點座標值的範圍;(A) assembling the processor, according to the coordinate values of the starting node and the terminating node, to calculate a range of at least one intermediate node coordinate value;
(B)組配該處理器,根據該中間節點座標值的範圍,以得到一路徑矩陣與一節點陣列;(B) assembling the processor, according to the range of coordinates of the intermediate node, to obtain a path matrix and a node array;
(C)組配該處理器,根據該路徑矩陣以判斷在該起始節點與該終止節點間是否有路徑連接,若是,則該處理器得到一導航路徑規劃結果,若否,執行步驟(D);(C) assembling the processor, according to the path matrix to determine whether there is a path connection between the starting node and the terminating node, and if so, the processor obtains a navigation path planning result, and if not, performing the step (D) );
(D)組配該處理器,由該節點陣列得到一更新後的節點陣列,並根據該更新後的節點陣列得到一與該起始節點有路徑連接之中間節點;(D) assembling the processor, obtaining an updated node array from the node array, and obtaining an intermediate node having a path connection with the starting node according to the updated node array;
(E)組配該處理器,判斷所得到之中間節點是否與該終止節點有路徑連接,若是,則該處理器得到一導航路徑規劃結果,若否,則以中間節點作為更新後的起始節點P,並跳回至步驟(D)。(E) assembling the processor to determine whether the obtained intermediate node has a path connection with the terminating node, and if so, the processor obtains a navigation path planning result, and if not, the intermediate node is used as an updated starting Node P, and jump back to step (D).
此外,本發明另外提供一種特定區域之行動式導航系統,適用於接收一起始節點與一終止節點的座標值,其包含:一儲存單元,儲存一地圖資料與一顯示資訊;一處理單元,與該儲存單元電連接,並接收該地圖資料與該顯示資訊,以計算得到一導航路徑規劃結果;及一顯示單元,與該處理單元電連接,以接收該導航路徑規劃結果及該顯示資訊,並將其顯示之。In addition, the present invention further provides a specific area of the mobile navigation system, which is adapted to receive a coordinate value of a start node and a termination node, and includes: a storage unit, storing a map data and a display information; a processing unit, and The storage unit is electrically connected, and receives the map data and the display information to calculate a navigation path planning result; and a display unit electrically connected to the processing unit to receive the navigation path planning result and the display information, and Show it.
於是,本發明之功效在於藉由一低計算複雜度之特定區域之行動式導航路徑規劃方法,以降低對應之行動式導航系統所需要之硬體成本,此外,由於該特定區域之內部節點座標為預先儲存,所以,即使在難以接收衛星訊號之處(例如:室內或地下室),本發明依然可以得到該導航路徑規劃之結果,因此,本發明亦可應用於室內導航路徑規劃。Thus, the effect of the present invention is to reduce the hardware cost required for the corresponding mobile navigation system by a mobile navigation path planning method of a specific area with low computational complexity, and in addition, due to the internal node coordinates of the specific area For pre-storage, the present invention can still obtain the result of the navigation path planning even in the case where it is difficult to receive satellite signals (for example, indoor or basement), and therefore, the present invention can also be applied to indoor navigation path planning.
有關本發明之相關申請專利特色與技術內容,在以下配合參考圖式之一個較佳實施例的詳細說明中,將可清楚的呈現。The details of the related patents and the technical contents of the present invention will be apparent from the following detailed description of a preferred embodiment of the drawings.
在說明本發明之特定區域之行動式導航路徑規劃方法之前,合先述明有關定義如下:Before describing the mobile navigation path planning method in a specific area of the present invention, the relevant definitions are as follows:
在一特定區域中(例如:校園或是風景區),在導航路徑規劃的一起點(Start Point)與一終點(End Point)分別被設定為一起始節點Ps 與一終止節點Pe ,並且路徑規劃之結果即為最短路徑,也就是將各個節點從起點到終點以及中間必要的節點,路徑上所有兩個節點間距離加總的結果為最小值。以下,將以圖形理論(Graph Theory)加以進一步說明:In a specific area (for example, a campus or a scenic area), a start point and an end point of the navigation path plan are respectively set as a start node P s and a termination node P e , and The result of the path planning is the shortest path, that is, the nodes from the starting point to the ending point and the necessary nodes in the middle. The total distance between all the two nodes on the path is the minimum value. In the following, it will be further explained by Graph Theory:
定義一 :假設一特定區域中共有n個節點為{P1 ,P2 ,…,Pn },每個節點Pi (i=1,2,…,n)都有一個對應的座標值(xi ,yi ),其中,每一座標值(xi ,yi )可以由實際的經緯度位置來加以表示。舉例來說,參閱圖2,節點5與15的座標值分別為(1,1)與(5,4)。 Definition 1 : Suppose there are n nodes in a specific area as {P 1 , P 2 ,..., P n }, and each node P i (i=1, 2,...,n) has a corresponding coordinate value ( x i , y i ), wherein each coordinate value (x i , y i ) can be represented by an actual latitude and longitude position. For example, referring to Figure 2, the coordinates of nodes 5 and 15 are (1, 1) and (5, 4), respectively.
定義二 :假設一特定區域中n個節點為{P1 ,P2 ,…,Pn },每兩個節點Pi 與Pj (i,j=1,2,…,n)間的距離D(i,j)可以依不同情況而表示如下: Definition 2 : Suppose the n nodes in a particular region are {P 1 , P 2 ,..., P n }, the distance between each two nodes P i and P j (i, j=1, 2,..., n) D(i,j) can be expressed as follows according to different situations:
(1)D(i,j)=0,其中Pi 與Pj 為相同之節點;(1) D(i,j)=0, where P i and P j are the same nodes;
(2)D(i,j)=∞,其中Pi 與Pj 為不同之節點且兩者之間無相連路徑;及(2) D(i,j)=∞, where P i and P j are different nodes and there is no connected path between the two;
(3)D(i,j)=L,其中Pi 與Pj 表示不同節點且有路徑相連且兩點距離為L。(3) D(i,j)=L, where P i and P j represent different nodes and have paths connected and the distance between the two points is L.
所以,對於一具有n個節點的特定區域,其節點間的距離以一維度為n×n的路徑矩陣(Path Matrix)M來表示。Therefore, for a specific region having n nodes, the distance between the nodes is represented by a path matrix M having a dimension of n×n.
根據上述的定義,聯合參閱圖2、3,本發明之特定區域之路徑規劃方法之一較佳實施例,適用於以一處理器接收一起始節點Ps 與一終止節點Pe 的座標值,其包含以下步驟:According to the above definition, referring to FIG. 2 and FIG. 3, a preferred embodiment of the path planning method for a specific area of the present invention is adapted to receive a coordinate value of a start node P s and a termination node P e by a processor. It contains the following steps:
步驟91是組配該處理器,根據該起始節點Ps 與該終止節點Pe 的座標值分別為(xs ,ys )與(xe ,ye ),以計算出介於該起始節點Ps 與該終止節點Pe 間的至少一個中間節點Pr 座標值(xr ,yr )的範圍如下方程式(F .1)、(F .2)所示:Step 91 is to assemble the processor, according to the coordinates of the starting node P s and the terminating node P e are (x s , y s ) and (x e , y e ), respectively, to calculate the relationship between P s range start node with the terminating node at least one intermediate node coordinate value P r (x r, y r) e P between the following equation (F .1), (F .2 ) below:
min(x s ,x e ) x r max(x s ,x e ).....(F .1)Min( x s , x e ) x r Max( x s , x e ).....( F .1)
min(y s ,y e ) y r max(y s ,y e ).....(F .2)Min( y s , y e ) y r Max( y s , y e ).....( F .2)
舉例來說,假設一起始節點為P5 (1,1)與一終止節點為P15 (5,4),則For example, suppose a starting node is P 5 (1, 1) and a terminating node is P 15 (5, 4), then
1 x r 5.....(F .3)1 x r 5.....( F .3)
1 y r 4.....(F .4)1 y r 4.....( F .4)
步驟92是組配該處理器,根據方程式(F .1)、(F .2),得到該特定區域中符合方程式(F .1)、(F .2)的所有中間節點Pr (r=1,2,…,n),並由該等中間節點Pr (r=1,2,…,n)形成一節點陣列V,並且以該節點陣列V中所有元素做為一矩陣之行元素與列元素,以得到一路徑矩陣。Step 92 is a group with the processor, according to the equation (F .1), (F .2 ) , to give the specific area in compliance with the equation (F .1), (F .2 ) of all intermediate nodes P r (r = 1, 2, ..., n), and a node array V is formed by the intermediate nodes P r (r = 1, 2, ..., n), and all elements in the node array V are used as a matrix row element With column elements to get a path matrix.
承上例,符合方程式(F .3)、(F .4)之xr 與yr 範圍的節點共有P4 (1,3)、P7 (2,4)、P8 (2,1)、P9 (3,3)、P12 (4,3)、P13 (4,2)、P16 (5,1),其中,該節點陣列V為{P5 ,P15 ,P4 ,P7 ,P8 ,P9 ,P12 ,P13 ,P16 }。而該路徑矩陣M如下表1所示:From the previous cases, in line with equation (F .3), the node (F .4) of r X r and y ranges total P 4 (1,3), P 7 (2,4), P 8 (2,1) , P 9 (3, 3), P 12 (4, 3), P 13 (4, 2), P 16 (5, 1), wherein the node array V is {P 5 , P 15 , P 4 , P 7 , P 8 , P 9 , P 12 , P 13 , P 16 }. The path matrix M is as shown in Table 1 below:
此時,該路徑矩陣M的維度大小從16×16降為9×9。At this time, the dimension size of the path matrix M is reduced from 16×16 to 9×9.
步驟93是組配該處理器,根據該路徑矩陣M,以判斷在該起始節點Ps 與該終止節點Pe 間是否有路徑連接,若是,則該處理器得到該導航路徑規劃結果,若否,執行步驟94。Step 93 is to assemble the processor, according to the path matrix M, to determine whether there is a path connection between the start node P s and the termination node P e , and if so, the processor obtains the navigation path planning result, if Otherwise, go to step 94.
承上例,該處理器判斷該起始節點為P5 與該終止節點為P15 間並無路徑連接,因為在該路徑矩陣M中,D(5,15)=∞,也就是說,根據上述定義二,該起始節點P5 與該終止節點P15 之間無相連路徑,繼續執行步驟94。In the above example, the processor determines that the starting node is P 5 and the terminating node is P 15 without a path connection, because in the path matrix M, D(5, 15)=∞, that is, according to In the above definition 2, there is no connection path between the starting node P 5 and the terminating node P 15 , and step 94 is continued.
步驟94是組配該處理器,由該節點陣列V中移除該起始節點Ps 與該終止節點Pe ,得到一更新後的節點陣列V',並根據該更新後的節點陣列V'得到一與該起始節點Ps 有路徑連接之中間節點Pr 。Step 94 is to assemble the processor, remove the starting node P s and the terminating node P e from the node array V, and obtain an updated node array V′, and according to the updated node array V′ An intermediate node P r having a path connection with the starting node P s is obtained.
承上例,該處理器將由該節點陣列V中移除該起始節點P5 與該終止節點P15 ,因此,該更新後的節點陣列為:In the above example, the processor will remove the starting node P 5 and the terminating node P 15 from the node array V. Therefore, the updated node array is:
V'={P4 ,P7 ,P8 ,P9 ,P12 ,P13 ,P16 };V'={P 4 , P 7 , P 8 , P 9 , P 12 , P 13 , P 16 };
步驟95是組配該處理器,根據該更新後的節點陣列V'得到一與該起始節點Ps 有路徑連接之中間節點Pr 。Step 95 is a group with the processor, 'to give an array of nodes according to the updated V a path connecting the intermediate node to the originating node P r P s.
承上例,該處理器由該節點陣列V'得到一與該起始節點P5 有路徑連接之中間節點P4 。In the above example, the processor obtains an intermediate node P 4 having a path connection with the starting node P 5 from the node array V'.
步驟96是組配該處理器,判斷步驟94中所得到之中間節點Pr 是否與該終止節點Pe 有路徑連接,若是,則該處理器得到一導航路徑規劃結果,若否,則以中間節點Pr 作為更新後的起始節點P's ,並跳回至步驟94。Step 96 is to assemble the processor, and determine whether the intermediate node P r obtained in step 94 has a path connection with the terminating node P e . If yes, the processor obtains a navigation path planning result, and if not, the middle is Node Pr acts as the updated starting node P 's and jumps back to step 94.
承上例,該中間節點P4 與該起始節點P5 有路徑連接,但是該中間節點P4 與該終止節點P15 沒有路徑連接,因此,該處理器將該中間節點P4 設定為更新後的起始節點P's =P4 ,並跳回至步驟94。In the above example, the intermediate node P 4 has a path connection with the start node P 5 , but the intermediate node P 4 has no path connection with the termination node P 15 , so the processor sets the intermediate node P 4 as an update. after the start node P 's = P 4, and jumps back to step 94.
重複地,該處理器由該節點陣列V'得到一與該起始節點P4 有路徑連接之中間節點P7 。然後,該中間節點P7 與該起始節點P4 有路徑連接,且該中間節點P7 與該終止節點P15 也有路徑連接,因此,該處理器得到一導航路徑規劃結果為P5 →P4 →P7 →P15 。Repeatedly, by the node the processor array V 'there is obtained a P 4 to the originating node of the intermediate node connected to the path P 7. Then, the intermediate node P 7 has a path connection with the starting node P 4 , and the intermediate node P 7 also has a path connection with the termination node P 15 . Therefore, the processor obtains a navigation path planning result of P 5 →P. 4 →P 7 →P 15 .
而且該處理器依據該路徑矩陣M可以得到該P5 →P4 之距離為2,P4 →P7 之距離為1.4,P7 →P15 之距離為3,所以,該導航路徑規劃結果之總距離為2+1.4+3=6.4。Moreover, the processor can obtain the distance P 2 → P 4 is 2 according to the path matrix M, the distance of P 4 → P 7 is 1.4, and the distance of P 7 → P 15 is 3. Therefore, the navigation path planning result is The total distance is 2+1.4+3=6.4.
一般而言,在一特定區域中,通常其範圍不大且各節點之間的距離差距也並不大,所以本較佳實施例根據一深度搜尋(Depth First Search,DFS)以尋找導航路徑規劃結果,因此只要該處理器能得到一導航路徑規劃結果,其與最佳之導航路徑規劃結果相差不大。所以,由本發明之特定區域之行動式導航路徑規劃方法所得到之導航路徑規劃結果可視為一較佳解。In general, in a specific area, usually the range is not large and the distance between the nodes is not large, so the preferred embodiment searches for a navigation path according to a Depth First Search (DFS). As a result, as long as the processor can obtain a navigation path planning result, it is not much different from the optimal navigation path planning result. Therefore, the navigation path planning result obtained by the mobile navigation path planning method in the specific area of the present invention can be regarded as a preferred solution.
此外,依據步驟91與步驟92所簡化的搜尋節點數目為k,則步驟93、94、95所產生的計算次數T為:In addition, the number of search nodes simplified according to step 91 and step 92 is k, and the number of calculations T generated by steps 93, 94, and 95 is:
T=2×(k+(k-1)+(k-2)+…+2+1).....(F .5)T = 2 × (k + ( k-1) + (k-2) + ... + 2 + 1) ..... (F .5)
因此,本發明之特定區域之行動式導航路徑規劃方法的計算複雜度為O(k 2 )。Therefore, the computational complexity of the mobile navigation path planning method of the specific region of the present invention is O( k 2 ).
值得說明的是,本發明之特定區域之行動式導航路徑規劃方法亦可以一電腦程式實現,並儲存於一電腦媒體(例如:一光碟片或一硬式磁碟)中。It should be noted that the mobile navigation path planning method in a specific area of the present invention can also be implemented by a computer program and stored in a computer medium (for example, a CD or a hard disk).
參閱圖4,本發明之特定區域之行動式導航系統,適用於接收一起始節點Ps 與一終止節點Pe 的座標值,其包含:一儲存單元51、一處理單元52,及一顯示單元53。Referring to FIG. 4, the mobile navigation system of the specific area of the present invention is adapted to receive a coordinate value of a start node P s and a termination node P e , and includes: a storage unit 51, a processing unit 52, and a display unit. 53.
該儲存單元51與該處理單元52電連接,以將一地圖資料傳送至該處理單元52中,該處理單元52根據該地圖資料,以計算得到一導航路徑規劃結果,同時,該處理單元52由該儲存單元51中得到對應之一組顯示資訊,然後,該處理單元52將該導航路徑規劃結果、該組顯示資訊輸出至該顯示單元53中,該顯示單元53與該處理單元52電連接並用以顯示該導航路徑規劃結果及對應之該組顯示資訊。The storage unit 51 is electrically connected to the processing unit 52 to transmit a map data to the processing unit 52. The processing unit 52 calculates a navigation path planning result according to the map data, and at the same time, the processing unit 52 is configured by A corresponding group display information is obtained in the storage unit 51. Then, the processing unit 52 outputs the navigation path planning result and the group display information to the display unit 53, and the display unit 53 is electrically connected to the processing unit 52. To display the navigation path planning result and the corresponding group display information.
值得說明的是,該地圖資料包括一特定區域中之每一節點之座標值,而該顯示資訊包括該特定區域中每一節點對應之圖片資訊以及語音資訊。It should be noted that the map material includes coordinate values of each node in a specific area, and the display information includes picture information and voice information corresponding to each node in the specific area.
舉例來說,本較佳實施例利用前述特定區域之行動式導航路徑規劃方法 ,根據該起始節點Ps 的座標值、該終止節點Pe 的座標值、以及該特定區域中之每一節點之座標值以得到並顯示出該導航路徑規劃結果與對應之該組顯示資訊。For example, the preferred embodiment utilizes the mobile navigation path planning method of the specific area , according to the coordinate value of the starting node P s , the coordinate value of the termination node P e , and each node in the specific area. The coordinate value is obtained and displayed the navigation path planning result and the corresponding group display information.
較佳地,在本實施例中,該儲存單元51是一記憶卡(Storage Card),該處理單元52是一Intel PXA270中央處理器(CPU),及該顯示單元53是一薄膜電晶體液晶顯示器(TFT-LCD)。Preferably, in the embodiment, the storage unit 51 is a memory card, the processing unit 52 is an Intel PXA270 central processing unit (CPU), and the display unit 53 is a thin film transistor liquid crystal display. (TFT-LCD).
綜合上述,本發明提出一具有低計算複雜度的特定區域之行動式導航路徑規劃方法,以降低對應之行動式導航系統所需要之硬體成本,此外,本發明將一特定區域(例如:學校)中多數個定點之座標以及照片等資訊預先儲存,然後根據每個節點所對應之座標,以進行特定區域之導航路徑規劃,由於該特定區域之內部節點座標為預先儲存,所以,即使在難以接收衛星訊號之處(例如:室內或地下室),本發明依然可以得到該導航路徑規劃之結果,因此,本發明亦可應用於室內導航路徑規劃。故確實可以達成本發明之目的。In summary, the present invention proposes a mobile navigation path planning method for a specific area with low computational complexity to reduce the hardware cost required for the corresponding mobile navigation system. In addition, the present invention will provide a specific area (eg, school). The coordinates of most of the fixed points and the photos are pre-stored, and then according to the coordinates of each node, the navigation path planning of the specific area is performed. Since the coordinates of the internal nodes of the specific area are pre-stored, even if it is difficult Where the satellite signal is received (for example, indoor or basement), the present invention can still obtain the result of the navigation path planning. Therefore, the present invention can also be applied to indoor navigation path planning. Therefore, the object of the present invention can be achieved.
惟以上所述者,僅為本發明之較佳實施例而已,當不能以此限定本發明實施之範圍,即大凡依本發明申請專利範圍及發明說明內容所作之簡單的等效變化與修飾,皆仍屬本發明專利涵蓋之範圍內。The above is only the preferred embodiment of the present invention, and the scope of the invention is not limited thereto, that is, the simple equivalent changes and modifications made by the scope of the invention and the description of the invention are All remain within the scope of the invention patent.
51...儲存單元51. . . Storage unit
52...處理單元52. . . Processing unit
53...顯示單元53. . . Display unit
91~96...步驟91~96. . . step
圖1是一先前技術之路徑規劃示意圖;1 is a schematic diagram of a path planning of a prior art;
圖2是一特定區域之行動式導航路徑規劃之範例;2 is an example of a mobile navigation path planning in a specific area;
圖3是本發明之特定區域之行動式導航路徑規劃方法之流程圖;及3 is a flow chart of a method for planning a mobile navigation path in a specific area of the present invention; and
圖4是本發明之特定區域之行動式導航系統之方塊圖。4 is a block diagram of a mobile navigation system in a particular area of the present invention.
91~96‧‧‧步驟91~96‧‧‧Steps
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