TWI453374B - A mobile navigation for specific area route plan method - Google Patents

Description

Mobile navigation path planning method for specific areas

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.

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.

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.

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.

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) 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) assembling the processor, according to the range of coordinates of the intermediate node, to obtain a path matrix and a node array;

(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) 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) 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).

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.

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.

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.

Mobile navigation path planning method for specific areas

Before describing the mobile navigation path planning method in a specific area of the present invention, the relevant definitions are as follows:

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:

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.

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, where P _i and P _j are the same nodes;

(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, where P _i and P _j represent different nodes and have paths connected and the distance between the two points is L.

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.

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:

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( y _s , y _e ) y _r Max( y _s , y _e ).....( F .2)

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 y _r 4.....( F .4)

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.

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:

At this time, the dimension size of the path matrix M is reduced from 16×16 to 9×9.

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.

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.

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.

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'={P ₄ , P ₇ , P ₈ , P ₉ , P ₁₂ , P ₁₃ , P ₁₆ };

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.

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'.

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.

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.

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 .

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.

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.

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)

Therefore, the computational complexity of the mobile navigation path planning method of the specific region of the present invention is O( k ² ).

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).

Mobile navigation system in a specific area

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.

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.

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.

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.

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).

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.

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. . . Storage unit

52. . . Processing unit

53. . . Display unit

91~96. . . step

1 is a schematic diagram of a path planning of a prior art;

2 is an example of a mobile navigation path planning in a specific area;

3 is a flow chart of a method for planning a mobile navigation path in a specific area of the present invention; and

4 is a block diagram of a mobile navigation system in a particular area of the present invention.

91~96‧‧‧Steps

Claims (4)

A specific area mobile navigation path planning method, configured to receive a coordinate value of a start node and a termination node by a processor, comprising the steps of: (A) assembling the processor, according to the start node and the Terminating the coordinate value of the node to calculate a range of at least one intermediate node coordinate value; (B) assembling the processor, according to the range of the intermediate node coordinate value, to obtain a path matrix and a node array; (C) group Configuring 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 step (D); Combining 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) assembling the processor, Determining whether the obtained intermediate node has a path connection with the terminating node; if yes, the processor obtains a navigation path planning result, and if not, the intermediate node is used as the updated starting node P, And jump back to step (D). An action-based navigation path planning method according to the specific area described in claim 1, wherein in the step (D), the processor is assembled to remove the start node and the termination node, and further Obtain the updated node array. An action-based navigation path planning method according to the specific area described in claim 1, wherein in the step (A), the x-coordinate value of the intermediate node is greater than the start node and the termination node The minimum value of the x coordinate value is less than the maximum value of the x coordinate value of the starting node and the terminating node, and the range of the y coordinate value of the intermediate node is greater than the minimum value of the y coordinate value of the starting node and the terminating node. The value is less than the maximum value of the y coordinate value of the starting node and the terminating node. The mobile navigation route planning method according to the specific area described in claim 3, wherein in the step (B), the intermediate node is obtained according to all the intermediate nodes that meet the range of the x and y coordinate values of the intermediate node. An array of nodes, and all elements of the array of nodes are used as row elements and column elements of a matrix to obtain the path matrix.