WO2020034887A1 - Method and apparatus for determining traveling path of agent - Google Patents

Abstract

The present application provides a method and apparatus for determining a traveling path of an agent. The method comprises: determining an available position between the current position of the current agent and a target position and an available time corresponding to the available position; determining, according to the available position and the available time corresponding to the available position, at least one alternative traveling path from the current position of the current agent to the target position; and determining, according to the at least one alternative traveling path, an actual traveling path from the current position of the current agent to the target position. Because the technical solution controls a moment at which the agent arrives at the available position by means of the available time, the agent is merely required to arrive at the available position within the available time, without any particular requirement on the speed at which the agent travels to the available position. The agent may move at a non-constant speed, etc., or may move for a period of time and stop for a period of time, such that the agent can arrive at the target position within a continuous time at a non-constant speed.

Description

Method and device for determining travel path of agent

This application claims priority from a Chinese patent application filed on August 13, 2018 with an application number of 201810914223.7 and an invention name of "Method and Device for Determining the Traveling Path of an Agent", the entire contents of which are incorporated herein by reference.

Technical field

The present application relates to the field of path planning, in particular to a method and a device for determining a travel path of an agent, and also relates to an electronic device and a computer-readable storage medium.

Background technique

In the field of logistics, agents (such as logistics robots) can replace sorting tasks manually. Among them, the technology of path planning for a large number of agents is particularly critical. Path planning for a large number of agents is a classic optimization problem called Multi-Agent Path Planning (MAPF). Specifically, given a map consisting of a set of points and edges, and a certain number of agents (agents), set the initial position and destination for these agents, solve the movement route of each agent, so Each agent can move from its starting position to its own destination without conflict (without collision with fixed obstacles or other agents).

Previously, research on multi-agent path planning, in addition to MAPF, also included research on Multi-Robot Motion Planning (MMP). Almost all MAPF research work has two settings: 1) Discretization of time, that is, the time axis is composed of one unit of time; 2) Constant Velocity Network (CVN) based on constant speed network diagram, without considering agents The motion model itself means that all agents move at a constant speed at any moment, that is, a unit of time moves a unit of distance at any time. Researchers have also proposed the MAPF-POST algorithm to post-process the paths planned by the traditional MAPF algorithm. After finding the path of all agents in the ideal environment through any MAPF algorithm, draw the path as an enhanced timing plan diagram. Each agent's path occupies one line, each point represents an event, and point X_j ^ i represents the agent. i will be ranked at the jth access point X. If a point is accessed by multiple agents, the latter agent can only advance to that point after the previous agent has left. The MAPF-POST algorithm enables various MAPF algorithm solutions to be transformed into a non-collision execution scheme.

In a realistic scenario, such as a logistics robot, it runs in continuous time, and each robot has its own physical motion model. For example, there will be an acceleration process when starting, and a deceleration process before stopping. In the past, the MAPF algorithm could not effectively deal with such real-time scenes of continuous time and non-uniform speed. The previous MMP algorithm and MAPF-POST algorithm are also not suitable for solving the large-scale agent path planning problem in real scenarios.

Summary of the Invention

The present application provides a method and a device for determining a travel path of an agent, which aims to solve a technical problem of path planning of a large number of agents in continuous time and non-uniform speed. The application also relates to an electronic device and a computer-readable storage medium.

The method for determining the travel path of the agent provided in this application includes:

Determine the reachable position between the current position of the current agent and the target position and the reachable time corresponding to the reachable position;

Determining at least one alternative travel path of the current agent from the current position to the target position according to the reachable position and the reachable time corresponding to the reachable position;

According to the at least one alternative travel path, an actual travel path of the current agent from the current position to the target position is determined.

In this embodiment, the reachable position between the current position and the target position is determined in the following manner:

Determining the first reachable direction for the current position and current direction of the current agent, and obtaining the first reachable direction and the corresponding reachable position in the current direction of the current position;

According to the current position and current direction of the current agent, according to the motion space that travels a certain unit distance in the current direction, determine the directly reachable position in the current direction of the current position to obtain the second reachable direction and the corresponding reachable position;

For the first and second reachable directions and the corresponding reachable positions, a new reachable direction and the corresponding reachable positions are determined until the target direction and the corresponding target position are reached.

In this embodiment, the reachable position between the current position and the target position is determined in the following manner:

Determine the third reachable direction according to the current position of the current agent;

For the third reachable direction of the current position, determine the reachable direction of the current position's current direction in the third reachable direction and the corresponding reachable position according to the movement space of several unit distances going straight;

For the reachable direction of the current direction in the third reachable direction and the corresponding reachable position, determine a new reachable direction, the reachable direction in the new reachable direction, and the corresponding reachable position, until Reach the target direction and the corresponding target position.

In this embodiment, the first reachable direction and the third reachable direction are determined in the following manner:

Determine whether the current agent conflicts with other agents at the current position when changing direction at the current position;

When there is no conflict, determine the direction that can be changed and the current direction as the first reachable direction or the third reachable direction;

In a conflict, it is determined that the current direction is the first reachable direction or the third reachable direction.

In this embodiment, when there is only a single agent, the reachable time corresponding to the reachable position is an arbitrary time.

In this embodiment, when there are multiple agents, the reachable time corresponding to the reachable position is determined in the following manner:

The time allowed for the current agent to reach the reachable position is determined as the reachable time corresponding to the reachable position, and the reachable time corresponding to the reachable position does not conflict with the time when other agents are located in the reachable position.

In this embodiment, the reachable time corresponding to the reachable position and the time when other agents are located in the reachable position do not conflict by determining in the following manner:

Query a time occupancy table, which is used to record the time when other agents are located in the reachable location;

If the reachable time corresponding to the reachable position does not conflict with the time when other agents in the time record table are located in the reachable position, determine that the reachable time corresponding to the reachable position is located in the reachable position with other agents The time to reach the location does not conflict.

In this embodiment, the step of determining the time allowed for the current agent to reach the reachable position as the reachable time corresponding to the reachable position includes:

According to the available time corresponding to the current position, the time it takes from the current position to the reachable position, and the available time corresponding to the reachable position, the time allowed for the current agent to reach the reachable position is determined as the corresponding to the reachable position Reachable time.

In this embodiment, the available time corresponding to the current location, the time it takes from the current location to the reachable location, and the available time corresponding to the reachable location will allow the current agent to reach the reachable location. The time is determined as the reachable time step corresponding to the reachable location, including:

The intersection of the time obtained after the available time corresponding to the current position is translated to the reachable position and the available time corresponding to the reachable position is determined as the reachable time corresponding to the reachable position .

In this embodiment, the step of determining the actual travel path of the current agent from the current position to the target position based on the at least one alternative travel path includes:

According to the at least one alternative travel path, the path that takes the least time is selected as the actual travel path of the current agent from the current position to the target position.

In this embodiment, the method further includes:

According to the reachable time of each adjacent reachable position on the candidate travel path, the speed of the current agent between the adjacent reachable positions is determined.

The device for determining the travel path of an agent provided in this application includes:

The reachable position and reachable time determining unit is used to determine the reachable position between the current position of the current agent and the target position and the reachable time corresponding to the reachable position;

An alternative travel path determination unit, configured to determine at least one alternative travel path of the current agent from the current position to the target position according to the reachable position and the reachable time corresponding to the reachable position;

The actual travel path determining unit is configured to determine an actual travel path of the current agent from the current position to the target position according to the at least one alternative travel path.

In this embodiment, the reachable position and reachable time determining unit is configured to:

Determining the first reachable direction for the current position and current direction of the current agent, and obtaining the first reachable direction and the corresponding reachable position in the current direction of the current position;

According to the current position and current direction of the current agent, according to the motion space that travels a certain unit distance in the current direction, determine the directly reachable position in the current direction of the current position, and obtain the second reachable direction and the corresponding reachable position;

For the first and second reachable directions and the corresponding reachable positions, a new reachable direction and the corresponding reachable positions are determined until the target direction and the corresponding target position are reached.

In this embodiment, the reachable position and reachable time determining unit is configured to:

Determine the third reachable direction according to the current position of the current agent;

For the third reachable direction of the current position, determine the reachable direction of the current position's current direction in the third reachable direction and the corresponding reachable position according to the movement space of several unit distances going straight;

For the reachable direction of the current direction in the third reachable direction and the corresponding reachable position, determine a new reachable direction, the reachable direction in the new reachable direction, and the corresponding reachable position, until Reach the target direction and the corresponding target position.

In this embodiment, a reachable direction determining unit is further configured to:

Determine whether the current agent conflicts with other agents at the current position when changing direction at the current position;

When there is no conflict, determine the direction that can be changed and the current direction as the first reachable direction or the third reachable direction;

In a conflict, it is determined that the current direction is the first reachable direction or the third reachable direction.

In this embodiment, when there are multiple agents, the reachable location and reachable time determining unit includes:

The reachable time determining subunit is configured to determine the time allowed for the current agent to reach the reachable position as the reachable time corresponding to the reachable position, and the reachable time corresponding to the reachable position and other agents located in the reachable position are Time does not conflict.

In this embodiment, the reachable time determining subunit is used for:

Query a time occupancy table, which is used to record the time when other agents are located in the reachable location;

If the reachable time corresponding to the reachable position does not conflict with the time when other agents in the time record table are located in the reachable position, determine that the reachable time corresponding to the reachable position and the other agents are located in the reachable position. The time to reach the location does not conflict.

In this embodiment, the reachable time determining subunit is configured to: according to the available time corresponding to the current position, the time required to reach the reachable position from the current position, and the available time corresponding to the reachable position, The time allowed for the current agent to reach the reachable position is determined as the reachable time corresponding to the reachable position.

In this embodiment, the reachable time determining sub-unit is configured to: shift the available time corresponding to the current position to the reachable position by translating the available time corresponding to the current position to the reachable position; The intersection of the available times is determined as the reachable time corresponding to the reachable position.

In this embodiment, the actual travel path determination unit is configured to:

According to the at least one alternative travel path, the path that takes the least time is selected as the actual travel path of the current agent from the current position to the target position.

In this embodiment, the apparatus further includes:

A speed determining unit is configured to determine the speed of the current agent between the adjacent reachable positions according to the reachable time of each adjacent reachable position on the candidate travel path.

The electronic equipment provided in this application includes:

Memory and processor;

The memory is configured to store computer-executable instructions, and the processor is configured to execute the computer-executable instructions:

Determine the reachable position between the current position of the current agent and the target position and the reachable time corresponding to the reachable position;

Determining at least one alternative travel path of the current agent from the current position to the target position according to the reachable position and the reachable time corresponding to the reachable position;

According to the at least one alternative travel path, an actual travel path of the current agent from the current position to the target position is determined.

The computer-readable storage medium provided in this application stores a computer program thereon, and when the program is executed by a processor, the following operations are performed:

Memory and processor;

The memory is configured to store computer-executable instructions, and the processor is configured to execute the computer-executable instructions:

Determine the reachable position between the current position of the current agent and the target position and the reachable time corresponding to the reachable position;

Determining at least one alternative travel path of the current agent from the current position to the target position according to the reachable position and the reachable time corresponding to the reachable position;

According to the at least one alternative travel path, an actual travel path of the current agent from the current position to the target position is determined.

In the technical solution of the present application, the reachable position between the current position of the current agent and the target position and the reachable time corresponding to the reachable position are determined first; then the current agent is determined according to the reachable time corresponding to the reachable position. At least one travel path from the current position to the target position; finally, according to the reachable time corresponding to the reachable position on the at least one travel path, an alternative travel path of the current agent from the current position to the target position is determined. Since this technical solution uses the reachable time to control the moment when the agent reaches the reachable position, the agent can reach the reachable position within the reachable time. As to what speed to travel to the reachable position, no special requirements are required. It can be non-uniform motion, etc. It can be a period of motion and then stop for a period of time, so that the intelligent body can reach the target position at a non-uniform speed for a continuous time.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a processing flowchart of an embodiment of a method for determining a travel path of an agent provided in the present application; FIG.

2 is a schematic diagram of an application scenario of a method for determining a travel path of an agent provided in the present application;

3 is a schematic diagram of an embodiment of a device for determining a travel path of an agent provided in the present application;

FIG. 4 is a schematic diagram of an embodiment of an electronic device provided by the present application.

detailed description

Numerous specific details are set forth in the following description to facilitate a full understanding of the application. However, this application can be implemented in many other ways than those described herein, and those skilled in the art can make similar promotion without violating the connotation of this application, so this application is not limited by the specific implementation disclosed below.

This application provides a method for determining a travel path of an agent. FIG. 1 is a processing flowchart of an embodiment of a method for determining a travel path of an agent provided by this application. The following describes the technical solution of the method for determining a travel path of an agent provided in the present application in combination with a processing flowchart of an embodiment of a method for determining a travel path of an agent shown in FIG. 1.

The processing flow of the embodiment of the method for determining the travel path of the agent shown in FIG. 1 includes:

In step S101, the reachable position between the current position of the current agent and the target position and the reachable time corresponding to the reachable position are determined.

The current agent is an agent that is performing path planning. The current position of the current agent refers to the position where the current agent is currently located. This step aims to determine each reachable position from the current position to the target position and the reachable time corresponding to each reachable position based on the current position of the current agent.

In this embodiment, the reachable position between the current position and the target position is determined in the following manner.

The first way:

A) Determine the first reachable direction for the current position and current direction of the current agent, and obtain the first reachable direction and the corresponding reachable position in the current direction of the current position. At this time, do not go straight, only to determine the reachable direction, so the position is not changed, the direction is changed, and the changed direction and the corresponding original position are obtained.

B) For the current position and current direction of the current agent, determine the straight reachable position in the current direction of the current position according to the motion space of several unit distances in the current direction, and obtain the second reachable direction and the corresponding reachable position . At this time, the direction does not change, but only goes straight, so the position changes and the direction does not change, and the original direction and the reachable position after the corresponding change are obtained.

C) For the first and second reachable directions and corresponding reachable positions, determine a new reachable direction and corresponding reachable positions until reaching the target direction and the corresponding target position. At this time, steps A) and B) are repeated, and a new reachable direction and a corresponding reachable position are determined for the first and second reachable directions and the corresponding reachable positions until the target direction and the corresponding reachable position are reached. target location.

The first reachable direction may be determined in the following manner: First, it is determined whether the current agent conflicts with other agents at the current position when the current agent changes direction at the current position. Second, when there is no conflict, the direction that can be changed and the current direction are determined as the first reachable direction. Furthermore, during a conflict, it is determined that the current direction is the first reachable direction.

To avoid repetition, the detailed description of the first method can be understood by referring to the relevant part of the second method.

The second way:

A) Determine the third reachable direction according to the current position of the current agent.

This step aims to first determine the reachable direction corresponding to the current position. The third reachable direction refers to whether steering can be performed at the current position to continue traveling in the direction after turning. The third reachable direction may be determined by the following methods, including: first, determining whether the current agent conflicts with other agents at the current position when the current agent changes direction at the current position. Second, when there is no conflict, the direction that can be changed and the current direction are determined as the third reachable direction. Furthermore, during a conflict, it is determined that the current direction is the third reachable direction.

The process of changing the direction of the agent at the current position will take part of the time. If other agents arrive at the current position within the time taken by the turn, it means that the current agent should not turn at the current position, but should continue to move in the original direction. To leave the current position to make room for other agents and avoid conflicts with other agents. If no other agent will arrive at the current position within the time taken by the turn, it means that the current agent can turn at the current position. Among them, the direction that can be turned is used as the third reachable direction. The agent can turn in each direction that can be turned, and then continue to travel in the direction after the turn. The direction that can be turned means that there is no obstacle in the direction after the turn, and the agent can continue to travel in the direction after the turn. The third reachable direction may be one or more. For example, if there are no obstacles on the front, left, and right, the left and right sides can be reachable directions. The agent can continue straight at the current position, turn to the left, or turn to the right.

B) For the third reachable direction of the current position, determine the reachable direction of the current position in the third reachable direction and the corresponding reachable position according to the movement space of a certain unit distance going straight.

After the third reachable direction of the current position is determined in step A), this step B) can determine the third reachable direction of the current position according to the movement space of a few unit distances for the third reachable direction of the current position. Accessible location. For example, when the left direction is the third reachable direction, the reachable position in the left direction of the current position may be determined for the left direction of the current position according to the motion space that travels straight for a number of unit distances. Similarly, when the right direction is the reachable direction, the reachable position in the right direction can be determined according to the movement space of a certain unit distance for the right direction of the current position. The motion space that travels a few unit distances directly refers to a set of positions that pass when traveling a plurality of unit distances. For example, when traveling straight for 3 unit distances, the position set in the action space includes the following elements: position 1, position 2, and position 3. Similarly, when going straight for 2 unit distances, the position set of the action space includes the following elements: position one and position two. Among them, the motion space that travels a few unit distances can be determined according to the following manner: all the positions without obstacles in the straight direction are used as elements in the motion space. For example, if there are no obstacles in the first position and the second position in the straight direction and there are obstacles in the third position, an action space of 2 unit distances is determined. In the straight direction, there are no obstacles in the first, second, and third positions and there are obstacles in the fourth position, and an action space of 3 unit distances is determined. After this step B), the motion space of a certain unit distance in one or more reachable directions of the current position can be determined, so as to determine the reachable position in the third reachable direction of the current position.

C) determining a new reachable direction and the reachable direction in the new reachable direction and the corresponding reachable position for the reachable direction of the current direction in the third reachable direction and the corresponding reachable position Until reaching the target direction and the corresponding target position.

After determining several unit distance action spaces for each reachable direction of the current position based on step B) and determining the reachable position in the third reachable direction, usually, the agent determines the current position only by executing it once. The step of the reachable position in the third reachable direction cannot reach the target position. Therefore, it is also necessary to determine each reachable position in the third reachable direction as the new current position, and determine the third reachable direction of the new current position and the reachable position in the third reachable direction of the new current position. . For example, after determining an action space of 3 unit distances in the reachable direction to the left of the current position, it can be determined that the agent can turn left from the current position and go straight 3 unit distances in the direction after the turn. When the agent reaches the position corresponding to the first, second, or third unit distance, it uses this position as the new current position again, and determines its corresponding third reachable direction and Reachable position in the third reachable direction. By continuously determining the new current position, and determining the third reachable direction and the reachable position in the third reachable direction of the new current position, the sequence can finally make the agent reach the target direction and the corresponding target position.

In this embodiment, when there is only a single agent, the reachable time corresponding to the reachable position is an arbitrary time. In this embodiment, when there are multiple agents, the reachable time corresponding to the reachable position is determined in the following manner: the time allowed for the current agent to reach the reachable position is determined as the reachable time corresponding to the reachable position. , The reachable time corresponding to the reachable position does not conflict with the time when other agents are located in the reachable position.

When the paths of multiple agents have been planned first, the time of the agents whose path planning has been completed at each location has been determined. The planned agent will not conflict with the planned agent when the agent planning the path arrives outside the time occupied by a certain location. In this embodiment, the reachable time corresponding to the reachable location and the time when other agents are located in the reachable location do not conflict by determining in the following manner: first, query the time occupancy table, which is used for recording The time at which the other agents were located in the reachable location. Secondly, if the reachable time corresponding to the reachable position does not conflict with the time items of other agents in the time record table located in the reachable position, it is determined that the reachable time corresponding to the reachable position and other agents are The time at the reachable location does not conflict. For example, after determining the movement space of 3 unit distances in the left direction of the current position and determining the three reachable positions of the first, second, and third positions in the left direction, it should also be determined that the current agent can reach the third position. Time for the first, second, and third positions. You can query the time of the planned agent recorded in the time occupation table at the first, second, and third positions. The time other than the occupied time of the first, second, and third positions that have been recorded on the time occupancy table is determined as the time when the current agent can reach the first, second, and third positions.

In this embodiment, the step of determining the time allowed for the current agent to reach the reachable position as the reachable time corresponding to the reachable position includes: according to the available time corresponding to the current position, from the current position to the reachable position The time required and the available time corresponding to the reachable location determine the time allowed for the current agent to reach the reachable location as the reachable time corresponding to the reachable location. After determining the moving space of 3 unit distances in the left direction of the current position and determining the 3 reachable positions, the reachable time corresponding to the nearest reachable position can be determined first. After determining the reachable time corresponding to the nearest reachable location, the second reachable location is determined as the new closest location, and the reachable time corresponding to the new closest location is determined. In this way, it is possible to calculate the reachable time corresponding to each position in a space that travels a number of unit distances.

In this embodiment, the available time corresponding to the current location, the time it takes from the current location to the reachable location, and the available time corresponding to the reachable location will allow the current agent to reach the reachable location. The step of determining the time as the reachable time corresponding to the reachable position includes: shifting the available time corresponding to the current position to the reachable position after the time required to translate the available time to the reachable position and the available time corresponding to the reachable position The intersection of is determined as the reachable time corresponding to the reachable position.

For example, the available time at the current position is 6-9 seconds, the available time at the first position is 5-8 seconds, and 9-12 seconds. It takes 1 second from the current position to the first position. The available time of the current position is 6-9 seconds. The time obtained after panning the current position to the first position after 1 second is 7-10 seconds. The intersection of the obtained time 7-10 seconds and the available time at the first position 5-8 seconds, 9-12 seconds is 7-8 seconds, 9-12 seconds. That is, the 7th to 8th seconds and the 9th to 12th seconds of the time intersection are the reachable times corresponding to the first position.

Step S102: Determine at least one alternative travel path of the current agent from the current position to the target position according to the reachable position and the reachable time corresponding to the reachable position.

This step aims to determine the possible travel path of the current agent from the current position to the target position. Since there are many reachable positions between the current position and the target position, choosing a set of reachable positions may constitute a travel path from the current position to the target position. Generally, there may be multiple groups of such reachable locations from the current location to the target location, so there are multiple travel paths from the current location to the target location. At the same time, the reachable time corresponding to each reachable position on the multiple paths must be able to meet the current agent's ability to travel from the current position to the target position. That is, there is an intersection of the reachable times corresponding to the adjacent positions on each path. In this case, such a path is a travel path that enables the agent to travel from the current position to the target position. Of course, when there is only one agent, since the agent can reach the reachable position at any time, there is no time requirement between the reachable positions.

Step S103: Determine an actual travel path of the current agent from the current position to the target position according to the at least one alternative travel path.

At least one alternative travel path from the current position to the target position may be determined based on step S102. This step S103 aims to determine the actual travel path of the current agent from the current position to the target position from the at least one travel path. The actual travel path is a travel path that satisfies a certain condition among the at least one candidate travel path.

In this embodiment, a path with the shortest distance from the current position to the target position may be selected. The distance corresponding to the at least one travel path from the current position to the target position can be determined by: determining the number of reachable positions on the travel path; determining according to the number of reachable positions and the length of each reachable position The distance of the travel path. For example, there are 15 reachable positions on the travel path, and the length of each reachable position is 1m, so that the distance of this travel path can be calculated as 15m. According to this method, the distance of each travel path can be calculated, and the shortest travel path can be selected from each travel path. In this embodiment, according to the at least one alternative travel path, the path that takes the least time is selected as the actual travel path of the current agent from the current position to the target position. Since each reachable position on the travel path corresponds to its own reachable time, the path that takes the least time can be selected according to the reachable time corresponding to each reachable position on the travel path. For example, when the reachable time corresponding to the target position on one of the paths is smaller than the reachable time corresponding to the target position on the other path, the traveling path is the path that takes the least time. In this embodiment, the method for determining a travel path of the agent further includes:

According to the reachable time of each adjacent reachable position on the candidate travel path, the speed of the current agent between the adjacent reachable positions is determined. Since the reachable time corresponding to each reachable position on the travel path can be determined, the reachable time between adjacent reachable positions can of course also be determined. In addition, the distance between adjacent reachable positions can be obtained by measurement. According to the distance between adjacent reachable positions and the difference in reachable time corresponding to adjacent reachable positions, the speed at which the agent passes through between adjacent reachable positions can be determined. According to the determined speed, the agent can pass the corresponding position at the speed.

The technical effect that can be obtained by the technical solution of the present application is analyzed with reference to the application scenario diagram of the method for determining the travel path of the agent shown in FIG. 2.

As shown in Figure 2, where a_1 (ie, a ₁ in the figure) represents the agent, S_1 (ie, s ₁ in the figure) represents the current position of the agent a_1, and g_1 (ie, g ₁ in the figure) represents the target location. The agent can move to the right or down at the current position. At the same time, when the agent is traveling to the right, because there are no obstacles on the right, it can travel 1 unit distance or 2 unit distances ... 4 unit distances. Similarly, when the agent is moving downward, there is no obstacle below, so it can also travel 1 unit distance or 2 unit distances ... 4 unit distances. It can be seen that the agent has 4 reachable positions when traveling from the current position to the right. At the same time, it can be seen from the figure that the first and second reachable positions of the four reachable positions have both a reachable position traveling to the right and a reachable position traveling downward. The third reachable position of the four reachable positions has only the reachable position traveling to the right, and the fourth reachable position of the four reachable positions has only the reachable position traveling downward. In the same way, it can be seen that there are 4 reachable positions in the process of moving from the current position to the downward direction. The first reachable position and the fourth reachable position of the reachable positions in the downward travel process have downwards. The traveling reachable position also has a reachable position traveling to the right; the second reachable position and the third reachable position only have a reachable position traveling downward. It can be known from the above description that there are several reachable positions whether traveling from the current position to the right or downward from the current position. At the same time, some reachable positions have their own several reachable positions during the traveling process. At the same time, each reachable location has a corresponding reachable time. According to the reachable position of the current position and the corresponding reachable time, and the reachable position and reachable time of the reachable position of the current position, multiple travel paths from the current position to the target position can be determined. You can choose a path that meets certain conditions from multiple feasible paths.

In the technical solution of the present application, the reachable position between the current position of the current agent and the target position and the reachable time corresponding to the reachable position are determined first; then the current agent is determined according to the reachable time corresponding to the reachable position. At least one travel path from the current position to the target position; finally, according to the reachable time corresponding to the reachable position on the at least one travel path, an alternative travel path of the current agent from the current position to the target position is determined. Since this technical solution uses the reachable time to control the moment when the agent reaches the reachable position, the agent can reach the reachable position within the reachable time. As to what speed to travel to the reachable position, no special requirements are required. It can be non-uniform motion, etc. It can be a period of motion and then stop for a period of time, so that the intelligent body can reach the target position at a non-uniform speed for a continuous time.

The present application also provides a device for determining a travel path of an agent. FIG. 3 is a schematic diagram of an embodiment of a device for determining a travel path of an agent provided in the present application. Since the device embodiment is basically similar to the method embodiment, it is described relatively simply. For related parts, please refer to the corresponding description of the method embodiment provided above.

The apparatus for determining a travel path of an agent in the embodiment shown in FIG. 3 includes:

The reachable position and reachable time determining unit 301 is configured to determine a reachable position and a reachable time corresponding to the reachable position between the current position of the current agent and the target position;

An alternative travel path determining unit 302, configured to determine at least one alternative travel path of the current agent from the current position to the target position according to the reachable position and the reachable time corresponding to the reachable position;

The actual travel path determining unit 303 is configured to determine an actual travel path of the current agent from the current position to the target position according to the at least one alternative travel path.

In this embodiment, the reachable position and reachable time determining unit 301 is configured to:

Determining the first reachable direction for the current position and current direction of the current agent, and obtaining the first reachable direction and the corresponding reachable position in the current direction of the current position;

According to the current position and current direction of the current agent, according to the motion space that travels a certain unit distance in the current direction, determine the directly reachable position in the current direction of the current position, and obtain the second reachable direction and the corresponding reachable position;

For the first and second reachable directions and the corresponding reachable positions, a new reachable direction and the corresponding reachable positions are determined until the target direction and the corresponding target position are reached.

In this embodiment, the reachable position and reachable time determining unit 301 may be further configured to:

Determine the third reachable direction according to the current position of the current agent;

For the third reachable direction of the current position, determine the reachable direction of the current position's current direction in the third reachable direction and the corresponding reachable position according to the movement space of several unit distances going straight;

For the reachable direction of the current direction in the third reachable direction and the corresponding reachable position, determine a new reachable direction, the reachable direction in the new reachable direction, and the corresponding reachable position, until Reach the target direction and the corresponding target position.

In this embodiment, a reachable direction determining unit is further configured to:

Determine whether the current agent conflicts with other agents at the current position when changing direction at the current position;

When there is no conflict, determine the direction that can be changed and the current direction as the first reachable direction or the third reachable direction;

In a conflict, it is determined that the current direction is the first reachable direction or the third reachable direction.

In this embodiment, when there is only a single agent, the reachable time corresponding to the reachable position is an arbitrary time.

In this embodiment, when there are multiple agents, the reachable location and reachable time determining unit 301 includes:

The reachable time determining subunit is configured to determine the time allowed for the current agent to reach the reachable position as the reachable time corresponding to the reachable position, and the reachable time corresponding to the reachable position and other agents located in the reachable position are Time does not conflict.

In this embodiment, the reachable time determining subunit is used for:

Query a time occupancy table, which is used to record the time when other agents are located in the reachable location;

If the reachable time corresponding to the reachable position does not conflict with the time when other agents in the time record table are located in the reachable position, determine that the reachable time corresponding to the reachable position is located in the reachable position with other agents The time to reach the location does not conflict.

In this embodiment, the reachable time determining subunit is configured to: according to the available time corresponding to the current position, the time required to reach the reachable position from the current position, and the available time corresponding to the reachable position, The time allowed for the current agent to reach the reachable position is determined as the reachable time corresponding to the reachable position.

In this embodiment, the reachable time determining sub-unit is configured to: shift the available time corresponding to the current position to the reachable position by translating the available time corresponding to the current position to the reachable position; The intersection of the available times is determined as the reachable time corresponding to the reachable position.

In this embodiment, the actual travel path determination unit 303 is configured to:

According to the at least one alternative travel path, the path that takes the least time is selected as the actual travel path of the current agent from the current position to the target position.

In this embodiment, the apparatus further includes:

A speed determining unit is configured to determine the speed of the current agent between the adjacent reachable positions according to the reachable time of each adjacent reachable position on the candidate travel path.

The present application also provides an electronic device. FIG. 4 shows an embodiment of the electronic device. Since the embodiment of the electronic device is basically similar to the method embodiment, the description is relatively simple. For related parts, please refer to the corresponding description of the method embodiment provided above.

The electronic device in the embodiment shown in FIG. 4 includes:

A memory 401 and a processor 402;

The memory is configured to store computer-executable instructions, and the processor is configured to execute the computer-executable instructions:

The electronic equipment provided in this application includes:

Memory and processor;

The memory is configured to store computer-executable instructions, and the processor is configured to execute the computer-executable instructions:

Determine the reachable position between the current position of the current agent and the target position and the reachable time corresponding to the reachable position;

Determining at least one alternative travel path of the current agent from the current position to the target position according to the reachable position and the reachable time corresponding to the reachable position;

According to the at least one alternative travel path, an actual travel path of the current agent from the current position to the target position is determined.

The present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the following operations are performed:

Determine the reachable position between the current position of the current agent and the target position and the reachable time corresponding to the reachable position;

Determining at least one alternative travel path of the current agent from the current position to the target position according to the reachable position and the reachable time corresponding to the reachable position;

According to the at least one alternative travel path, an actual travel path of the current agent from the current position to the target position is determined.

Although the present application is disclosed above with the preferred embodiments, it is not intended to limit the present application. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the present application. The scope of protection shall be subject to the scope defined by the claims of this application.

In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

Memory may include non-persistent memory, random access memory (RAM), and / or non-volatile memory in computer-readable media, such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media includes both permanent and non-persistent, removable and non-removable media. Information can be stored by any method or technology. Information may be computer-readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), and read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, read-only disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, Magnetic tape cartridges, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media may be used to store information that can be accessed by computing devices. As defined herein, computer-readable media does not include non-transitory computer-readable media, such as modulated data signals and carrier waves.

Those skilled in the art should understand that the embodiments of the present application may be provided as a method, a system, or a computer program product. Therefore, this application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, this application may take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

Claims (24)

1. A method for determining a travel path of an agent, characterized in that the method includes:

   Determine the reachable position between the current position of the current agent and the target position and the reachable time corresponding to the reachable position;

   Determining at least one alternative travel path of the current agent from the current position to the target position according to the reachable position and the reachable time corresponding to the reachable position;

   According to the at least one alternative travel path, an actual travel path of the current agent from the current position to the target position is determined.
2. The method according to claim 1, wherein the reachable position between the current position of the current agent and the target position is determined in the following manner:

   Determining the first reachable direction for the current position and current direction of the current agent, and obtaining the first reachable direction and the corresponding reachable position in the current direction of the current position;

   According to the current position and current direction of the current agent, according to the motion space that travels a certain unit distance in the current direction, determine the directly reachable position in the current direction of the current position to obtain the second reachable direction and the corresponding reachable position;

   For the first reachable direction and the second reachable direction and the corresponding reachable position, determine a new reachable direction and the corresponding reachable position until reaching the target direction and the corresponding target position.
3. The method according to claim 1, wherein the reachable position between the current position and the target position is determined in the following manner:

   Determine the third reachable direction according to the current position of the current agent;

   For the third reachable direction of the current position, determine the reachable direction of the current position's current direction in the third reachable direction and the corresponding reachable position according to the movement space of several unit distances going straight;

   For the reachable direction of the current direction in the third reachable direction and the corresponding reachable position, determine a new reachable direction, the reachable direction in the new reachable direction, and the corresponding reachable position, until Reach the target direction and the corresponding target position.
4. The method according to claim 2 or 3, wherein both the first reachable direction and the third reachable direction are determined in the following manner:

   Determine whether the current agent conflicts with other agents at the current position when changing direction at the current position;

   When there is no conflict, determine the direction that can be changed and the current direction as the first reachable direction or the third reachable direction;

   In a conflict, it is determined that the current direction is the first reachable direction or the third reachable direction.
5. The method according to any one of claims 1-3, characterized in that when there is only a single agent, the reachable time corresponding to the reachable position is an arbitrary time.
6. The method according to any one of claims 1-3, wherein when there are multiple agents, the reachable time corresponding to the reachable position is determined in the following manner:

   The time allowed for the current agent to reach the reachable position is determined as the reachable time corresponding to the reachable position, and the reachable time corresponding to the reachable position does not conflict with the time when other agents are located in the reachable position.
7. The method according to claim 6, characterized in that the reachable time corresponding to the reachable location and the time when other agents are located in the reachable location are determined in the following manner:

   Query a time occupancy table, which is used to record the time when other agents are located in the reachable location;

   If the reachable time corresponding to the reachable position does not conflict with the time when other agents in the time record table are located in the reachable position, determine that the reachable time corresponding to the reachable position is located in the reachable position with other agents The time to reach the location does not conflict.
8. The method according to claim 6, wherein the step of determining the time allowed for the current agent to reach the reachable position as the reachable time corresponding to the reachable position comprises:

   According to the available time corresponding to the current position, the time it takes from the current position to the reachable position, and the available time corresponding to the reachable position, the time allowed for the current agent to reach the reachable position is determined as the corresponding to the reachable position Reachable time.
9. The method according to claim 8, characterized in that, according to the available time corresponding to the current position, the time required to travel from the current position to the reachable position, and the available time corresponding to the reachable position, the current The time it takes the agent to reach the reachable location is determined as the reachable time step corresponding to the reachable location, including:

   The intersection of the time obtained after the available time corresponding to the current position is translated to the reachable position and the available time corresponding to the reachable position is determined as the reachable time corresponding to the reachable position .
10. The method according to claim 1, wherein the step of determining the actual travel path of the current agent from the current position to the target position based on the at least one alternative travel path comprises:

    According to the at least one alternative travel path, the path that takes the least time is selected as the actual travel path of the current agent from the current position to the target position.
11. The method according to claim 1, further comprising:

    According to the reachable time of each adjacent reachable position on the alternative travel path, the speed of the current agent between the adjacent reachable positions is determined.
12. A device for determining a travel path of an agent, characterized in that the device includes:

    The reachable position and reachable time determining unit is used to determine the reachable position between the current position of the current agent and the target position and the reachable time corresponding to the reachable position;

    An alternative travel path determination unit, configured to determine at least one alternative travel path of the current agent from the current position to the target position according to the reachable position and the reachable time corresponding to the reachable position;

    The actual travel path determining unit is configured to determine an actual travel path of the current agent from the current position to the target position according to the at least one alternative travel path.
13. The device according to claim 12, wherein the reachable position and reachable time determining unit is configured to:

    Determining the first reachable direction for the current position and current direction of the current agent, and obtaining the first reachable direction and the corresponding reachable position in the current direction of the current position;

    According to the current position and current direction of the current agent, according to the motion space that travels a certain unit distance in the current direction, determine the directly reachable position in the current direction of the current position to obtain the second reachable direction and the corresponding reachable position;

    For the first reachable direction and the second reachable direction and the corresponding reachable position, determine a new reachable direction and the corresponding reachable position until reaching the target direction and the corresponding target position.
14. The device according to claim 12, wherein the reachable position and reachable time determining unit is configured to:

    Determine the third reachable direction according to the current position of the current agent;

    For the third reachable direction of the current position, determine the reachable direction of the current position's current direction in the third reachable direction and the corresponding reachable position according to the movement space of several unit distances going straight;

    For the reachable direction of the current direction in the third reachable direction and the corresponding reachable position, determine a new reachable direction, the reachable direction in the new reachable direction, and the corresponding reachable position, until Reach the target direction and the corresponding target position.
15. The device according to claim 13 or 14, further comprising a reachable direction determining unit, configured to:

    Determine whether the current agent conflicts with other agents at the current position when changing direction at the current position;

    When there is no conflict, determine the direction that can be changed and the current direction as the first reachable direction or the third reachable direction;

    In a conflict, it is determined that the current direction is the first reachable direction or the third reachable direction.
16. The device according to any one of claims 12 to 14, wherein when there is only a single agent, the reachable time corresponding to the reachable position is an arbitrary time.
17. The device according to any one of claims 12 to 14, wherein when there are multiple agents, the reachable position and reachable time determining unit includes:

    The reachable time determining subunit is configured to determine the time allowed for the current agent to reach the reachable position as the reachable time corresponding to the reachable position, and the reachable time corresponding to the reachable position and other agents located in the reachable position are Time does not conflict.
18. The apparatus according to claim 17, wherein the reachable time determining subunit is configured to:

    Query a time occupancy table, which is used to record the time when other agents are located in the reachable location;

    If the reachable time corresponding to the reachable position does not conflict with the time when other agents in the time record table are located in the reachable position, determine that the reachable time corresponding to the reachable position is located in the reachable position with other agents The time to reach the location does not conflict.
19. The apparatus according to claim 17, wherein the reachable time determining subunit is configured to:

    According to the available time corresponding to the current position, the time it takes from the current position to the reachable position, and the available time corresponding to the reachable position, the time allowed for the current agent to reach the reachable position is determined as the corresponding to the reachable position Reachable time.
20. The apparatus according to claim 19, wherein the reachable time determining subunit is configured to:

    The intersection of the time obtained after the available time corresponding to the current position is translated to the reachable position and the available time corresponding to the reachable position is determined as the reachable time corresponding to the reachable position .
21. The apparatus according to claim 13, wherein the actual travel path determining unit is configured to:

    According to the at least one alternative travel path, the path that takes the least time is selected as the actual travel path of the current agent from the current position to the target position.
22. The apparatus according to claim 13, further comprising:

    A speed determining unit is configured to determine the speed of the current agent between the adjacent reachable positions according to the reachable time of each adjacent reachable position on the candidate travel path.
23. An electronic device, comprising:

    Memory and processor;

    The memory is configured to store computer-executable instructions, and the processor is configured to execute the computer-executable instructions:

    Determine the reachable position between the current position of the current agent and the target position and the reachable time corresponding to the reachable position;

    Determining at least one alternative travel path of the current agent from the current position to the target position according to the reachable position and the reachable time corresponding to the reachable position;

    According to the at least one alternative travel path, an actual travel path of the current agent from the current position to the target position is determined.
24. A computer-readable storage medium on which a computer program is stored, characterized in that when the program is executed by a processor, the following operations are performed:

    Determine the reachable position between the current position of the current agent and the target position and the reachable time corresponding to the reachable position;

    Determining at least one alternative travel path of the current agent from the current position to the target position according to the reachable position and the reachable time corresponding to the reachable position;

    According to the at least one alternative travel path, an actual travel path of the current agent from the current position to the target position is determined.

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