CN102521724A - Planning device and planning method based on vehicle path - Google Patents
Planning device and planning method based on vehicle path Download PDFInfo
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- CN102521724A CN102521724A CN2011104039168A CN201110403916A CN102521724A CN 102521724 A CN102521724 A CN 102521724A CN 2011104039168 A CN2011104039168 A CN 2011104039168A CN 201110403916 A CN201110403916 A CN 201110403916A CN 102521724 A CN102521724 A CN 102521724A
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Abstract
The invention discloses a planning device and a planning method based on a vehicle path. The device comprises a path storage module for storing at least one path scheme, wherein each path scheme comprises a departure place, at least one destination and at least one path information from the departure place to the destination; a processing module for processing the path scheme in the path storage module according to transposition, insertion, interchange of the same path, exchange and/or reverse exchange in the processing module, and storing all processed path schemes into the path storage module; and a comparison module for comparing all processed path schemes according to the preset shortest-time, shortest-path and/or lowest-cost principles and obtaining an optimal path scheme. According to the invention, five neighborhood construction planning methods are designed, a search range of the path information is increased and an optimal path scheme combination with high quality for the problem is obtained so that the logistics distribution cost is reduced and the distribution efficiency is improved.
Description
Technical field
The present invention relates to field of engineering technology, relate in particular to a kind of based on vehicle path planning device and planing method.
Background technology
Vehicle path planning is the abstract of logistics center's dispensing, solid refuse recovery, street cleaning, mail and a plurality of fields actual application problem such as newspaper delivery, bus line formulation.Though this problem has been proved to be one of np hard problem, because the popularity of its application and great value economically receive the common concern of Chinese scholars always.
In the neighborhood building method,, separate neighbours each other for these two so if one is separated and is called another through certain conversion and separates.Generate a new explanation from initial solution, and produce better with this and to separate, this all is the neighborhood construction process.It usually as the part of optimized Algorithm, can increase the hunting zone, accelerating convergence speed greatly.At present, the neighborhood structure has been applied to find the solution the vehicle path planning problem.Yet the neighborhood building method of making to measure to this type problem specially also is nowhere near, and remains further to be studied.
Summary of the invention
To the problems referred to above, the object of the present invention is to provide a kind ofly based on vehicle path planning device and planing method, optimize the total cost of logistics distribution.
For achieving the above object, according to the invention a kind of based on the vehicle path planning device, comprising:
The path memory module is stored at least one route scheme, each route scheme include a departure place, at least one destination and at least one from the departure place to the routing information of destination;
Processing module the route scheme in the memory module of path is handled by the exchange in the processing module, insertion, same footpath exchange, exchange and/or back exchange rule, and all route scheme that draw after will handling is stored in the memory module of said path; And,
Comparison module, the time that foundation is preset is the shortest, the path is the shortest and/or the minimum principle of cost compares all route scheme that draw after treatment, draws the optimal path scheme.
Preferably, said route scheme all constitutes the route scheme combination by certain routing information in proper order.
Preferably, said exchange rule is:
Exchange putting in order or exchanging putting in order of any destination and departure place of any two destinations in the same routing information or in the different routing information, regenerate the new route scheme combination.
Preferably, said insertion rule is:
A destination or a departure place in the optional route scheme combination are inserted into the optional position that selected route scheme makes up, and rearrangement generates the new route scheme combination.
Preferably, saidly exchange rule and be with the footpath:
Choose one section continuous destination in the routing information, the avris destination exchange rearrangement of carrying out in this section destination generates the new route scheme combination.
Preferably, said exchange regulation is:
In any two routing informations, select at least two continuous destinations of its afterbody respectively, these two sections destination switch rearrangements generate the new route scheme combination.
Preferably, said back exchange rule is:
Get at least two the continuous destinations and the order counter-rotating of a routing information head, get at least two the continuous destinations and the order counter-rotating of another routing information afterbody, these two sections destination switch rearrangements generate the new route scheme combination.
In order to achieve the above object, a kind of planing method according to the invention is characterized in that, may further comprise the steps:
Store at least one route scheme, arrange to constitute the route scheme combination in certain sequence, wherein, each route scheme include a departure place, at least one destination and at least one from the departure place to the routing information of destination;
To the demand point in the route scheme and starting point by exchange, insert, handle with footpath exchange, exchange and/or back exchange rule, rearrangement generates the new route scheme combination;
New and old route scheme combination is compared, draw the optimal path scheme combination.
Preferably, said exchange, insertion, be above-mentioned exchange, insertion, regular with directly exchange, exchange or back exchange with footpath exchange, exchange or back exchange rule.
Beneficial effect of the present invention is:
The present invention has designed five kinds of neighborhood structure planing methods based on the vehicle path planning problem, increases the hunting zone of routing information, obtains the high-quality optimal path scheme combination of this problem, thereby reduces the logistics distribution cost, improves dispensing efficient.
Description of drawings
Fig. 1 is the synoptic diagram of same path exchange rule described in the embodiment of the invention;
Fig. 2 is the synoptic diagram of different path exchange rules described in the embodiment of the invention;
Fig. 3 is the synoptic diagram that inserts rule described in the embodiment of the invention;
Fig. 4 is with the regular synoptic diagram of footpath exchange described in the embodiment of the invention;
Fig. 5 is the synoptic diagram of exchange regulation described in the embodiment of the invention;
Fig. 6 is the synoptic diagram of the rule of back exchange described in the embodiment of the invention.
Embodiment
Below in conjunction with Figure of description the present invention is done further description.
The embodiment of the invention is said a kind of based on the vehicle path planning device, comprising:
The path memory module is stored at least one route scheme, each route scheme include a departure place, at least one destination and at least one from the departure place to the routing information of destination;
Processing module the route scheme in the memory module of path is handled by the exchange in the processing module, insertion, same footpath exchange, exchange and/or back exchange rule, and all route scheme that draw after will handling is stored in the memory module of said path; And,
Comparison module, the time that foundation is preset is the shortest, the path is the shortest and/or the minimum principle of cost compares all route scheme that draw after treatment, draws the optimal path scheme.
Said route scheme all constitutes the route scheme combination by certain routing information in proper order.Explain the route scheme combination at this, a route scheme combination comprises at least one route scheme, and in this route scheme combination, institute promptly is a complete route scheme on purpose all within it.Route scheme for comprising in the route scheme combination is the route scheme that includes some destinations.
Processing rule to setting in the processing module describes:
Said exchange rule is: exchange putting in order or exchanging putting in order of any destination and departure place of any two destinations in the same routing information or in the different routing information, regenerate the new route scheme combination.
Said insertion rule is: a destination or a departure place in the optional route scheme combination, be inserted into the optional position that selected route scheme makes up, and rearrangement generates the new route scheme combination.
Said footpath is together exchanged rule and is: choose one section continuous destination in the routing information, the avris destination exchange rearrangement of carrying out in this section destination generates the new route scheme combination.
Said exchange regulation is: in any two routing informations, select at least two continuous destinations of its afterbody respectively, these two sections destination switch rearrangements generate the new route scheme combination.
Said back exchange rule is: at least two the continuous destinations and the order counter-rotating of getting a routing information head; Get at least two the continuous destinations and the order counter-rotating of another routing information afterbody, these two sections destination switch rearrangements generate the new route scheme combination.
In order to achieve the above object, a kind of planing method according to the invention is characterized in that, may further comprise the steps:
Store at least one route scheme, arrange to constitute the route scheme combination in certain sequence, wherein, each route scheme include a departure place, at least one destination and at least one from the departure place to the routing information of destination;
To the demand point in the route scheme and starting point by exchange, insert, handle with footpath exchange, exchange and/or back exchange rule, rearrangement generates the new route scheme combination;
New and old route scheme combination is compared, draw the optimal path scheme combination.
Wherein, said exchange, insertion, be above-mentioned exchange, insertion, regular with directly exchange, exchange or back exchange with footpath exchange, exchange or back exchange rule.
Because existing primordial plinth route scheme combination is handled in this route scheme combination then and is produced new route scheme combination.So need basic route scheme combination of definition, this definition form can be: define N destination, take 1-N natural number respectively and represent, adopt the departure place in the 0 expression route scheme combination again.Therefore, according to the definition form, if there are 5 destinations, a kind of of then basic route scheme combination possibly be in proper order: 012304050.In this built-up sequence, the route scheme that comprises is respectively: 01230,040,050.In route scheme, a path puts in order and is defined as routing information.Owing to be defined in the route scheme built-up sequence, two or more 0 comes together continuously, can be classified as one 0, so order can abbreviate above-mentioned putting in order as.
Be illustrated in figure 1 as the synoptic diagram of same path exchange rule described in the embodiment of the invention.This basis route scheme is combined as: 042013050, can see that in the drawings for two destination exchanges in the same route scheme, that is: 42 pairs change 24 into, obtain the route scheme combination again: 024013050.Two scheme combination are compared: hypothesis goal ground 4 is desired, and to send to the time be within 4 hours; 4 the time that needs is 4 hours from the departure place to the destination; Destination 2 is desired, and to send to the time be within 2 hours; 2 the time that needs is 2 hours from the departure place to the destination, from the destination 2 to the destination time that needs of 4 is 2 hours.
If the route scheme by 0420 is provided and delivered, satisfied the requirement of destination 4, satisfied not the requirement of destination 2; If the route scheme by 0240 is provided and delivered, satisfied the requirement of destination 2, also satisfied the requirement of destination 4.So the combination of 024013050 route scheme is superior to 042013050 route scheme combination.
Be illustrated in figure 2 as the synoptic diagram of different path exchange rules described in the embodiment of the invention.This basis route scheme is combined as: 042013050, can see that in the drawings for two destination exchanges in the different route scheme, that is: 4 pairs change 5 into, obtain the route scheme combination again: 052013040.Repeatedly exchange rule treatments, the time that foundation is preset is the shortest, the path is the shortest and/or the minimum principle of cost compares all route scheme that draw after treatment, draws the optimal path scheme.
Be illustrated in figure 3 as the synoptic diagram that inserts rule described in the embodiment of the invention.This basis route scheme is combined as: 042013050, can see in the drawings, and choose the destination or the departure place is inserted, that is: 5 be inserted into 42, obtain the route scheme combination again: 04520130.Repeatedly insert rule treatments, the time that foundation is preset is the shortest, the path is the shortest and/or the minimum principle of cost compares all route scheme that draw after treatment, draws the optimal path scheme.
Be illustrated in figure 4 as described in the embodiment of the invention with the regular synoptic diagram of footpath exchange.This basis route scheme is combined as: 057413260; Can see in the drawings, choose one section continuous destination in the route scheme, carry out the avris destination exchange of this section destination; That is: 413 pairs are changed to 314, obtain the route scheme combination again: 057314260.Carry out repeatedly exchanging rule treatments with the footpath, the time that foundation is preset is the shortest, the path is the shortest and/or the minimum principle of cost compares all route scheme that draw after treatment, draws the optimal path scheme.
Be illustrated in figure 5 as the synoptic diagram of exchange regulation described in the embodiment of the invention.This basis route scheme is combined as: 012345067890; Can see in the drawings, in any two routing informations, select at least two continuous destinations of its afterbody respectively, these two sections destination switches; That is: 345 exchanges 89 obtain the route scheme combination: 012890673450 again.Carry out repeatedly exchange regulation and handle, the time that foundation is preset is the shortest, the path is the shortest and/or the minimum principle of cost compares all route scheme that draw after treatment, draws the optimal path scheme.
Be illustrated in figure 6 as the synoptic diagram of the rule of back exchange described in the embodiment of the invention.This basis route scheme is combined as: 012345067890, can see in the drawings, and get at least two the continuous destinations and the order counter-rotating of a routing information head; Get at least two the continuous destinations and the order counter-rotating of another routing information afterbody; These two sections destination switches, that is: 345 reverse one-tenth 543,67 reverse one-tenth 76; 543 exchanges 76 obtain the route scheme combination: 012760543890 again.Carry out repeatedly back exchange rule treatments, the time that foundation is preset is the shortest, the path is the shortest and/or the minimum principle of cost compares all route scheme that draw after treatment, draws the optimal path scheme.
More than; Be merely preferred embodiment of the present invention, but protection scope of the present invention is not limited thereto, any technician who is familiar with the present technique field is in the technical scope that the present invention discloses; The variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain that claim was defined.
Claims (9)
1. one kind based on the vehicle path planning device, it is characterized in that, comprising:
The path memory module is stored at least one route scheme, each route scheme include a departure place, at least one destination and at least one from the departure place to the routing information of destination;
Processing module the route scheme in the memory module of path is handled by the exchange in the processing module, insertion, same footpath exchange, exchange and/or back exchange rule, and all route scheme that draw after will handling is stored in the memory module of said path; And,
Comparison module, the time that foundation is preset is the shortest, the path is the shortest and/or the minimum principle of cost compares all route scheme that draw after treatment, draws the optimal path scheme.
2. according to claim 1ly it is characterized in that said route scheme all constitutes the route scheme combination by certain routing information in proper order based on the vehicle path planning device.
3. the neighborhood constructing apparatus based on vehicle path planning according to claim 2 is characterized in that, said exchange rule is:
Exchange putting in order or exchanging putting in order of any destination and departure place of any two destinations in the same routing information or in the different routing information, regenerate the new route scheme combination.
4. the neighborhood constructing apparatus based on vehicle path planning according to claim 3 is characterized in that, said insertion rule is:
A destination or a departure place in the optional route scheme combination are inserted into the optional position that selected route scheme makes up, and rearrangement generates the new route scheme combination.
5. the neighborhood constructing apparatus based on vehicle path planning according to claim 4 is characterized in that, said footpath is together exchanged rule and is:
Choose one section continuous destination in the routing information, the avris destination exchange rearrangement of carrying out in this section destination generates the new route scheme combination.
6. the neighborhood constructing apparatus based on vehicle path planning according to claim 5 is characterized in that said exchange regulation is:
In any two routing informations, select at least two continuous destinations of its afterbody respectively, these two sections destination switch rearrangements generate the new route scheme combination.
7. the neighborhood constructing apparatus based on vehicle path planning according to claim 6 is characterized in that, said back exchange rule is:
Get at least two the continuous destinations and the order counter-rotating of a routing information head, get at least two the continuous destinations and the order counter-rotating of another routing information afterbody, these two sections destination switch rearrangements generate the new route scheme combination.
8. a planing method is characterized in that, may further comprise the steps:
Store at least one route scheme, arrange to constitute the route scheme combination in certain sequence, wherein, each route scheme include a departure place, at least one destination and at least one from the departure place to the routing information of destination;
To the demand point in the route scheme and starting point by exchange, insert, handle with footpath exchange, exchange and/or back exchange rule, rearrangement generates the new route scheme combination;
New and old route scheme combination is compared, draw the optimal path scheme combination.
9. the neighborhood building method based on vehicle path planning according to claim 8; It is characterized in that said exchange, insertion, footpath exchange together, exchange or back exchange rule are that aforesaid right requires the described exchange of claim arbitrarily in the 3-7 claim, insertion, footpath exchange together, exchange or back exchange rule.
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Cited By (16)
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| CN103149577A (en) * | 2013-02-28 | 2013-06-12 | 山东大学 | Combined navigation method of Beidou navigation, GPS (global positioning system) navigation and historical data fusion |
| CN103426074A (en) * | 2013-08-22 | 2013-12-04 | 深圳市华傲数据技术有限公司 | Method and system for calculating logistical receiving and dispatching path |
| CN103606016A (en) * | 2013-11-28 | 2014-02-26 | 广东广信通信服务有限公司 | Generation method and device for cargo transportation route virtual net and rapid routing method and device for cargo transportation route virtual net |
| CN104866686A (en) * | 2015-06-09 | 2015-08-26 | 李晓华 | City bus route layout method by two-dimensional network method |
| CN105157712A (en) * | 2015-08-18 | 2015-12-16 | 浙江工商大学 | Vehicle routing planning method and planning system |
| CN105447995A (en) * | 2014-08-27 | 2016-03-30 | 日立金融设备***（深圳）有限公司 | Money loading automatic planning device and method |
| CN105719110A (en) * | 2015-05-22 | 2016-06-29 | 北京小度信息科技有限公司 | Order processing method and device |
| CN105812255A (en) * | 2016-05-06 | 2016-07-27 | 网宿科技股份有限公司 | Source return line selection method and device |
| CN107677283A (en) * | 2016-08-01 | 2018-02-09 | 奥迪股份公司 | Path planning system and method |
| CN108227716A (en) * | 2018-01-19 | 2018-06-29 | 广东美的智能机器人有限公司 | The paths planning method and system of mobile robot |
| CN108921325A (en) * | 2018-06-06 | 2018-11-30 | 昆明理工大学 | A kind of acquisition methods of the power failure repairing optimal path based on real-time road |
| CN109934372A (en) * | 2017-12-19 | 2019-06-25 | 阿里巴巴集团控股有限公司 | A kind of paths planning method, device and equipment |
| CN110222890A (en) * | 2019-05-31 | 2019-09-10 | 中国人民解放军国防科技大学 | Double-layer path optimization method and system for logistics distribution of vehicles and unmanned aerial vehicles |
| CN111260294A (en) * | 2020-01-20 | 2020-06-09 | 瑞萨科林(上海)新能源有限公司 | Method for reducing logistics cost of power battery |
| CN113256123A (en) * | 2021-05-27 | 2021-08-13 | 中国农业银行股份有限公司 | Self-service equipment replenishment method based on network grouping and electronic equipment |
| CN118095605A (en) * | 2024-04-22 | 2024-05-28 | 全盛物流科技(山东)有限公司 | Logistics route planning method |
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| CN103149577B (en) * | 2013-02-28 | 2016-04-13 | 山东大学 | The Combinated navigation method that " Big Dipper " navigation, GPS navigation and historical data merge |
| CN103149577A (en) * | 2013-02-28 | 2013-06-12 | 山东大学 | Combined navigation method of Beidou navigation, GPS (global positioning system) navigation and historical data fusion |
| CN103426074A (en) * | 2013-08-22 | 2013-12-04 | 深圳市华傲数据技术有限公司 | Method and system for calculating logistical receiving and dispatching path |
| CN103606016A (en) * | 2013-11-28 | 2014-02-26 | 广东广信通信服务有限公司 | Generation method and device for cargo transportation route virtual net and rapid routing method and device for cargo transportation route virtual net |
| CN105447995B (en) * | 2014-08-27 | 2018-05-15 | 日立金融设备***（深圳）有限公司 | Load the automatic plan making device of cash and method |
| CN105447995A (en) * | 2014-08-27 | 2016-03-30 | 日立金融设备***（深圳）有限公司 | Money loading automatic planning device and method |
| CN105719110A (en) * | 2015-05-22 | 2016-06-29 | 北京小度信息科技有限公司 | Order processing method and device |
| CN104866686A (en) * | 2015-06-09 | 2015-08-26 | 李晓华 | City bus route layout method by two-dimensional network method |
| CN104866686B (en) * | 2015-06-09 | 2018-11-06 | 李晓华 | Two-dimensional network method city public bus network distribution method |
| CN105157712A (en) * | 2015-08-18 | 2015-12-16 | 浙江工商大学 | Vehicle routing planning method and planning system |
| CN105812255A (en) * | 2016-05-06 | 2016-07-27 | 网宿科技股份有限公司 | Source return line selection method and device |
| CN107677283A (en) * | 2016-08-01 | 2018-02-09 | 奥迪股份公司 | Path planning system and method |
| CN109934372A (en) * | 2017-12-19 | 2019-06-25 | 阿里巴巴集团控股有限公司 | A kind of paths planning method, device and equipment |
| CN108227716A (en) * | 2018-01-19 | 2018-06-29 | 广东美的智能机器人有限公司 | The paths planning method and system of mobile robot |
| CN108921325A (en) * | 2018-06-06 | 2018-11-30 | 昆明理工大学 | A kind of acquisition methods of the power failure repairing optimal path based on real-time road |
| CN108921325B (en) * | 2018-06-06 | 2021-08-20 | 昆明理工大学 | Method for acquiring optimal path for power failure emergency repair based on real-time road conditions |
| CN110222890A (en) * | 2019-05-31 | 2019-09-10 | 中国人民解放军国防科技大学 | Double-layer path optimization method and system for logistics distribution of vehicles and unmanned aerial vehicles |
| CN110222890B (en) * | 2019-05-31 | 2021-07-16 | 中国人民解放军国防科技大学 | Double-layer path optimization method and system for logistics distribution of vehicles and unmanned aerial vehicles |
| CN111260294A (en) * | 2020-01-20 | 2020-06-09 | 瑞萨科林(上海)新能源有限公司 | Method for reducing logistics cost of power battery |
| CN113256123A (en) * | 2021-05-27 | 2021-08-13 | 中国农业银行股份有限公司 | Self-service equipment replenishment method based on network grouping and electronic equipment |
| CN118095605A (en) * | 2024-04-22 | 2024-05-28 | 全盛物流科技(山东)有限公司 | Logistics route planning method |
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Application publication date: 20120627 |