CN108204821A - A kind of paths planning method and device - Google Patents
A kind of paths planning method and device Download PDFInfo
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- CN108204821A CN108204821A CN201711414617.8A CN201711414617A CN108204821A CN 108204821 A CN108204821 A CN 108204821A CN 201711414617 A CN201711414617 A CN 201711414617A CN 108204821 A CN108204821 A CN 108204821A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
Abstract
The embodiment of the present invention provides a kind of paths planning method and device, the method includes：The initial path point for setting currently processed module is current path point；Obtain the adjoining point set of the current path point；The current path point is calculated respectively to the probability of each abutment points；Based on the probability, next path point of currently processed module is determined and recorded in the method that probability proportion is randomly assigned；Update the syntople between the path point in the path map；Next path point is set as the current path point, is repeated the above process, all path points in the currently processed complete path map of resume module.The method can update the syntople between the path point in the path map after the next path point for determining currently processed module every time, the range of the reachable point of next path point is drastically reduced, so that algorithm parameter sensibility declines and speed of performance is promoted.
Description
Technical field
The present invention relates to computer application field, in particular to a kind of paths planning method and device.
Background technology
The general example of path planning problem can be abstracted as a traveling salesman problem (English：Travelling
Salesman problem, TSP), specific descriptions are in this way：Given the distance between a series of cities and each pair of city, solve
It accesses each city once and returns to the shortest cycle in starting city.It is a NP difficult problem in Combinatorial Optimization.
Solve the problems, such as that the scheme of TSP is more, most classical is a kind of greedy regular path planning, the logic of this planning
It is, using starting point as current point, the nearest point of selected distance current point in the point not yet reached, as the point of arrival, then with this
After the point of arrival is as current point, aforesaid operations are repeated, until all the points are traversed.
Path planning algorithm based on greedy rule is when searching for next point of arrival only using minimum distance as judgement
Foundation, it is easy to which entering a kind of reciprocal inefficient traversal mode back and forth makes total distance significantly elongated.Substantially the algorithm is with office
The search that portion's optimal index carries out, search result are limited to local optimum, have larger gap to be difficult to avoid that with global optimum.Through
Allusion quotation ant colony path planning simultaneously consider information prime factor and heuristic greedy method double action, will remember current better result and
Certain exploration is attempted to combine, and effectively prevents search and is limited to locally optimal solution.
But with the increase of problem scale, the problem of classical ant colony path planning, is that algorithm parameter is difficult to adjust,
Such as the setting of heuristic greedy method and the weight of information prime factor, the selection of ant quantity and iterations etc., and the fortune needed
Evaluation time is also increasingly longer；If the unreasonable parameter of setting, even with operation time long again, it is also difficult to which search obtains optimal
The solution i.e. short line of traversal point.
Invention content
In view of this, the embodiment of the present invention is designed to provide a kind of paths planning method and device, to solve above-mentioned
Problem.
To achieve these goals, technical solution used in the embodiment of the present invention is as follows：
In a first aspect, an embodiment of the present invention provides a kind of paths planning method, this method includes：Currently processed mould is set
The current path point of block；Obtain the adjoining point set of the current path point, each abutment points in the adjacent point set are
In path map with the path point of the current path point direct neighbor；The current path point is calculated respectively to each neighbour
The probability of contact；According to the current path point to the probability of each abutment points, the method being randomly assigned with probability proportion
Determine and record next path point of currently processed module；Update the syntople between the path point in the path map；It will
Next path point is set as the current path point, repeats the above process, until the currently processed complete institute of resume module
State all path points in path map.
As a kind of embodiment, the syntople between path point in the update path map, including：It will
It is excluded from the path map through processed path point, reconstructs the syntople between path point.
It is described to calculate the current path point respectively to the probability of each abutment points, packet as a kind of embodiment
It includes：According to Pheromone Matrix, the current path point is obtained respectively to the pheromone concentration of each abutment points；According to described
Current path point calculates the current path point to each abutment points respectively to the pheromone concentration of each abutment points
Probability.
As a kind of embodiment, according to the current path point to the probability of each abutment points, with probability proportion
The method being randomly assigned determines and records next path point of currently processed module, including：According to roulette algorithm and it is described work as
Preceding path point determines and records next path point of currently processed module to the probability of each abutment points.
As a kind of embodiment, until all path points in the complete path map of currently processed resume module it
Afterwards, the method further includes：The path length of the currently processed module is recorded, and determines shortest path and corresponding path length
Degree；Using next processing module as the currently processed module, the current path point of the currently processed module is set, in repetition
Process is stated, until all processing modules have performed the above process；Update described information prime matrix and the update shortest path and
Corresponding path length.
As a kind of embodiment, the fresh information prime matrix include Pheromone Matrix in it is all between points
Pheromones decay by a certain percentage, while the pheromones between points of processing module process are weight by the frequency that it is passed through
And increase.
As a kind of embodiment, the method further includes：The above process is repeatedly performed, is constantly updated and final true
The fixed shortest path and corresponding path length.
Second aspect, an embodiment of the present invention provides a kind of path planning apparatus, described device includes：Setup module is used
In the current path point for setting currently processed module；Acquisition module, for obtaining the adjoining point set of the current path point, institute
It is the path point with the current path point direct neighbor in path map to state each abutment points in adjacent point set；Calculate mould
Block, for calculating the current path point respectively to the probability of each abutment points；Determining module, for according to described current
Path point determines and records next path point of currently processed module to the probability of each abutment points；Update module is used for
Update the syntople between the path point in the path map；Processing module, for next path point to be set as institute
Current path point is stated, is repeated the above process, all paths in the currently processed complete path map of resume module
Point.
As a kind of embodiment, the update module, specifically for by processed path point from the path
It is excluded in map, reconstructs the syntople between path point.
As a kind of embodiment, the computing module is additionally operable to, according to Pheromone Matrix, obtain the current road respectively
Diameter point is to the pheromone concentration of each abutment points；It is dense according to the pheromones of the current path point to each abutment points
Degree calculates the current path point to the probability of each abutment points respectively.
As a kind of embodiment, the determining module, for according to roulette algorithm and current path point to every
The probability of a abutment points determines and records next path point of currently processed module.
Compared with prior art, a kind of paths planning method and device provided in an embodiment of the present invention, it is current by setting
The current path point of processing module；Obtain the adjoining point set of the current path point, each neighbour in the adjacent point set
Contact is the path point with the current path point direct neighbor in path map；The current path point is calculated respectively to each
The probability of the abutment points；According to the current path point to the probability of each abutment points, determine and record currently processed
Next path point of module；Update the syntople between the path point in the path map；Next path point is set
It for the current path point, repeats the above process, until all in the currently processed complete path map of resume module
Path point, this programme every time determine currently processed module next path point after can update the path map in path point
Between syntople, using the adjoining point set of next path point as the candidate point of arrival of next step again, drastically reduce
Traversal search range, so that algorithm sensitivity to parameter itself declines and algorithm performance speed is promoted.
For the above objects, features and advantages of the present invention is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It in order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of structure diagram of server provided in an embodiment of the present invention.
Fig. 2 is a kind of flow chart of paths planning method provided in an embodiment of the present invention.
Fig. 3 is a kind of schematic diagram of path map provided in an embodiment of the present invention.
Fig. 4 is a kind of first part's flow chart of paths planning method provided in an embodiment of the present invention.
Fig. 5 is a kind of second part flow chart of paths planning method provided in an embodiment of the present invention.
Fig. 6 is a kind of structure diagram of path planning apparatus provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be configured to arrange and design with a variety of different herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Range, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Go out all other embodiments obtained under the premise of creative work, shall fall within the protection scope of the present invention.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need to that it is further defined and explained in subsequent attached drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
As shown in Figure 1, it is the block diagram for the server 100 that can be applied to the embodiment of the present invention.The server 100 wraps
Include memory 110, one or more (one is only shown in figure) processors 120 and path planning apparatus 500.
It is directly or indirectly electrically connected between the memory 110 and the processor 120, to realize the transmission of data or friendship
Mutually.It is electrically connected for example, these elements can be realized between each other by one or more communication bus or signal wire.Path planning
Device 500 can be stored in memory 110 or be solidificated in clothes including at least one in the form of software or firmware (firmware)
The software function module being engaged in the operating system (operating system, OS) of device 100.Processor 120 is used to perform storage
The executable module stored in device 110, such as the software function module or computer program that path planning apparatus 500 includes.
Wherein, memory 110 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-
Only Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory,
EPROM), electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory,
EEPROM) etc..Wherein, for memory 110 for storing program, processor 120 performs program after execute instruction is received, under
It states the method performed by the electronic equipment of the flow definition of any embodiment of embodiment of the present invention announcement and can be applied to processor
In or realized by processor.
Processor 120 may be a kind of IC chip, have the processing capacity of signal.Above-mentioned processor can be
General processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit (Network
Processor, abbreviation NP) etc.；It can also be digital signal processor (DSP), application-specific integrated circuit (ASIC), ready-made programmable
Gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.It can be with
Realize or perform disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor can be micro- place
It can also be any conventional processor etc. to manage device or the processor.
It is appreciated that structure shown in FIG. 1 is only to illustrate, server 100 may also include than shown in Fig. 1 more or more
Few component or with the configuration different from shown in Fig. 1.Hardware, software or its group may be used in each component shown in Fig. 1
It closes and realizes.
Paths planning method provided in an embodiment of the present invention can be run in server 100 shown in FIG. 1.Pass through setting
The current path point of currently processed module；Obtain the adjoining point set of the current path point, it is every in the adjacent point set
A abutment points are the path point with the current path point direct neighbor in path map；The current path point is calculated respectively to arrive
The probability of each abutment points；According to the current path point to the probability of each abutment points, determine and record current
Next path point of processing module；Update the syntople between the path point in the path map；By next path point
The current path point is set as, is repeated the above process, until in the currently processed complete path map of resume module
All path points, this programme every time determine currently processed module next path point after can update the path map in road
Syntople between diameter point using the adjoining point set of next path point as the candidate point of arrival of next step again, significantly subtracts
Traversal search range is lacked, so that algorithm sensitivity to parameter itself declines and algorithm performance speed is promoted.Below to the road
Diameter planing method is described in detail.
Fig. 2 shows a kind of flow chart of paths planning method provided in an embodiment of the present invention, referring to Fig. 2, this implementation
Example describes the process flow of server, the method includes：
Step S210 sets the current path point of currently processed module.
The current path point of currently processed module could be provided as the either path point on path map other than terminal.
Step S220, obtains the adjoining point set of the current path point, each abutment points in the adjacent point set
For the path point with the current path point direct neighbor in path map.
Referring to Fig. 3, Fig. 3 shows a kind of schematic diagram of path map.Fig. 3 left sides partly show in the path map and wrap
Four path points, respectively path point A, path point B, path point C and path point D are included.If current path point is path point B,
Then with the path point of path point B direct neighbors be path point A, path point C and path point D, i.e. current path point B abutment points
Collection is combined into：{ path point A, path point C and path point D }.
Step S230 calculates the current path point to the probability of each abutment points respectively.
Referring to Fig. 4, as a kind of embodiment, step S230 includes：
Step S310 according to Pheromone Matrix, obtains the current path point to the information of each abutment points respectively
Plain concentration.
Step S320, according to the current path point to the pheromone concentration of each abutment points, calculate respectively described in
Current path point is to the probability of each abutment points.
As a kind of specific mode, can be calculated according to following formula：
Wherein, dijFor the distance between current path point i and abutment points j,Currently locate under the conditions of being performed for the t times
Probability of the module from current path point i to abutment points j is managed, subscript k represents that processing module is k-th, τij(t) it is current path point
Pheromone concentration between i and abutment points j, allowedkFor the adjoining point set of current path point, α is heuristic greedy method, is used
In the relative importance for representing the path (current path point i to the path of abutment points j), reflect other processing modules and handling
Information role when currently processed module is in processing accumulated in process, the value of α is bigger, then currently processed module is got over
Tend to select other processing module paths traversed, the collaborative between processing module is stronger；β for it is expected it is heuristic because
Son, reflect processing module in processing procedure heuristic information processing module select path in by attention degree, the value of β is got over
Greatly, then the state transition probability is regular closer to greed.
Step S240 according to the current path point to the probability of each abutment points, is determined and recorded currently processed
Next path point of module.
As a kind of embodiment, according to roulette algorithm and current path point to the general of each abutment points
Rate determines and records next path point of currently processed module.
Specifically,For probability of the currently processed module from current path point i to abutment points j, and
According to roulette algorithm, can be generated between 0 to 1 several withFor the section of size, it is in value range at this time
A number is generated in [0,1] at random, then the number falls the next path point in which section, then representing currently processed module
For：The corresponding path point in the section.
Step S250 updates the syntople between the path point in the path map.
As a kind of embodiment, the syntople between the path point in the path map is updated, including：It will locate
The path point managed is excluded from the path map, reconstructs the syntople between path point.
It please refers to Fig. 3 left half to scheme, the adjoining point set of current path point B is：{ path point A, path point C and path point
D }, if determining that next path point of current path point B is path point C according to above-mentioned steps, at this time by processed road
Diameter point B is excluded from the path map, forms the path map as shown in scheming Fig. 3 right half, and the path map includes at this time：
{ path point A, path point C and path point D }.
Next path point is set as the current path point, repeated the above process by step S260, is worked as until described
Pre-processing module has handled all path points in the path map.
It is illustrated referring to Fig. 3, continuing more than example, the next path point for determining current path point B by above-mentioned steps is
Path point C at this time using path point C as current path point, obtains the adjoining point set of the current path point C, at this point, with working as
The path point of preceding path point C direct neighbors is：Path point A and path point D, then the adjoining point set of current path point C be：{ road
Diameter point A and path point D }, next path point of currently processed module is determined and recorded according to aforesaid way, is repeated the above process,
All path points in the currently processed complete path map of resume module, as shown in figure 3, at currently processed module
All path points in the path map are managed, i.e.,：Path point A, path point B, path point C and path point D.
Referring to Fig. 5, as a kind of embodiment, until the institute in the complete path map of currently processed resume module
After having path point, the method further includes：
Step S410 records the path length of the currently processed module, and determines shortest path and corresponding path length
Degree.
Continuation more than example illustrates, can if all path points in the complete path map of currently processed resume module
To record out the path, it is assumed that be path point B- ＞ path point C- ＞ path point A- ＞ path point D, and record the path
Path length, it is assumed that be 15, at this point, due to there was only a paths, then most section path is the path, and shortest path length is
15。
Step S420 using next processing module as the currently processed module, sets working as the currently processed module
Preceding path point, repeats the above process, until all processing modules have performed the above process.
The number of processing module can be configured according to demand.As a kind of embodiment, the number of processing module can
Think path map upper pathway point number 1.5 times.
It is illustrated referring to Fig. 3, continuing more than example, it is assumed that processing module is 3, using next processing module described in
Currently processed module sets the current path point of the currently processed module, it is assumed that the current path point of currently processed module is
Path point C, repeats the above process, if all path points in the complete path map of currently processed resume module, can record
Go out the path, it is assumed that for path point C- ＞ path point B- ＞ path point A- ＞ path point D, the corresponding path length in the path
It is 14.
After above-mentioned currently processed resume module, using next processing module as the currently processed module, setting
The current path point A of the currently processed module, repeats the above process, if in the complete path map of currently processed resume module
All path points, the path can be recorded out, it is assumed that for path point A- ＞ path point B- ＞ path point C- ＞ path point D,
The corresponding path length in the path is 13.
Step S430 updates described information prime matrix and updates the shortest path and corresponding path length.
After all processing modules have performed the above process, broad sense routing information prime matrix is updated, that is, update is often
Pheromone concentration on paths.Pheromones can volatilize with the time, it is assumed that volatility rou, if once there is processing
Module passes through the route segment, then this section of path can also increase pheromones in addition to pheromones of volatilizing.As a kind of specific embodiment party
Formula can carry out the update of Pheromone Matrix according to following formula：
τij(t+1)=(1-rou) τij(t)+Δτij(t)
Wherein, rou is volatility,Under the conditions of being performed for the t times, k-th of processing module is to path point i and path
The influence amount of the pheromones of route segment between point j, condition1 are by path during k-th of processing module is managed at which
Route segment between point i and path point j, condition2 are without path point i during k-th of processing module is managed at which
Route segment between path point j, Q be pheromones increment, LkRoad is formed after having handled all path points for k-th of processing module
The corresponding length of diameter
Continuation more than example illustrates, and after all processing modules have performed the above process, obtains three paths respectively
And its corresponding path length：
(1) path point B- ＞ path points C- ＞ path points A- ＞ path point D, path length 15；
(2) path point C- ＞ path points B- ＞ path points A- ＞ path point D, path length 14；
(3) path point A- ＞ path points B- ＞ path points C- ＞ path point D, path length 13.
At this point, shortest path is updated to：Path point A- ＞ path point B- ＞ path point C- ＞ path point D, path length
Its corresponding path length is 13 by degree 13.
Further, as a kind of embodiment, the above process is repeatedly performed, constantly update and is finally determined described
Shortest path and corresponding path length.
Wherein, performing number can be configured as needed, as a kind of embodiment, can will perform number first
200 are set as, is adjusted according to the result of acquisition into Mobile state.An above process has often been performed, has been confirmed whether to need to update most
Short path and its corresponding path length after cycle is multiple, determine shortest path and corresponding path length.
Paths planning method provided in an embodiment of the present invention, by the current path point for setting currently processed module；It obtains
The adjoining point set of the current path point, each abutment points in the adjacent point set in path map with it is described current
The path point of path point direct neighbor；The current path point is calculated respectively to the probability of each abutment points；According to described
Current path point determines and records currently processed mould to the probability of each abutment points in the method that probability proportion is randomly assigned
Next path point of block；Update the syntople between the path point in the path map；Next path point is set as
The current path point, repeats the above process, all roads in the currently processed complete path map of resume module
Diameter point, this programme can be updated after the next path point for determining currently processed module every time between the path point in the path map
Syntople, drastically reduce the traversal range of next path point so that algorithm sensitivity to parameter itself decline and
Algorithm performance speed is promoted.Also, topology information is effectively combined into heuristic search algorithm by this programme, while is also improved
Optimize performance, facilitate parameter setting.Further, this programme substantially shortens the system operations response time, improves live work
The efficiency and user experience of industry.
Referring to Fig. 6, it is the high-level schematic functional block diagram of path planning apparatus 500 provided in an embodiment of the present invention.The road
Diameter device for planning 500 runs on server 100.The path planning apparatus 500 include setup module 510, acquisition module 520,
Computing module 530, determining module 540, update module 550, processing module 560.
Setup module 510, for setting the current path of currently processed module point.
Acquisition module 520, it is each in the adjacent point set for obtaining the adjoining point set of the current path point
Abutment points are the path point with the current path point direct neighbor in path map.
Computing module 530, for calculating the current path point respectively to the probability of each abutment points.
As a kind of embodiment, the computing module 530 is additionally operable to, according to Pheromone Matrix, obtain described work as respectively
Preceding path point is to the pheromone concentration of each abutment points；According to the current path point to the information of each abutment points
Plain concentration calculates the current path point to the probability of each abutment points respectively.
Determining module 540 for the probability according to the current path point to each abutment points, is determined and recorded and is worked as
Next path point of pre-processing module.As a kind of embodiment, the determining module 540, for according to roulette algorithm and
The current path point determines and records next path point of currently processed module to the probability of each abutment points.
Update module 550, for updating the syntople between the path point in the path map.
As a kind of embodiment, the update module 550, specifically for by processed path point from the road
It is excluded in diameter map, reconstructs the syntople between path point.
Processing module 560 for next path point to be set as the current path point, repeats the above process, directly
To all path points in the currently processed complete path map of resume module.
As a kind of embodiment, described device further includes loop module 570, for recording the currently processed module
Path length, and determine shortest path and corresponding path length；Using next processing module as the currently processed module, if
The current path point of the currently processed module is put, is repeated the above process, until all processing modules have performed the above process；More
New described information prime matrix and the update shortest path and corresponding path length.
As a kind of embodiment, the loop module 570 is additionally operable to repeatedly perform the above process, constantly updates
And finally determine the shortest path and corresponding path length.
Above each module can be by software code realization, at this point, above-mentioned each module can be stored in depositing for server 100
In reservoir 110.Above each module can equally be realized by hardware such as IC chip.
It should be noted that each embodiment in this specification is described by the way of progressive, each embodiment weight
Point explanation is all difference from other examples, and just to refer each other for identical similar part between each embodiment.
The technique effect and preceding method of the path planning apparatus that the embodiment of the present invention is provided, realization principle and generation
Embodiment is identical, and to briefly describe, device embodiment part does not refer to part, can refer in corresponding in preceding method embodiment
Hold.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flow chart or block diagram can represent the one of a module, program segment or code
Part, a part for the module, program segment or code include one or more and are used to implement holding for defined logic function
Row instruction.It should also be noted that at some as in the realization method replaced, the function that is marked in box can also be to be different from
The sequence marked in attached drawing occurs.For example, two continuous boxes can essentially perform substantially in parallel, they are sometimes
It can perform in the opposite order, this is depended on the functions involved.It is it is also noted that every in block diagram and/or flow chart
The combination of a box and the box in block diagram and/or flow chart can use function or the dedicated base of action as defined in performing
It realizes or can be realized with the combination of specialized hardware and computer instruction in the system of hardware.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point or modules individualism, can also two or more modules be integrated to form an independent part.
If the function is realized in the form of software function module and is independent product sale or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme of the present invention is substantially in other words
The part contribute to the prior art or the part of the technical solution can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, is used including some instructions so that a computer equipment (can be
People's computer, server or network equipment etc.) perform all or part of the steps of the method according to each embodiment of the present invention.
And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access
The various media that can store program code such as memory (RAM, Random Access Memory), magnetic disc or CD.It needs
It is noted that herein, relational terms such as first and second and the like are used merely to an entity or operation
It is distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation, there are any this
Practical relationship or sequence.Moreover, term " comprising ", "comprising" or its any other variant are intended to nonexcludability
Comprising so that process, method, article or equipment including a series of elements are not only including those elements, but also wrap
Include other elements that are not explicitly listed or further include for this process, method, article or equipment it is intrinsic will
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that wanted including described
Also there are other identical elements in the process of element, method, article or equipment.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, that is made any repaiies
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should be noted that：Similar label and letter exists
Similar terms are represented in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and is explained.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in change or replacement, should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (12)
1. a kind of paths planning method, which is characterized in that the method includes：
The initial path point for setting currently processed module is current path point；
Obtain the adjoining point set of the current path point, each abutment points in the adjacent point set in path map with
The path point of the current path point direct neighbor；
The current path point is calculated respectively to the probability of each abutment points；
According to the current path point to the probability of each abutment points, determine and remember in the method that probability proportion is randomly assigned
Record next path point of currently processed module；
Update the syntople between the path point in the path map；
Next path point is set as the current path point, above procedure is repeated, at the currently processed module
All path points in the path map are managed.
2. according to the method described in claim 1, it is characterized in that, the adjoining between updating the path point in the path map is closed
System, including：
Processed path point from the path map is excluded, reconstructs the syntople between path point.
3. according to the method described in claim 1, it is characterized in that, described calculate the current path point to each described respectively
The probability of abutment points, including：
According to Pheromone Matrix, the current path point is obtained respectively to the pheromone concentration of each abutment points；
According to the current path point to the pheromone concentration of each abutment points, the current path point is calculated respectively to often
The probability of a abutment points.
4. according to the method described in claim 3, it is characterized in that, the Pheromone Matrix, between points initial
Pheromone concentration is identical.
5. according to the method described in claim 3, it is characterized in that, according to the current path point to each abutment points
Probability determines and records next path point of currently processed module in the method that probability proportion is randomly assigned, including：
According to roulette algorithm and current path point to the probability of each abutment points, currently processed mould is determined and recorded
Next path point of block.
6. according to the method described in claim 5, it is characterized in that, until the complete path map of currently processed resume module
In all path points after, the method further includes：
The path length of the currently processed module is recorded, and determines shortest path and corresponding path length；
Using next processing module as the currently processed module, it is current to set the initial path point of the currently processed module
Path point repeats the above process, until all processing modules have performed the above process；
It updates described information prime matrix and updates the shortest path and corresponding path length.
7. according to the method described in claim 6, it is characterized in that, the update described information prime matrix is in Pheromone Matrix
All pheromones between points decay by a certain percentage, while the pheromones between points that processing module is passed through press its quilt
The frequency of process increases for weight.
8. according to the method described in claim 6, it is characterized in that, the method further includes：
The above process is repeatedly performed, constantly update and finally determines the shortest path and corresponding path length.
9. a kind of path planning apparatus, which is characterized in that described device includes：
Setup module, for setting the current path of currently processed module point；
Acquisition module, for obtaining the adjoining point set of the current path point, each abutment points in the adjacent point set
For the path point with the current path point direct neighbor in path map；
Computing module, for calculating the current path point respectively to the probability of each abutment points；
Determining module for the probability according to the current path point to each abutment points, determines and records currently processed
Next path point of module；
Update module, for updating the syntople between the path point in the path map；
Processing module for next path point to be set as the current path point, repeats the above process, and works as until described
Pre-processing module has handled all path points in the path map.
10. device according to claim 9, which is characterized in that the update module, specifically for will be processed
Path point is excluded from the path map, reconstructs the syntople between path point.
11. device according to claim 9, which is characterized in that the computing module is additionally operable to according to Pheromone Matrix,
The current path point is obtained respectively to the pheromone concentration of each abutment points；According to the current path point to each institute
The pheromone concentration of abutment points is stated, calculates the current path point respectively to the probability of each abutment points.
12. device according to claim 9, which is characterized in that the determining module, be additionally operable to according to roulette algorithm and
The current path point determines and records next path point of currently processed module to the probability of each abutment points.
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