CN109190913A - A kind of task processing method and distributed robot - Google Patents
A kind of task processing method and distributed robot Download PDFInfo
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- CN109190913A CN109190913A CN201810892717.XA CN201810892717A CN109190913A CN 109190913 A CN109190913 A CN 109190913A CN 201810892717 A CN201810892717 A CN 201810892717A CN 109190913 A CN109190913 A CN 109190913A
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Abstract
This application discloses a kind of task processing method and distributed robots, this method comprises: obtaining the destination of each task；It is that the first weight is distributed in the destination of each task according to preset destination Weighted Rule；According to the first weight of the destination distribution for each task, determine each task executes sequence, by the above method, distributed robot can be advantageously reduced occur path during traveling and repeat excessive situation, to be conducive to improve execution efficiency of the distributed robot when executing multiple tasks.
Description
Technical field
This application involves Computer Control Technology fields, in particular to a kind of task processing method and delivery machine
People.
Background technique
Distributed robot can receive multiple tasks whithin a period of time, and in the prior art, distributed robot can be according to
The sequencing that task initiates the time executes multiple task, so that distributed robot is when executing multiple task, meeting
There are more duplicate paths, causes the execution efficiency of multiple task lower.
Summary of the invention
The main purpose of the application is to provide a kind of task processing method and distributed robot, to improve distributed robot
Execution efficiency when executing multiple tasks.
To achieve the goals above, this application provides a kind of task processing methods, which comprises
Obtain the destination of each task；
It is that the first weight is distributed in the destination of each task according to preset destination Weighted Rule；
According to the first weight of the destination distribution for each task, determine each task executes sequence.
Feasible, the basis is the first weight that the destination of each task is distributed, and determines the sequence that executes of each task, is wrapped
It includes:
The obtaining each task of the task initiates the time；
It is the initiation time of each task to distribute the second weight according to preset initiation time weight rule；
According to for each task destination distribution the first weight and be each task initiate the time distribution the second weight,
According to the first specified weighting algorithm, determine each task executes sequence.
Feasible, the basis is the first weight that the destination of each task is distributed, and determines the sequence that executes of each task, is wrapped
It includes:
Obtain the preset task rank of each task；
It is that the preset task rank of each task distributes third weight according to preset rank Weighted Rule；
According to for each task destination distribution the first weight and be each task preset task rank distribution third
Weight, according to the second specified weighting algorithm, determine each task executes sequence.
Feasible, the basis is the first weight that the destination of each task is distributed, and determines the sequence that executes of each task, is wrapped
It includes:
Obtain the preset task type of each task；
It is that the preset task type of each task distributes the 4th weight according to preset type Weighted Rule；
According to for each task destination distribution the first weight and be each task preset task type distribution the 4th
Weight specifies weighting algorithm according to third, and determine each task executes sequence.
Feasible, the basis is the first weight that the destination of each task is distributed, and determines the sequence that executes of each task, is wrapped
It includes:
The obtaining each task of the task initiates time, preset task rank and preset task type；
According to specified Weighted Rule, the task of respectively each task initiates time, preset task rank and preset task
Type distributes weight；
Time, preset task rank are initiated according to the first weight of the destination of each task distribution and for the task of each task
Weight is distributed with preset task type, according to specified weighting algorithm, determine each task executes sequence.
To achieve the goals above, this application provides a kind of distributed robot, the distributed robot includes:
Acquiring unit, for obtaining the destination of each task；
Weight-assigning unit, for being the first power of destination distribution of each task according to preset destination Weighted Rule
Weight；
Determination unit, the first weight for being distributed according to the destination for being each task, determine each task executes sequence.
Optionally, the first weight for being used to be distributed according to the destination for being each task in the determination unit, determines each
When the execution sequence of business, it is specifically used for:
The obtaining each task of the task initiates the time；
It is the initiation time of each task to distribute the second weight according to preset initiation time weight rule；
According to for each task destination distribution the first weight and be each task initiate the time distribution the second weight,
According to the first specified weighting algorithm, determine each task executes sequence.
Optionally, the first weight for being used to be distributed according to the destination for being each task in the determination unit, determines each
When the execution sequence of business, it is specifically used for:
Obtain the preset task rank of each task；
It is that the preset task rank of each task distributes third weight according to preset rank Weighted Rule；
According to for each task destination distribution the first weight and be each task preset task rank distribution third
Weight, according to the second specified weighting algorithm, determine each task executes sequence.
Optionally, the first weight for being used to be distributed according to the destination for being each task in the determination unit, determines each
When the execution sequence of business, it is specifically used for:
Obtain the preset task type of each task；
It is that the preset task type of each task distributes the 4th weight according to preset type Weighted Rule；
According to for each task destination distribution the first weight and be each task preset task type distribution the 4th
Weight specifies weighting algorithm according to third, and determine each task executes sequence.
Optionally, the first weight for being used to be distributed according to the destination for being each task in the determination unit, determines each
When the execution sequence of business, it is specifically used for:
The obtaining each task of the task initiates time, preset task rank and preset task type；
According to specified Weighted Rule, the task of respectively each task initiates time, preset task rank and preset task
Type distributes weight；
Time, preset task rank are initiated according to the first weight of the destination of each task distribution and for the task of each task
Weight is distributed with preset task type, according to specified weighting algorithm, determine each task executes sequence.
The technical solution that embodiments herein provides can include the following benefits:
It in this application, is the mesh of each task according to the Weighted Rule of destination behind the destination for getting each task
Ground distribute the first weight, then according to be each task destination distribute the first weight, determine the sequence that executes of each task, example
Such as, can the distance of destination according to distributed robot apart from each task for the destination of each task distribute the first weight,
The first weight as the closer destination of distributed robot's distance is distributed is bigger so that distributed robot can from compared with
Close destination is successively advanced to farther away destination, so that advantageously reducing distributed robot path occurs during traveling
Excessive situation is repeated, to be conducive to improve execution efficiency of the distributed robot when executing multiple tasks.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is a kind of flow diagram of task processing method provided by the present application；
Fig. 2 is the flow diagram of another task processing method provided by the present application；
Fig. 3 is the flow diagram of another task processing method provided by the present application；
Fig. 4 is the flow diagram of another task processing method provided by the present application；
Fig. 5 is the flow diagram of another task processing method provided by the present application；
Fig. 6 is a kind of structural schematic diagram of distributed robot provided by the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 be a kind of flow diagram of task processing method provided by the present application, as shown in Figure 1, this method include with
Lower step:
101, the destination of each task is obtained.
It 102, is that the first weight is distributed in the destination of each task according to preset destination Weighted Rule.
103, the first weight distributed according to the destination for being each task, determines that the execution of each task is suitable.
Specifically, need one by one to execute multiple task when distributed robot receives multiple tasks, in order to
Avoid distributed robot when executing multiple task, duplicate paths are excessive, lead to the problem that execution efficiency is lower, can first obtain
The destination of task is taken, i.e., the final delivery place of each task is each task then according to preset destination Weighted Rule
The first weight is distributed in destination, for example, can destination according to distributed robot apart from each task how far, be each
The first weight is distributed in the destination of business, and the first weight of destination such as closer apart from distributed robot, distribution is bigger, alternatively,
The destination quantity for other tasks for including on the corresponding path of some task is fewer, then the first weight that the task is assigned to is got over
Small, i.e., the travel path of the task has the part being overlapped with the travel path of other tasks, and the duplicate part is this
A part of business travel path, further, after having executed other tasks, the part path of the task has also been advanced
Finish, when executing the task, it is only necessary to which the destination of the task can be reached by advancing to remaining path, according to upper
After stating either a program the first weight of distribution, after distributed robot determines the execution sequence of each task according to above-mentioned first weight,
Can sequentially be executed according to the size of the first weight, since it is determined that the execution sequence of each task can reduce delivery machine
The quantity of people's duplicate paths in the task of execution, therefore distributed robot is when executing task according to above-mentioned execution sequence, favorably
Occur path during traveling in reduction distributed robot and repeat excessive situation, exists to be conducive to raising distributed robot
Execute execution efficiency when multiple tasks.
It should be noted that the specific distribution condition about the first weight, can be set, herein according to actual needs
It is not specifically limited.
In a feasible embodiment, Fig. 2 is the process signal of another task processing method provided by the present application
Figure, as shown in Fig. 2, can be realized by following steps when executing step 103:
201, the obtaining each task of the task initiates the time.
It 202, is the initiation time of each task to distribute the second weight according to preset initiation time weight rule.
203, according to be each task destination distribute the first weight and be each task initiate the time distribution second
Weight, according to the first specified weighting algorithm, determine each task executes sequence.
Specifically, under the premise of less duplicate paths quantity as far as possible, it is also necessary to consider the timeliness of task execution, therefore
After determining the first weight of the destination of each task, it is also necessary to the second weight for determining the initiation time of each task, true
It when the second weight of the initiation time of fixed each task, can be determined according to preset initiation time weight rule, for example, can be with
The length at time gap current time is initiated according to task to determine, task initiates the length at time gap current time and to appoint
The second weight for initiating time distribution of business is directly proportional.When the execution sequence of each task is distributed according to the destination for being each task
First weight and for each task the initiation time distribute the second weight obtained by the first specified weighting algorithm after, the execution is suitable
Sequence can make each task when sequence executes, and under the premise of reducing duplicate paths to the greatest extent, guarantee to initiate time task earlier
It executes as early as possible, to be conducive under the premise of improving task execution efficiency, it can also be ensured that the timeliness of task execution.
It should be noted that in a task, for the task the first weight for distributing of destination and be the task
The sum of the second weight for initiating time distribution is 1, and the allocation rule about specific first weight and the second weight can basis
Actual needs is set, and is not specifically limited herein.
It needs to be noted again that, specific first specified weighting algorithm can be set according to actual needs, herein
It is not specifically limited.
In a feasible embodiment, Fig. 3 is the process signal of another task processing method provided by the present application
Figure, as shown in figure 3, can be realized by following steps when executing step 103:
301, the preset task rank of each task is obtained.
It 302, is that the preset task rank of each task distributes third weight according to preset rank Weighted Rule.
303, the first weight for being distributed according to the destination for being each task and be that the preset task rank of each task is distributed
Third weight, according to the second specified weighting algorithm, determine each task executes sequence.
Specifically, under the premise of less duplicate paths quantity as far as possible, it is also necessary to consider the successive suitable of task significance level
Sequence, therefore after determining the first weight of the destination of each task, it is also necessary to determine the third power of the task rank of each task
Weight, in the third weight for determining the task rank of each task, can determine according to preset rank Weighted Rule, for example,
According to preset task rank, task is divided into multiple ranks, the third weight of the higher task of task rank, distribution is bigger.
When each task execution sequence according to be each task destination distribute the first weight and be each task preset task rank
After the third weight of distribution is obtained by the second specified weighting algorithm, execution sequence can make each task when sequence executes,
Under the premise of reducing duplicate paths to the greatest extent, guarantee that the high task of task rank preferentially executes, to be conducive in raising task
Under the premise of execution efficiency, it can also be ensured that vital task can be executed preferentially.
It should be noted that in a task, for the task the first weight for distributing of destination and be the task
The sum of the third weight for initiating time distribution is 1, and the allocation rule about specific first weight and third weight can basis
Actual needs is set, and is not specifically limited herein.
It needs to be noted again that, specific second specified weighting algorithm can be set according to actual needs, herein
It is not specifically limited.
In a feasible embodiment, Fig. 4 is the process signal of another task processing method provided by the present application
Figure, as shown in figure 4, can be realized by following steps when executing step 103:
401, the preset task type of each task is obtained.
It 402, is that the preset task type of each task distributes the 4th weight according to preset type Weighted Rule.
403, the first weight for being distributed according to the destination for being each task and be that the preset task type of each task is distributed
4th weight specifies weighting algorithm according to third, and determine each task executes sequence.
Specifically, under the premise of less duplicate paths quantity as far as possible, it is also necessary to the task type of task is considered, so that one
The task of a little specific types can be executed preferentially, therefore after determining the first weight of the destination of each task, it is also necessary to really
4th weight of the task type of fixed each task can be according to default when determining four weight of task rank of each task
Type Weighted Rule determine, for example, first determining the corresponding task type of each task, then held according to preset task type
Capable sequencing is that the preset task type of each task distributes the 4th weight.When the execution sequence basis of each task is each
The first weight and pass through the specified weighting of third for preset task type the 4th weight of distribution of each task that the destination of business is distributed
After algorithm obtains, execution sequence can make each task when sequence executes, and under the premise of reducing duplicate paths to the greatest extent, guarantee
The task of special duty type preferentially executes, to be conducive under the premise of improving task execution efficiency, it can also be ensured that special
Different task can be executed preferentially.
It should be noted that in a task, for the task the first weight for distributing of destination and be the task
The sum of the 4th weight for initiating time distribution is 1, and the allocation rule about specific first weight and the 4th weight can basis
Actual needs is set, and is not specifically limited herein.
It needs to be noted again that, specific third specifies weighting algorithm that can be set according to actual needs, herein
It is not specifically limited.
In a feasible embodiment, Fig. 5 is the process signal of another task processing method provided by the present application
Figure, as shown in figure 5, can be realized by following steps when executing step 103:
501, the obtaining each task of the task initiates time, preset task rank and preset task type.
502, according to specified Weighted Rule, the task of respectively each task is initiated time, preset task rank and is preset
Task type distributes weight.
503, time, preset task are initiated according to the first weight of the destination of each task distribution and for the task of each task
Rank and preset task type distribute weight, and according to specified weighting algorithm, determine each task executes sequence.
Specifically, for multiple tasks, distributed robot under the premise of guaranteeing less duplicate paths quantity as far as possible,
Also need to consider the reasonability of task execution, in order to guarantee that the reasonability of task execution can be initiated time, default from task
Business rank and preset task type consider, and can distribute weight according to the significance levels of above-mentioned three kinds of dimensions, to Mr. Yu
A task, for the task the first weight for distributing of destination and be the sum of the weight of above-mentioned three kinds of dimensions distribution be 1, meanwhile,
In order to reduce data processing amount, the weight that the identical dimensional in different task can be made to distribute is identical, about the first weight and upper
The specific allocation rule for stating the weight of three dimensions can be set according to actual needs, be not specifically limited herein, true
After the weight for making the first weight and above three dimension, according to specified weighting algorithm, determine each task executes sequence.True
After making the execution sequence of each task, when distributed robot executes task according to execution sequence sequence, it can subtract as far as possible
Under the premise of few duplicate paths, guarantee the reasonability of task execution, thus be conducive under the premise of improving task execution efficiency,
The execution of rational sequence can be all obtained with task.
It needs to be noted again that, specifically specified weighting algorithm can be set according to actual needs, not done herein
It is specific to limit.
Fig. 6 is a kind of structural schematic diagram of distributed robot provided by the present application, as shown in fig. 6, the distributed robot
Include:
Acquiring unit 61, for obtaining the destination of each task；
Weight-assigning unit 62, for being the destination distribution first of each task according to preset destination Weighted Rule
Weight；
Determination unit 63, the first weight for being distributed according to the destination for being each task, determines that the execution of each task is suitable
Sequence.
In a feasible embodiment, it is used to be distributed according to the destination for being each task in the determination unit 62
First weight is specifically used for when determining the execution sequence of each task:
The obtaining each task of the task initiates the time；
It is the initiation time of each task to distribute the second weight according to preset initiation time weight rule；
According to for each task destination distribution the first weight and be each task initiate the time distribution the second weight,
According to the first specified weighting algorithm, determine each task executes sequence.
In a feasible embodiment, it is used to be distributed according to the destination for being each task in the determination unit 62
First weight is specifically used for when determining the execution sequence of each task:
Obtain the preset task rank of each task；
It is that the preset task rank of each task distributes third weight according to preset rank Weighted Rule；
According to for each task destination distribution the first weight and be each task preset task rank distribution third
Weight, according to the second specified weighting algorithm, determine each task executes sequence.
In a feasible embodiment, it is used to be distributed according to the destination for being each task in the determination unit 62
First weight is specifically used for when determining the execution sequence of each task:
Obtain the preset task type of each task；
It is that the preset task type of each task distributes the 4th weight according to preset type Weighted Rule；
According to for each task destination distribution the first weight and be each task preset task type distribution the 4th
Weight specifies weighting algorithm according to third, and determine each task executes sequence.
In a feasible embodiment, it is used to be distributed according to the destination for being each task in the determination unit 62
First weight is specifically used for when determining the execution sequence of each task:
The obtaining each task of the task initiates time, preset task rank and preset task type；
According to specified Weighted Rule, the task of respectively each task initiates time, preset task rank and preset task
Type distributes weight；
Time, preset task rank are initiated according to the first weight of the destination of each task distribution and for the task of each task
Weight is distributed with preset task type, according to specified weighting algorithm, determine each task executes sequence.
Concrete mode about the execution operation of each unit in above-described embodiment is in the embodiment of the method
It is described in detail, no detailed explanation will be given here.
It in this application, is the mesh of each task according to the Weighted Rule of destination behind the destination for getting each task
Ground distribute the first weight, then according to be each task destination distribute the first weight, determine the sequence that executes of each task, example
Such as, can the distance of destination according to distributed robot apart from each task for the destination of each task distribute the first weight,
The first weight as the closer destination of distributed robot's distance is distributed is bigger so that distributed robot can from compared with
Close destination is successively advanced to farther away destination, so that advantageously reducing distributed robot path occurs during traveling
Excessive situation is repeated, to be conducive to improve execution efficiency of the distributed robot when executing multiple tasks.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of task processing method, which is characterized in that the described method includes:
Obtain the destination of each task；
It is that the first weight is distributed in the destination of each task according to preset destination Weighted Rule；
According to the first weight of the destination distribution for each task, determine each task executes sequence.
2. the method as described in claim 1, which is characterized in that the basis is the first power that the destination of each task is distributed
Weight, determine each task executes sequence, comprising:
The obtaining each task of the task initiates the time；
It is the initiation time of each task to distribute the second weight according to preset initiation time weight rule；
According to for each task destination distribution the first weight and be each task initiate the time distribution the second weight, according to
First specified weighting algorithm, determine each task executes sequence.
3. the method as described in claim 1, which is characterized in that the basis is the first power that the destination of each task is distributed
Weight, determine each task executes sequence, comprising:
Obtain the preset task rank of each task；
It is that the preset task rank of each task distributes third weight according to preset rank Weighted Rule；
According to for each task destination distribution the first weight and be each task preset task rank distribution third weight,
According to the second specified weighting algorithm, determine each task executes sequence.
4. the method as described in claim 1, which is characterized in that the basis is the first power that the destination of each task is distributed
Weight, determine each task executes sequence, comprising:
Obtain the preset task type of each task；
It is that the preset task type of each task distributes the 4th weight according to preset type Weighted Rule；
According to for each task destination distribution the first weight and be each task preset task type distribution the 4th weight,
Weighting algorithm is specified according to third, determine each task executes sequence.
5. the method as described in claim 1, which is characterized in that the basis is the first power that the destination of each task is distributed
Weight, determine each task executes sequence, comprising:
The obtaining each task of the task initiates time, preset task rank and preset task type；
According to specified Weighted Rule, the task of respectively each task initiates time, preset task rank and preset task type
Distribute weight；
Time, preset task rank and pre- are initiated according to the first weight of the destination of each task distribution and for the task of each task
If task type distributes weight, according to specified weighting algorithm, determine each task executes sequence.
6. a kind of distributed robot, which is characterized in that the distributed robot includes:
Acquiring unit, for obtaining the destination of each task；
Weight-assigning unit, for being that the first weight is distributed in the destination of each task according to preset destination Weighted Rule；
Determination unit, the first weight for being distributed according to the destination for being each task, determine each task executes sequence.
7. distributed robot as claimed in claim 6, which is characterized in that being used for basis in the determination unit is each task
First weight of destination distribution is specifically used for when determining the execution sequence of each task:
The obtaining each task of the task initiates the time；
It is the initiation time of each task to distribute the second weight according to preset initiation time weight rule；
According to for each task destination distribution the first weight and be each task initiate the time distribution the second weight, according to
First specified weighting algorithm, determine each task executes sequence.
8. distributed robot as claimed in claim 6, which is characterized in that being used for basis in the determination unit is each task
First weight of destination distribution is specifically used for when determining the execution sequence of each task:
Obtain the preset task rank of each task；
It is that the preset task rank of each task distributes third weight according to preset rank Weighted Rule；
According to for each task destination distribution the first weight and be each task preset task rank distribution third weight,
According to the second specified weighting algorithm, determine each task executes sequence.
9. distributed robot as claimed in claim 6, which is characterized in that being used for basis in the determination unit is each task
First weight of destination distribution is specifically used for when determining the execution sequence of each task:
Obtain the preset task type of each task；
It is that the preset task type of each task distributes the 4th weight according to preset type Weighted Rule；
According to for each task destination distribution the first weight and be each task preset task type distribution the 4th weight,
Weighting algorithm is specified according to third, determine each task executes sequence.
10. distributed robot as claimed in claim 6, which is characterized in that being used for basis in the determination unit is each task
Destination distribution the first weight be specifically used for when determining the execution sequence of each task:
The obtaining each task of the task initiates time, preset task rank and preset task type；
According to specified Weighted Rule, the task of respectively each task initiates time, preset task rank and preset task type
Distribute weight；
Time, preset task rank and pre- are initiated according to the first weight of the destination of each task distribution and for the task of each task
If task type distributes weight, according to specified weighting algorithm, determine each task executes sequence.
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| CN110163469A (en) * | 2019-04-02 | 2019-08-23 | 北京云迹科技有限公司 | Scheduler task sort method and device |
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| CN105675002A (en) * | 2016-01-27 | 2016-06-15 | 闫凯 | Multi-waypoint navigation route planning method and system |
| CN107145980A (en) * | 2017-05-05 | 2017-09-08 | 北京京东尚科信息技术有限公司 | Unmanned vehicle allocator, system and control server |
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| CN105675002A (en) * | 2016-01-27 | 2016-06-15 | 闫凯 | Multi-waypoint navigation route planning method and system |
| CN107145980A (en) * | 2017-05-05 | 2017-09-08 | 北京京东尚科信息技术有限公司 | Unmanned vehicle allocator, system and control server |
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