CN110006430A - A kind of optimization method of Path Planning - Google Patents
A kind of optimization method of Path Planning Download PDFInfo
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- CN110006430A CN110006430A CN201910230859.4A CN201910230859A CN110006430A CN 110006430 A CN110006430 A CN 110006430A CN 201910230859 A CN201910230859 A CN 201910230859A CN 110006430 A CN110006430 A CN 110006430A
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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Abstract
A kind of optimization method of Path Planning, comprising: S1, according to ship current location, aiming spot, using Path Planning obtain node set O in trajectory planning for judging way point and it is determined that way point node set C；S2, to each node in set C, each node destination bounding box is obtained using Dijkstra searching method；S3, traverse set C in each node neighborhood search under a feasible node when, choose present node neighborhood in non-barrier region and be in present node object boundary frame in node as next feasible node；According to next feasible node, more newly arrives to set O and carry out the judgement of way point；S4, traversal set C, obtain optimal trajectory route.It not only avoids Path Planning from exploring the invalid node of redundancy, but also avoids Path Planning from exploring Directional Extension of the node to mistake and improve the efficiency of algorithm operation to accelerate the speed of pathfinding.
Description
Technical field
The present invention relates to unmanned ship's navigation control technology field more particularly to a kind of optimizations of Path Planning
Method.
Background technique
With the continuous development of shipping industry, a large amount of ship frequent activities are in harbour and maritime traffic thoroughfare, ship in addition
To enlargement, high speed development, so that sail becomes crowded to capacity, efficiency of navigation is reduced.The research of GIS-Geographic Information System
And development improves shipping vessels situation, provides theories integration and technical guarantee to build intelligentized traffic system.It is marine
The selection in course line is related to the efficiencies such as ship minimum time cost, to be related to ship navigation cost problem.How to subtract
Small voyage time cost saves navigation cost, improves maritime shipping competitiveness, and become that each ship shipping company pays close attention to the most asks
Topic.
Ship track planning refer to ship according to navigation environment under the premise that security is guaranteed contexture by self go out one it is optimal
The shortest path of various dynamics or static obstruction is avoided in path, i.e. ship in shipping.It is sought a little based on graphic searching space
Path planning algorithm is common at present and effective path planning method, wherein the point in figure is related to the coordinate in space
Connection, such as grid, waypoint figure, quaternary tree, Octree, navigation grid etc..But the rule of path a little are sought based on graphic searching space
Cost-effective method often will appear the invalid node of redundancy in application process, not only committed memory, reduce execution efficiency, and will increase
The execution time of algorithm.
Redundant node in the path planning algorithm based on graphic searching space can be greatly reduced in existing node technology of prunning branches
Quantity, but due to existing node technology of prunning branches be node explore strategy adjustment, not can avoid still node to mistake
Explore extension in direction.
Therefore, a kind of path planning method based on object boundary is needed.
Summary of the invention
(1) technical problems to be solved
In order to solve the above problem of the prior art, the present invention provides a kind of optimization methods of Path Planning.No
It only avoids Path Planning from exploring the invalid node of redundancy, and Path Planning is avoided to explore node to the direction of mistake
Extension accelerates the speed of pathfinding so that the quantity of point spread be greatly decreased, and improves the efficiency of algorithm operation, while guaranteeing to calculate
The superiority of method itself.
(2) technical solution
In order to achieve the above object, the main technical schemes that the present invention uses include:
A kind of optimization method of Path Planning, comprising:
S1, according to the current position coordinates of ship, the position coordinates of target point, navigated using Path Planning acquisition
Mark planning in for judge way point node set O and it is determined that way point node set C.
S2, it is directed to each of set C node, the target side of each node is obtained using Dijkstra searching method
Boundary's frame.
S3, when a feasible node, present node neighborhood is chosen under the neighborhood search for traversing each of set C node
The interior node in non-barrier region and in present node object boundary frame is as next feasible node；According to it is next can
Row node more newly arrives to set O and carries out the judgement of way point.
S4, traversal set C, obtain the track route of final output.
A kind of improvement of optimization method as Path Planning of the present invention, in step S1, using Path Planning
Obtain carry out trajectory planning in for judge way point node set O and it is determined that way point node set C, packet
It includes:
According to for judging the node set O and node cost computation rule of way point, it is the smallest to choose cost in set O
The node set C it is determined that way point is added in node.
A kind of improvement of optimization method as Path Planning of the present invention, node cost computation rule are as follows: F=G+H,
Wherein, F is the path total cost of node, and G is that the path from the starting point of ship to node is expended, and H is the end from node to ship
The path of point is expended.
A kind of improvement of optimization method as Path Planning of the present invention, in step S3, according to next feasible node,
It more newly arrives to set O and carries out the judgement of way point, comprising:
Judge whether next feasible node is located in set O, if so, using the feasible lesser path of node G value as foundation,
Father node, G value and the F value of feasible node are updated, otherwise, feasible node is added in set O, and the father of the feasible node is saved
Point is marked.
A kind of improvement of optimization method as Path Planning of the present invention, step S4 include:
Traverse set C；It is starting with the terminal of ship's navigation, along the reverse tracking of father node, until ship's navigation rises
Point；Using the path of reverse tracking as the optimal path of ship's navigation starting point to the end, exported.
A kind of improvement of optimization method as Path Planning of the present invention, in step S1 further include: excellent using width
First searching algorithm judge ship current position coordinates and target point position coordinates whether in same connected region；If adopted
With Path Planning, set O and set C is obtained；If not, resetting the current position coordinates and target point seat of ship
Mark.
A kind of improvement of optimization method as Path Planning of the present invention in step S2, is searched for using Dijkstra
Method obtains the object boundary frame of each node, comprising: carries out unintentionally Dijkstra to node and searches for, it is every to obtain node
Node in a direction of search in Dijkstra search mapping；According to the section in each direction of search in Dijkstra search mapping
The minimum circumscribed rectangle of point, constructs each direction of search bounding box；Selection includes the direction of search bounding box of ship target point,
Object boundary frame as present node.
A kind of improvement of optimization method as Path Planning of the present invention, Path Planning include A star algorithm,
Dijkstra path planning algorithm, best-first search algorithm, Depth Priority Algorithm, breadth-first search algorithm and jump point
Searching algorithm etc. seeks path planning algorithm a little based on graphic searching space.
(3) beneficial effect
The beneficial effects of the present invention are:
1, the present invention is advised according to object boundary frame of the present node building comprising next feasible node and terminal as track
The region deviding of the lower localized target point of algorithm search is drawn, can be calculated with depth optimization based on the trajectory planning in graphic searching space
Method.Path Planning can not only be avoided to explore the invalid node of redundancy, and can explore and save to avoid Path Planning
The Directional Extension of point disclination accidentally accelerates the speed of pathfinding so that the quantity of point spread be greatly reduced, and improves algorithm operation
Efficiency.
2, the path planning method provided by the invention based on object boundary, has a wide range of application, and is suitable for any based on figure
The Path Planning of shape search space, the point that figure therein need to only meet in figure is associated with the coordinate in space, than
Such as grid, waypoint figure, quaternary tree, Octree and navigation grid；Wherein, Path Planning includes A star algorithm, Dijkstra
Path planning algorithm, best-first search algorithm, Depth Priority Algorithm, breadth-first search algorithm and jump point search are calculated
Method.And the execution efficiency of related Path Planning can be greatly improved.
3, the path planning method provided by the invention based on object boundary, will not change the internal junction of Path Planning
Structure thereby may be ensured that the superiority of primal algorithm itself.
Detailed description of the invention
The present invention is described by means of the following drawings:
Fig. 1 is the flow chart based on object boundary and A star algorithm path planning method in the embodiment of the present invention 1；
Fig. 2 is the schematic diagram of each direction of search bounding box of present node on grid map in the embodiment of the present invention 1；
Fig. 3 is the grating map applied in emulation experiment；
Fig. 4 is the schematic diagram that tradition A star algorithm carries out trajectory planning in emulation experiment；
Fig. 5 is the schematic diagram of traditional A star algorithm progress trajectory planning in emulation experiment based on object boundary.
Specific embodiment
In order to preferably explain the present invention, in order to understand, with reference to the accompanying drawing, by specific embodiment, to this hair
It is bright to be described in detail.
The present invention provides a kind of optimization methods of Path Planning, comprising the following steps:
Step S1, according to the current position coordinates of ship, the position coordinates of target point, using Path Planning obtain into
In row trajectory planning for judge way point node set O and it is determined that way point node set C.
Specifically, the current position coordinates of ship are judged using breadth-first search algorithm and the position coordinates of target point is
It is no in same connected region；If using Path Planning, obtaining set O and set C；If not, resetting ship
Current position coordinates and coordinate of ground point.
Specifically, according to for judging the node set O and node cost computation rule of way point, generation in set O is chosen
The node set C it is determined that way point is added in the smallest node of valence.Wherein, node cost computation rule are as follows: F=G+H,
In, F is the path total cost of node, and G is that the path from the starting point of ship to node is expended, and H is the terminal from node to ship
Path expend.
Step S2, for each of set C node, the mesh of each node is obtained using Dijkstra searching method
Mark bounding box；
Specifically, unintentionally Dijkstra is carried out to node to search for, obtain Dijkstra in each direction of search of node
Node in search mapping；According to the minimum circumscribed rectangle of the node in each direction of search in Dijkstra search mapping, structure
Build each direction of search bounding box；Selection includes the direction of search bounding box of ship target point, the target as present node
Bounding box.
Step S3, under the neighborhood search for traversing each of set C node when a feasible node, present node is chosen
Node in neighborhood in non-barrier region and in present node object boundary frame is as next feasible node；Under
One feasible node, more newly arrives to set O and carries out the judgement of way point.
Step S4, set C is traversed, the track route of final output is obtained.
Specifically, when traversing the target point that the node in set C is ship, the track route of final output is obtained.
It include next feasible section according to present node building in the optimization method of Path Planning proposed by the present invention
The object boundary frame of the target point of point and ship, searches for the region circle for judging the node of way point as Path Planning
It is fixed, the invalid node of redundancy can be not only explored to avoid Path Planning, but also can explore and save to avoid Path Planning
The Directional Extension of point disclination accidentally accelerates the speed of pathfinding so that the quantity of point spread be greatly reduced, and improves algorithm operation
Efficiency.It is distinct from traditional path planning algorithm based on graphic searching space and directly acquires all non-closings of current target point
Reachable neighbor node come the strategy that is extended.
The optimization method of Path Planning provided by the invention is suitable for any track rule based on graphic searching space
Cost-effective method, wherein the point in figure is associated with the coordinate in space, for example grid, waypoint figure, quaternary tree, Octree and leads
Navigate grid etc.；Wherein, Path Planning includes A star algorithm, Di Jiesitela path planning algorithm, best-first search calculation
Method, Depth Priority Algorithm, breadth-first search algorithm and jump point searching algorithm.It is widely used, and phase can be greatly improved
Close the execution efficiency of Path Planning.
It should be strongly noted that the path planning method provided by the invention based on object boundary is applicable not only to ship
Trajectory planning, and the path planning being suitable under other scenes, such as the path planning of vehicle, unmanned plane, in game
Path planning etc..
Embodiment 1
Below based on grid map and A star algorithm, the optimization method of Path Planning provided by the invention is done specifically
Illustrate, as shown in Figure 1.
Step S1, according to obstacle environment information, grid map is divided into area of feasible solutions and infeasible region；In grid
In map, according to the current location of ship and navigational duty, the beginning and end of ship's navigation is set.
Step S2, openlist and closelist two empty lists are established, wherein openlist is for storing for judging
Way point, closelist is for storing it is determined that way point.
Step S3, the beginning and end of ship's navigation is judged whether in same connected region, if executing step S4；Such as
Fruit does not exist, and return step S1 resets the beginning and end of ship's navigation.
According to breadth-first search algorithm, the grid for the area of feasible solutions that the starting point with ship's navigation is connected is compiled
Number, the grid for the area of feasible solutions that the terminal with ship's navigation is connected is numbered；If the two number is consistent, ship's navigation
Beginning and end is in same connected region；If the two number is inconsistent, the beginning and end of ship's navigation is not in same connected region
Domain.Before carrying out trajectory planning every time, need to judge whether the beginning and end of ship's navigation is reachable, and only beginning and end can
Reach, just need go carry out trajectory planning, avoid beginning and end it is unreachable when pathfinding spend, save the pathfinding time, accelerate
Pathfinding speed, and then improve the operational efficiency of Path Planning.
Step S4, the reachable node in the starting point of ship's navigation and its 8 fields is put into openlist, by ship's navigation
Beginning and end be put into closelist.
Step S5, according to node cost computation rule, the smallest node of cost is chosen in openlist as present node；
Present node is added in closelist, while deleting present node in openlist；And whether judge present node
For the terminal of ship's navigation, if so, being starting with the terminal of ship's navigation, along the reverse tracking of father node, until ship navigates
Capable starting point is exported using the path of reverse tracking as the optimal path of ship's navigation starting point to the end；Otherwise, it executes
Step S6.
Specifically, node cost computation rule are as follows: F=G+H, wherein F is the path total cost of node, and G is from ship
Starting point is expended to the path of node, and H is that the path of the terminal from node to ship is expended.
Step S6, according to present node, the object boundary frame of present node is obtained using Dijkstra searching method.
Specifically, as shown in Fig. 2, in 3 directions of search of present node, i.e., according to 3 node sides of present node
Edge carries out unintentionally Dijkstra and searches for, and obtains the section in each direction of search of present node in Dijkstra search mapping
Point constructs each direction of search according to the minimum circumscribed rectangle of the node in each direction of search in Dijkstra search mapping
Bounding box, selection include the direction of search bounding box of the terminal of ship's navigation, the object boundary frame as present node.
It is previously provided with initial information, respectively A, B, C on 3 node edges of present node, is searched in Dijkstra
During rope, the initial information at present node edge can search for the section being transmitted in Dijkstra search mapping with Dijkstra
Point.It is completed when Dijkstra is searched for, the node in each Dijkstra search mapping is marked with the initial of present node edge
Information, the minimum circumscribed rectangle of node of the building comprising the same node edge of present node, is each searched as present node accordingly
Suo Fangxiang bounding box.
Step S7, the section in present node neighborhood in non-barrier zone and in present node object boundary frame is chosen
Point is used as next feasible node；Judge whether next feasible node is located in openlist, if so, with feasible node G value compared with
Small path is foundation, updates father node, G value and the F value of feasible node, and otherwise, feasible node is added in openlist, and
The father node of the feasible node is marked.Repeat step S5 to S7.
In the present embodiment, using the A star algorithm framework of most original, only optimization method is answered to illustrate the invention
With.If optimization method of the invention to be applied to the A star algorithm of depth optimization, Dijkstra path planning algorithm, jump point search
In algorithm etc., higher operational efficiency can be obtained；This is because the present node explored is fewer, determining object boundary frame
It is fewer.
Emulation experiment
Optimization method of the invention is used in the A star algorithm path planning method based on grating map, from expanding node
The validity of optimization method of the present invention is verified on several and simulation time.
For traditional A star algorithm of traditional A star algorithm and application optimization method of the present invention, emulated on grating map
Experiment, as shown in figure 3, grating map applied in emulation experiment, figure Oxford gray grid is barrier, and black lattice is ship
The beginning and end of oceangoing ship navigation.
Using traditional A star algorithm progress trajectory planning as a result, Fig. 4 is seen, wherein light grey grid is that the operation of A star algorithm is visited
The node that rope is crossed, in the emulation experiment, the expanding node number of traditional A star algorithm is 98, simulation time 2.8670ms, output
Optimal path length is 15.31.
Trajectory planning is carried out using traditional A star algorithm of optimization method of the present invention, as shown in figure 5, present node target side
Boundary's frame is constantly reduced with the determination of present node, wherein light grey grid is that A star algorithm runs the node explored, the emulation
In experiment, the expanding node number using traditional A star algorithm of optimization method of the present invention is 18, simulation time 1.0163ms, defeated
Optimal path length out is 15.31.
As it can be seen that the main function of object boundary frame is node beta pruning in present invention optimization side, node is avoided to mistake side
To extension constantly to reduce the extension of the invalid node of redundancy, thus substantially while by the continuous diminution of object boundary frame
Spend boosting algorithm operational efficiency.It is prominent that optimization method of the present invention is applied to better effect in wide sea area complex environment.
It is to be appreciated that describing the skill simply to illustrate that of the invention to what specific embodiments of the present invention carried out above
Art route and feature, its object is to allow those skilled in the art to can understand the content of the present invention and implement it accordingly, but
The present invention is not limited to above-mentioned particular implementations.All various changes made within the scope of the claims are repaired
Decorations, should be covered by the scope of protection of the present invention.
Claims (8)
1. a kind of optimization method of Path Planning characterized by comprising
S1, according to the current position coordinates of ship, the position coordinates of target point, obtained using Path Planning and carry out track rule
Draw in for judge way point node set O and it is determined that way point node set C；
S2, it is directed to each of set C node, each node is obtained using Dijkstra Di Jiesitela searching method
Object boundary frame；
S3, when a feasible node, place in present node neighborhood is chosen under the neighborhood search for traversing each of set C node
In non-barrier region and node in the present node object boundary frame is as next feasible node；According to next feasible section
Point more newly arrives to set O and carries out the judgement of way point；
S4, traversal set C, obtain the track route of final output.
2. the optimization method of Path Planning according to claim 1, which is characterized in that in step S1, using track
Planning algorithm obtain carry out trajectory planning in for judge way point node set O and it is determined that way point node collection
Close C, comprising:
According to for judging the node set O and node cost computation rule of way point, the smallest node of cost in set O is chosen
The node set C it is determined that way point is added.
3. the optimization method of Path Planning according to claim 2, which is characterized in that
The node cost computation rule are as follows: F=G+H, wherein F is the path total cost of node, G be from the starting point of ship to
The path of node is expended, and H is that the path of the terminal from node to ship is expended.
4. the optimization method of Path Planning according to claim 3, which is characterized in that in step S3, according to next
Feasible node more newly arrives to set O and carries out the judgement of way point, comprising:
Judge whether next feasible node is located in set O, if so, updating using the feasible lesser path of node G value as foundation
Father node, G value and the F value of feasible node, otherwise, by feasible node be added set O in, and to the father node of the feasible node into
Line flag.
5. the optimization method of Path Planning according to claim 4, which is characterized in that step S4 includes:
Traverse set C；
It is starting with the terminal of ship's navigation, along the reverse tracking of father node, until the starting point of ship's navigation；
Using the path of reverse tracking as the optimal path of ship's navigation starting point to the end, exported.
6. the optimization method of Path Planning according to claim 1, which is characterized in that in step S1 further include:
Using breadth-first search algorithm judge ship current position coordinates and target point position coordinates whether in same company
Logical area；
If using Path Planning, obtaining set O and set C；
If not, resetting the current position coordinates and coordinate of ground point of ship.
7. the optimization method of Path Planning according to claim 1, which is characterized in that in step S2, use
Dijkstra searching method obtains the object boundary frame of each node, comprising:
Unintentionally Dijkstra is carried out to node to search for, and is obtained in each direction of search of node in Dijkstra search mapping
Node；
According to the minimum circumscribed rectangle of the node in each direction of search in Dijkstra search mapping, each direction of search is constructed
Bounding box；
Selection includes the direction of search bounding box of ship target point, the object boundary frame as present node.
8. the optimization method of Path Planning according to claim 1, which is characterized in that the Path Planning packet
Include A star algorithm, Dijkstra path planning algorithm, best-first search algorithm, Depth Priority Algorithm, breadth-first search
Algorithm and jump point searching algorithm etc. seek path planning algorithm a little based on graphic searching space.
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| CN110975291A (en) * | 2019-11-20 | 2020-04-10 | 中国人民解放军国防科技大学 | Path extraction method and system |
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| CN111024080A (en) * | 2019-12-01 | 2020-04-17 | 中国人民解放军军事科学院评估论证研究中心 | Unmanned aerial vehicle group-to-multi-mobile time-sensitive target reconnaissance path planning method |
| CN111024080B (en) * | 2019-12-01 | 2020-08-21 | 中国人民解放军军事科学院评估论证研究中心 | Unmanned aerial vehicle group-to-multi-mobile time-sensitive target reconnaissance path planning method |
| CN111397624A (en) * | 2020-03-27 | 2020-07-10 | 湖南大学 | Global path planning method based on JPS and Hybrid A |
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| WO2021217646A1 (en) * | 2020-04-30 | 2021-11-04 | 华为技术有限公司 | Method and device for detecting free space for vehicle |
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| CN111857143A (en) * | 2020-07-23 | 2020-10-30 | 北京以萨技术股份有限公司 | Robot path planning method, system, terminal and medium based on machine vision |
| CN112731961A (en) * | 2020-12-08 | 2021-04-30 | 深圳供电局有限公司 | Path planning method, device, equipment and storage medium |
| CN113720344A (en) * | 2021-08-30 | 2021-11-30 | 深圳市银星智能科技股份有限公司 | Path searching method and device, intelligent device and storage medium |
| CN113720344B (en) * | 2021-08-30 | 2024-06-04 | 深圳银星智能集团股份有限公司 | Path searching method, path searching device, intelligent equipment and storage medium |
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