CN111174797B - Closed area global path planning method - Google Patents
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- CN111174797B CN111174797B CN202010047336.9A CN202010047336A CN111174797B CN 111174797 B CN111174797 B CN 111174797B CN 202010047336 A CN202010047336 A CN 202010047336A CN 111174797 B CN111174797 B CN 111174797B
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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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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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
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Abstract
The invention discloses a global path planning method for a closed area, which comprises the following steps: step S1, obtaining an environment map model of a closed area and generating an intermediate connection path; s2, acquiring a starting point and a target point for completing the job task; s3, performing corresponding global path planning according to the area where the starting point and the target point are located; s4, controlling the vehicle to run according to the planned global path; the environment map of the closed area in step S1 may be obtained by a dispatcher giving the area map, or by obtaining from related map software, dividing the large closed area map into two parts, and changing time by space, generating an intermediate connection road in the intermediate connection area for storage and standby, which is convenient for subsequent planning and rapid acquisition. According to the closed region global path planning method, the path planning in the closed region can be effectively and quickly realized through the setting from the step S1 to the step S4.
Description
Technical Field
The invention relates to the field of vehicle path planning, in particular to a global path planning method for a closed area.
Background
The global path planning of the unmanned vehicle means that an effective path which has no collision and can safely reach a target point is planned according to performance indexes after a starting point and the target point of the unmanned vehicle are given on the basis of a certain environment model. The performance index may be the shortest distance traveled by the route, the shortest time of movement, etc. After the vehicle acquires the global path, the unmanned vehicle system controls the vehicle to run according to the planned path, and the specified operation task is completed safely and efficiently.
For large closed areas such as ports, gardens, mining areas, farmlands and the like, operation sub-areas for completing different tasks are distributed at different positions of the closed areas, and operation vehicles run in the same sub-area or among different sub-areas to complete the operation tasks. The existing main global path planning method for the unmanned vehicle is as follows: the patent document CN 109085825A provides an optimal path selection method for unmanned mine car mining, in the method, after receiving a scheduling command, an unmanned mine car detects the surrounding environment through a radar sensor, carries out weight judgment on obstacle avoidance and target following, adjusts the driving direction according to the strength of a strengthening signal, avoids obstacles and drives to a target, and the method can meet the requirement that the unmanned mine car is suitable for complex mining area environments; the patent document CN102854880A provides a robot global path planning method facing to uncertain environments of mixed terrain areas, the method firstly detects and constructs a robot working environment model, the robot working environment model comprises a movement starting point and a target point, a static obstacle position and shape, a possible coverage area of an uncertain obstacle, a covered terrain type and an area, an optimal path is planned by adopting a path weighted passable length containing terrain information and a path containing degree of the uncertain obstacle in an avoidance area as an object function, and the method aims to ensure that a robot completes tasks at the lowest risk degree in the mixed terrain environment; patent document CN 107436603A proposes an automatic driving method and system for agricultural vehicle curve path, the method obtains vehicle position information in real time and judges an angle deviation with a preset curve operation track, machine learning is performed through enhancing signal feedback to obtain driving experience, and the method can enable an agricultural vehicle to avoid the phenomenon of operation swing back and forth due to improper angle adjustment, so that the track has more stability and reliability.
The above patents all propose path planning methods for unmanned vehicles from different angles, but still have certain drawbacks: such as the application scenario only for a single farmland environment, possibly resulting in unnecessary redundant paths, slow path planning, etc. The invention provides a global path planning method and system facing a large closed area based on the idea of changing space into time, and the required global path can be rapidly acquired.
Disclosure of Invention
In view of the shortcomings of the prior art, it is an object of the present invention to provide a global path planning method and system for an enclosed area, which overcomes one or more of the above-mentioned drawbacks of the various methods.
In order to realize the purpose, the invention provides the following technical scheme: a global path planning method for an enclosed area comprises the following steps:
step S1, obtaining an environment map model of a closed area and generating an intermediate connection path;
s2, acquiring a starting point and a target point for completing the job task;
s3, performing corresponding global path planning according to the areas where the starting point and the target point are located;
s4, controlling the vehicle to run according to the planned global path;
the environment map of the closed area in step S1 may be a map of the area given by a dispatcher, or obtained from related map software, and the map of the large closed area is divided into two parts, including an operation area for completing various operation tasks and a connection area for connecting different operation areas, where at least one or more connection points exist at the junction between each operation area and the connection area, and in the connection area, a connection path is generated by applying a global path planning algorithm to every two connection points of the different operation areas, and is stored as a known path for standby.
As a further improvement of the present invention, in the step S2, the starting point is the current position of the vehicle, the position information is determined by a relevant GPS positioning system configured in the vehicle, and the target point is determined by a worker of the dispatching center according to the task designation of the required completed driving operation or the unmanned control system according to the current task state of the vehicle. As a further improvement of the present invention, in step S3, if the starting point and the target point are in the same working area: and connecting the starting point and the target point by adopting the shortest circular arc curve or straight line or a mixture of the two as a driving path of the vehicle under the multi-constraint condition of meeting the minimum turning radius of the vehicle according to the course of the vehicle at the starting point and the expected parking direction at the target point.
As a further improvement of the present invention, in step S3, if the starting point and the target point are in different working areas, the global path from the starting point to the target point can be divided into the following three parts for three-stage global path planning:
(1) The first section is a path from the starting point to a connecting point of the operation area and the connecting area, and the path adopts the shortest circular arc curve or straight line or mixed connection of the shortest circular arc curve and the straight line as a driving path of the vehicle under the condition of meeting the minimum turning radius of the vehicle according to the course of the vehicle at the starting point and the course of the vehicle at the connecting point;
(2) The second section of path is a path from the connection point of the operation area where the starting point is located and the connection area to the connection point of the operation area where the target point is located and the connection area. The path can be quickly obtained by combining the two connection points according to the known path of the connection area in the step S1;
(3) The third path is a path from a connection point of the connection area and the area where the target point is located to the target point. The path segment is based on the heading at the entry junction and the desired direction of parking at the target point. And under the condition of meeting the minimum turning radius of the vehicle, adopting the shortest circular arc curve or straight line or mixed connection of the two as the driving path of the vehicle.
As a further improvement of the present invention, in step S3, if the starting point is not in the job area but in the connection area, the global path from the starting point to the target point can be divided into the following three parts:
(1) The first section is a path from a starting point to a tangent point of a nearby known path entering the connecting area, and the path is connected by adopting a shortest circular arc curve or a straight line or a mixture of the shortest circular arc curve and the straight line as a driving path of the vehicle under the condition of meeting the minimum turning radius of the vehicle according to the course of the vehicle at the starting point and the course of the vehicle at the tangent point of the nearby known path;
(2) The second section of the path is a path from the tangent point of the vehicle entering the nearby known path to the connection point between the operation area where the target point is located and the connection area along the known path. The segment of the path can be quickly obtained according to the known path of the connection area in the step S1;
(3) The third section of path is a path from a connection point of the connection area and the area where the target point is located to the target point, and the section of path is connected by adopting the shortest circular arc curve or straight line or the mixture of the shortest circular arc curve and the straight line as the driving path of the vehicle under the condition of meeting the minimum turning radius of the vehicle according to the course of entering the connection point and the expected parking direction of the target point.
The invention has the advantages that the global path planning can be realized in the closed area through the arrangement from the step S1 to the step S4, in the step S1, the large closed area is divided into areas, then the connection paths are generated by using the connection points between the divided areas according to the global path planning algorithm, the time is changed by the space, and the intermediate path can be quickly obtained by the subsequent planning. Compared with the way of planning the path in the whole area in the prior art, the method can synthesize the property state of each area in the large-scale closed area, thereby realizing path planning and ensuring that the finally planned path is faster, more reasonable and more reliable.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic view of an enclosed area of an embodiment of the present invention;
FIG. 3 is a schematic diagram of an embodiment of the present invention for generating an intermediate link;
FIG. 4 is a schematic diagram of a path plan with a start point and a target point located in the same working area according to the present invention;
FIG. 5 is a schematic diagram of a path plan with a starting point and a target point located in two different work areas according to the present invention;
FIG. 6 is a schematic diagram of a path plan with at least one of the start point and the target point located in a connection area according to the present invention.
Detailed Description
The invention will be further described in detail with reference to the following examples, which are given in the accompanying drawings.
As shown in the flow chart of fig. 1, the invention adopts the following technical scheme: a closed area global path planning method and a system thereof comprise the following steps:
s1, obtaining an environment map model of a closed area and generating an intermediate connection path
First, the environment map of the enclosed area may be given by the dispatcher of the control center or obtained from the relevant map software.
As shown in fig. 2, the closed area may represent, but is not limited to, a large closed area such as a harbor, a garden, a mine, and a farmland. The hatched area in fig. 2 represents an impassable area, and the passable area of the closed area is mainly composed of two parts, including a work area 1, a work area 2, a work area 3, and a work area 4 for completing various work tasks, and an intermediate road connecting area for connecting different work areas.
Each junction of each working area and the middle road connecting area is provided with two connecting points, such as A, B, C, D, E, F, M, N, and in fig. 2, each junction is provided with two connecting points, but the number of the connecting points is not limited to two in other embodiments.
Then, in the connection area, aiming at different operation areas, a global path planning algorithm is adopted for every two connection points of the operation areas to generate a connection path, the connection path is stored as a known path for standby, and the time required by subsequent path planning is shortened. The global path planning algorithm taken may be the a-algorithm, dijkstra algorithm, etc.
If the a-x algorithm is adopted for global path planning, map rasterization processing can be performed after the environment map of the closed region is obtained in the step S1, so as to form a rasterized environment map model, which is convenient for the a-x algorithm to search and obtain an optimal global path. According to the range size of the closed region environment model, the appropriate grid size can be selected. For example, the grid size of a large closed area such as a harbor can be selected to be 0.5m or 1m.
Fig. 3 is a schematic diagram of the intermediate connection path generated in the intermediate road connection area of the closed area after step S1. The generated intermediate connection path is stored as a known path for standby, the idea of changing space into time is applied, and the storage space is used for changing path planning time in the subsequent global path planning process.
S2, acquiring a starting point and a target point for completing the job task
The starting point for completing the work task is generally the current position of the vehicle, and the position information can be determined by a related GPS positioning system and the like configured by the vehicle; the target point can be specified by the staff of the dispatching center according to the running job task to be completed or determined by the unmanned control system according to the current task state of the vehicle.
S3, corresponding global path planning is carried out according to the areas of the starting point and the target point
And (3) aiming at the starting point and the target point acquired in the step (S2), carrying out corresponding global path planning according to the area positions of the starting point and the target point in the closed area.
As shown in fig. 4, the start point and the target point are located in the same work area.
And according to the course of the vehicle at the starting point S and the expected parking direction at the target point G, under the condition of meeting the multi-constraint condition of the minimum turning radius of the vehicle, connecting the starting point S and the target point G by adopting the shortest circular arc curve or straight line or a mixture of the two as a driving path SG of the vehicle.
As shown in fig. 5, the start point and the target point are located in two different work areas. The starting point S is located in the working area 2 and the target point G is located in the working area 1. And carrying out global path planning by adopting a three-section path.
(1) The first section is a path SC from the starting point S to a connecting point C of the working area 2 and the connecting area, and the path adopts the shortest circular arc curve or straight line or the mixed connection of the two as the driving path of the vehicle under the condition of meeting the minimum turning radius of the vehicle according to the course of the vehicle at the starting point S and the course of the vehicle at the connecting point C.
(2) The second path is a path from the connection point C of the work area 2 where the starting point S is located and the connection area to the connection point B of the work area 1 where the target point G is located and the connection area. This segment of the path CB is obtained from the known path of the connection area in step S1 in combination with the two connection points C and B. The path CB acquired here does not need to perform global path planning again for the connection area based on the connection point because it is acquired in step S1, which saves planning time and quickly acquires the path.
(3) The third path is a path from a connection point B of the work area 1 where the connection area and the target point G are located to the target point G. The path BG is based on the heading at the point of connection B and the desired direction of parking at the target point G. And under the condition of meeting the minimum turning radius of the vehicle, the shortest circular arc curve or the straight line or the mixed connection of the two is adopted as the driving path of the vehicle.
The three paths SC, CB, BG may be smoothly connected in sequence at the two connection points C and B as a total global path SG, taking into account the vehicle heading at the connection points C and B.
As shown in fig. 6, the start point S is located within the connection area instead of within the work area, and the target point G is located within the work area 1. Then the adjacent intermediate path is selected for global path planning.
(1) The first segment is a path from the starting point S to a tangent point L of a nearby known path entering the connecting area, and the path of the segment is connected by adopting a shortest circular arc curve or a straight line or a mixture of the two as a driving path SL of the vehicle under the condition of meeting the minimum turning radius of the vehicle according to the course direction of the vehicle at the starting point S and the course direction of the tangent point L of the nearby known path of the vehicle.
(2) The second section of the path is a path between a working area where the vehicle enters a nearby known path and a connecting point B of the connecting area along the known path to the target point. The segment of the path LB is available from the known path of the connection region in step S1. The path LB acquired here is acquired in the step S1, so that the global path planning of the connection area based on the connection point is not needed again, the planning time is saved, and the path is acquired quickly.
(3) The third path is a path from a connection point B connecting the area and the area where the target point G is located to the target point G. The path BG is based on the heading at the point of connection B and the desired direction of parking at the target point G. And under the condition of meeting the minimum turning radius of the vehicle, the shortest circular arc curve or the straight line or the mixed connection of the two is adopted as the driving path of the vehicle.
The three-segment paths SL, LB, BG may be smoothly connected in sequence at the tangent point L and the connection point B as a total global path SG, since the vehicle heading at the tangent point L and the connection point B is taken into account.
And S4, controlling the vehicle to run according to the planned global path.
And the vehicle running control system controls the vehicle to run according to the global path planned in the step S3 to complete the operation task.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiments, and all technical solutions that belong to the idea of the present invention belong to the scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (2)
1. A closed area global path planning method is characterized in that: the method comprises the following steps:
step S1, obtaining an environment map model of a closed area and generating an intermediate connection path;
s2, acquiring a starting point and a target point for completing the job task;
s3, performing corresponding global path planning according to the area where the starting point and the target point are located;
s4, controlling the vehicle to run according to the planned global path;
the environment map of the closed area in the step S1 is given by a dispatcher or obtained from related map software, the large closed area map is divided into two parts, including operation areas for completing various operation tasks and connection areas for connecting different operation areas, at least one or more connection points exist at the junction of each operation area and the connection area, and in the connection areas, connection paths are generated by adopting a global path planning algorithm for every two connection points of the different operation areas and are stored as known paths for standby; in step S3, if the starting point and the target point are in the same operation area: according to the course of the vehicle at the starting point and the expected parking direction at the target point, under the multi-constraint condition of meeting the minimum turning radius of the vehicle, connecting the starting point and the target point by adopting the shortest circular arc curve or straight line or a mixture of the two as a driving path of the vehicle;
in step S3, if the starting point and the target point are in different working areas, the global path from the starting point to the target point is divided into the following three parts for three-stage global path planning:
(1) The first section is a path from the starting point to a connecting point of the operation area and the connecting area, and the path adopts the shortest circular arc curve or straight line or mixed connection of the shortest circular arc curve and the straight line as a driving path of the vehicle under the condition of meeting the minimum turning radius of the vehicle according to the course of the vehicle at the starting point and the course of the vehicle at the connecting point;
(2) The second section of path is a path from the connection point of the operation area where the starting point is located and the connection area to the connection point of the operation area where the target point is located and the connection area, and the second section of path can be obtained by combining the two connection points according to the known path of the connection area in the step S1;
(3) The third section of path is a path from a connection point of a connection area and an area where the target point is located to the target point, and the section of path is connected by adopting the shortest circular arc curve or straight line or the mixture of the shortest circular arc curve and the straight line as a driving path of the vehicle under the condition of meeting the minimum turning radius of the vehicle according to the course of entering the connection point and the expected parking direction of the target point;
in step S3, if the starting point is not in the work area but in the connection area, the global path from the starting point to the target point is divided into the following three parts:
(1) The first section is a path from a starting point to a tangent point of a nearby known path entering the connecting area, and the path is connected by adopting a shortest circular arc curve or a straight line or a mixture of the shortest circular arc curve and the straight line as a driving path of the vehicle under the condition of meeting the minimum turning radius of the vehicle according to the course of the vehicle at the starting point and the course of the vehicle at the tangent point of the nearby known path;
(2) The second section of path is a path from the tangent point of the vehicle entering the nearby known path to the connection point between the operation area where the target point is located and the connection area along the known path, and the second section of path can be obtained according to the known path of the connection area in the step S1;
(3) The third section of path is a path from a connection point of the connection area and the area where the target point is located to the target point, and the section of path is connected by adopting the shortest circular arc curve or straight line or the mixture of the shortest circular arc curve and the straight line as the driving path of the vehicle under the condition of meeting the minimum turning radius of the vehicle according to the course of entering the connection point and the expected parking direction of the target point.
2. The closed area global path planning method according to claim 1, characterized in that: in the step S2, the starting point is the current position of the vehicle, the position information is determined by a related GPS positioning system configured for the vehicle, and the target point is specified by a worker of the scheduling center according to a driving job task to be completed or determined by the unmanned control system according to the current task state of the vehicle.
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| CN112015176B (en) * | 2020-08-14 | 2022-09-27 | 合肥工业大学 | Unmanned tractor field operation path planning method and device |
| CN112232558B (en) * | 2020-10-09 | 2024-02-20 | 中国铁建重工集团股份有限公司 | TBM (Tunnel boring machine) spraying and mixing system operation path planning method |
| CN113093745A (en) * | 2021-03-31 | 2021-07-09 | 南京苏美达智能技术有限公司 | Control method of cross-regional automatic walking equipment and automatic walking equipment |
| CN113705966B (en) * | 2021-07-20 | 2024-01-26 | 重庆超体科技有限公司 | Vehicle transportation scheduling method for meeting road load rate in closed factory |
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