CN113188554B - 3DAR navigation path planning method and system - Google Patents
3DAR navigation path planning method and system Download PDFInfo
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- CN113188554B CN113188554B CN202110413291.7A CN202110413291A CN113188554B CN 113188554 B CN113188554 B CN 113188554B CN 202110413291 A CN202110413291 A CN 202110413291A CN 113188554 B CN113188554 B CN 113188554B
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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
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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
Abstract
The application relates to a path planning method and a system for 3DAR navigation, wherein the method comprises the following steps: determining a navigation map according to the 2D convex polygon map and the 2.5D polygon height map; then determining a path planning algorithm according to the map type in the navigation map, wherein under the condition that the navigation map type is a 2D convex polygonal map, path planning is carried out on the 2D convex polygonal map through the path planning algorithm to obtain path planning information, and under the condition that the navigation map type is a 2.5D polygonal height map, the navigation path height is obtained according to the path planning information; and finally, generating a 3D navigation path fitting the terrain according to the path planning information and the navigation path height, solving the problem that the 3D navigation strategy of AR is lacked in the related technology, flexibly adapting to any scene through the scheme of the application, and effectively improving the path searching speed because the navigation map occupies small memory.
Description
Technical Field
The present application relates to the field of navigation, and in particular, to a path planning method and system for 3DAR navigation.
Background
The electronic navigation map is navigation software applied to GPS equipment and is mainly used for planning a path and realizing a navigation function. The electronic navigation map is composed of roads, backgrounds, notes and POIs in a composition form, and further has a plurality of special contents, such as 3D intersection live-action enlarged images, three-dimensional buildings and the like. From the aspect of functional representation, the electronic navigation map has the functions of positioning display, indexing, path calculation, guidance and the like.
In the related art, mainly researches are made on a navigation logic strategy facing to obstacles and yaw in AR navigation, a visualization method in the AR navigation process, and the like, and none of the researches relates to a 3D navigation strategy of AR.
At present, no effective solution is provided for the problem of lack of 3D navigation strategy of AR in the related art.
Disclosure of Invention
The embodiment of the application provides a path planning method and a path planning system for 3DAR navigation, so as to at least solve the problem that the 3D navigation strategy of AR is lacked in the related art.
In a first aspect, an embodiment of the present application provides a path planning method for 3DAR navigation, where the method includes:
determining a navigation map according to the 2D convex polygon map and the 2.5D polygon height map;
determining a path planning algorithm according to the map type in the navigation map, wherein under the condition that the navigation map type is a 2D convex polygon map, path planning is carried out on the 2D convex polygon map through the path planning algorithm to obtain path planning information, and under the condition that the navigation map type is a 2.5D polygon height map, the navigation path height is obtained according to the path planning information;
and generating a 3D navigation path fitted with the terrain according to the path planning information and the navigation path height.
In some of these embodiments, the feasible region of the 2.5D polygon height map may be divided into a plurality of different arbitrary polygons, wherein the 3D plane equation of the polygon is:
a*X+b*Y+c*Z+d＝0
wherein, X, Y and Z are the coordinates of the space 3D point on the X, Y and Z axes respectively, and a, b, c and D are the coefficients of the 3D plane equation and are all known constants.
In some of these embodiments, after determining the navigation map, the method includes:
partially decoupling the navigation map and the 2.5D polygon height map, and being compatible with a scene without a height map and a scene with flat terrain to obtain a total feasible area polygon, wherein a 3D plane equation of the total feasible area polygon is as follows:
Z+d＝0
where Z is the coordinate of the spatial 3D point on the Z-axis, and D is the coefficient of the 3D plane equation and is a known constant.
In some embodiments, the obtaining the navigation path height according to the path planning information includes:
obtaining values of nodes X and Y obtained through the path planning information, and calculating to obtain a polygonal area where the nodes are located;
and importing the X and Y values of the nodes into a 3D plane equation corresponding to the polygonal area, calculating to obtain a Z value in the 3D plane equation, and outputting to obtain the navigation path height.
In some embodiments, the calculating to obtain the polygon area where the node is located includes:
and calculating to obtain the polygonal area where the node is located through a ray-casting algorithm.
In some embodiments, the path planning the 2D convex polygon map by the path planning algorithm includes:
and planning a path of the 2D convex polygonal map by using a Navmesh funnel algorithm.
In a second aspect, an embodiment of the present application provides a path planning system for 3DAR navigation, the system includes:
the map module is used for determining a navigation map according to the 2D convex polygon map and the 2.5D polygon height map;
a path planning module for determining a path planning algorithm according to the map type in the navigation map, wherein, under the condition that the navigation map type is a 2D convex polygon map, the path planning algorithm is used for planning the path of the 2D convex polygon map to obtain path planning information, under the condition that the navigation map type is a 2.5D polygon height map, the navigation path height is obtained according to the path planning information,
and generating a 3D navigation path fitted with the terrain according to the path planning information and the navigation path height.
In some embodiments, the total feasible area of the 2.5D polygon height map in the map module may be divided into a plurality of different arbitrary polygons, wherein the 3D plane equation of the polygon is:
a*X+b*Y+c*Z+d＝0
wherein, X, Y and Z are the coordinates of the space 3D point on the X, Y and Z axes respectively, and a, b, c and D are the coefficients of the 3D plane equation and are all known constants.
In some of these embodiments, the system further comprises a decoupling module that, after determining the navigation map,
the decoupling module is configured to partially decouple the navigation map and the 2.5D polygon height map, and is compatible with a scene without a height map and a scene with a flat terrain to obtain a total feasible area polygon, where a 3D plane equation of the total feasible area polygon is:
Z+d＝0
where Z is the coordinate of the spatial 3D point on the Z-axis, and D is the coefficient of the 3D plane equation and is a known constant.
In some embodiments, the path planning module is further configured to obtain values of nodes X and Y obtained through path planning, and calculate a polygonal area where the node is located,
and importing the X and Y values of the nodes into a 3D plane equation corresponding to the polygonal area, calculating to obtain a Z value in the 3D plane equation, and outputting to obtain the navigation path height.
Compared with the related art, the 3DAR navigation path planning method provided by the embodiment of the application determines the navigation map according to the 2D convex polygon map and the 2.5D polygon height map; then determining a path planning algorithm according to the map type in the navigation map, wherein under the condition that the navigation map type is a 2D convex polygonal map, path planning is carried out on the 2D convex polygonal map through the path planning algorithm to obtain path planning information, and under the condition that the navigation map type is a 2.5D polygonal height map, the navigation path height is obtained according to the path planning information; and finally, generating a 3D navigation path fitting the terrain according to the path planning information and the navigation path height, solving the problem that the 3D navigation strategy of AR is lacked in the related technology, flexibly adapting to any scene through the scheme of the application, and effectively improving the path searching speed because the navigation map occupies small memory.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic diagram of an application environment of a path planning method for 3DAR navigation according to an embodiment of the application;
FIG. 2 is a flow chart of a method of path planning for 3DAR navigation according to an embodiment of the present application;
FIG. 3 is a schematic view of a 2D convex polygon navigation map according to an embodiment of the application;
FIG. 4 is a schematic top view of a 2.5D polygon height map according to an embodiment of the present application;
FIG. 5 is a side view of a small bridge and a topographical virtual path according to an embodiment of the present application;
FIG. 6 is a block diagram of a path planning system for 3DAR navigation in accordance with an embodiment of the present application;
FIG. 7 is a block diagram of the structure of another 3DAR navigated path planning system according to an embodiment of the present application;
fig. 8 is an internal structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless otherwise defined, technical or scientific terms referred to herein should have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
The path planning method for 3DAR navigation provided by the present application can be applied to the application environment shown in fig. 1, and fig. 1 is a schematic view of the application environment of the path planning method for 3DAR navigation according to the embodiment of the present application, as shown in fig. 1, wherein a terminal device 11 and a server 10 communicate through a network. It should be noted that the application of the embodiment of the present application is not limited to the application environment shown in fig. 1, and may also be applied to a user-held scene, a vehicle-mounted navigation scene, and the like. The server 10 determines a navigation map according to the 2D convex polygon map and the 2.5D polygon height map; then determining a path planning algorithm according to the map type in the navigation map, wherein under the condition that the navigation map type is a 2D convex polygon map, path planning is carried out on the 2D convex polygon map through the path planning algorithm to obtain path planning information, and under the condition that the navigation map type is a 2.5D polygon height map, the navigation path height is obtained according to the path planning information; and finally, generating a 3D navigation path of the fitting terrain according to the path planning information and the navigation path height, and displaying the 3D navigation path on the terminal equipment 11. The terminal device 11 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices, and the server 10 may be implemented by an independent server or a server cluster formed by a plurality of servers.
The present embodiment provides a path planning method for 3DAR navigation, and fig. 2 is a flowchart of the path planning method for 3DAR navigation according to the embodiment of the present application, as shown in fig. 2, the flowchart includes the following steps:
step S201, determining a navigation map according to a 2D convex polygon map and a 2.5D polygon height map; fig. 3 is a schematic diagram of a 2D convex polygon navigation map according to an embodiment of the present application, and as shown in fig. 3, the 2D convex polygon navigation map is composed of N adjacent convex polygons, and each convex polygon is a feasible region, where N may be any positive integer. POI points in fig. 3: A. b, C, D and E are navigation destinations, wherein the area where the point C is located is a small bridge. Fig. 4 is a schematic top view of a 2.5D polygonal height map according to an embodiment of the present application, and fig. 5 is a schematic side view of a small bridge and a virtual route conforming to the terrain according to an embodiment of the present application. Fig. 4 divides the total feasible area into 5 navigation areas, wherein the three navigation areas 2, 3 and 4 are combined to form a real-world bridge, as shown in fig. 5. The feasible region of the 2.5D polygon height map in fig. 4 and 5 can be divided into 5 different arbitrary polygons, and the formula of the 3D plane equation of each polygon is shown in the following formula 1:
a*X+b*Y+c*Z+d＝0 (1)
wherein, X, Y and Z are the coordinates of the space 3D point on the X, Y and Z axes respectively, and a, b, c and D are the coefficients of the 3D plane equation and are all known constants.
In the embodiment, a polygon combined map mode is adopted, so that the method can be more flexibly adapted to various application scenes in the real world compared with a grid map, and has the advantages of small occupied memory space and higher navigation speed; in addition, the 2.5D polygon height map used in this embodiment is more flexible to use and has a wider application range, and compared with a 3D mesh map that requires each node to be a 3D point, a seam problem may be involved in an adjacent area, that is, Z values of shared vertices of adjacent areas are consistent, which requires smoothing of the adjacent area when the 3D mesh map is manufactured, and therefore, the amount of calculation is larger; in reality, for the condition that the height difference of some adjacent areas is not large, such as a 10cm step, the AR navigation does not need to process the seam problem, and only needs to share the X value and the Y value of the adjacent nodes, so that the method and the device can be well compatible with the seam problem by using a 2.5D polygon height map, and the calculation speed is increased.
Preferably, after the navigation map is determined, the navigation map and the 2.5D polygon height map are partially decoupled, and a scene without the height map and a scene with flat terrain are compatible, so as to obtain a total feasible region polygon, wherein a 3D plane equation formula of the total feasible region polygon is shown in the following formula 2:
Z+d＝0 (2)
where Z is the coordinate of the spatial 3D point on the Z-axis, and D is the coefficient of the 3D plane equation and is a known constant.
According to the embodiment, the calculated amount of the navigation algorithm can be reduced by partially decoupling the navigation map, areas which do not need to be subjected to 3D height map calculation are simplified, the calculation speed is increased, and the memory occupation is reduced.
Step S202, determining a path planning algorithm according to the map type in the navigation map, wherein under the condition that the navigation map type is a 2D convex polygonal map, path planning is carried out on the 2D convex polygonal map through the path planning algorithm to obtain path planning information, and under the condition that the navigation map type is a 2.5D polygonal height map, the navigation path height is obtained according to the path planning information;
preferably, when the navigation map is a 2D convex polygon map, the path planning is performed on the 2D convex polygon map by using a NavMesh funnel algorithm to obtain path planning information; it should be noted that the path planning algorithm adopted herein may be, but is not limited to, a NavMesh funnel algorithm, and other algorithms that can implement polygonal map path planning may be applicable. According to the method and the device, the path planning navigation is carried out on the convex polygon map through the funnel algorithm in the Navmesh, the data adaptation of the map is not needed, and the navigation calculation speed is further accelerated.
Further, in a case that the navigation map type is a 2.5D polygon height map, the navigation path height is obtained according to the path planning information, and preferably, the step of specifically obtaining the navigation path height is as follows:
s1, obtaining values of nodes X and Y obtained through path planning information, and obtaining a polygonal area where the node is located through ray _ casting algorithm calculation, wherein the algorithm adopted here can be but is not limited to ray _ casting algorithm, and other algorithms which can be used for obtaining the polygonal area where the node is located through calculation are applicable;
s2, importing the X and Y values of the node into the 3D plane equation corresponding to the obtained polygonal area, and calculating to obtain a Z value in the 3D plane equation;
and S3, outputting the Z value to obtain the navigation path height needing to be calculated.
And step S203, generating a 3D navigation path which is attached to the terrain according to the path planning information and the navigation path height. Optionally, in this embodiment, a 3D navigation path conforming to the terrain is generated according to the path planning information and the navigation path height obtained in step S202, for example, a virtual navigation route conforming to the trabecular terrain as shown in fig. 5.
Through the steps S201 to S203, the method for planning the 3DAR navigation path is used for carrying out type division on the 2D convex polygon and the 2.5D polygon on the map under any scene, and through a polygon map combination strategy, the problem that an AR-free 3D navigation strategy is lacked in the related technology is solved, the storage space of the map is effectively reduced, and the path searching speed is improved.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.
The present embodiment further provides a path planning system for 3DAR navigation, which is used to implement the foregoing embodiments and preferred embodiments, and the description of the system is omitted here. As used hereinafter, the terms "module," "unit," "subunit," and the like may implement a combination of software and/or hardware for a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 6 is a block diagram of a path planning system for 3DAR navigation according to an embodiment of the present application, which includes a map module 61 and a path planning module 62, as shown in fig. 6:
the map module 61 is used for determining a navigation map according to the 2D convex polygon map and the 2.5D polygon height map; and the path planning module 62 is configured to determine a path planning algorithm according to a map type in the navigation map, where in a case that the navigation map type is a 2D convex polygon map, the path planning module performs path planning on the 2D convex polygon map through the path planning algorithm to obtain path planning information, in a case that the navigation map type is a 2.5D polygon height map, obtains a navigation path height according to the path planning information, and generates a 3D navigation path to be fitted with the terrain according to the path planning information and the navigation path height.
Through the system, the map module 61 adopts a polygonal combined map mode, compared with a grid map, the system can be more flexibly adapted to various application scenes in the real world, and has small occupied memory space and higher navigation speed; in addition, the 2.5D polygon height map used in this embodiment is more flexible to use and has a wider application range, and compared with a 3D mesh map that requires each node to be a 3D point, a seam problem may be involved in an adjacent area, that is, Z values of shared vertices of adjacent areas are consistent, which requires smoothing of the adjacent area when the 3D mesh map is manufactured, and therefore, the amount of calculation is larger; in reality, for the condition that the height difference of some adjacent areas is not large, such as a step of 10cm, AR navigation can only share the X value and the Y value of adjacent nodes without processing the joint problem, so that the 2.5D polygon height map is used in the method, the joint problem can be well compatible, and the calculation speed is improved; the path planning module 62 performs path planning on the 2D convex polygon map through a path planning algorithm to obtain path planning information when the navigation map is of the 2D convex polygon map, obtains a navigation path height according to the path planning information when the navigation map is of the 2.5D polygon height map, and generates a 3D navigation path to be fitted with the terrain according to the path planning information and the navigation path height. The problem that the 3D navigation strategy of AR is lacked in the related technology is solved, the storage space of the map is effectively reduced, and the path searching speed is improved.
In some embodiments, the system further comprises a decoupling module, and fig. 7 is a block diagram of a path planning system for 3DAR navigation according to an embodiment of the present application, which includes a map module 61, a path planning module 62, and a decoupling module 71, as shown in fig. 7. After the navigation map is determined, the decoupling module 71 is configured to partially decouple the navigation map and the 2.5D polygon height map, and is compatible with a scene without the height map and a scene with a flat terrain to obtain a total feasible region polygon, where a 3D plane equation formula of the total feasible region polygon is shown in the following formula 2:
Z+d＝0 (2)
where Z is the coordinate of the spatial 3D point on the Z-axis, and D is the coefficient of the 3D plane equation and is a known constant.
According to the embodiment, the calculated amount of the navigation algorithm can be reduced by partially decoupling the navigation map, areas which do not need to be subjected to 3D height map calculation are simplified, the calculation speed is increased, and the memory occupation is reduced.
It should be noted that, for specific examples of other embodiments in the system, reference may be made to the examples described in the embodiments and the preferred embodiments of the method described above, and details of this embodiment are not repeated herein.
Note that each of the modules may be a functional module or a program module, and may be implemented by software or hardware. For a module implemented by hardware, the above modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.
The present embodiment also provides an electronic device, comprising a memory having a computer program stored therein and a processor configured to run the computer program to perform the steps of any of the method embodiments described above.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
In addition, in combination with the path planning method of 3DAR navigation in the above embodiment, the embodiment of the present application may provide a storage medium to implement. The storage medium having stored thereon a computer program; the computer program, when executed by a processor, implements a path planning method for 3DAR navigation in any of the above embodiments.
In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a path planning method for 3DAR navigation. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
In an embodiment, fig. 8 is a schematic internal structure diagram of an electronic device according to an embodiment of the present application, and as shown in fig. 8, there is provided an electronic device, which may be a server, and its internal structure diagram may be as shown in fig. 8. The electronic device comprises a processor, a network interface, an internal memory and a non-volatile memory connected by an internal bus, wherein the non-volatile memory stores an operating system, a computer program and a database. The processor is used for providing calculation and control capability, the network interface is used for communicating with an external terminal through network connection, the internal memory is used for providing an environment for an operating system and the running of a computer program, the computer program is executed by the processor to realize a path planning method of 3DAR navigation, and the database is used for storing data.
Those skilled in the art will appreciate that the structure shown in fig. 8 is a block diagram of only a portion of the structure relevant to the present disclosure, and does not constitute a limitation on the electronic device to which the present disclosure may be applied, and that a particular electronic device may include more or less components than those shown, or combine certain components, or have a different arrangement of components.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (4)
1. A method of path planning for 3DAR navigation, the method comprising:
determining a navigation map according to a 2D convex polygon map and a 2.5D polygon height map, wherein the feasible region of the 2.5D polygon height map can be divided into a plurality of different arbitrary polygons, and the 3D plane equation of the polygons is as follows:
a*X+b*Y+c*Z+d＝0
x, Y and Z are coordinates of a space 3D point on X, Y and Z axes respectively, and a, b, c and D are coefficients of a 3D plane equation and are known constants;
after a navigation map is determined, the navigation map and the 2.5D polygon height map are partially decoupled, a scene without the height map and a scene with flat terrain are compatible, and a total feasible area polygon is obtained, wherein a 3D plane equation of the total feasible area polygon is as follows:
Z+d＝0
wherein Z is the coordinate of the space 3D point on the Z axis, D is the coefficient of the 3D plane equation and is a known constant;
determining a path planning algorithm according to the map type in the navigation map, wherein when the navigation map type is a 2D convex polygon map, path planning is performed on the 2D convex polygon map through the path planning algorithm to obtain path planning information, and when the navigation map type is a 2.5D polygon height map, the navigation path height is obtained according to the path planning information, and the method specifically comprises the following steps: obtaining the values of the nodes X and Y obtained through the path planning information, and calculating to obtain the polygonal area where the nodes are located; importing the X and Y values of the nodes into a 3D plane equation corresponding to the polygonal area, calculating to obtain a Z value in the 3D plane equation, and outputting to obtain the navigation path height;
and generating a 3D navigation path fitted with the terrain according to the path planning information and the navigation path height.
2. The method of claim 1, wherein the calculating the polygon area where the node is located comprises:
and calculating to obtain the polygonal area where the node is located through a ray-casting algorithm.
3. The method of claim 1, wherein the path planning the 2D convex polygon map by a path planning algorithm comprises:
and planning a path of the 2D convex polygonal map by using a Navmesh funnel algorithm.
4. A path planning system for 3DAR navigation, the system comprising:
the map module is used for determining a navigation map according to a 2D convex polygon map and a 2.5D polygon height map, wherein the feasible region of the 2.5D polygon height map can be divided into a plurality of different arbitrary polygons, and the 3D plane equation of each polygon is as follows:
a*X+b*Y+c*Z+d＝0
wherein X, Y and Z are respectively coordinates of a space 3D point on X, Y and Z axes, and a, b, c and D are coefficients of a 3D plane equation and are all known constants;
after the navigation map is determined, a decoupling module is used for partially decoupling the navigation map and the 2.5D polygon height map, and is compatible with a scene without a height map and a scene with flat terrain to obtain a total feasible area polygon, wherein a 3D plane equation of the total feasible area polygon is as follows:
Z+d＝0
wherein Z is the coordinate of the space 3D point on the Z axis, D is the coefficient of the 3D plane equation and is a known constant;
the path planning module is used for determining a path planning algorithm according to the map type in the navigation map, wherein under the condition that the navigation map type is a 2D convex polygon map, the path planning algorithm is used for performing path planning on the 2D convex polygon map to obtain path planning information, and under the condition that the navigation map type is a 2.5D polygon height map, the navigation path height is obtained according to the path planning information, and the specific steps comprise: obtaining the values of the nodes X and Y obtained through the path planning information, and calculating to obtain the polygonal area where the nodes are located; importing the X and Y values of the nodes into a 3D plane equation corresponding to the polygonal area, calculating to obtain a Z value in the 3D plane equation, outputting to obtain the navigation path height,
and generating a 3D navigation path of the fitting terrain according to the path planning information and the navigation path height.
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