CN113607181A - Optimization method of jumping point search algorithm - Google Patents
Optimization method of jumping point search algorithm Download PDFInfo
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- CN113607181A CN113607181A CN202110896308.9A CN202110896308A CN113607181A CN 113607181 A CN113607181 A CN 113607181A CN 202110896308 A CN202110896308 A CN 202110896308A CN 113607181 A CN113607181 A CN 113607181A
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- 238000010845 search algorithm Methods 0.000 title claims abstract description 25
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- 230000008569 process Effects 0.000 claims description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
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- 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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Abstract
The application discloses an optimization method of a skip point search algorithm, which comprises the following steps: s1, acquiring the path of the environment where the target object is located; s2, setting the starting point of the path as the current node; s3, setting the next node of the current node as a connected node; s4, judging whether a connecting line between the current node and the connected node passes through an obstacle in the environment; s5, judging whether an intermediate node exists between the current node and the connected node; s6, judging whether the connected node is the end point of the path or not; if the connected point is the end point of the path, generating an optimized path; the optimized path comprises a starting point, an end point and the rest intermediate nodes between the starting point and the end point; otherwise, the next node of the connected nodes is set as the connected node, and the step S4 is performed. The method and the device delete the redundant nodes in the path collected by the jumping point search algorithm and output the optimized path.
Description
Technical Field
The application relates to the field of emergency intelligent robot path planning, in particular to an optimization method of a jumping point search algorithm.
Background
In recent years, natural disasters frequently occur, large-area power failure accidents occur in many places in the world, and casualty accidents occur in the process of carrying out electric power emergency fire extinguishing operation, so that huge personnel and property losses are caused, and the construction of an electric power emergency management system and intelligent electric power emergency fire extinguishing operation are more and more emphasized. The emergency treatment of power failure has special danger, like unpredictable secondary explosion, the high temperature and poisonous and harmful gas that the conflagration produced etc. emergent personnel often can't deepen the scene very first time under the prerequisite of assurance personal safety, handles indoor trouble such as transformer substation, switch station, distribution room rapidly, and then has delayed emergent fire control operation's best opportunity.
With the great investment of the country, the field of intelligent robots is rapidly developed. The emergency operation scene has higher requirements on the operation efficiency of the intelligent robot and the safety capability of the intelligent robot. The path planning is a key ring in the field of intelligent robots, and the path planning of the intelligent robot is that after the intelligent robot obtains surrounding map information through a sensor, a safe path from a starting point to a target point of the intelligent robot is planned in a map.
The jumping point searching method is characterized in that the grid rule is utilized in a grid map, the symmetry of the traditional A-star algorithm searching is thoroughly broken, and the A-star searching algorithm searching efficiency is qualitatively improved. However, the path searched by the skip point search method has many redundant nodes and many path turns, as shown in fig. 1. Redundant nodes make the invalid path long, resulting in longer time of the intelligent robot in the dangerous environment. The path turns more, and the intelligent robot frequently turns, so that the reliability of the sensor carried by the intelligent robot is greatly reduced, and the intelligent robot easily bumps into an obstacle.
Content of application
The application aims to provide an optimization method of a jump point search algorithm, so that the problems that the number of turning points of a path collected by the jump point search algorithm is large and the number of redundant nodes is large are well optimized.
In order to achieve the purpose, the application is realized by the following technical scheme:
a method for optimizing a skip point search algorithm is characterized by comprising the following steps:
s1, acquiring the path of the environment where the target object is located; wherein the path comprises a start point, an end point and at least one intermediate node therebetween, and the environment comprises at least one obstacle;
s2, setting the starting point of the path as the current node;
s3, setting the next node of the current node as a connected node;
s4, judging whether a connecting line between the current node and the connected node passes through an obstacle in the environment;
if the connection line between the current node and the connected node passes through the obstacle in the environment, setting the connected node as the current node, and performing step S3;
if the connection line between the current node and the connected node does not pass through the obstacle in the environment, performing step S5;
s5, judging whether an intermediate node exists between the current node and the connected node;
if an intermediate node exists between the current node and the connected node, deleting the intermediate node between the current node and the connected node, and then performing step S6;
if there is no intermediate node between the current node and the connected node, directly performing step S6;
s6, judging whether the connected node is the end point of the path or not;
if the connected point is the end point of the path, generating an optimized path; the optimized path comprises a starting point, an end point and the rest intermediate nodes between the starting point and the end point;
if the connected point is not the end point of the path, the next node of the connected node is set as the connected node, and step S4 is performed.
Optionally, before the step S1, the method further includes:
judging whether the environment is a dangerous environment or not;
if the environment is a dangerous environment, the process proceeds to step S1.
Optionally, the path is searched based on a skip point search algorithm.
Optionally, the step S1 further includes:
creating a path list; wherein the acquired path is stored in the path list.
Optionally, the determining whether a connection line between the current node and the connected node passes through an obstacle in the environment includes:
calculated to get the current node (x)1，y1) And connected node (x)2，y2) The equation of (a); wherein the expression of the equation is:
judging that the straight line is in the interval [ x ]1,x2]Whether the line segment above passes an obstacle in the environment.
Optionally, the determining the straight line is in an interval [ x ]1,x2]Whether a line segment on passes an obstacle in the environment, comprising:
judging whether the coordinates of at least one point on the line segment are positioned in the area of the obstacle or not;
if the coordinates of at least one point on the line segment are located in the area of the obstacle, judging that the line segment passes through the obstacle in the environment;
and if the coordinates of each point on the line segment are not positioned in the area of the obstacle, judging that the line segment does not pass through the obstacle in the environment.
Optionally, the determining the straight line is in an interval [ x ]1,x2]Whether a line segment on passes an obstacle in the environment, comprising:
judging whether the coordinates of at least one point on the line segment are adjacent to the area of the obstacle or not;
if the coordinates of at least one point on the line segment are adjacent to the area of the obstacle, judging that the line segment passes through the obstacle in the environment;
and if the coordinates of each point on the line segment are not adjacent to the area of the obstacle, judging that the line segment does not pass through the obstacle in the environment.
Optionally, the optimized path further includes a line connecting the start point, the end point, and the remaining intermediate nodes therebetween.
Optionally, the method further comprises:
and S7, guiding the target object to move according to the optimized path.
On the other hand, the present application also provides a terminal, including:
a memory for storing executable computer instructions;
a processor for executing the computer instructions to implement the method as described above.
Compared with the prior art, the method has the following advantages:
the method and the device delete the redundant nodes in the path collected by the jumping point search algorithm and output the optimized path. The problems of more turning points and more redundant nodes of the paths collected by the jumping point searching algorithm are well optimized.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a diagram illustrating paths collected by a prior art skip point search algorithm;
fig. 2 is a schematic structural diagram of an optimized path in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise scale for the purpose of facilitating and distinctly aiding in the description of the embodiments of the present application. In order to make the objects, features and advantages of the present application more comprehensible, please refer to the accompanying drawings. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the implementation of the present application, so that the modifications of the structures, the changes of the ratio relationships, or the adjustments of the sizes, are not essential in the technology, and the modifications, the changes of the ratio relationships, or the adjustments of the sizes, can still fall within the scope of the technical content disclosed in the present application without affecting the efficacy and the achievable purpose of the present application.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The following describes steps of an optimization method of a skip point search algorithm provided in one or more embodiments of the present application.
S1, acquiring the path of the environment where the target object is located; wherein the path comprises a start point, an end point and at least one intermediate node therebetween, and the environment comprises at least one obstacle.
In one or more embodiments, the target object generally refers to an intelligent robot that needs to move from a starting point to an end point, and in a special case, the target object may also be a user or the like that needs to move from the starting point to the end point.
In one or more embodiments, the starting point of the path may be the current position of the target object, and the optimized path is directly made based on the current position of the target object, thereby ensuring that the target object can depart as soon as possible and reach the end point of the path. The destination of the path is generally a substation, a switching station, a power distribution room and the like with indoor faults, and necessary emergency fire-fighting operation can be carried out after the target object reaches the destination of the path. The route has several intermediate nodes, on the basis of which the target object can avoid obstacles in the environment while driving along the route. In addition, the positions and the number of intermediate nodes between the starting point and the end point are not exactly the same in different paths, and only an exemplary description is made here.
And S2, setting the starting point of the path as the current node.
In one or more embodiments, the start of the path generally needs to be set as the current node.
It should be noted that the current node is not fixed and will switch continuously as each step of the optimization method of the hop search algorithm proceeds. The specific handover method of the current node will be described in detail below, and is not limited in detail here.
And S3, setting the next node of the current node as the connected node.
In one or more embodiments, it may be desirable to set the next node of the current node as the connected node, which is typically an intermediate node or endpoint.
It should be noted that the connected node is not fixed and will be switched continuously as each step of the optimization method of the hop search algorithm proceeds. The specific handover method of the connected node will be described in detail below, and is not specifically limited herein.
S4, judging whether a connecting line between the current node and the connected node passes through an obstacle in the environment;
if the connection line between the current node and the connected node passes through the obstacle in the environment, setting the connected node as the current node, and performing step S3;
if the connection line between the current node and the connected node does not pass through the obstacle in the environment, performing step S5;
it should be noted that a connection line between the current node and the connected node may be a straight line or a line segment, and is not limited specifically here.
S5, judging whether an intermediate node (namely a redundant node) exists between the current node and the connected node;
if an intermediate node exists between the current node and the connected node, deleting the intermediate node between the current node and the connected node, and then performing step S6;
if there is no intermediate node between the current node and the connected node, directly performing step S6;
s6, judging whether the connected node is the end point of the path or not;
if the connected point is the end point of the path, generating an optimized path; the optimized path comprises a starting point, an end point and the rest intermediate nodes between the starting point and the end point;
if the connected point is not the end point of the path, the next node of the connected node is set as the connected node, and step S4 is performed.
In some embodiments, the step S1 is preceded by: judging whether the environment is a dangerous environment or not; if the environment is a dangerous environment, the process proceeds to step S1.
Specifically, the hazardous environment includes: after explosion occurs, the detected ambient temperature is greater than a set temperature threshold value, the detected toxic gas concentration is greater than a set toxic gas concentration threshold value, the detected harmful gas concentration is greater than an environment after a set harmful gas concentration threshold value, and the like.
In some embodiments, the path is searched based on a hop search algorithm. The jumping point searching method is characterized in that the grid rule is utilized in a grid map, the symmetry of the traditional A-star algorithm searching is thoroughly broken, and the A-star searching algorithm searching efficiency is qualitatively improved. However, the paths searched by the jump point search method have the problems of more redundant nodes, more path turns and the like. Redundant nodes make the invalid path long, resulting in longer time of the intelligent robot in the dangerous environment. The path turns more, and the intelligent robot frequently turns, so that the reliability of the sensor carried by the intelligent robot is greatly reduced, and the intelligent robot easily bumps into an obstacle. Therefore, the method optimizes the problems that the jump point searching method has more turning points and more redundant nodes.
In some embodiments, the step S1 further includes: creating a path list; wherein the acquired path is stored in the path list.
In some embodiments, the determining whether a connection line between the current node and the connected node passes through an obstacle in the environment includes:
calculated to get the current node (x)1，y1) And connected node (x)2，y2) The equation of (a) is a two-point equation; wherein the expression of the equation is:
judging that the straight line is in the interval [ x ]1,x2]Whether the line segment above passes an obstacle in the environment.
In some embodiments, the determining the straight line is in the interval [ x ]1,x2]Whether a line segment on passes an obstacle in the environment, comprising:
judging whether the coordinates of at least one point on the line segment are positioned in the area of the obstacle or not;
if the coordinates of at least one point on the line segment are located in the area of the obstacle, judging that the line segment passes through the obstacle in the environment;
and if the coordinates of each point on the line segment are not positioned in the area of the obstacle, judging that the line segment does not pass through the obstacle in the environment.
In some embodiments, the determining the straight line is in the interval [ x ]1,x2]Whether a line segment on passes an obstacle in the environment, comprising:
judging whether the coordinates of at least one point on the line segment are adjacent to the area of the obstacle or not;
if the coordinates of at least one point on the line segment are adjacent to the area of the obstacle, judging that the line segment passes through the obstacle in the environment;
and if the coordinates of each point on the line segment are not adjacent to the area of the obstacle, judging that the line segment does not pass through the obstacle in the environment.
In some embodiments, the optimized path further includes lines connecting the start point, the end point, and the remaining intermediate nodes therebetween.
In some embodiments, further comprising: and S7, guiding the target object to move according to the optimized path.
In one or more embodiments, there is provided a terminal including:
a memory for storing executable computer instructions;
a processor for executing the computer instructions to implement the method as described above.
While the present disclosure has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the present disclosure. Numerous modifications and alterations to the present application will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of protection of the present application should be limited only by the attached claims.
Claims (10)
1. A method for optimizing a skip point search algorithm is characterized by comprising the following steps:
s1, acquiring the path of the environment where the target object is located; wherein the path comprises a start point, an end point and at least one intermediate node therebetween, and the environment comprises at least one obstacle;
s2, setting the starting point of the path as the current node;
s3, setting the next node of the current node as a connected node;
s4, judging whether a connecting line between the current node and the connected node passes through an obstacle in the environment;
if the connection line between the current node and the connected node passes through the obstacle in the environment, setting the connected node as the current node, and performing step S3;
if the connection line between the current node and the connected node does not pass through the obstacle in the environment, performing step S5;
s5, judging whether an intermediate node exists between the current node and the connected node;
if an intermediate node exists between the current node and the connected node, deleting the intermediate node between the current node and the connected node, and then performing step S6;
if there is no intermediate node between the current node and the connected node, directly performing step S6;
s6, judging whether the connected node is the end point of the path or not;
if the connected point is the end point of the path, generating an optimized path; the optimized path comprises a starting point, an end point and the rest intermediate nodes between the starting point and the end point;
if the connected point is not the end point of the path, the next node of the connected node is set as the connected node, and step S4 is performed.
2. The method for optimizing a skip point search algorithm according to claim 1, wherein said step S1 is preceded by:
judging whether the environment is a dangerous environment or not;
if the environment is a dangerous environment, the process proceeds to step S1.
3. The method for optimizing a hop search algorithm according to claim 1, wherein the path is searched based on a hop search algorithm.
4. The method for optimizing a skip point search algorithm according to claim 1, wherein said step S1 further comprises:
creating a path list; wherein the acquired path is stored in the path list.
5. The method for optimizing a skip point search algorithm according to claim 1, wherein said determining whether a connection line between the current node and the connected node passes through an obstacle in the environment comprises:
calculated to get the current node (x)1，y1) And connected node (x)2，y2) The equation of (a); wherein the expression of the equation is:
judging that the straight line is in the interval [ x ]1,x2]Whether the line segment above passes an obstacle in the environment.
6. The method of optimizing a skip point search algorithm according to claim 5, wherein said determining said straight line is in an interval [ x ]1,x2]Whether a line segment on passes an obstacle in the environment, comprising:
judging whether the coordinates of at least one point on the line segment are positioned in the area of the obstacle or not;
if the coordinates of at least one point on the line segment are located in the area of the obstacle, judging that the line segment passes through the obstacle in the environment;
and if the coordinates of each point on the line segment are not positioned in the area of the obstacle, judging that the line segment does not pass through the obstacle in the environment.
7. The method for optimizing a skip point search algorithm according to claim 5 or 6, wherein said determining that said straight line is in an interval [ x ]1,x2]Whether a line segment on passes an obstacle in the environment, comprising:
judging whether the coordinates of at least one point on the line segment are adjacent to the area of the obstacle or not;
if the coordinates of at least one point on the line segment are adjacent to the area of the obstacle, judging that the line segment passes through the obstacle in the environment;
and if the coordinates of each point on the line segment are not adjacent to the area of the obstacle, judging that the line segment does not pass through the obstacle in the environment.
8. The method of optimizing a hop search algorithm according to claim 1, wherein the optimized path further comprises a line connecting the start point, the end point, and the remaining intermediate nodes therebetween.
9. The method for optimizing a skip point search algorithm according to claim 1, further comprising:
and S7, guiding the target object to move according to the optimized path.
10. A terminal, comprising:
a memory for storing executable computer instructions;
a processor for executing the computer instructions to implement the method of any one of claims 1 to 9.
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