JPH04199357A - Searching method for approximate shortest route - Google Patents
Searching method for approximate shortest routeInfo
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- JPH04199357A JPH04199357A JP2331449A JP33144990A JPH04199357A JP H04199357 A JPH04199357 A JP H04199357A JP 2331449 A JP2331449 A JP 2331449A JP 33144990 A JP33144990 A JP 33144990A JP H04199357 A JPH04199357 A JP H04199357A
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- 238000000034 method Methods 0.000 title claims description 62
- 238000013507 mapping Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
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- 240000006108 Allium ampeloprasum Species 0.000 description 1
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Abstract
Description
【発明の詳細な説明】
A、産業上の利用分野
本発明は、コンピュータマツピングにおいて、マツプ上
の任意の2点間の最短経路を求める近似的最短経路の探
索方法に関するものである。DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to an approximate shortest path search method for finding the shortest path between arbitrary two points on a map in computer mapping.
B8発明の概要
本発明は、コンピュータマツピングにおけるマツプ上の
任意の2つのノード、始点・終点間の最短経路を探索す
る方法において、終点と始点あるいは直前に選択された
ノードを結ぶ直線と前記始点あるいはノードにつながる
ノードとで形成される角度をノード選択要素とし、それ
ら要素中より最小角度あるいは往路行程探索がくり返さ
れる度に、最小角度から小さな角度順に順次選択角度を
選び該角度上にあるノードを選定して経路探索をくり返
し、その探索経路亘長と始点・終点間直線距離との偏差
率を比較判定し準最短経路を決定するものとし、判定不
成立に応じて往路行程探索。B8 Summary of the Invention The present invention provides a method for searching for the shortest path between any two nodes on a map, a starting point and an ending point, in computer mapping, in which a straight line connecting an ending point and a starting point or a previously selected node and the starting point are used. Alternatively, the angle formed by the node connected to the node is used as a node selection element, and each time the minimum angle or outward travel search is repeated from among these elements, select angles in order of decreasing angle from the minimum angle are selected. A node is selected and the route search is repeated, and the deviation rate between the length of the search route and the straight line distance between the starting point and the ending point is compared and judged to determine the quasi-shortest route.If the judgment is not satisfied, the outward route is searched.
復路行程探索をくり返し、更に判定用設定値を変更して
探索・判定をくり返し準最短経路の決定を自動的に行う
ことによって、探索時間を短くする近似的最短経路の探
索方法である。This is a method of searching for an approximate shortest route that shortens the search time by repeating the search for the return trip, and then changing the determination setting value and repeating the search and determination to automatically determine the quasi-shortest route.
C3従来の技術
従来、コンピュータマツピングにおいてマツプ上の2地
点間の最短経路を求めるには、この2地点間の経路とな
りうる通路の組合わせの各ケースについて、その距離の
合計値を計算して全ケースの中で最小距離のケースを最
短経路とすることが行われている。C3 Conventional technology Conventionally, in computer mapping, in order to find the shortest route between two points on a map, the sum of the distances is calculated for each case of combinations of paths that can be a route between these two points. Among all cases, the case with the shortest distance is set as the shortest route.
D0発明が解決しようとする課題
併し、上記の方法では複雑なマツプの場合、組合わせの
数が膨大となり最短経路を発見するまでの探索時間が非
常に長く掛かるという課題がある。D0 Problems to be Solved by the Invention Another problem with the above method is that in the case of a complex map, the number of combinations becomes enormous and the search time required to find the shortest route is extremely long.
本発明は、以上の点にかんがみなされたもので、終点と
始点あるいは選択されたノードを結ぶ直線と選択候補ノ
ードとの形成する角度をノード選択要素とし、それら要
素中の最小角度あるいは最小角度に準する角度を選びノ
ードを選択する経路探索をくり返し、その探索経路亘長
の偏差率を判定要素とすると共に、判定用設定値を可変
として往路行程探索、復路行程探索をくり返すことによ
って、探索時間を短縮した近似的最短経路の探索方法を
提供することを目的としたものである。The present invention was conceived in consideration of the above points, and uses the angle formed by the selection candidate node and the straight line connecting the end point and the start point or the selected node as a node selection element, and the minimum angle or minimum angle among these elements. The search is performed by repeating a route search in which a suitable angle is selected and a node is selected, and the deviation rate of the search route length is used as a judgment factor, and the judgment setting value is varied and repeating the forward and return journey searches. The purpose of this invention is to provide a method for searching for an approximate shortest route in a short time.
E7課題を解決するための手段
上記目的を達成するため、本発明はコンピュータマツピ
ングにおけるマツプ上の2つのノード。E7 Means for Solving the Problems In order to achieve the above object, the present invention provides two nodes on a map in computer mapping.
始点・終点の最短経路を探索する方法において、始点か
ら終点への往路行程探索をくり返す度に、 □終点と
始点を結ぶ直線と始点につながるノードとで形成される
角度群中の最小角度より小さな角度順に順次選択角度を
選び換えて経路を構成するノードの選定を行う第1ノー
ト選択と、終点と直前に選択されたノードを結ぶ直線と
該選択ノードにつながるノードとで形成される角度群中
の最小角度を選択角度に選んで経路を構成するノードの
選定を行う第2ノード以下のノード選択とを行い始点よ
り終点に至る往路行程の経路探索をし、その探索経路亘
長と始点・終点間直線距離との偏差比率の所定設定値に
対する判定を行い準最短経路を決定する第1の手段と、
前段の前記往路行程探索の第1手段において判定不成立
の場合にその第1手段における始点を終点に終点を始点
に置き換え第1の手段と同様の手段で復路行程の経路探
索と前記判定を行い準最短経路を決定する第2の手段と
、
前記第1の手段による往路行程、第2の手段による復路
行程の経路探索をくり返しても判定不成立の場合その都
度前記偏差率の設定値を順次新たに大きな設定値に変更
し第1の手段、第2の手段による往・復行程の経路探索
と前記新設定値による判定をくり返し行い準最短経路を
決定する第3の手段とで構成される。In the method of searching for the shortest path between the starting point and the ending point, each time the outgoing journey search from the starting point to the ending point is repeated, A first note selection in which nodes forming a route are selected by sequentially selecting selected angles in order of decreasing angle, and a group of angles formed by a straight line connecting the end point and the previously selected node and a node connected to the selected node. Select the minimum angle among them as the selection angle to select the nodes that make up the route. Select the nodes below the second node, search for a route from the start point to the end point, and calculate the length of the search route and the starting point. a first means for determining a quasi-shortest route by determining a predetermined set value of a deviation ratio from a straight line distance between end points;
If the determination is not established in the first means of searching for the outgoing route in the previous stage, the starting point in the first means is replaced with the ending point and the ending point is replaced with the starting point. a second means for determining the shortest route; and if the determination is not established even after repeating the route search for the outward journey by the first means and the return journey by the second means, the set value of the deviation rate is sequentially updated each time. It is comprised of a first means by changing the set value to a larger value, and a third means for determining a quasi-shortest route by repeating the route search for the forward and backward journeys by the second means and the determination based on the new set value.
F3作用
上記構成において、先ず(−1)始点より終点へ向けて
の第1行程(往路)探索で、第1ノード以下全ノード選
定に当たり前記選択角度を最小角度に選んでノードを選
定する経路探索を行い、終点に到達後所定の初期設定値
による始点・終点間直線距離との偏差率の判定を行い準
最短経路の判定をし、近似的最短経路の決定を行う。(
2)判定不成立ならば、終点より始点に向けての第2行
程(復路)探索を前記第1行程(往路)探索と全く同一
方法にて経路探索し前記判定を行い経路決定を行う。(
3)更に、判定不成立で始点に直結したノードが複数あ
る場合は、第3行程(往路)探索に入り、第1ノード選
択に限り前記選択角度を最小角の次に最小角を除いた中
での最小角度を選んでノード選択し、第2ノード以下の
ノード選択では前記選択角度を最小角度に選んでノード
選定する経路探索を行った後、前記判定を行い経路決定
を行う。(4)更に、判定不成立で、終点につながるノ
ードが複数ある場合は第4行程(復路)探索に入り、前
記第3行程(往路)探索と全く同一な方法にて経路探索
し前記判定を行い経路決定を行う。(5)なお判定不成
立であれば、始点あるいは終点につながるノード数の回
数だけ(3)項あるいは(4)項の経路探索法をくり返
し前記判定を行い経路決定を行う。(6)更に、なお判
定不成立の場合は、前記偏差率判定のための設定値を若
干大きな新しい値に変更した孝、再び前記第1行程(往
路)により探索をくり返し、但し鷺の際の偏差帯の判定
は前記の新設定値との比較で行うものとし経路決定を行
う。(7)以上の(1)項より(6)項までめ探索法を
判定が成立するまでくり返す。F3 effect In the above configuration, first, (-1) in the first step (outward route) search from the starting point to the ending point, a route is selected in which nodes are selected by selecting the selection angle as the minimum angle when selecting all nodes from the first node onwards. The search is performed, and after reaching the end point, the deviation rate from the straight line distance between the start point and the end point is determined based on a predetermined initial setting value to determine the quasi-shortest path, and the approximate shortest path is determined. (
2) If the determination is unsuccessful, a route is searched for the second leg (return route) from the end point to the starting point using the same method as the first route (outbound route) search, and the above determination is made to determine the route. (
3) Furthermore, if the judgment is not satisfied and there are multiple nodes directly connected to the starting point, the third step (outward) search is started, and only for the first node selection, the selected angle is set after the minimum angle and then the minimum angle is removed. After selecting the minimum angle of , a node is selected, and for node selection from the second node onwards, the selected angle is selected as the minimum angle and a route search is performed to select a node, and then the above judgment is performed to determine a route. (4) Furthermore, if the judgment is not satisfied and there are multiple nodes connected to the end point, the fourth process (return route) search is started, the route is searched in exactly the same method as the third process (outward route) search, and the above judgment is performed. Make route decisions. (5) If the determination is not satisfied, the route search method in section (3) or (4) is repeated as many times as the number of nodes connected to the start point or end point, and the above determination is made to determine the route. (6) Furthermore, if the judgment still fails, change the setting value for the deviation rate judgment to a new value that is slightly larger, and repeat the search again according to the first step (outward path), however, if the deviation at the time of the heron The zone is determined by comparison with the new set value, and the route is determined. (7) Repeat the above search method from (1) to (6) until the determination is satisfied.
G、実施例
次に、本発明の経路探索法の一実施例を第1図の道路マ
ツプ、第2図の最短経路探索原理図に基づいて説明する
。G. Embodiment Next, an embodiment of the route search method of the present invention will be described based on the road map shown in FIG. 1 and the shortest route search principle diagram shown in FIG.
これらの図においてAは始点、Bは終点、Zl+22.
23=2.は探索中にノードに付ける名称を示し、a
、 −a 2= a m−1は選択したノードを示す。In these figures, A is the starting point, B is the ending point, Zl+22.
23=2. indicates the name given to the node during the search, and a
, -a2=am-1 indicates the selected node.
但し、上記のl、nは整数1.2.3・・・とする。However, the above l and n are integers 1.2.3...
なお、始点Aはa−+ (n 1)”aoとノードと
して表現できる。B=Aは終点Bと始点Aとを結ぶ直線
、B’*’a 、”QB −am−1’(n’−2)は
、終点Bと選択したノードa 1 =a m −+ (
’n−2)とを結ぶ直線を示す。(x++ Y+)+
(X2. y2)+Cx5r 3’3) −(x
i、 y+)はノード座標、(X。、yo)は始点座
標、(x、、 Y、、:)は終点座標を示している。Note that the starting point A can be expressed as a-+ (n 1)"ao as a node.B=A is a straight line connecting the ending point B and the starting point A, B'*'a,"QB -am-1'(n' -2) is the end point B and the selected node a 1 =am −+ (
'n-2). (x++ Y+)+
(X2.y2)+Cx5r 3'3) -(x
i, y+) indicates the node coordinates, (X., yo) indicates the starting point coordinates, and (x, , Y, , :) indicates the ending point coordinates.
また、θ1.θ2.θ3=θ、(i=1゜2.3)とで
形成される角度/B−A−Z、、 lB−A−22,
lB−A−23−7B−A−Zfi(n=1.2.3)
及び前記直線B * a、=B a a、−1(n−2
)と選択したノードa、−a、(n=2)ニラながルノ
ードzl、 z2.Z3−Zt (i−1゜2.3)
とで形成される角度/B−a、・zl、lB ”
a 1 ” Z2. lB ” al”
Z3= Z B @ am−1”2、(n−2
,i=1. 2. 3)を示す。Also, θ1. θ2. The angle formed by θ3=θ, (i=1°2.3)/B-A-Z, 1B-A-22,
lB-A-23-7B-A-Zfi (n=1.2.3)
and the straight line B*a,=B a a, -1(n-2
) and selected nodes a, -a, (n=2) leek node zl, z2. Z3-Zt (i-1゜2.3)
The angle formed by /B-a,・zl,lB ”
a 1 ” Z2. lB ” al”
Z3= Z B @ am-1”2, (n-2
, i=1. 2. 3) is shown.
次に第2図(a)、(b)により基本的な経路探索法の
原理を説明する。Next, the principle of the basic route search method will be explained with reference to FIGS. 2(a) and 2(b).
第2図(a)に示すように、先ず始点A(xg。As shown in FIG. 2(a), first, starting point A (xg).
yo)と終点B (x、、y、、)を直線BAで結ぶ。yo) and the end point B (x,,y,,) are connected by a straight line BA.
次に、始点A (xo、 yo)と直結されているノ
ード(X+、 y+) + (’X2+ 3’2)
+ (xs+ ys)に仮名称2.,22.23を付
ける。Next, the node directly connected to the starting point A (xo, yo) (X+, y+) + ('X2+ 3'2)
+ Tentative name for (xs+ys) 2. , 22. Add 23.
次に、直線AZ+、AZ2.AZ3が夫々直線BAとな
す角度θ、=/BAZ、、 θ2=/BAZ2゜θ3
= l B A Z 3を次式により計算する。即ち
、【
前記角度θ1.θ2.θ3の比較を行い、最小角度θ1
の方向のノードZ、を選定し、ノードの仮名称Z1をa
lと改めると共に、他の仮名称22.23を消去する。Next, straight lines AZ+, AZ2. Angle θ that AZ3 makes with straight line BA, =/BAZ,, θ2=/BAZ2゜θ3
= l B A Z 3 is calculated using the following formula. That is, [the angle θ1. θ2. Compare θ3 and find the minimum angle θ1
Select the node Z in the direction of , and change the tentative name of the node Z1 to a
1 and delete the other tentative names 22 and 23.
次に、第2図(b)に示すように前記選択されたノード
a 1(x I+ y +)と終点B (x、、
yJを直線Balで結ぶ。Next, as shown in FIG. 2(b), the selected node a 1 (x I+ y +) and the end point B (x, ,
Connect yJ with straight line Bal.
次いで、前記ノードa+ (X+ + 7+)と直結
されているノード(X41 3’4) + (xs、
ys) +(xi、 Xs)に仮名称2.,2.
,23を付ける。Next, the node (X41 3'4) + (xs,
ys) + (xi, Xs) tentative name 2. ,2.
, 23.
次に、直線a、zl+ aIZ2.alZ3が夫々直
線Ba、となす角度θ3− l B a HZ l +
θ1 ” l B a 1Zffi+ θ2−Z
Ba、Z3を前出の式で算出し、角度θ1.θ2.θ3
の比較を行い、最小角度θ1の方向のノードZ2を選定
し、ノードの仮名称Z、をalと改めると共に、他の仮
名称2.,2.を消去する。Next, the straight line a, zl+aIZ2. The angle θ3- l B a HZ l + that alZ3 makes with the straight line Ba, respectively
θ1 ”l B a 1Zffi+ θ2−Z
Ba, Z3 are calculated using the above formula, and the angle θ1. θ2. θ3
The node Z2 in the direction of the minimum angle θ1 is selected, the tentative name Z of the node is changed to al, and the other tentative names 2. ,2. Erase.
以下同様にして、経路探索を繰り返し終点Bに到達する
まで続ける。Thereafter, the route search is repeated in the same manner until the end point B is reached.
このようにして求めた探索経路亘長をLとし、始点・終
点間の直線距離BAに対する偏差率設定ならば、Lを近
似的な最短経路とする。つまりLは最短経路ではないが
、上記条件を満足するということで準最短経路と選定す
る。Let L be the length of the search route obtained in this way, and let L be the approximate shortest route if the deviation rate is set for the straight-line distance BA between the starting point and the ending point. In other words, although L is not the shortest route, it is selected as the quasi-shortest route because it satisfies the above conditions.
然しなから、上記条件式が成立しない場合には、上記探
索順序とは逆にB点を始点としA点を終点として、上記
と同様の探索法を用いてB点よりA点に到る経路を求め
、その探索経路亘長りが上記条件式を満足するか否かの
判定を行い、準最短経路として選定するか否かを決定す
る。However, if the above conditional expression does not hold, a route from point B to point A is created using the same search method as above, with point B as the starting point and point A as the ending point, contrary to the above search order. is determined, and it is determined whether the length of the search route satisfies the above conditional expression, and it is determined whether or not to select it as the quasi-shortest route.
然しながら、上記の探索法でも準最短経路が選定できな
い場合には、更に次の探索法を行う。即ち前述の方法で
は、始点より第1ノードの探索を開始する際最小角θ1
方向のノードを選び探索を進めたが、今回は始点より第
1ノード探索をする際に限り最小角の次に小さい角度θ
2方向のノードZ2を選びa、としく第2図(a))以
後このノードa1から終点に到るまでの第2ノード以下
の探索では最小角度θ1方向のノードを選び探索を進め
、最後に前記条件式により判定を行い、準最短経路とす
るか否かを決定する。However, if the quasi-shortest route cannot be selected even with the above search method, the next search method is further performed. That is, in the method described above, when starting the search for the first node from the starting point, the minimum angle θ1
I selected a node in the direction and proceeded with the search, but this time I only searched for the first node from the starting point by using the next smallest angle θ after the minimum angle.
Select a node Z2 in two directions as a, and after that (Fig. 2(a)), in the search from the second node onwards from this node a1 to the end point, select the node with the minimum angle θ1 direction and proceed with the search, and finally A determination is made based on the conditional expression, and it is determined whether or not to take the quasi-shortest route.
然し、なお決定不可能の場合には、上記の探索法におい
て始点より探索を開始する際の第1ノード選択角度を順
次θ3.θ4.・・・・・・と変更して探索を行い前記
条件式を満足するまで探索を繰り返す。However, if it is still impossible to determine, the first node selection angle when starting the search from the starting point in the above search method is sequentially set to θ3. θ4. . . . and repeat the search until the conditional expression is satisfied.
即ち、始点に直結したノード数だけθを最小角より順次
次に小さい角度に換えながら第1ノード探索を繰り返す
。That is, the first node search is repeated while changing θ to the next smaller angle than the minimum angle by the number of nodes directly connected to the starting point.
更に、なお準最短経路が選定できない場合には、前記条
件式の設定値εを若干大きな値に変更した上で、最初の
探索順序に戻って探索を実施する。Furthermore, if the quasi-shortest route still cannot be selected, the setting value ε of the conditional expression is changed to a slightly larger value, and the search is performed by returning to the initial search order.
次に、本発明の最短経路探索法を第3図のフローチャー
トに従いステップ順に説明する。Next, the shortest route search method of the present invention will be explained step by step according to the flowchart of FIG.
第3図において、第1〜第2図の記号と同じものは、同
一または相当のものをしめす。In FIG. 3, the same symbols as in FIGS. 1 and 2 indicate the same or equivalent components.
A:始点、ao=a−+ (n−1)とも表す。A: Starting point, also expressed as ao=a-+ (n-1).
B:終点、bo=b、−、(n=1)とも表す。B: End point, also expressed as bo=b, -, (n=1).
a、−1(n−2,:3・・・):A点を始点とした探
索時の選択ノード
b−−+ (n−2,3−): 8点を始点とした探索
時の選択ノード
2、ノードの仮名称
θ1:終点Bと始点Aを結ぶ直線ABと、始点Aにつな
がるノードZ1(i−1,2・・・)との形成する角度
/El−A−Z+ (t−1,2・・・)及び終点Bと
選択したノードa m−1(n −2、3・・・)を結
ぶ直線B−a m−3(n = 2.3・・・)と、該
ノードにam−、(n−2,3・・・)につながるノー
ドZ、(i−1,2−・・)との形成する角度/B−a
。a, -1 (n-2, :3...): Selection node when searching with point A as the starting point b--+ (n-2, 3-): Selection when searching with point 8 as the starting point Node 2, tentative name of node θ1: Angle formed by straight line AB connecting end point B and start point A and node Z1 (i-1, 2...) connected to start point A/El-A-Z+ (t- 1, 2...) and the straight line B-a m-3 (n = 2.3...) connecting the end point B and the selected node a m-1 (n -2, 3...), Angle formed by node am-, node Z connected to (n-2, 3...), and (i-1, 2-...) /B-a
.
−1e Z+ (n−2,3−,し1,2−、)θ、:
選択角度
θド最小角度
θM=経路探索を繰り返す度に、最小角度θ1がらそれ
に次ぐ小さい角度に切り替え選ばれる選択角度
り、:選択経路長
L :探索経路亘長
ε ;最短経路亘長偏差率
ε0.最短経路亘長偏差率の設定値
n :経路探索回数
N :行程探索番号
M :往復行程探索番号
k :選択ノードに直結したノード数
c:M、i:にのカウント数
(1)第1行程探索(往路A−B)の1回目経路探索(
A−al)の説明
ステップS1:終点Bと始点Aを結ぶ直線ABに対する
最短経路亘長の偏差率εをε。に設定する。-1e Z+ (n-2,3-,shi1,2-,)θ,:
Selection angle θ and minimum angle θM = Every time the route search is repeated, the minimum angle θ1 is switched to the next smallest angle and the selected selection angle is: Selected route length L: Search route length ε; Shortest route length deviation rate ε0 .. Setting value of shortest path length deviation rate n: Number of route searches N: Process search number M: Round trip search number k: Number of nodes directly connected to selected node c: Count number of M, i: (1) First process First route search (outward route A-B)
A-al) Explanation Step S1: The deviation rate ε of the shortest path length with respect to the straight line AB connecting the end point B and the start point A is ε. Set to .
S2 :カウンターCをリセットする。S2: Reset counter C.
S3 二行程探索番号Nを1にセットすると共に、往復
行程探索番号Mを1にセットする。S3: Set the two-stroke search number N to 1, and set the round-trip search number M to 1.
S4 :経路探索回数nを1にセットする。更に、探索
経路亘長りをリセットする。S4: Set the number of route searches n to 1. Furthermore, the search route length is reset.
S8 ;ノードa 、し1= 86= Aとする。S8; Node a, 1=86=A.
S6 :終点Bと始点Aとを結ぶ直線BAを引く。S6: Draw a straight line BA connecting end point B and starting point A.
S7 :始点Aと直、結したノードを探索し、Zl〜Z
kの仮名称を付す。S7: Search for nodes directly connected to starting point A, and search for Zl~Z
Give it a tentative name of k.
S、:経路探索回数nが1回目であるので、n−1の判
定結果はYESであり、ステップS9へ進む。S: Since the number of route searches n is the first time, the determination result of n-1 is YES, and the process advances to step S9.
S9 :往復行程探索番号Mと始点Aに直結する経路数
にとの間でM≦にの判定を行う。第1行程探索ではMは
1であり、選択ノードに直結したノード数kが1以上で
あれば判定結果はYESとなりステップ5lflへ進む
。S9: It is determined whether M≦ between the round trip search number M and the number of routes directly connected to the starting point A. In the first step search, M is 1, and if the number k of nodes directly connected to the selected node is 1 or more, the determination result is YES and the process proceeds to step 5lfl.
S +o :カウントCはOであるので、C〈1の判定
結果はYESとなりステップS1□へ進む。S+o: Since the count C is O, the determination result of C<1 becomes YES and the process proceeds to step S1□.
SI2二/BeA*Z1=θ、を計算し、小角度順にθ
1〜θ、とする。Calculate SI22/BeA*Z1=θ, and θ in order of small angle
1 to θ.
S13:経路探索回数n=1の判定結果はYESであり
、ステップSI4へ進む。S13: The determination result of route search number n=1 is YES, and the process proceeds to step SI4.
S14:往復行程探索番号Mが1であるので、選択角θ
、−〇、=θ1となる。S14: Since the round trip search number M is 1, the selection angle θ
, -〇, = θ1.
S16:選択角θS−θ1に対するノードZlを抽出し
、Zr−am−alとし、他の仮名称を消去する。S16: Extract the node Zl for the selection angle θS-θ1, set it as Zr-am-al, and delete other tentative names.
Sl?:選択経路長L3−直線a* −1’ a *−
aO@a、=Asa、を計算する。Sl? : Selected path length L3-straight line a*-1' a*-
Calculate aO@a,=Asa.
S18:探索経路亘長しの計算をする。L=L+L、−
A◆aI
Sag:ノードa、、が終点Bに最も近いノードか否か
の判定を行う。今判定結果をNOとすると、ステップ8
2Gへ進む。S18: Calculate the length of the search route. L=L+L, -
A◆aI Sag: Determines whether node a, , is the closest node to end point B. If the judgment result is NO now, step 8
Proceed to 2G.
S2゜:経路探索回数n−n+し2としてステップS、
へ戻る。S2゜: Route search number n-n+ and step S as 2,
Return to
(2)第1工程(往路A−B)探索の2回目経路探索(
a += 82)の説明
S6 :終点Bと選択ノードalを結ぶ直線B・alを
引く。(2) Second route search of the first step (outward route A-B) search (
Explanation of a += 82) S6: Draw a straight line B.al connecting the end point B and the selected node al.
S7 コ選択ノードa1と直結したノードを探索し、2
1〜Z、の仮名称をふす。S7 Search for nodes directly connected to co-selected node a1,
The tentative names are 1-Z.
S8 :経路探索回数n−1の判定を行うが、nは2で
あるので判定結果はNoであり、ステップSI□へ進む
。S8: The number of route searches n-1 is determined, but since n is 2, the determination result is No, and the process proceeds to step SI□.
S、: /B 11 a、s Zr−θ、を計算し、小
角度順にθ、〜θ、とする。S,: /B 11 a,s Zr-θ, is calculated and set as θ, ~θ, in order of small angle.
S13:nが2であるので、n=1の判定結果はNoで
あり、ステップS+5へ進む。S13: Since n is 2, the determination result for n=1 is No, and the process advances to step S+5.
S15:選択角度θ、=θ1とする。S15: Selection angle θ is set to =θ1.
S16:選択角度θ1に対応するノードZ1を抽出しZ
、−a2とし、他の仮名称を消去する。S16: Extract the node Z1 corresponding to the selection angle θ1 and
, -a2, and delete the other tentative names.
S17:選択経路長り、を計算する。L、−直線a6
a2
S18:探査経路亘長りを計算する。L−直線A・al
+a1*a2
S19:選択ノードa、、はBに最も近いノードか否か
を判定し、NoであればステップS2゜へ進みn−n+
1としステップs6へ戻り前記動作を繰り返す。YES
であればステップS2+へ進む。S17: Calculate the selected route length. L, - straight line a6
a2 S18: Calculate the length of the exploration route. L-straight line A・al
+a1*a2 S19: Determine whether the selected nodes a, , are the closest nodes to B, and if No, proceed to step S2゜n-n+
1 and returns to step s6 to repeat the above operation. YES
If so, proceed to step S2+.
S21:探索経路亘長を計算する。L−L+B・a n
”” A ” a ) + a l@a 2S2゜:
(L−BAの長さ)/BAの長さが最短経路亘長偏
差率εより小さいが否がを判定する。S21: Calculate the search route length. LL+B・a n
"" A "a) + a l@a 2S2゜:
It is determined whether the length of (L-BA length)/BA is smaller than the shortest path length deviation rate ε.
判定結果がYESであればステップ323へ進み、A、
al+ a2+ B経路を準最短経路とし、E
NDとする。しかし、判定結果がNoであればステップ
S24へ進む。If the determination result is YES, proceed to step 323,
al+ a2+ Let B route be the quasi-shortest route, and E
ND. However, if the determination result is No, the process advances to step S24.
S2.:選択ノードa I−a m −a 2を消去す
る。S2. : Delete selected node aI-am-a2.
S25:工程探索番号N=N+し2とする。S25: Process search number N=N+ and set to 2.
S2.:Nが奇数であるが否かの判定を行う。Nが2で
あるので判定結果はNoとなりステップS2□へ進む。S2. : Determine whether N is an odd number or not. Since N is 2, the determination result is No and the process advances to step S2□.
S27:始点AをB、終点BをAに変えると共にノード
aイをb7に換えステップS4へ戻る。S27: Change the starting point A to B and the ending point B to A, and change the node ai to b7 and return to step S4.
(3)第2工程探索(復路B−A)の1回目経路探索(
B−b、)の説明
S4 :経路探索回数n=1にセットし、探索経路亘長
L=0にリセットする。(3) First route search for the second step search (return route B-A) (
Explanation of B-b,) S4: Set the number of route searches n=1 and reset the search route length L=0.
S5 :ノードb 、−、+ b o= BとしS、:
A−B直線を引く。S5: Node b, -, +bo=B and S:
Draw a straight line A-B.
S7:Bと直結したノードを探索し、Z、〜Zkの仮名
称を付す。S7: Search for nodes directly connected to B and give tentative names Z, to Zk.
S8 二経路探索回数nは1であるので、n=1の判定
結果はYESでありS、へ進む。S8 Since the number of two-route searches n is 1, the determination result of n=1 is YES, and the process proceeds to S.
Sg :往復行程探索番号Mは1であり、始点Bに直結
するノード数kを今1とすると、M≦にの判定結果はY
ESとなりステップS1゜へ進む。Sg: The round trip search number M is 1, and if the number k of nodes directly connected to the starting point B is now 1, the determination result for M≦ is Y
The result is ES and the process proceeds to step S1°.
slO:カウントCはOであるので、C〈1の判定結果
はYESであり、ステップS12へ進む。slO: Since the count C is O, the determination result of C<1 is YES, and the process advances to step S12.
S1□:/A−B−Z+−θ1を計算し、小角度順に6
1〜θケとする。S1□: Calculate /A-B-Z+-θ1, and calculate 6 in order of small angle
1 to θ.
S13:経路探索回数nは1であるので、n−1の判定
結果はYESであり、ステップSI4へ進む。S13: Since the number of route searches n is 1, the determination result of n-1 is YES, and the process proceeds to step SI4.
S14:往復行程探索番号Mは1であるので、選択角度
θ、−θM−θ1とする。S14: Since the round trip search number M is 1, the selection angle θ is set to -θM-θ1.
816:選択角度θ1に対応するノードZIを抽出して
z、−b、とし、他の仮名称を消去する。816: Extract the node ZI corresponding to the selection angle θ1 and set it as z, -b, and delete the other tentative names.
S17:選択経路長り、=B−b、を計算する。S17: Calculate the selected route length, =B-b.
S18:探索経路亘長L=L+L、−B −b、を計算
する。S18: Calculate the search route length L=L+L, -B -b.
S19:選択ノードb、−b、がA点に最も近いノード
か否かの判定を行うが、判定結果がNOであればS20
へ進みn=n+1=2としステップS。S19: It is determined whether the selected nodes b, -b are the nodes closest to point A, but if the determination result is NO, S20
Proceed to step S and set n=n+1=2.
へ戻り、次のノード選択動作を行う。判定結果がYES
であればS2+に進む。Return to , and perform the next node selection operation. Judgment result is YES
If so, proceed to S2+.
S2ド探索経路亘長L=L+A−b、−A−b。S2 search route length L=L+A-b, -A-b.
の計算をする。Do the calculation.
S22: (L A−Hの長さ)/A−Hの長さ≦
εの判定を行い、判定結果がYESならステップS23
へ進み、B、b、、A経路を準最短経路としENDとす
る。判定結果がNoならばステップ824″′進む0
824:選択ノードb1〜b、を消去する。S22: (Length of L A-H)/Length of A-H≦
Determine ε, and if the determination result is YES, step S23
Proceed to END, and set B, b, and A routes as quasi-shortest routes. If the determination result is No, proceed to step 824''0. 824: Delete the selected nodes b1 to b.
S26:経路探索番号N=N+1=3とする。S26: Route search number N=N+1=3.
S26:経路探索番号Nが奇数か否かの判定結果はYE
Sであり、ステップ82Bへ進む。S26: The determination result of whether the route search number N is an odd number is YE.
S, and the process advances to step 82B.
828=往復行程探索番号M=’M+し2とする。828 = Round trip search number M = 'M+ and set to 2.
S2.:始点BをAに、終点AをBに、ノードb、をa
、に復し、ステップS4へ戻る。S2. : Start point B to A, end point A to B, node b, to a
, and return to step S4.
(4)第3行程探索(往路A−B)の1回目経路探索(
A−a +)の説明
S4 ;経路探索回数n=1にセットし、探索経路亘長
L=Oにリセットする。(4) First route search (outward route A-B) for the third leg search (
Explanation of A-a +) S4: Set the number of route searches n=1 and reset the search route length L=O.
S5−ノードa 、−、= a o= AとしS、:B
−A直線を引く。S5 - Node a, -, = ao= A and S, :B
-Draw a straight line A.
S7 :始点Aと直結したノードを探索し、Zl〜Zk
の仮名称を付す。S7: Search for nodes directly connected to starting point A, and find nodes Zl to Zk
A tentative name will be given.
S8 :経路探索回数nが1回目であるので、n=1の
判定結果はYESであり、ステ・ンブS、へ進む。S8: Since the number of route searches n is the first time, the determination result of n=1 is YES, and the process proceeds to Step S.
S9 =第3行程探索では往復行程探索番号Mは2であ
り、始点Aに直結する経路数kを2とじたので、M≦に
の判定結果はYESでありステップS、へ進む。S9 = In the third stroke search, the round trip search number M is 2, and the number k of routes directly connected to the starting point A is set to 2, so the determination result of M≦ is YES, and the process proceeds to step S.
slQ:カウントCは0であるので、Cく1の判定結果
はYESであり、ステップSI2へ進む。slQ: Since the count C is 0, the determination result of C-1 is YES, and the process advances to step SI2.
S1□:/B−A−Zi=ε1を計算し、小角度順に0
1〜θ1とする。S1□: /B-A-Zi=ε1 is calculated, and 0 in order of small angle
1 to θ1.
S13:経路探索回数nは1であるので、n−1の判定
結果はYESであり、ステップS14へ進む。S13: Since the number of route searches n is 1, the determination result of n-1 is YES, and the process advances to step S14.
S14:往復行程探索番号Mは2であるので、選択角度
θ、−θ−=θ2とする。θ2は最小角度の次に小さい
角度である。S14: Since the round trip search number M is 2, the selection angle θ, −θ−=θ2 is set. θ2 is the next smallest angle after the minimum angle.
SI6:選択角度θ2に対するノードZ、を抽出してZ
+ =a 1とし、他の仮名称を消去する。SI6: Extract the node Z for the selection angle θ2 and
Set + = a 1 and delete other temporary names.
S17:選択経路長L m=a fi−l ” a m
= A ” a 1を計算する。S17: Selection path length L m=a fi-l ” a m
= A ” Calculate a1.
S18:探索経路亘長L−L+L、−A−a 、を計算
する。S18: Calculate the search route length L-L+L, -A-a.
5191選択ノードa。がBに最も近いノードか否かの
判定を行い、判定結果がYESであれば、ステップS2
1へ進む。5191 selection node a. It is determined whether or not the node is closest to B, and if the determination result is YES, step S2
Go to 1.
S21:探索経路亘長L−L+B−aしA−a1十B−
aIを計算する。S21: Search route length L-L+B-a and A-a10B-
Calculate aI.
S2□: (L−B−Aの長さ)/BφAの長さ≦ε
の判定を行い、判定結果がYESなら、ステップ823
へ進みA、 al+ B経路を準最短経路としEN
Dとする。判定結果がNOであれば、ステップS24へ
進む。S2□: (L-B-A length)/BφA length≦ε
If the determination result is YES, step 823
Proceed to A, al+ Set B route as the quasi-shortest route and EN
Let it be D. If the determination result is NO, the process advances to step S24.
S24:選択ノードa1〜a。を消去する。S24: Selected nodes a1 to a. Erase.
S25:経路探索番号N=N+1=4とする。S25: Route search number N=N+1=4.
S26;経路探索番号Nが奇数か否かの判定結果はNo
であり、ステップS27へ進む。S26; The determination result as to whether the route search number N is an odd number is No.
Therefore, the process advances to step S27.
S27:始点AをBに、終点BをAにノードa。S27: Start point A to B, end point B to A node a.
をす、に換え、ステップS4へ戻る。is changed to , and the process returns to step S4.
(5)第4行程探索(復路B−A)の1回目経路探索(
B−b、)の説明
S4 :経路探索回数nを1にセットする。更に、探索
経路亘長りをリセットする。(5) First route search for the fourth leg search (return route B-A) (
Explanation of B-b,) S4: Set the number of route searches n to 1. Furthermore, the search route length is reset.
S5 :ノードb 、−、= b 、= Bとする。S5: Node b, -, = b, = B.
S6 :終点Aと始点Bとを結ぶ直線A−Bを引く。S6: Draw a straight line A-B connecting end point A and start point B.
Sフ :始点Bと直結したノードを探索し、21〜zk
の仮名称を付す。Sfu: Search for nodes directly connected to starting point B, 21~zk
A tentative name will be given.
S8 :経路探索回数nが1回目であるので、n=1の
判定結果はYESであり、ステップSgへ進む。S8: Since the number of route searches n is the first time, the determination result of n=1 is YES, and the process advances to step Sg.
S、;第4行程探索では往復行程探索番号Mは2であり
、始点Bに直結する経路数kを1としたので、M≦にの
判定結果はNOとなり、ステップSlへ進む。S,; In the fourth stroke search, the round trip search number M is 2, and the number of routes k directly connected to the starting point B is set to 1, so the determination result of M≦ is NO, and the process proceeds to step Sl.
S3Q:カウントCが0であるので、c=c+し1とな
る。S3Q: Since the count C is 0, c=c+ and becomes 1.
S31:c≧2の判定結果はNoであるので、ステップ
S25へ進む。S31: Since the determination result of c≧2 is No, the process advances to step S25.
S25:経路探索番号N=N+1=4+1=5とする。S25: Route search number N=N+1=4+1=5.
S26:行程探索番号Nが奇数か否かの判定結果はYE
Sであり、ステップ5211へ進む。S26: The determination result of whether the process search number N is an odd number is YE.
S, and the process advances to step 5211.
828;始点BをAに、終点AをBに、ノードb1をa
、、に換えステップS4へ戻る。828; Start point B to A, end point A to B, node b1 to a
, , and returns to step S4.
(6)第5行程探索(往路A→B)の1回目経路探索(
A−+a、)の説明
S4 :経路探索回数nを1にセットする。更に、探索
経路亘長りをリセットする。(6) First route search for the 5th process search (outward route A→B) (
Explanation of A-+a, ) S4: Set the number of route searches n to 1. Furthermore, the search route length is reset.
S5 :ツードロ 、、−、= a o=Aとする。S5: Two-doro, -, = a o = A.
S6 :終点Bと始点Aを結ぶ直線BAを引く。S6: Draw a straight line BA connecting end point B and starting point A.
S7 :始点Aと直結したノードを探索し、71〜Zk
の仮名称を付す。S7: Search for nodes directly connected to starting point A, 71 to Zk
A tentative name will be given.
S8 :経路探索回数nが1回目であるので、n−1の
判定結果はYESであり、ステップS9へ進む。S8: Since the number of route searches n is the first time, the determination result of n-1 is YES, and the process advances to step S9.
S9 :第5行程探索では、往復行程探索番号Mは3で
あり、始点Aに直結したノード数kを2としたので、M
≦にの判定結果はNoとなり、ステップSSOへ進む。S9: In the 5th process search, the round trip search number M is 3, and the number of nodes directly connected to the starting point A is 2, so M
The determination result of ≦ is No, and the process advances to step SSO.
330:カウントCが1であるので、c=c+し1+1
=2となる。330: Since count C is 1, c=c+ and 1+1
=2.
S31:C20の判定結果はYESであるので、ステッ
プS3□へ進む。S31: Since the determination result of C20 is YES, the process advances to step S3□.
S3□:最短経路亘長偏差率の設定値ε=ε0+γと増
加させる。S3□: Increase the shortest path length deviation rate set value ε=ε0+γ.
S33:行程探索番号Nが奇数でなければ、始点AをB
に、終点BをAに、ノードa、をb4に換え、ステップ
S2へ戻るが、Nが奇数であるので直ちにステップS2
へ戻る。S33: If the process search number N is not an odd number, start point A is changed to B.
Then, the end point B is changed to A, the node a is changed to b4, and the process returns to step S2. However, since N is an odd number, the process immediately returns to step S2.
Return to
(7)第1行程探索(往路A−B)の1回目経路(A−
al)よりの再探索の開始
最短経路亘長偏差率の設定値ε=ε。がε−ε。(7) First route (A-
Set value ε=ε of shortest path length deviation rate for starting re-search from al). is ε−ε.
+γと増加されて、前述の第1行程より経路探索を繰り
返し、前記の判定条件を満足する準最短経路の決定を行
う。+γ, the route search is repeated from the first step described above, and a quasi-shortest route that satisfies the determination conditions described above is determined.
H1発明の効果
以上の説明のように、本発明はコンピュータマツピング
における地図上の任意の2ノード、始点・終点間の最短
経路を探索する方法において、経路を構成するノードの
選定に終点と始点あるいは選択されたノードとそれにつ
ながるノードとで形成される角度をノード選定の要素と
し、第1ノードの選定では往行程探索をくり返す毎に前
記ノード選定要素の角度群中の最小角度から順次次候補
に切り換えて選択角度を選びノードを選定し、第2ノー
ド以下のノード選定では前記角度群中の最小角度を選択
角度に選びノードを選定して経路探索することとし、往
行路探索と復行程探索をくり返し、且つ探索経路亘長の
偏差率を判定要素にし可変しうる設定値と比較判定して
近似的最短経路を決定するので、始点あるいは終点に直
結するノード数の関数に当たる限定回数にて探索が行わ
れ、非常に短時間にて近似的最短経路が求まるという優
れた効果を有するものである。H1 Effects of the Invention As explained above, the present invention provides a method for searching for the shortest route between two arbitrary nodes on a map, a starting point and an ending point in computer mapping. Alternatively, the angle formed by the selected node and the nodes connected to it is used as an element for node selection, and in selecting the first node, each time the forward search is repeated, the angle formed by the angle group of the node selection element is sequentially selected. Switch to the candidate, select the selection angle, select the node, select the minimum angle in the angle group as the selection angle for the second node and subsequent node selection, select the node, and search the route. Since the approximate shortest path is determined by repeating the search and comparing it with a variable setting value using the deviation rate of the search route length as a determining factor, the search is performed a limited number of times, which is a function of the number of nodes directly connected to the starting point or ending point. This method has an excellent effect in that a search is performed and an approximate shortest path can be found in a very short time.
第1図は道路マツプ、第2図は一実施例の最短経路探索
原理図で、(a)はノードa1選択図、(b)はノード
a2選択図、第3図(1)、 (2)は本発明の一実
施例のフローチャートである。
Aは始点、Bは終点、(XO+ yo)は始点座標、
CX−、Y、、)は終点座標、(x+、Yυはノード座
標、Zlは探索中にノードに付した仮名称、al+
a2は選択したノード名、BAは始点Aと終点Bを結ぶ
直線、θ1は直線BAと始点AにつながるノードZ、と
が形成する角度及び直線Balと選択ノードa1につな
がるノードZ、とが形成する角度、θ、は選択角度、L
、は選択経路長、Lは探索経路亘長、εは最短経路亘長
偏差率、ε0は偏差率の設定値、nは経路探索回数、N
は行程探索番号、Mは往復行程探索番号、kは選択ノー
ドに直結する経路数、CはM、i:にのカウント数。
^−
> 仁Fig. 1 is a road map, Fig. 2 is a shortest route search principle diagram of an embodiment, (a) is a node a1 selection diagram, (b) is a node a2 selection diagram, and Figs. 3 (1), (2) is a flowchart of one embodiment of the present invention. A is the starting point, B is the ending point, (XO+yo) is the starting point coordinates,
CX-, Y, ,) are the end point coordinates, (x+, Yυ are the node coordinates, Zl is the tentative name given to the node during the search, al+
a2 is the selected node name, BA is the straight line connecting the starting point A and the ending point B, θ1 is the angle formed by the straight line BA and the node Z connected to the starting point A, and the angle formed by the straight line Bal and the node Z connected to the selected node a1. The angle to select, θ, is the selection angle, L
, is the selected route length, L is the search route length, ε is the shortest route length deviation rate, ε0 is the set value of the deviation rate, n is the number of route searches, N
is the journey search number, M is the round trip search number, k is the number of routes directly connected to the selected node, C is the count number of M, and i:. ^− > Jin
Claims (1)
の2つのノード、始点・終点間の最短経路を探索する方
法において、 始点から終点への往路行程探索をくり返す度に終点と始
点を結ぶ直線と始点につながるノードとで形成される角
度群中の最小角度から小さな角度順に順次選択角度を選
び換えて経路を構成するノードの選定を行う第1ノード
選択と、終点と直前に選択されたノードを結ぶ直線と前
記ノードにつながるノードとで形成される角度群中の最
小角度を選択角度に選んで経路を構成するノードの選定
を行う第2ノード以下のノード選択とを行い始点より終
点に至る往路行程の経路探索をしその探索経路亘長と始
点・終点間直線距離との偏差比率の所定設定値に対する
判定を行い準最短経路を決定する第1の手段と、 前段の前記往路行程探索の第1の手段において判定不成
立の場合にその第1の手段における始点を終点に終点を
始点に置き換え第1の手段と同様の手段で復路行程の経
路探索と前記判定を行い準最短経路を決定する第2の手
段と、 前記第1の手段による往路行程探索、第2の手段による
復路行程の経路探索をくり返しても判定不成立の場合、
その都度前記偏差比率の設定値を順次新たに大きな設定
値に変更し第1の手段、第2の手段による往・復行程の
経路探索と前記新設定値による判定をくり返し行い準最
短経路を決定する第3の手段 とで構成されたことを特徴とする近似的最短経路の探索
方法。(1) In computer mapping, in the method of searching for the shortest route between any two nodes on a map, a starting point and an ending point, each time the outward journey search from the starting point to the ending point is repeated, the straight line connecting the ending point and the starting point and the starting point are searched. The first node selection, which selects the nodes constituting the route by sequentially selecting the selected angles in descending order of angles starting from the smallest angle in the angle group formed by the connected nodes, and the straight line connecting the end point and the previously selected node. Select the smallest angle in the group of angles formed by the node and the node connected to the above node as the selection angle to select the nodes constituting the route. Select the nodes from the second node onwards. a first means for searching for a route and determining a quasi-shortest route by determining a predetermined set value of the deviation ratio between the search route length and the straight line distance between the starting point and the ending point; If the determination is not established in the first means, the starting point in the first means is replaced with the ending point, and the ending point is replaced with the starting point.The second means searches for a route for the return journey and makes the determination using the same means as the first means, and determines the quasi-shortest route. means, and if the determination is not established even after repeating the route search for the outward route by the first means and the route search for the return route by the second means,
Each time, the set value of the deviation ratio is sequentially changed to a new larger set value, and the route search for the forward and backward journeys using the first means and the second means and the judgment based on the new set value are repeated to determine the quasi-shortest route. A method for searching for an approximate shortest route, characterized in that the method comprises a third means for searching for an approximate shortest route.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2331449A JPH04199357A (en) | 1990-11-29 | 1990-11-29 | Searching method for approximate shortest route |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2331449A JPH04199357A (en) | 1990-11-29 | 1990-11-29 | Searching method for approximate shortest route |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH04199357A true JPH04199357A (en) | 1992-07-20 |
Family
ID=18243778
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2331449A Pending JPH04199357A (en) | 1990-11-29 | 1990-11-29 | Searching method for approximate shortest route |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH04199357A (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100916669B1 (en) * | 2007-12-11 | 2009-09-08 | 한국전자통신연구원 | Routing method in low power sensor nerwork system |
CN110763247A (en) * | 2019-10-21 | 2020-02-07 | 上海海事大学 | Robot path planning method based on combination of visual algorithm and greedy algorithm |
CN112213113A (en) * | 2020-09-02 | 2021-01-12 | 中国第一汽车股份有限公司 | Method for selecting and planning real road test scene of intelligent driving mobile device |
-
1990
- 1990-11-29 JP JP2331449A patent/JPH04199357A/en active Pending
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100916669B1 (en) * | 2007-12-11 | 2009-09-08 | 한국전자통신연구원 | Routing method in low power sensor nerwork system |
CN110763247A (en) * | 2019-10-21 | 2020-02-07 | 上海海事大学 | Robot path planning method based on combination of visual algorithm and greedy algorithm |
CN112213113A (en) * | 2020-09-02 | 2021-01-12 | 中国第一汽车股份有限公司 | Method for selecting and planning real road test scene of intelligent driving mobile device |
CN112213113B (en) * | 2020-09-02 | 2022-07-15 | 中国第一汽车股份有限公司 | Method for selecting and planning actual road test scene of intelligent driving mobile device |
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