基于栅格法的室内指示路径规划算法  

Indoor indicator path planning algorithm based on grid method

作　　者：程向红[1,2] 祁艺 CHENG Xianghong;QI Yi(Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology of Ministry of Education, Southeast University, Nanjing 210096, China;School of Instrument Science ＆ Engineering, Southeast University, Nanjing 210096, China)

机构地区：[1]微惯性仪表与先进导航技术教育部重点实验室,南京210096 [2]东南大学仪器科学与工程学院,南京210096

出　　处：《中国惯性技术学报》2018年第2期236-240,267,共6页Journal of Chinese Inertial Technology

基　　金：微惯性仪表与先进导航技术教育部重点实验室开放基金(SEU-MIAN-201703)

摘　　要：随着导航的应用场景日趋复杂,对利用室内地图的全局路径规划提出更高的要求。为提高全局路径规划算法效率,提出一种指示路径规划算法。首先运用栅格法对已知地图进行建模,然后在算法中引入方向向量引导路径方向,接着多次执行并通过奖励与惩罚措施来将关联矩阵与路径质量形成正反馈机制,并采用路径优化策略,最终得到一条较好质量的结果路径。仿真结果表明,较A*算法而言,指示路径规划算法在时间上减少49%,并且在较复杂的栅格地图中,其路径长度缩短了17%。As the navigation application scenarios become more complex, a higher demand is required for the global path planning using indoor maps. In order to improve the efficiency of the global path planning algorithm, an indicator path planning algorithm is proposed. First, a grid method is used to build the model of a given map, and the direction vector is introduced to guide the path in the algorithm. Then, the calculation and selection processes are executed many times, and the reward and punishment measures are used to form the positive feedback mechanism between the association matrix and the path quality, with the path optimization strategy being adopted, which eventually results in a better path. Simulation results show that, by the indicator path planning algorithm, the planning time is reduced by 49%, and the path length is reduced by 17% in more complex grid maps, compared with the A＊ algorithm.

关 键 词：路径规划 栅格法 全局路径规划 指示路径规划算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]