一种基于地图预处理识别凹点优化路径规划效率的方法  

A method of concave point identification based on map preprocessing for optimizing path planning efficiency

作　　者：陈文博 赵云峰[1] 赵世鹏 CHEN Wenbo;ZHAO Yunfeng;ZHAO Shipeng(North China Institute of Aerospace Engineering,Langfang 065000,China)

机构地区：[1]北华航天工业学院,河北廊坊065000

出　　处：《现代电子技术》2024年第9期182-186,共5页Modern Electronics Technique

摘　　要：为了减少存在多个无法通行或无法到达终点的路径段情况下移动机器人路径的计算节点数量,提高算法的搜索效率,文中提出一种地图数据预处理功能,对路径规划算法中的预估计算法进行辅助,通过障碍物权重计算需要地图中存在的凹点地形,在执行路径算法过程中,通过记录的凹点约束搜索方向提高搜索效率,同时对路径规划算法的安全问题进行改进。实验结果表明,改进后的路径规划算法具有较好的路径规划能力来应对多个无法通行或无法到达终点的路径段,更加符合实际的应用场景。To reduce the number of computational nodes in mobile robot path planning when there are multiple unpassable or unreachable segments,and to improve search efficiency,an auxiliary function for the estimated calculation method in the map data preprocessing stage of the path planning algorithm is proposed.The concave terrain that needs to be searched in the map is calculated by the weight of obstacles,and the search direction is constrained by the recorded concave points in the process of executing the path algorithm,so as to improve the search efficiency and enhance the safety of the path planning algorithm.The experimental results show that the improved path planning algorithm has better path planning capability to deal with multiple unpassable or unreachable segments and is more suitable for practical application scenarios.

关 键 词：路径段 搜索效率 地图预处理 凹点 搜索方向 安全问题 

分 类 号：TN911.73-34[电子电信—通信与信息系统] TP242[电子电信—信息与通信工程]