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Multi-target route planning method considering target node timeliness

A path planning and target node technology, applied in data processing applications, prediction, genetic models, etc., can solve problems such as errors, node timeliness without considering solutions, etc.

Active Publication Date: 2013-07-10
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

In particular, when there are many obstacles between two nodes, the method using Euclidean distance will produce serious errors
[0009] In addition, in the research on the search algorithm considering multiple search target points, the schemes proposed in the prior art only consider the path generation problem connecting multiple target nodes under non-Euclidean distance, and do not consider the corresponding node timeliness solution

Method used

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[0074] In the following description, numerous specific details are given in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without one or more of these details. In other examples, some technical features known in the art are not described in order to avoid confusion with the present invention. Embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0075] figure 1 It shows the overall flow of the multi-target path planning method of the present invention. See figure 1 , the following is a detailed description of each step in the method.

[0076] Step S100: Load a simple map of the space that the robot needs to search.

[0077] The present invention considers search and rescue scenarios of search robots working in some harsh environments. These scenarios are usually accompanied by some dangerous...

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Abstract

Provided is a multi-target route planning device and method considering searching robot target node timeliness. A multi-target genetic algorithm is used to achieve route planning considering two optimization objectives including route consumption and the node timeliness through two stages of decoupling which comprise the route planning and route generating, and therefore improvement of searching performance of a mobile robot which is supervised by an operator is benefited. Particularly, when the problem of the node timeliness needs to be considered in the process of route searching, a good searching manifestation can be obtained.

Description

technical field [0001] The invention relates to a multi-objective path planning device and method considering the timeliness of a search robot target node, in particular to a multi-objective path planning method considering the timeliness of the target node and path consumption. Background technique [0002] Compared with fully autonomous search robots, autonomous robots with operator supervision can perform better in some search scenarios. With an appropriate and effective operator interaction framework, the search robot can get useful high-level assistance, such as task-level target point selection and important task execution confirmation, etc. In supervised robotic environment exploration and rescue tasks, it is often necessary to consider multi-objective optimization of the task. In these tasks, in addition to the optimization goal of total path consumption, traffic environment, access sequence, resource utilization, etc. also need to be considered. Many methods for s...

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Application Information

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IPC IPC(8): G06Q10/04G06N3/12
Inventor 熊光明刘鹏龚建伟姜岩陈慧岩
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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