Path planning method based on UTMD algorithm

A path planning and algorithm technology, which is used in navigation calculation tools, road network navigators, measuring devices, etc.

Active Publication Date: 2019-01-15
CHONGQING JIAOTONG UNIVERSITY
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AI Technical Summary

Problems solved by technology

However, the improvement and integration of the algorithm cannot fundamentally solve the contradiction between the real-time and reliability of the algorithm.

Method used

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  • Path planning method based on UTMD algorithm
  • Path planning method based on UTMD algorithm
  • Path planning method based on UTMD algorithm

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Embodiment Construction

[0093] Such as figure 1 As shown, a kind of path planning method based on UTMD algorithm provided by the present invention comprises steps:

[0094] S1: Establish an optimized mathematical model for path planning;

[0095] S2: Use the UTMD algorithm to plan and optimize the path, as follows:

[0096] S21: Delineate the optimal solution search range for path planning;

[0097] S22: Within the optimal solution search range, use the UTMD algorithm to obtain an optimal solution set for path planning. Through the above method, the UTMD (Targeted Microbubble Destruction) algorithm is used to consider the road slope, and the path is optimized in real time in three-dimensional space, which effectively reduces the amount of iterative calculations and search time in the path planning process, and prevents local optimal solutions from appearing. , and improve the optimization accuracy of path planning.

[0098] The optimized mathematical model of the path planning includes: an object...

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Abstract

The invention provides a path planning method based on UTMD algorithm. The path planning method based on the UTMD algorithm comprises the steps that S1, an optimized mathematical model of path planning is established; S21, an optimal solution search range of path planning is delineated; S2201, a plurality of microbubbles are released in the optimal solution search range; S2202, the initial maximumnumber of transferring is equal to M, the initial maximum number of differentiation is equal to L, and the initial maximum number of binding variation is equal to N; S2203, microbubble transferring is carried out; S2204, the step S2203 is repeated until the number of microbubble transferring is equal to M; S2205, a target MiRNAs is released; and S2206, transferring, differentiation and binding variation of the target are carried out until the number of transferring, the number of differentiation and the number of binding variation separately satisfy the convergence conditions of transferring,differentiation and binding variation, and an optimal solution set of path planning is obtained. The UTMD (targeted microbubble destruction) algorithm is used in the path planning method to considerthe slope of a road, path planning is optimized in real time in the three-dimensional space, the iterative calculation and search time in the path planning process are effectively reduced, a local optimal solution is prevented from appearing, and the optimization accuracy of path planning is improved.

Description

technical field [0001] The invention relates to the field of path planning, in particular to a path planning method based on UTMD algorithm. Background technique [0002] Path planning is a complex problem in modern society, which permeates many engineering problems, such as path planning of robots, aircraft and cars, navigation track planning, missile trajectory prediction and planning, positioning and navigation, traffic planning, municipal planning , logistics planning, etc., its accuracy and efficiency are directly related to the work efficiency and economic efficiency of its objects. Generally speaking, the ultimate expectation of planning is to require the path to be the shortest path and ensure vehicle safety performance, so that the work object can shorten the travel time while having a good energy saving effect. [0003] The main purpose of path planning is to study the ability of autonomous reasoning, planning and control of systems in various environments. Path ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/34
CPCG01C21/20G01C21/3446
Inventor 李军李学鋆
Owner CHONGQING JIAOTONG UNIVERSITY
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