Target direction and energy supply considered path planning method of unmanned device

Abstract

The invention discloses a target direction and energy supply considered path planning method of an unmanned device, belongs to the field of path planning of unmanned devices, and aims at solving the problem that energy supply in a halfway energy station of the unmanned device is not taken into consideration in the prior art. A network topological diagram including a source node, a target node andan intermediate energy supply node is established, a path constrained condition is normalized into point and side weights, and an optimal path between the source node and the target node is calculatedaccording to the energy constrained condition of the target node and the future direction of the target node. Thus, the path planning process of the unmanned device is simplified, and the running cost of the unmanned device is reduced.

Description

technical field [0001] The invention belongs to the field of path planning of unmanned equipment, and in particular relates to a path planning technology of unmanned equipment considering target direction and energy supply. Background technique [0002] Intelligent unmanned equipment is an important part of the Internet of Things era, and its path planning problem is one of the key issues that need to be solved in its development. When an unmanned device completes a predetermined task, it needs to pass through multiple intermediate nodes. The path choices it passes through are often diversified and not unique, and different paths have different execution times and consume different energy. It is necessary for the unmanned device to find the optimal path by considering the constraints of the path while meeting the requirements and conditions specified by the system, which is also the prerequisite for the movement of smart devices. For example, in emergency rescue and disaste...

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Problems solved by technology

[0003] According to the existing literature search, in the path planning problem, although there are many path planning algorithms, most of them only consider the weight value of the moving path edge, and do not consider the weight value of the intermediate node, that is to say, no one is considered. The practical problem of energy replenishment for equipment at midway energy stations does not take into account the future target direction and many specific problems in reality of paths and intermediate nodes. For example, due to different road conditions, the speed of each path is different, and each energy replenishment The queuing time of station nodes and energy prices are different. These situations in practice will affect the path planning of unmanned equipment. At the same time, the existing algorithms still have many practical problems such as high model complexity and slow algorithm convergence speed.

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