Track planning method based on viewable modeling

A track planning and view technology, which is applied in navigation, surveying and navigation, navigation calculation tools, etc., can solve the problems of increasing the difficulty of modeling on the visible side, reducing the accuracy of track planning, etc., and achieving an environment model that avoids redundancy Data Generation, Complexity Reduction, Quantity Reduction Effects

Inactive Publication Date: 2019-10-01
智慧航海(青岛)科技有限公司
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Problems solved by technology

Visible graph modeling is a commonly used environment modeling method, but in a complex environment, the construction of a large number of visible edges (routeable road segments) not only increases the difficulty of modeling but also reduces the accuracy of trajectory planning, so , there is still a need for deep optimization

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  • Track planning method based on viewable modeling
  • Track planning method based on viewable modeling
  • Track planning method based on viewable modeling

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Embodiment Construction

[0037] In order to better explain the present invention and facilitate understanding, the present invention will be described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0038] Before specifically introducing the technical solution of the present invention, the technical terms involved in the present invention will be explained.

[0039] Visual graph modeling refers to the visual judgment of every two points between the starting point and the vertices of obstacles in the navigation environment. If there is no obstacle between the two points, it means that the two points are visible, and the connection between the two points Lines are called visible edges.

[0040] Such as figure 1 As shown, an embodiment of the present invention provides a method for trajectory planning based on dynamic visual graph modeling, including:

[0041] Step S1. Obtain navigation environment information and generate a visual map for track planning. T...

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Abstract

The invention relates to a smart ship control technology, and discloses a track planning method based on viewable modeling. By simplifying a viewable model for track planning, the optimal visible edgecan be found in real time through a track planning algorithm, thereby achieving the simultaneous effect of environmental modeling and path planning, greatly improving the execution efficiency of thealgorithm, reducing the time required for modeling and path planning, and avoiding the generation of redundant data of environmental models at the same time.

Description

technical field [0001] The invention relates to the technical field of intelligent ship control, in particular to a navigation path planning method based on visual graph modeling. Background technique [0002] Ship track planning means that the ship can independently plan an optimal path with the shortest path according to the navigation environment under the premise of ensuring safety (avoiding various dynamic or static obstructions). Trajectory planning is based on the data basis of environmental modeling. Traditional trajectory planning and environmental modeling are independent of each other. Accurate trajectory planning must rely on environmental model data with complete data, which not only prolongs the algorithm execution time and generates a lot of redundant environment model data. Visible graph modeling is a commonly used environment modeling method, but in a complex environment, the construction of a large number of visible edges (routeable road segments) not only...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/12
CPCG01C21/12G01C21/203
Inventor 王晓原姜雨函夏媛媛高杰柴垒赵新越朱慎超
Owner 智慧航海(青岛)科技有限公司
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