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Navigation path planning method based on area segmentation and computer readable storage medium

A navigation path and area segmentation technology, applied in navigation calculation tools and other directions, can solve problems such as long planning time, low ball collection efficiency, long path length, etc.

Pending Publication Date: 2020-06-02
重庆康爵特智能科技有限公司
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to propose a navigation path planning method based on area segmentation and a computer-readable storage medium, aiming at solving the problem of long planning time, long path length, and the number of path nodes in the prior art for golf cart path planning. Too many, long detours, and low ball collection efficiency

Method used

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  • Navigation path planning method based on area segmentation and computer readable storage medium
  • Navigation path planning method based on area segmentation and computer readable storage medium
  • Navigation path planning method based on area segmentation and computer readable storage medium

Examples

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Embodiment 1

[0054] This embodiment will provide a navigation path planning method based on area segmentation, see figure 1 , the navigation path planning method based on region segmentation includes:

[0055] S101. Obtain the planned area of ​​the golf course;

[0056] S102. Divide the planned area into upper and lower areas on average, and the starting point and the end point are respectively located in the upper and lower areas;

[0057] S103. Use the PRM algorithm to pre-plan the path in each area, and generate an undirected path map for the upper area and an undirected path map for the lower area;

[0058] Generate an undirected path graph composed of several random points and starting points through the PRM algorithm in the upper area, and generate an undirected path graph composed of several random points and end points through the PRM algorithm in the lower area;

[0059] Using the PRM algorithm, it is possible to use fewer nodes to complete the pre-planning of the paths in the u...

Embodiment 2

[0108] This embodiment provides a terminal, and the terminal includes a processor, a memory, and a communication bus;

[0109] The communication bus is used to realize the connection communication between the processor and the memory;

[0110] The processor is used to execute one or more programs stored in the memory, so as to realize the steps of the navigation route planning method based on area segmentation in any one of the first embodiment.

[0111] Optionally, this embodiment further provides a computer-readable storage medium, where one or more programs are stored in the computer-readable storage medium, and one or more programs can be executed by one or more processors, so as to implement the first embodiment. The steps of any one of the navigation path planning methods based on area segmentation.

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Abstract

The invention provides a navigation path planning method based on area segmentation and a computer readable storage medium. The navigation path planning method based on area segmentation comprises thefollowing steps of acquiring an area planned in a golf course, averagely dividing the planned area into an upper area and a lower area; carrying out path pre-planning in each area by adopting a PRM algorithm; finding a target upper feasible point and a target lower feasible point, determining a target upper path and a target lower path, and connecting the target upper feasible point and the target lower feasible point according to a second preset rule to obtain a target middle path; taking the paths of the target upper path, the target middle path and the target lower path as the first targetpaths, and guaranteeing that no obstacle exists on the first target paths, thereby completing the preliminary path planning of a golf cart. According to the present invention, the planning time is shortened to a certain extent, the planned path length is shortened, the number of path nodes is reduced, and the golf ball collecting efficiency is improved.

Description

technical field [0001] The present invention relates to the technical field of artificial intelligence, in particular to a navigation path planning method based on region segmentation and a computer-readable storage medium. Background technique [0002] With the development of trade and economic globalization, market competition is intensifying, and people's requirements for efficiency are getting higher and higher. The problem of vehicle routing planning has gradually attracted people's attention, and has become an urgent problem to be solved in the process of artificial intelligence and economic development. Path planning refers to finding a collision-free path from the start point to the end point in a certain environment according to certain evaluation criteria, such as the shortest path or the least planning time. [0003] The PRM algorithm builds a complete undirected graph on the map by sampling, and then uses search algorithms such as A* to find a path on the road m...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 杨龙黄媛媛徐俊星
Owner 重庆康爵特智能科技有限公司
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