基于凹点划分的路径规划算法地图数据预处理算法优化研究
Abstract
Algorithmforindoornavigationpathplanningbasedonnon-exposurespacesasacrucial
componentofnavigationsystems.Whenobstaclenodesinmapdataformunsaleablepath
segments,traditionalpathplanningalgorithmswillproducealargenumberofredundant
calculations,affectingtheoverallplanningefficiency.Inordertoavoidredundantcalculations,
thispaperproposesamapdataprocessioningalgorithm.Throughmulti-stagedata
transformationofmapdata,anauxiliaryvaluetablethatcanidentifyconcaveterraininmap
dataisfinallygenerated.Throughtheauxiliaryvaluetable,theconnectivityinformation
existinginmapdatacanbequicklyobtained,soastoimprovethecalculationefficiencyof
pathplanningalgorithm.Thespecificresearchcontentisasfollows:
(1)Processioningofmapdata.themaincontentistobuildtheobstacleweightvaluetable,
andgeneratetheauxiliaryvaluetablebytransformingtheobstacleweightvaluetable.The
auxiliaryvaluetableisusedtoassistthepathplanningalgorithm.Theconstructionprocessof
theauxiliaryvaluetablerequiresmulti-stagedatatransformationoftheobstacleweightvalue
table,andtheauxiliaryvaluetablethatcanidentifytheconcaveterraininmapdatathatis
conducivetoapproachingthetargetpointisgenerated.Throughtheconcaveterrain,theroad
connectivityinformationinmapdataisidentified,whichguidesthesearchdirectionofpath
planningalgorithmandimprovesthesearchefficiency.
(2)Utilizingtheauxiliaryvaluetabletorefinethepathplanningalgorithmworkflowand
concurrentlyaddressingimprovementsindiagonalmovementcollisionissues,thesystem
recordsthetraversalofconcavepointsduringtheiterativecomputationprocessofthepath
planningalgorithm.Uponencounteringimpassablepathsegments,itimmediatelydesignates
themostrecentlyrecordedconcaveturningpoi