一种考虑冲突概率的Dijkstra路径规划方法、装置及存储介质

本发明涉及一种考虑冲突概率的Dijkstra路径规划方法、装置及存储介质，该方法包括：实时对环境中可能出现的障碍物进行检测；根据障碍物检测结果实时更新各条路径的冲突概率；采用改进Dijkstra算法进行路径规划，规划过程中，在对未标记节点进行标记处理时考虑各条路径的冲突概率，直至所有节点均被标记，每个标记节点的标记信息包括从源节点到该标记节点最短路径的长度以及从源节点到该标记节点最短路径中位于该标记节点前一位置的节点；根据标记信息确定从源节点到目标节点的最短路径。与现有技术相比，本发明考虑了多车协同、工作人员和其他动态障碍物导致的路径冲突概率，路径规划兼具实时性与鲁棒性。 The invent...

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Bibliographic Details
Format Patent
LanguageChinese
Published 20.09.2022
Subjects
GYROSCOPIC INSTRUMENTS
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
SURVEYING
TESTING
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Summary:本发明涉及一种考虑冲突概率的Dijkstra路径规划方法、装置及存储介质，该方法包括：实时对环境中可能出现的障碍物进行检测；根据障碍物检测结果实时更新各条路径的冲突概率；采用改进Dijkstra算法进行路径规划，规划过程中，在对未标记节点进行标记处理时考虑各条路径的冲突概率，直至所有节点均被标记，每个标记节点的标记信息包括从源节点到该标记节点最短路径的长度以及从源节点到该标记节点最短路径中位于该标记节点前一位置的节点；根据标记信息确定从源节点到目标节点的最短路径。与现有技术相比，本发明考虑了多车协同、工作人员和其他动态障碍物导致的路径冲突概率，路径规划兼具实时性与鲁棒性。 The invention relates to a Dijkstra path planning method and device considering a conflict probability and a storage medium. The method comprises the steps of detecting obstacles possibly appearing in an environment in real time; updating the conflict probability of each path in real time according to an obstacle detection result; carrying out path planning by adopting an improved Dijkstra algorithm, and in the planning process, considering the conflict probability of each path when unmarked nodes are marked until all nodes are marked, wherein the mark information of each marked node comprises the length of the shortest path from the source node to the marked node and a node located at the previous position of the marked nod
Bibliography:Application Number: CN202110690560