Novel path planning method improved by using turning penalty factor and twin road network

• Main Authors: YUN XIAOGUANG, LI DEHAI, YAN JUNTAO, CHEN CHONG, WU WENTAN, CHENG DONG, HUANG JINFENG, ZHANG BAIYU, WANG WEISHUAI, MI JINZHONG
• Format: Patent
• Language: Chinese; English
• Published: 29.09.2023
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention provides a new path planning method improved by using a turning penalty factor and a twin road network, so that the problems that the path generation speed is low, the turning frequency is not controlled, and path planning is difficult to deal with a complex indoor environment in the indoor complex environment in the prior art are solved. According to the method, the turning penalty factor is added to perfect the heuristic function, and the turning frequency of the planned path is remarkably controlled. A search function is improved by superposing twin road network information, and the influence of obstacles on path generation is effectively solved from the aspect of map platform path planning. Compared with a traditional method, the method has the advantages that the algorithm operation efficiency is improved, the turning frequency is reduced, the path can be updated according to the change of twin road network information, and the dynamic path planning in the indoor complex environment is real