144results about How to "Quick planning" patented technology

The invention discloses a method and system for processing travel route planning. The method comprises the following steps: creating sets corresponding to different traffic strategies through utilizing the geographical information of the current city and the traffic strategies within the geographical information range of the city; and carrying out calculation, analysis and arrangement based on traffic route information and historical traffic data records in advance, then creating an optimal travel route planning database, and completing the planning of optimal routes. In addition, under the condition that the traffic strategy is determined, the optimal travel route is acquired from the optimal travel route planning database, i.e. a route with lowest travel cost is selected. By using the method and system disclosed by the invention, through calculating dynamic actual congestion state values and a predicted congestion state value, and comparing the dynamic actual congestion state valueswith the predicted congestion state value, an optimal travel route between a starting point and an end point can be determined, thereby achieving the purposes that the real-time congestion state parameters can be supported, the route planning is quick and accurate, the superiority of time selection is high, and the condition of the determined travel route is good.

The invention discloses a multi-UAV route planning and dynamic obstacle avoiding method based on combination of a Voronoi ant colony algorithm with an artificial potential field method. According to the method, modules like a laser radar and a camera are used for acquiring a position of a static obstacle in an environment; the static environment is divided based on a Voronoi diagram and offline planning of optimal paths of all unmanned aerial vehicles is carried out based on an improved ant colony algorithm; and when all unmanned aerial vehicles fly along the offline planned paths, dynamic obstacles are monitored by ultrasonic sensors in real time, a gravitational force and repulsive force model of the unmanned aerial vehicles is established by using the dynamic obstacles as threat sources, combined forces on the unmanned aerial vehicles are calculated based on the gravitational forces and repulsive forces, the unmanned aerial vehicles fly to static routes and fly continuously along the offline planned paths, circulation is carried out based on the method until all unmanned aerial vehicles fly to target destinations. With the disclosed method, optimal routes for avoiding all staticobstacles are planned for the multi-UAV formation and the iteration time is short; the dynamic obstacles can be monitored in real time; and local routes can be planned timely to avoid collisions.

The invention discloses a prediction energy management method of a networked hybrid electric vehicle. The prediction energy management method comprises the following steps that S1, a target vehicle uploads the own driving condition information to a data processing center through a vehicle-mounted terminal device; S2, the data processing center plans an optimal driving path of the target vehicle incombination with the collected road surface information and estimates a complete vehicle speed curve of the target vehicle; S3, the target vehicle receives the information feedback of the data processing center and sends the information feedback to a VCU for optimal energy distribution in combination with the real-time state information acquired by the target vehicle; S4, the VCU performs quick response planning on the received working condition based on a constructed two-layer feedforward neural network model to obtain a corresponding optimal global SoC trajectory; S5, the VCU follows the planned SoC trajectory through an MPC method, and obtaining an approximately optimal fuel economy energy distribution effect at a real-time control level. The method provided by the invention can ensurethat a real-time energy management strategy obtains the globally optimal fuel economy.

The invention belongs to the technical field of three-dimensionalpath planning for underwater vehicles, particularly relates to animproved fireflyalgorithm based AUV (autonomous underwater vehicle) three-dimensional track planning method and provides an improved fireflyalgorithm based AUV three-dimensional path planning method. The method comprises the steps as follows: performing modeling and fireflypopulation initialization on the three-dimensionalpath planning for the underwater vehicles; calculating objective function values; calculating self-adaptive parameters; comparing thebrightness among fireflies, and updating positions of the fireflies; adding auxiliary planning operators; outputting optimal pathswhen meeting algorithmiteration stop conditions, ending the three-dimensionalpath planning for the underwater vehicles, and outputting an optimal path of the last iteration. Themethodis more flexiblethan a traditional path search algorithm, the auxiliary planning operators are added, and quick planning of AUV three-dimensional paths can be realized.

The invention discloses a geometric-programming-based gliding aircraft terminal area energy management trajectory planning method which is used for solving the technical problem that an existing gliding aircraft terminal area energy management trajectory planning method is poor in practicability. According to the technical scheme, on the basis of the state of an aircraft entering a TAEM section, a geometric programming method is utilized for rapidly planning a reasonable and feasible TAEM plane trajectory; on the basis of the TAEM plane trajectory planning, height deduction is performed, and therefore a complete trajectory planning strategy is given. Due to the fact that the aircraft enters an entry of an automatic landing section in a spiral-line mode in the geographic planning process, the sudden overload change phenomenon is effectively avoided, and therefore the requirement for the aircraft maneuverability is lowered; meanwhile, during trajectory planning, the state of the aircraft at the TAEM section at the initial moment is considered, corresponding flight paths are planned in a classified mode for the entering state of the aircraft, the reasonable trajectory can be rapidly planned, the requirements for different entering directions are met, and the planning speed is high through simulation verification.

The present invention relates to devices and methods for tracking movement in a marine environment. At least one tracking device that is adapted to be deployed on a surface of the water, wherein the tracking device is capable of moving along the same trajectory of a desired object. Data from the tracking devices are received by at least one satellite, transmitted to a database, and used to determine the forecasted trajectory of the desired object. All data collected from deployed tracking devices may be integrated into a spatial data repository for analysis and reporting using GIS and associated information technologies, thereby allowing for more accurate decision-making and asset deployment during a fluid spill or similar marine contamination event. The present invention also allows for the collection and modeling of accurate localized sea current data, which may assist with marine and coastal engineering works such as shoreline protection and port dredging.

The invention discloses a method and equipment for avoiding obstacles, in order to solve the problem of low planning speed when an obstacle avoiding path is planned in the process of performing edge detection on the obstacles in the prior art. The method comprises the following steps of: aiming at any obstacle on a planned path, determining an expanded obstacle area of the obstacle; determining aconnection line between an entry point and an exit point of the planned path passing through the expanded obstacle area; dividing the connection line according to a set first distance to obtain a plurality of dividing points; determining boundary points of the expanded obstacle area with by using the division point as a starting point; and connecting the boundary points on the same side of the expanded obstacle area to determine a path avoiding the obstacle. According to the method of the invention, in the process of detecting the edge of the obstacle, when the path avoiding the obstacle is determined according to the boundary points of the expanded obstacle area, the path avoiding the obstacle can be quickly planned.

The invention relates to a biological antenna model-based multi-robot underwater target searching method and device. After an underwater detection ship carrying multiple underwater robots reaches a target searching area, all the underwater robots are driven to move by biological antenna models and send detected environmental information data to the underwater detection ship; according to the environmental information data, the underwater detection ship updates a raster map in real time and broadcasts to all the underwater robots; when one certain underwater robot finds a target, information is broadcast to the other underwater robots and the underwater detection ship; the underwater detection ship grabs the target by a mechanical arm after arriving the position of the target, and the other underwater robots board on the underwater detection ship after moving to the position of the target. The invention provides the method and the device which have the advantages that the robots are driven to move by the biological antenna models so as to complete a target searching task by the multiple robots in an unknown environment, and the target searching efficiency of the underwater robots can be greatly improved.

The invention provides an unmanned aerial vehicle static and dynamic path planning method based on a digital map, and relates to the technical field of unmanned aerial vehicle path planning. The method comprises the steps of: constructing an unmanned aerial vehicle flight three-dimensional digital map; setting initial and end position coordinates of flight of an unmanned aerial vehicle, and initializing an unmanned aerial vehicle path planning constraint condition; according to a hybrid particle swarm simulated annealing algorithm, updating a speed and positions of particles; drawing an unmanned aerial vehicle global static optimal flight path; judging whether the unmanned aerial vehicle encounters an emergent threat, and if yes, according to the hybrid particle swarm simulated annealing algorithm, re-planning a static flight path; and drawing an unmanned aerial vehicle global dynamic optimal flight path. By the method, in a static case, an accurate global flight track can be rapidly planned; and in a case of the emergent threat in the flight process, the threat can be rapidly avoided to effectively carry out path re-planning so as to guarantee flight safety of the unmanned aerialvehicle.

The invention discloses a route planning method for low-altitude medium- and long-distance ferry flights. The route planning method can plan a flight route with minimum flight cost for an aircraft, and multi-aircraft and multi-route collaborative task planning can be achieved herein. The route planning method is characterized in that a route is divided into a route-entering path P1, a flight path P2 and a route-exiting path P3; the route-entering path P1 and the route-exiting path P3 employ the shortest distances avoiding static threats; the flight on a flight path is a flight performed below a planned civil aviation route, and the shortest flight path is found by utilizing DijKstra algorithm; multiple aircrafts fly in a simulated manner on a digital map according the planned basic route; safety detection and warning are performed according to the current flight states of the aircrafts and the preset environment information on the digital map, and warning information is output; route optimization is finally performed according to the warning information.

The embodiment of the invention provides a method for distributing channels in a wireless local area network, applied to the wireless local area network including a first AP set composed of at least two APs. The method comprises the following steps of determining a neighbor AP list corresponding to each AP in the set, acquiring an optimal value of each AP in the set in same-frequency interference with each neighbor AP in the neighbor AP list and a channel value of each AP corresponding to the optimal value, and using the channel value as a working channel value of each AP. Meanwhile, the embodiment of the invention also provides a device for distributing the channels in the wireless local area network. The method and the device has the beneficial effects as follows: the channels can be rapidly planned, the channel between the APs can be automatically and effectively averted, the same-frequency interference of the network can be reduced as much as possible, additional overhead of the network can be reduced, and network performance can be improved.

The invention discloses a parking path planning method for an automatic driving system of a parking lot. The method comprises the following steps: mathematical modeling is performed on the parking lotaccording to road network information in the parking lot; a corresponding node at a road intersection of the parking lot and each parking space is selected and numbered, and a corresponding matrix relationship is established; line information in a line information table is read, and the distance between a starting point and an ending point is taken as a weight value; a Dijkstra map is constructedon the basis of a node graph of a road network, and the optimal path is calculated with the Dijkstra algorithm. The optimal path from the starting point of the parking lot to the parking space can berapidly planned.

The invention relates to a hybrid path planning method for a mobile robot. A global map is constructed, and on the basis of the global map, hybrid path planning is conducted through a combination of arapid exploring random tree algorithm and a time elastic band algorithm. The hybrid path planning method for the mobile robot combines global path planning and local path planning to achieve mutual compensation under a constraint condition and improve quality and efficiency of a path planning solution; and compared with a single planning method, the hybrid path planning method for the mobile robot has the characteristics that a global path can be quickly planned, dynamic planning and obstacle avoidance functions are realized, and real-time capability and safety of a mobile robot in motion areensured.

The invention discloses a fuzzy neural network control method for an omni-directional intelligent wheelchair to avoid an obstacle. An obstacle avoidance algorithm on the basis of an improved fuzzy neural network is combined with a strategy transforming mechanism and a state control variable is added to solve the problem of an obstacle avoidance condition with the motion direction out of an angle of a view field. The state control variable is adopted to record a motion state of a user in the moving process; a path planning result is guaranteed to be close to an original motion direction of the user as far as possible; automatic obstacle avoidance navigation of the omni-directional intelligent wheelchair is implemented. Compared with a conventional obstacle avoidance algorithm, when facing the same obstacle, the fuzzy neural network control method can well forecast the moving direction and the moving speed of the dynamic obstacle so as to rapidly plan an obstacle avoidance path; the obstacle avoidance method provided by the invention enables the wheelchair to carry out obstacle avoidance path planning according to the intention of the user to the greatest degree and not only optimizes the obstacle avoidance path, but also shows humanistic care for the user.

The invention discloses a flying path planning method of unmanned plane capable of intelligently identifying threat types. The unmanned plane flying path planning method can intelligently identify threat types and search the best flying path under mixed environment. The method comprises a detection period and an operation period. The detection period is that a plurality of detection bodies conduct detection together to complete the basic cognition of the search area. The method mainly comprises the steps of node information value update, dynamic threat identification, and static threat avoidance, and the forming of basic optimization route. The operation period is that a single unmanned plane completes practical path searching. By means of the basic cognition formed at the detection period, the static threat can be accurately prevented in a practical executing period, the dynamic threat can be identified at an early stage, and the optimized route can be planned rapidly. Accordingly, the unmanned plane can arrive at destination safely and rapidly.

The invention relates to a flight plan vertical route programming method and system, and belongs to the technical field of flight management. The method comprises the following steps: carrying out optimal storage on basic flight performance data in each of the flight stage, the climbing stage, the cruise stage, the descending stage and the landing stage of an airplane, published by an airplane developer or a production department in an airborne performance database form; defining and describing the vertical route information in each of the flight stage, the climbing stage, the cruise stage, the descending stage and the landing stage based on the optical storage; and conveniently storing the basic vertical navigation route information in an airborne state, designing a complete military and civilian plan vertical route information structure based on the basic vertical navigation route information in an airborne state, and programming a flow to form a military and civilian flight plan vertical route. The logic relationship among all above information structures is close, no redundancy appears among pieces of information, the information storage amount is small, and the system, can be conveniently stored or unloaded, and can be used for ground or other airborne devices.

The invention discloses a stable vehicle driving zone determining method. The stable vehicle driving zone determining method mainly comprises the following steps that step one, a complete vehicle side dynamical model is established; step one, mass center side slip angle speed-mass center side slip angle phase trajectory curve family of a vehicle is drawn; step three, a stable boundary phase trajectory is determined; step four, a stable boundary is fit in the form of a straight line; step five, a three-dimensional map of stable boundary slope and intercept about the vehicle speed and a road adhesion coefficient is made. The stable vehicle driving zone determining method quantitatively represent a stable vehicle driving zone, is simple modeling and has a certain real-timeliness and effectiveness.

The invention provides a comprehensive bearing capacity assessment and decision system for a coastal zone, which comprises a model bank, an ecological asset assessment unit, a bearing capacity calculation unit, a main body functional area planning unit, a knowledge base and a database. The invention also provides an operating method for the comprehensive bearing capacity assessment and decision system for the coastal zone. Ecological asset and bearing capacity are combined into a main body functional area planning model to guide reasonable planning development of the coastal zone and realize intelligent and scientific coastal zone development.

The invention discloses a vehicle path planning method based on an improved bidirectional informed-RRT *. The method comprises the steps: 1, building a grid map, and determining a starting point and a target point; 2, sampling by utilizing a combined extension strategy and fusing a bidirectional RRT * algorithm to obtain an initial path; 3, obtaining an elliptical state subset space by using an improved bidirectional informed-RRT * algorithm, and obtaining sampling points; 4, optimizing the initial path by using a target gravity fusion bidirectional RRT * algorithm to obtain an optimized path, updating an elliptical region according to the length of the optimized path, and sampling in the updated elliptical region to obtain sampling points; 5, repeating the step 4 to obtain a final path; and 6, after pruning the final path, smoothing by using a fourth-order Bezier curve. Sampling randomness is reduced, convergence efficiency is improved, and the generated path is optimal and meets vehicle dynamic constraints, so that a vehicle can successfully avoid obstacles and quickly reach a target point.

The invention discloses an electric power GIS (geographic information system) data collecting method based on mobile equipment. The method includes: acquiring a collecting operation packet containing power grid pattern data and equipment attribute data from a data category of a power grid GIS platform; collecting electric power equipment attribute data, and marking electric power equipment and the attribute data thereof on a map according to the power grid pattern data; using a GPS (global positioning system) to collect electric power equipment spatial data and drawing the same on the map; synchronizing the electric power equipment spatial data and attribute data serving as the collecting results to the data category of the power grid GIS platform. The invention further discloses an electric power GIS data collecting system based on the mobile equipment.

The invention discloses an intelligent unmanned aerial vehicle track rapid planning method under multi-constraint condition, and belongs to the field of intelligent aircraft control. Firstly, the safeposition in a flight area is found before track planning according to the terrain, and the coordinates and the type of a correction point capable of positioning error correction are determined; secondly, the constraint conditions are determined according to the target, namely the flight error increment constraint, the vertical error correction constraint and the horizontal error correction constraint, and according to the planned track flight constraint and the minimum turn radius constraint, the interaction mechanism of the constraints is analyzed, and next, an aircraft track planning modelis established by taking the shortest task completion time and lowest energy consumption as far as possible as the target; and an improved Dijkstra algorithm based on the steepest descent is designedfor solving, and finally the track planning path meeting the multi-constraint condition is determined. The relatively optimal track meeting the multi-constraint condition can be quickly planned, and the method is relatively high in effectiveness and robustness; and the flight time is less, and the energy consumption is low.

The invention relates to a TSP problem path planning method. The method comprises the following steps: initializing; reading the position and calculating the distance; initializing a population through a greedy algorithm; replacing the worst individuals with randomly generated individuals; calculating the fitness; selecting; crossing; performing variation; randomly performing simulated annealing on the plurality of individuals; calculating the fitness; giving the contemporary optimal solution and the variant solution thereof to the first individual and the second individual respectively; and iterating until the termination condition is met. The population generated by the greedy algorithm has randomness and high quality, and optimization can be accelerated. A plurality of worst individualsare replaced by randomly generated individuals, so that the influence of differential solutions is reduced, and precocity is avoided. Some better solutions can be found through simulated annealing, and precocity and local optimization are avoided. The storage of the optimal solution and the variant solution of the optimal solution retains excellent information and increases population diversity.According to the invention, a shortest access path can be effectively and quickly planned, so that the method is an effective method capable of providing path planning for the TSP problem.

The invention proposes a method for planning an escape path in a toxic gas leakage state in a chemical industry park. A geographical coordinate of a leakage source point is obtained, a Cartesian coordinate system is established by using the leakage source as an original point, and a chemical industry park is transformed into a node network map; on the basis of an improved Gaussian diffusion model,a large-range harmful gas concentration after gas leakage is calculated; a method for calculating a safe area after toxic gas leakage is put forward based on a gas diffusion range and the national safety standard and an improved method for toxic load calculation is also put forward to realize quantification of the harm on the human body, and an optimal path to the safety area by evacuated peopleis planned by using the toxic load as a weight based on a Dijkstra's shortest path algorithm. According to the invention, proper safety shelters can be planned for people in different areas timely soas to avoid a crowding situation in the shelter. Moreover, the simple calculation method is provided, the operation speed is increased, and an optimal path to the shelter is found time based on quantification of the harm on the human body by the toxic gas.

The invention discloses a posture adjustment path planning method of an intelligent forklift. The posture adjustment path planning method comprises the following steps in specific: establishing an environment overall coordination system; taking the midpoint between the outer top ends of a left pallet fork and a right pallet fork of the forklift as the current position point of the forklift, judging whether the current posture of the forklift meets the requirement or not, and calculating the distance from the tail part of the forklift to a surrounding object; according to the principle that thevehicle posture is adjusted through autonomous driving under the common working condition in life, adopting two steps of retreating and advancing to realize posture adjustment of the forklift; and ineach step, selecting a proper control point and utilizing a B spline curve to realize path planning. With adoption of the posture adjustment path planning method, the path planning demand with strictposture requirements for starting and ending points can be met, in addition, it is ensured that the intelligent forklift can precisely pile and take cargoes through posture adjustment, so that the posture deviation problem when the cargoes are piled is avoided and the situation about unnecessary wear to a tray caused by posture deviation when the cargoes are forked is also avoided; and the planning process is more concise and faster and the selection of the control point of the B spline curve is more delicate.

The present invention discloses a method and system for clock tree planning for an ASIC, the method comprising: determining a netlist and a timing constraint file of the ASIC; creating a sequential device undirected graph for sequential devices in the netlist according to connection relationships of the sequential devices in the netlist and timing constraint relationships of the sequential devices in the timing constraint file; grouping the sequential devices in the netlist according to the sequential device undirected graph, such that the sequential devices in one group do not have a timing constraint relationship with the sequential devices in another group. The ASIC design method improved by using this method will reduce the design cycle from weeks to days, and enable designer to quickly plan the clock tree, thus reducing the design time and improving the design efficiency.

The invention discloses a medical mobile robot path planning method, system, and equipment based on RRT-Connect improvement, and a medium. According to the method, the distance between a starting point and a target point is judged according to a distance cost function; and a second starting point and a second target point with equal distances are sampled simultaneously between the starting pointand the target point through a middle node sampling function, so that the improved algorithm can simultaneously grow six random trees from the starting point, the target point, the second starting point and the second target point, and each random tree simultaneously and quickly expands towards the respective target direction. Meanwhile, a self-adaptive obstacle avoidance resampling principle is added into the algorithm; when a sampling point of the middle node sampling function collides with an obstacle or is located in the obstacle, sampling of the node is abandoned, and then resampling is carried out at the center positions of the node and an adjacent node according to the sampling position of the middle node. Therefore, problems that in a complex environment, a medical mobile robot ishigh in path planning time cost, and a target point is difficult to find in a short time are solved.

The invention provides an unmanned aerial vehicle autonomous obstacle avoidance inspection path planning method and device, and belongs to the field of unmanned aerial vehicle inspection, and the unmanned aerial vehicle inspection path planning method comprises the steps: building a three-dimensional model of an inspection region, wherein the three-dimensional model comprises the point cloud dataof equipment in the inspection region; determining a three-dimensional inspection safety area according to the three-dimensional model and a no-fly strategy; determining a first inspection target taskpoint set according to the inspection plan and the three-dimensional model; and establishing a first inspection path according to the three-dimensional inspection safety area, the first inspection target task point set and the unmanned aerial vehicle information. According to the embodiment, absolute safety of the unmanned aerial vehicle during inspection can be guaranteed, the method has the characteristic of small calculation amount, the inspection path can be planned quickly, accurately and automatically, so that the unmanned aerial vehicle is feasible in the inspection area, obstacles areprevented from being collided, and flight safety and flight efficiency of inspection operation of the unmanned aerial vehicle in the inspection area are improved.

The invention discloses a three-dimensional digital earth platform construction method suitable for hydraulic engineering application. The method comprises the following steps that 1, a resource manager is constructed and used for supporting data resources; 2, a digital earth browser is constructed so as to achieve rendering for a virtual digital earth; 3, a network resource server is constructed, deployment is carried out through the network, basic sources are deployed to the server, and a client side browses corresponding resources through the network; 4, a water conservancy scene editor is constructed and used for editing and developing a water conservancy three-dimensional scene. The method has the advantages that by means of the method for representing hydraulic engineering through the digital earth technology, a hydraulic engineering editing environment is provided, and a real-effect hydraulic engineering can be rapidly planned on a three-dimensional platform. By means of the high-precision mixed terrain technology, and the engineering is allowed to be expressed based on the optimal ultrahigh precision terrain; if design parameters of a channel are given, the terrain containing the corresponding channel can be generated; in addition, a user-defined image layer is overlaid on a satellite image, and therefore a mapping effect with higher precision is achieved.

The invention discloses an autonomous control system for an agile imaging satellite. The imaging satellite is provided with a satellite-borne replanning sub-system and a real-time task receiver; the real-time task receiver is used for carrying out real-time short message information interaction between the imaging satellite and users and between the imaging satellite and a ground supporting system; the replanning sub-system comprises a task preprocessing module, a test replanning module and a command generating module; the task preprocessing module is used for decomposing a target into a plurality of meta tasks and converting the target indication information of each meta task into target guide information; the task replanning module is used for receiving a preprocessing result and generating a new task planning scheme; and the command generating module is used for generating a satellite command from the generated task planning scheme and transmitting the satellite command to a satellite task sub-system for execution. According to the autonomous control system disclosed by the invention, the task planning scheme can be autonomously and partially adjusted according to the decided satellite task planning scheme and task requirements received in real time, so that in-time response to real-time tasks is realized, and the actual observation efficiency is improved.

The invention relates to a double-track online automatic dispensing machine and a control method thereof. The double-track online automatic dispensing machine comprises a rack, a three-axis visual dispensing mechanism, a multi-track conveying mechanism and PCB positioning mechanisms, wherein the three-axis visual dispensing mechanism, the multi-track conveying mechanism and the PCB positioning mechanisms are arranged on the rack; the three-axis visual dispensing mechanism is erected on the multi-track conveying mechanism and can move in the X-axis direction, the Y-axis direction and the Z-axis direction relative to the multi-track conveying mechanism to achieve dispensing operation on PCBs; the multi-track conveying mechanism is provided with multiple conveying tracks and can convey multiple PCBs to move back and forth in the length direction of the conveying tracks, and each conveying track is provided with an automatic width adjusting structure capable of adjusting the width of the conveying track and multiple position detection sensors for detecting the positions of the PCBs on the conveying track; and the PCB positioning mechanisms are arranged between the conveying tracks, and the PCBs can be positioned and fixed so as to achieve dispensing operation of the PCBs. The double-track online automatic dispensing machine has the advantages of being good in compatibility, high in dispensing precision and high in production efficiency.