CN113873610B - Path planning method, device, equipment and medium for wireless information transmission - Google Patents
Path planning method, device, equipment and medium for wireless information transmission Download PDFInfo
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Abstract
The invention provides a path planning method, a device, equipment and a medium for wireless information transmission. By adopting the embodiment of the invention, a feasible initial path can be obtained through a manual potential field method with good stability, a heuristic sampling set is constructed according to the initial path, and sampling is carried out in the heuristic set by limiting, so that the sampling efficiency is improved, the times of invalid sampling are reduced, and the optimal information propagation path is obtained.
Description
Technical Field
The present invention relates to the field of path planning technologies, and in particular, to a method, an apparatus, a device, and a medium for path planning for wireless information transmission.
Background
Along with the rapid promotion and development of intelligent cities, the wireless sensor network is more and more widely applied to the aspects of people living. The wireless sensor network is a novel intelligent network system integrating comprehensive management, information optimization and global regulation, people can establish a lighter and quicker global management mechanism by means of the wireless sensor network, more convenience is provided for people living, the living quality of people is improved, and the system is favorable for constructing a peaceful and stable social environment. In the wireless sensor network, the processes of network routing addressing and information transmission are realized through the process of mutual transmission among the sensor, the router and the host computer by radio waves with data information, but the transmission of the radio waves is often easy to be blocked and interfered by a cement wall, so that how to select a better or even optimal information transmission path in the wireless information transmission, reduce the interference in the information transmission process and accelerate the information transmission is an important difficult problem in the current establishment of the wireless sensor network updated in real time.
Currently, the commonly used path planning algorithms mainly include an a-algorithm, a D-algorithm, and a fast search random number (RRT) algorithm. However, the present inventors have found that in the practice of the present invention, the following technical problems exist in the prior art: the performances of the algorithm A and the algorithm D are greatly affected by environmental factors, so that the calculated planning path is also easily affected by the environmental factors, and the RRT algorithm can ensure the operation accuracy on path planning, but has long operation time and low algorithm convergence speed, and is not beneficial to the rapid transmission of data.
Disclosure of Invention
The invention provides a path planning method, device, equipment and medium for wireless information transmission, which can solve the problems of unstable wireless information transmission and longer transmission time in the prior art, thereby improving the efficiency of information transmission and optimizing the path of information transmission.
In order to achieve the above object, an embodiment of the present invention provides a path planning method for wireless information transmission, including the following steps:
according to an artificial potential field method, path planning is carried out in a target transmission space, and an initial path is obtained;
constructing a heuristic sampling set containing target path data according to the initial path;
and adopting a preset sampling method to sample data in the heuristic sampling set, and obtaining a target planning path of wireless information transmission based on the initial path.
As an improvement of the above solution, the performing path planning in the target transmission space according to the artificial potential field method to obtain an initial path includes:
determining a starting point, a target point and a position of an obstacle of wireless information transmission in a target transmission space;
setting the obstacle as a repulsive force level and the target point as an attractive force level;
and acquiring attraction and repulsion force applied to the wireless information in the transmission process, and calculating the magnitude and direction of resultant force according to the attraction and repulsion force to obtain an initial path.
As an improvement of the above solution, the constructing, according to the initial path, a heuristic sampling set including target path data includes:
acquiring the position of a starting point of wireless information transmission and the position of a target point in the target transmission space;
and constructing a heuristic sampling set containing target path data according to the initial path, the position of the starting point and the position of the target point.
As an improvement of the above solution, the performing data sampling in the heuristic sampling set by using a preset sampling method, and obtaining a target planned path based on the initial path includes:
uniformly sampling in an elliptical area formed by the heuristic sampling set to obtain a uniform sampling point calculation model; the uniform sampling point calculation model is used for indicating the association relation between the uniform sampling points and the initial path;
inputting the initial path into the uniform sampling point calculation model to obtain uniform sampling points in an elliptical area of the heuristic sampling set;
and obtaining a target planning path of the wireless transmission signal according to the uniform sampling points and the position of the pre-acquired starting point of wireless information transmission.
As an improvement of the above scheme, the acquisition mode of the attraction force and the repulsion force suffered by the wireless information in the transmission process specifically comprises:
target point X goal Generating attraction force U at The formula is as follows:
obstacle X obs The repulsive force U is generated re :
F at =K a d(X-X goal ) (4)
wherein K is a Represents the coefficient of gravity, d (X-X) goal ) Represents the linear distance from the initial wireless transmission device to the target point, K r Indicating the repulsive force indicating number d min Represents the shortest distance of the routing node from the obstacle, X' represents X obs The nearest point d to the current position obs Indicating the repulsive force range of the obstacle.
As an improvement of the above scheme, the magnitude and direction of the resultant force are calculated according to the attraction force and the repulsion force, so as to obtain an initial path, specifically:
F res =F at +F re
wherein F is res For the resultant force F res >The path of 0 is the initial path.
Another embodiment of the present invention correspondingly provides a path planning apparatus for wireless information transmission, including:
the initial path acquisition module is used for planning a path in the target transmission space according to the artificial potential field method to obtain an initial path;
the sampling set construction module is used for constructing a heuristic sampling set containing target path data according to the initial path;
and the planned path acquisition module is used for sampling data in the heuristic sampling set by adopting a preset sampling method and obtaining a target planned path of wireless information transmission based on the initial path.
Another embodiment of the present invention correspondingly provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor implements the path planning method for wireless information transmission according to the embodiment of the present invention when executing the computer program.
Another embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium includes a stored computer program, and when the computer program runs, controls a device where the computer readable storage medium is located to execute the path planning method for wireless information transmission described in the foregoing embodiment of the present invention.
Compared with the prior art, the embodiment of the invention provides a path planning method, device, equipment and medium for wireless information transmission, which can acquire a feasible initial path through a manual potential field method with good stability, construct a heuristic set according to the initial path, and sample in the heuristic set by limiting the heuristic set, thereby improving the sampling efficiency, reducing the ineffective sampling times and further obtaining an optimal information propagation path.
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Fig. 1 is a flow chart of a path planning method for wireless information transmission according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a path planning apparatus for wireless information transmission according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a flow chart of a path planning method for wireless information transmission according to an embodiment of the present invention is shown, where the method includes steps S11 to S13:
s11, planning a path in a target transmission space according to an artificial potential field method to obtain an initial path; s12, constructing a heuristic sampling set containing target path data according to the initial path;
and S13, adopting a preset sampling method to sample data in the heuristic sampling set, and obtaining a target planning path for wireless information transmission based on the initial path.
It is worth to say that by adopting the path planning method based on the artificial potential field method and heuristic sampling, the path with the shortest path and highest transmission efficiency can be selected for route addressing and information transmission and transmission, the interference of external obstacles on wireless information data in the transmission process is avoided as much as possible, the transmission of data information is quickened, and the establishment of the wireless sensor network updated in real time is facilitated.
Illustratively, the transport network state space is defined as x= (0, 1) for the entire network state space in which routing addresses and data transmissions are located d ,X obs Representing the space of an obstacle, X free Represented as an unobstructed space left after the obstacle space is removed from the entire state space, denoted as X free =X-X obs . Through (X) free ,X init ,X goal ) Defining a path planning problem, wherein X init ∈X free Representing an initial state, X, in a path planning problem goal ∈X free Representing a set of transfer targets. Let the continuous function f be [0,1 ]]X represents a path from the origin to the target point, forWith f (tau) epsilon X free . It will be appreciated that the following two provisions are set up for the path planning:
(1) In the path planning algorithm, a continuous path f may be generated, and the path does not collide with any obstacle, and satisfies:
the path is called a feasible path, which meets the requirement of path planning.
(2) Let c (f) denote the position of the path f from the starting point X init To target point X goal As a cost function of the path, the Euclidean distance of the available path is recorded as f= { X 1 ,X 2 ,X 3 ,…X n (wherein X is i Representing the i-th routing node on the path, there isWhen the function c (f) is made to take a minimum value f, it is regarded as an optimal path.
Compared with the prior art, the embodiment of the invention provides a path planning method for wireless information transmission, which can construct an initial path based on an artificial potential field method instead of an RRT algorithm, has strong stability, and can obviously shorten the time for generating the initial path by the algorithm and reduce the cost of the initial path; in addition, after a feasible initial path is obtained through a manual potential field method with good stability, a heuristic set is built according to the initial path, and sampling is performed in the heuristic set through limiting, so that the initial heuristic sampling set is reduced. Meanwhile, by means of uniform sampling in the heuristic sampling set of uniform random sampling in the unit circle, the problem that random points need to be sampled for multiple times is avoided, algorithm efficiency and sampling efficiency are improved, the number of invalid sampling is reduced, and then an optimal information propagation path is obtained.
As an alternative embodiment, the step S11 includes:
s111, determining a starting point of wireless information transmission in a target transmission space, a target point and the position of an obstacle;
s112, setting the obstacle as a repulsive force level and setting the target point as an attractive force level;
s113, acquiring attractive force and repulsive force received by the wireless information in the transmission process, and calculating the magnitude and direction of resultant force according to the attractive force and repulsive force to obtain an initial path.
It can be understood that the basic principle of the artificial potential field method is to establish the information transmission environment as a two-dimensional virtual force field, and the target point X goal Generating gravitational field U at Attracting the radio waves to move toward the target point; at the same time, however, obstacle X obs Generating repulsive field U within a certain range re To hinder the movement of interfering radio waves, gravitational field U at And repulsive force field U re Together form a virtual force field U in the whole environment res Virtual force field U res Acting on radio waves as if a virtual force F is given to them res At F res The radio wave is driven to move toward the target point.
As an alternative embodiment, in step S113, the exemplary acquisition manner of the attractive force and the repulsive force suffered by the wireless information during the transmission is specifically:
target point X goal Generating attraction force U at The formula is as follows:
obstacle X obs The repulsive force U is generated re :
F at =K a d(X-X goal ) (4)
wherein K is a Represents the coefficient of gravity, d (X-X) goal ) Represents the linear distance from the initial wireless transmission device to the target point, K r Indicating the repulsive force indicating number d min Represents the shortest distance of the routing node from the obstacle, X' represents X obs The nearest point d to the current position obs Indicating the repulsive force range of the obstacle.
Here, X is a radio wave transmission initiation device (sensor, router, etc.) X init Not the moving radio wave, where the distance d (X-X goal ) Is the straight line distance between the transmission target point and the transmission initial point.
It is worth to describe that the conventional artificial potential field method is easy to generate the problem of path oscillation, that is, the condition that the target cannot reach the path is generated, in order to avoid the condition, the path is optimized in the process of generating the path by using the idea of path rewriting in RRT, so that the problem of initial path oscillation is solved. And by adopting an gravitation equation of a single-distance square proportional relationship, when route addressing and path searching of information transmission are directly carried out by utilizing an artificial potential field algorithm, the condition that an algorithm finds a path which cannot reach a target is prevented.
As an alternative embodiment, in step S113, the magnitude and direction of the resultant force are calculated according to the attractive force and the repulsive force, so as to obtain an initial path, specifically:
F res =F at +F re
wherein F is res For the resultant force F res >0 (0)The path is the initial path.
It will be appreciated that F is screened out by performing path screening res >Paths of 0, discard F res Paths of less than or equal to 0, F res >The path of 0 is the initial path.
As an alternative embodiment, the step S12 includes:
s121, acquiring the position of a starting point of wireless information transmission and the position of a target point in the target transmission space;
s122, constructing a heuristic sampling set containing target path data according to the initial path, the position of the starting point and the position of the target point.
then call f curr Is a viable path. When f curr When the path f is not optimal, there must be X' ∈X free Such that:
c(f curr )>c(f init→x′ )+c(f x′→goal ) (7)
wherein c (f) curr ) Represents the path length of the propagation path, c (f init→x′ ) X represents init The straight line distance to X' is chosen,
c(f x′→goal ) X represents goal The linear distance to X', at X free The set of all X's in the state space satisfying equation (7) is X imp ,X imp ∈X free If the constraint algorithm is X imp Internal sampling and path rewriting ensure that the path tends to the optimal path, and the algorithm can speed up the convergence of the algorithm to the optimal path and improve the path specification because the sampling of the invalid range by the algorithm is avoidedAnd (5) scribing efficiency.
But X is imp Only the ideal sampling set, X is not strict in the algorithm implementation process imp And (5) internal sampling. Meanwhile, since the following expression (8) is necessarily established in the two-dimensional plane, if the path cost can be reduced at a certain point X' in the environment, expression (9) is necessarily satisfied:
c(f start→end )≥(X start -X end ) 2 (8)
(X′-X init ) 2 +(X′-X goal ) 2 ≤c(f curr ) (9)
recording deviceIs X imp The estimated sample set in (1) is necessarily +.>I.e. all sampling points satisfying equation (7) must belong to +.>Weighing scaleTo inspire a sample set. (X' -X) init ) 2 Representing X' to X init Square of straight line distance, (X' -X) goal ) 2 Representing X' to X goal Square of the straight line distance.
Obviously, the set of all the state points satisfying the equation (9) is an elliptical region in the plane, respectively expressed by X init And X goal As the left and right foci of the elliptical region, the major axis length is the current path cost c (f curr ) I.e. the total distance of the information propagation path, the short axis length isWherein c min Is X init And X goal And (3) establishing an initial heuristic sampling set by the linear distance between the two. ThenAs the path planning algorithm proceeds, the path cost c (f curr ) Will gradually decrease, all feasible paths f meeting the artificial potential field method curr The elliptical area is sorted out, and the length of the long and short axes is reduced under the condition that the focal point is kept unchanged, so that the elliptical area is finally converged to a limit state. By the method, a heuristic sampling set is established.
It should be noted that, the feasible paths refer to a set of all propagation paths, and the number of feasible paths is gradually screened to be a set of paths meeting the manual potential field planning as the path planning (i.e. the manual potential field method) proceeds. In addition, X' in the present embodiment represents a point in the unobstructed space in the entire transport network state space where the route addressing and data transmission are located.
It should be noted that, in the conventional RRT path planning algorithm, the probability that any point in the state space is selected is equal, which is generally based on uniform sampling in the complete sense in the state space. However, the presence of the obstacle makes the wireless information transmission path often occupy only a small part of the space, which results in the presence of a large number of redundant sampling points, reducing the efficiency of the algorithm. Compared with the prior art, the method has the advantages that an initial path in the environment is obtained through the sampling artificial potential field method, the path is utilized to establish the heuristic set, redundant sampling points are reduced through uniform sampling in the heuristic set, the algorithm efficiency in path planning is improved, the algorithm operation time is shortened, and the quick transmission of data information is facilitated.
As an optional embodiment, in step S13, the performing data sampling in the heuristic sampling set by using a preset sampling method, and obtaining a target planned path based on the initial path includes:
uniformly sampling in an elliptical area formed by the heuristic sampling set to obtain a uniform sampling point calculation model; the uniform sampling point calculation model is used for indicating the association relation between the uniform sampling points and the initial path;
inputting the initial path into the uniform sampling point calculation model to obtain uniform sampling points in an elliptical area of the heuristic sampling set;
and obtaining a target planning path of the wireless transmission signal according to the uniform sampling points and the position of the pre-acquired starting point of wireless information transmission.
Exemplary, let X circle For uniformly sampling a random point, i.e. X, in a unit circle centered on the origin circle ~U(X circle ) Wherein X is circle ={x∈X|(X) 2 Less than or equal to 1}, then there are:
X ellipse =CLX circle +X center (10)
wherein,,X center =(X init +X goal ) And/2 is represented by X init And X goal The ellipse used as the left and right focuses inspires the center of the sampling area; l represents a linear transformation matrix from a unit circle to an elliptical sampling area; c represents a coordinate transformation matrix from a relative coordinate system with the connection line of two focuses of the heuristic sampling area as a horizontal axis to a world coordinate system.
Taking x circle Is a unit circle X circle Some point in, let x ellipse ′=Lx circle The unit circle to ellipse linear transformation is as follows:
from equation (11):
L T SL=I (12)
and x is again ellipse =Cx ellipse ' is the coordinate transformation of the relative coordinate system of the elliptical heuristic sampling region to the absolute coordinate system, where equation (14) is the coordinate transformation matrix:
wherein,,is X init And X goal The included angle between the straight line and the transverse axis of the absolute coordinate system.
Combining equations (10), (13) and (14), the uniform sampling within a unit circle can be converted from equation (15) to uniform sampling within an elliptical heuristic sampling area:
sampling in the elliptical heuristic sampling area through a formula (15), substituting a plurality of feasible paths in the heuristic sampling set screened by an artificial potential field method into the formula (15) to obtain uniform sampling points x in the elliptical heuristic sampling area ellipse Using a curve to start the signal at the point X init Termination point X goal A plurality of uniform sampling points x ellipse Connected, even sampling points x too far from the curve ellipse Can be discarded to obtain the final optimal information propagation path.
X is the number ellipse Representing a uniform sampling point within an elliptical heuristic sampling region is a point in the optimal propagation path in space. Substituting each feasible path satisfying the artificial potential field method into formula 15 can obtain a sampling point, and then connecting the sampling point with the starting point of radio wave transmission by using a curve, so as to obtain the optimal information propagation path.
It should be noted that, there are various uniform sampling manners based on the heuristic sampling set, and because other algorithms are performed, the acquisition of random points falling in the heuristic sampling set needs to be repeated for many times. In this embodiment, the random points are obtained by uniformly and randomly sampling in the unit circle and converting the coordinate transformation into the random points in the elliptical area, so that the problem of choosing after repeated sampling for many times is avoided, and the algorithm efficiency can be improved.
Referring to fig. 2, a schematic structural diagram of a path planning apparatus for wireless information transmission according to an embodiment of the present invention includes:
an initial path obtaining module 21, configured to perform path planning in the target transmission space according to an artificial potential field method, so as to obtain an initial path;
a sampling set construction module 22, configured to construct a heuristic sampling set containing target path data according to the initial path;
the planned path obtaining module 23 is configured to perform data sampling in the heuristic sampling set by using a preset sampling method, and obtain a target planned path for wireless information transmission based on the initial path.
Compared with the prior art, the path planning device for wireless information transmission disclosed by the embodiment of the invention obtains an initial path through the initial path acquisition module 21, constructs a heuristic sampling set containing target path data through the sampling set construction module 22, and obtains a target planning path for wireless information transmission through the planning path acquisition module 23. By adopting the embodiment of the invention, the feasible initial path can be obtained by the artificial potential field method with better stability, the heuristic set is constructed according to the initial path, and the sampling is carried out in the heuristic set by limiting, so that the sampling efficiency is improved, the ineffective sampling times are reduced, and the optimal information propagation path is obtained.
As an optional embodiment, the performing path planning in the target transmission space according to the artificial potential field method to obtain an initial path includes:
determining a starting point, a target point and a position of an obstacle of wireless information transmission in a target transmission space;
setting the obstacle as a repulsive force level and the target point as an attractive force level;
and acquiring attraction and repulsion force applied to the wireless information in the transmission process, and calculating the magnitude and direction of resultant force according to the attraction and repulsion force to obtain an initial path.
As an optional embodiment, the constructing a heuristic sampling set including target path data according to the initial path includes:
acquiring the position of a starting point of wireless information transmission and the position of a target point in the target transmission space;
and constructing a heuristic sampling set containing target path data according to the initial path, the position of the starting point and the position of the target point.
As an optional embodiment, the performing data sampling in the heuristic sampling set by using a preset sampling method, and obtaining a target planned path based on the initial path includes:
uniformly sampling in an elliptical area formed by the heuristic sampling set to obtain a uniform sampling point calculation model; the uniform sampling point calculation model is used for indicating the association relation between the uniform sampling points and the initial path;
inputting the initial path into the uniform sampling point calculation model to obtain uniform sampling points in an elliptical area of the heuristic sampling set;
and obtaining a target planning path of the wireless transmission signal according to the uniform sampling points and the position of the pre-acquired starting point of wireless information transmission.
As an optional embodiment, the acquisition mode of the attraction force and the repulsion force suffered by the wireless information in the transmission process specifically includes:
target point X goal Generating attraction force U at The formula is as follows:
obstacle X obs The repulsive force U is generated re :
F at =K a d(X-X goal ) (4)
wherein K is a Represents the coefficient of gravity, d (X-X) goal ) Represents the linear distance from the initial wireless transmission device to the target point, K r Indicating the repulsive force indicating number d min Represents the shortest distance of the routing node from the obstacle, X' represents X obs The nearest point d to the current position obs Indicating the repulsive force range of the obstacle.
As an optional embodiment, the magnitude and direction of the resultant force are calculated according to the attractive force and the repulsive force, so as to obtain an initial path, specifically:
F res =F at +F re
wherein F is res For the resultant force F res >The path of 0 is the initial path.
It should be noted that, for convenience and brevity of description, specific descriptions of the working process and the beneficial effects of the apparatus in the foregoing embodiments may refer to the foregoing method embodiments, and are not repeated herein.
Referring to fig. 3, a schematic structural diagram of a terminal device according to an embodiment of the present invention is provided. The terminal device 3 of this embodiment includes: a processor 30, a memory 31 and a computer program stored in said memory 31 and executable on said processor 30. The processor 30, when executing the computer program, implements the steps of the path planning method embodiments for wireless information transmission described above. Alternatively, the processor 30 may implement the functions of the modules in the above-described device embodiments when executing the computer program.
Illustratively, the computer program may be split into one or more modules that are stored in the memory 31 and executed by the processor 30 to complete the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program in the terminal device 3.
The terminal device 3 may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, etc. The terminal device 3 may include, but is not limited to, a processor 30, a memory 31. It will be appreciated by those skilled in the art that the schematic diagram is merely an example of a terminal device and does not constitute a limitation of the terminal device, and may comprise more or less components than shown, or may combine certain components, or different components, e.g. the terminal device 3 may further comprise input and output devices, network access devices, buses, etc.
The processor 30 may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 30 is a control center of the terminal device 3, and connects the respective parts of the entire terminal device 3 using various interfaces and lines.
The memory 31 may be used to store the computer program and/or the module, and the processor 30 implements various functions of the terminal device 3 by running or executing the computer program and/or the module stored in the memory 31 and invoking data stored in the memory 31. The memory 31 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory 31 may include a high-speed random access memory, and may also include a nonvolatile memory such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), at least one disk storage device, a Flash memory device, or other volatile solid-state storage device.
The modules integrated in the terminal device 3 may be stored in a computer-readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the present invention may implement all or part of the flow of the method of the above-described embodiments, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of the method embodiments described above when executed by the processor 30. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the device provided by the invention, the connection relation between the modules represents that the modules have communication connection, and can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The embodiment of the invention also provides a computer readable storage medium, which comprises a stored computer program, wherein the equipment where the computer readable storage medium is located is controlled to execute the path planning method for wireless information transmission when the computer program runs.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (8)
1. The path planning method for wireless information transmission is characterized by comprising the following steps:
according to an artificial potential field method, path planning is carried out in a target transmission space, and an initial path is obtained;
constructing a heuristic sampling set containing target path data according to the initial path;
adopting a preset sampling method to sample data in the heuristic sampling set, and obtaining a target planning path of wireless information transmission based on the initial path;
the step of sampling data in the heuristic sampling set by adopting a preset sampling method and obtaining a target planning path based on the initial path comprises the following steps:
uniformly sampling in an elliptical area formed by the heuristic sampling set to obtain a uniform sampling point calculation model; the uniform sampling point calculation model is used for indicating the association relation between the uniform sampling points and the initial path;
inputting the initial path into the uniform sampling point calculation model to obtain uniform sampling points in an elliptical area of the heuristic sampling set;
and obtaining a target planning path of the wireless transmission signal according to the uniform sampling points and the position of the pre-acquired starting point of wireless information transmission.
2. The path planning method for wireless information transmission according to claim 1, wherein the path planning in the target transmission space according to the artificial potential field method, to obtain an initial path, comprises:
determining a starting point, a target point and a position of an obstacle of wireless information transmission in a target transmission space;
setting the obstacle as a repulsive force level and the target point as an attractive force level;
and acquiring attraction and repulsion force applied to the wireless information in the transmission process, and calculating the magnitude and direction of resultant force according to the attraction and repulsion force to obtain an initial path.
3. The path planning method for wireless information transmission according to claim 1, wherein constructing a heuristic sampling set containing target path data from the initial path comprises:
acquiring the position of a starting point of wireless information transmission and the position of a target point in the target transmission space;
and constructing a heuristic sampling set containing target path data according to the initial path, the position of the starting point and the position of the target point.
4. The path planning method for wireless information transmission according to claim 2, wherein the acquisition modes of the attraction force and the repulsion force applied to the wireless information in the transmission process are specifically as follows:
target point X goal Generating attraction force U at The formula is as follows:
obstacle X obs The repulsive force U is generated re :
F at =K a d(X-X goal ) (4)
wherein K is a Represents the coefficient of gravity, d (X-X) goal ) Represents the linear distance from the initial wireless transmission device to the target point, K r Indicating the repulsive force indicating number d min Represents the shortest distance of the routing node from the obstacle, x ′ X represents obs The nearest point d to the current position obs Indicating the repulsive force range of the obstacle.
5. The method for planning a path for wireless information transmission according to claim 4, wherein the step of calculating the magnitude and direction of the resultant force according to the attractive force and the repulsive force to obtain an initial path comprises:
F res =F at +F re
wherein F is res For the resultant force F res >The path of 0 is the initial path.
6. A path planning apparatus for wireless information transmission, comprising:
the initial path acquisition module is used for planning a path in the target transmission space according to the artificial potential field method to obtain an initial path;
the sampling set construction module is used for constructing a heuristic sampling set containing target path data according to the initial path;
the planning path acquisition module is used for sampling data in the heuristic sampling set by adopting a preset sampling method and obtaining a target planning path for wireless information transmission based on the initial path;
the planned path obtaining module is configured to adopt a preset sampling method to sample data in the heuristic sampling set, and obtain a target planned path based on the initial path, where the method includes:
uniformly sampling in an elliptical area formed by the heuristic sampling set to obtain a uniform sampling point calculation model; the uniform sampling point calculation model is used for indicating the association relation between the uniform sampling points and the initial path;
inputting the initial path into the uniform sampling point calculation model to obtain uniform sampling points in an elliptical area of the heuristic sampling set;
and obtaining a target planning path of the wireless transmission signal according to the uniform sampling points and the position of the pre-acquired starting point of wireless information transmission.
7. A terminal device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing a path planning method of wireless information transmission according to any one of claims 1 to 5 when the computer program is executed.
8. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program, wherein the computer program, when run, controls a device in which the computer readable storage medium is located to perform a path planning method of wireless information transmission according to any one of claims 1 to 5.
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CN113103236A (en) * | 2021-04-22 | 2021-07-13 | 山东大学 | A fast and progressive optimal path planning method for robot arm obstacle avoidance |
CN113359768A (en) * | 2021-07-05 | 2021-09-07 | 哈尔滨理工大学 | Path planning method based on improved A-x algorithm |
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CN113103236A (en) * | 2021-04-22 | 2021-07-13 | 山东大学 | A fast and progressive optimal path planning method for robot arm obstacle avoidance |
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