| 冉 宁,张家明,杨宏飞,郝真鸣,郝晋渊.基于语义分割网络的 AGV 路径规划算法[J].电子测量与仪器学报,2023,37(7):121-130 |
| 基于语义分割网络的 AGV 路径规划算法 |
| AGV searching path planning algorithm based on semantic segmentation network |
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| DOI： |
| 中文关键词: 路径规划 语义分割 AGV 栅格地图 |
| 英文关键词:path planning semantic segmentation AGV raster map |
| 基金项目:国 家 自 然 科 学 基 金 ( 61903119 )、 河 北 省 高 等 学 校 科 学 技 术 研 究 项 目 ( BJ2021008 )、 教 育 部 “ 春 晖 计 划” 合 作 科 研 项 目(HZKY20220257)、河北省社会科学发展研究课题(20210301141)、河北大学科研创新团队项目(IT202306)资助 |
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| 中文摘要: |
| 针对基于栅格地图的路径规划技术在面对大地图、高分辨率地图的情况下,存在的规划速度慢、内存占用高的问题,提
出一种基于语义网络的网络搜索算法。 首先使用语义分割网络对栅格地图进行预采样,其次通过图像学膨胀拓宽最优路径形
成最优路径范围,增强算法鲁棒性,最后利用语义网络的特征图指导搜索算法规划,加快了高分辨率栅格地图的路径规划的速
度。 实验仿真表明,网络搜索算法较传统搜索算法,时间平均缩短 72. 5%,遍历点数平均减少 51. 6%,路径长度平均延长
0. 73%,网络搜索算法可以有效加快路径搜索速度,减少内存占用。 |
| 英文摘要: |
| A semantic network-based network search algorithm is proposed to address the problems of slow planning speed and high
memory occupation of raster map-based path planning techniques in the face of large maps and high-resolution maps. Firstly, a semantic
partitioning network is used to pre-sample the raster map, secondly, the optimal path range is formed by widening the optimal path
through imagery expansion to improve the robustness of the algorithm, finally, the feature map of the semantic network is used to guide
the planning of the search algorithm, which speeds up the path planning of the high-resolution raster map. Experimental simulations show
that the network search algorithm reduces the time by an average of 72. 5%, the number of traversal points by an average of 51. 6%, and
the path length by an average of 0. 73% compared to the traditional search algorithm, and the network search algorithm can effectively
speed up the path search and reduce the memory occupation. |
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