多约束条件下的正六边形格网室内路径规划

Indoor Route Planning Under Regular Hexagonal Grid Considering Multi-constraints

室内路径规划受到多种约束条件影响,在考虑场景的空间几何、环境属性信息的同时,还要兼顾应用偏好、顾及室内寻路行为的各向同性特征和叠加多约束条件对寻路的影响,这就需要一种可集成多约束条件的数据模型对室内场景进行建模。因此,构建了基于六边形格网的多因素约束的A*算法模型,该算法采用各向同性的正六边形对室内场景建模,并将约束条件作为因素,指导寻路算法实现路径规划。基于此模型,再以距离、辨识度及行人密度为例,说明了约束条件对路径规划的影响,阐述了其与场景建模和寻路算法进行有机结合的优越性。实验结果表明,该方案能有效兼顾距离、地标强度、行人热力等约束条件,提供更符合应用偏好的路径。

Indoor route planning is affected by a variety of constraints.When considering the spatial geometry and environmental attribute information of the scene,it is also necessary to take into account the application preferences,isotropic characteristics of indoor route-finding behavior,and the effects of superimposed multiple constraints on route-finding.This requires a data model that can integrate multiple constraints to model indoor scenes.Therefore,a multi-factor constrained A*algorithm model based on a hexagonal grid is constructed.This algorithm uses an isotropic regular hexagon to model the indoor scene,and uses the constraints as the factors to guide the route-finding algorithm to achieve route planning.Based on this model,and taking distance,recognition,and pedestrian density as examples,the influence of constraints on route planning is illustrated,and the superiority of organic combination with scene modeling and routefinding algorithms is explained.The experimental results show that the scheme can effectively take into account the constraints such as distance,landmark intensity,and pedestrian heat,and provide a route more in line with application preferences.