基于嵌入式电子地图的导航最优路径规划

Optimal path planning for navigation based on embedded electronic map

路网拓扑数据的组织是路径规划的关键.以MapInfo格式的桌面电子地图文件为数据来源,从中提取电子地图数据以及路径规划所需的路网拓扑数据并根据需要对数据进行了裁减,针对嵌入式GIS的特点选用合适的数据结构来组织数据.在Linux操作系统下,以Qt/Embedded为开发环境,采用改进的A*算法在我们实现的嵌入式电子地图上进行了最优路径规划.最后,在宿主机(PC机)的qvfb(vitural framebuffer)里显示了实验结果,达到了预期的效果.qvfb是用来模拟帧缓冲的工具,它可以模拟在开发板上的显示情况.

Organization of network topological data is crucial foundation in the algorithm of shortest path planning. In this paper, the desktop electronic map saved as MapInfo format are used as data source. The electronic map data and topology data for path planning are extracted and the data are reduced in accordance with the need. The suitable data structure are selected for the data organization against the characteristic of embedded GIS. In the Linux operating systems and Qt/ Embedded development environment, optimal path planning for navigation adopting improved A ＊ algorithm on embedded map are carried out. The results of experiment in qvfb of PC machine are showed. The results achieve the expected results. Qvfb is a kind of tool used to simulate the running situation on development board.