嵌入式系统全国路径规划算法

National Path Planning Algorithm Based on Embedded System

嵌入式系统提供的内存资源非常有限,在大内存计算时往往出现计算效率低甚至崩溃的问题。针对该问题,设计一种基于嵌入式系统全国路径规划的实用算法。该算法以国产四维导航数据作为生成导航规划数据模型的基础数据,包括分图幅的基本计算节点、交通禁忌信息序列表、节点与道路的连接信息。针对嵌入式系统的特点,本文设计基于关键节点浓缩思想提取全国基础导航路网的方法,提出实时规划计算时的数据调度策略,并对基于嵌入式系统的实用双向Dijkstra算法进行优化。实验结果表明本文算法在计算能力与计算内存有限的嵌入式系统上具有良好表现。

The memory resources provided by embedded systems are very limited.In the calculation of large memory,the problem of low calculation efficiency or even crash often occurs.For this problem,a practical algorithm for nationwide path planning based on embedded systems is designed.The algorithm uses the domestic four-dimensional navigation data as the basic data for generating the navigation planning data model,including:the topological relationship of the basic computing nodes in the sub-map,the sequence list of traffic taboo information,and the connection information between nodes and roads.According to the characteristics of the embedded system,we propose the design based on the idea of key node enrichment to extract the national basic navigation road network,the data scheduling strategy for real-time planning and calculation,and the optimization of the practical two-way Dijkstra algorithm based on the embedded system.The experimental results show that the algorithm in this paper has good performance on embedded systems with limited computing power and computing memory.