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发明公开
CN107560631A 一种路径规划方法、装置和巡检机器人 有权

一种路径规划方法、装置和巡检机器人
摘要：
本申请公开了一种路径规划方法、装置和巡检机器人，具体为初始化信息，确定所有停靠点和所有任务点的数量、任务起点、任务终点、任务列表和任务点数量；读取包含所有停靠点和所有任务点的最短距离矩阵和最近邻矩阵、任务起点、任务终点、任务点数量和任务列表；对任务点列表进行预处理，得到最新任务列表；根据最新任务列表对最短距离矩阵进行计算，得到与最新任务列表相对应的当前最短距离矩阵；根据预设的改进蚁群算法，对最新任务列表的任务点进行路径计算，得到任务点序列；根据最近邻矩阵和预设的单行路段信息对任务点序列进行细化处理，得到任务点巡检序列。
摘要（英）：

The invention discloses a path planning method and device, and an inspection robot. The path planning method specifically comprises the following steps: initializing information, determining the quantity of all docking points and all task points, a task starting point, a task ending point, a task list and the task point quantity; reading a shortest distance matrix containing all the docking pointsand all the task pints, a nearest neighbor matrix, the task starting point, the task ending points, the task point quantity and the task list; performing pre-treatment on the task list to obtain a latest task list; calculating the shortest distance matrix according to the latest task list to obtain a current shortest distance matrix corresponding to the latest task list; according to a preset improved ant colony algorithm, performing path calculation on the task points in the latest task list to obtain a task point sequence; performing refining treatment on the task point sequence according to the nearest neighbor matrix and preset one-way road section information to obtain a task point inspection sequence.

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