	US 11,747,826 B2
	Method for route optimization based on dynamic window and redundant node filtering
Yongduan Song, Chongqing (CN); Congyi Zhang, Chongqing (CN); Lihui Tan, Chongqing (CN); Junfeng Lai, Chongqing (CN); Saiyu Wang, Chongqing (CN); and Yankai Zhang, Chongqing (CN)
Assigned to CHONGQING UNIVERSITY, Chongqing (CN); STAR INSTITUTE OF INTELLIGENT SYSTEMS, Chongqing (CN); and DIBI (CHONGQING) INTELLIGENT TECHNOLOGY RESEARCH INSTITUTE CO., LTD., Chongqing (CN)
Filed by Chongqing University, Chongqing (CN); Star Institute of Intelligent Systems, Chongqing (CN); and Dibi (Chongqing) Intelligent Technology Research Institute Co., Ltd., Chongqing (CN)
Filed on Aug. 16, 2021, as Appl. No. 17/403,243.
Claims priority of application No. 202110678202.1 (CN), filed on Jun. 18, 2021.
Prior Publication US 2022/0404836 A1, Dec. 22, 2022
Int. Cl. G05D 1/02 (2020.01)

CPC G05D 1/0274 (2013.01)

3 Claims

1. A method for route optimization based on dynamic window and redundant node filtering, performed by a processor, comprising:

S100: by using an existing raster map data set, determining coordinate information of a starting position and a destination position of movement, and marking a destination node and an obstacle node in the existing raster map;

S200: using A* algorithm to plan a global route, to obtain a route node set;

S300: performing a global optimization to the global route planned by the A* algorithm, to filter redundant nodes;

S400: by combining the dynamic window algorithm, performing a local optimization section by section on the global route optimized in S300 so as to obtain a final global rout; and

S500: controlling a mobile robot to move from the starting position to the destination position based on the final global route; wherein

performing the global optimization to the global route planned by the A* algorithm to filter the redundant nodes in S300 comprises:

S310: labeling the route node set that is obtained in S200 as P{P_i, 1≤j≤n}, wherein P₁is the starting point of the route and P_nis the end point of the route; creating a key point set U{P₁, P_n}for storing key nodes after route optimization;

S320: for the node set P{P_i, 1≤j≤n}, setting m=2, 3, 4, . . . n, connecting in sequence from P₁to P₂, P₃, . . . , and P_m, when any obstacle node exists between a straight line P₁P_m, taking the node P_m−1 as a required node of the route; when the straight line P₁P_mdoes not pass through the obstacle node, determining that the node P_m−1is a redundant node;

adding all of the required nodes to the set U; wherein after the selection of key points is done, U{P₁, P_m−1, . . . , P_m+k, P_n}(2≤m≤n, 1≤k≤n−m) contains all key nodes; when a number of nodes in U is r, the set U is represented as U{P₁, P₂, . . . ,P_r}, (1≤r≤n);

S330: connecting all nodes in the set U in sequence to complete the global optimization of the route.