The invention discloses a rail transit train intelligent agent path planning method based on MDD-SAT, and relates to the technical field of path planning, and the method comprises the following steps: S1, carrying out map modeling and intelligent agent modeling on a rail transit system; s2, respectively carrying out independent path planning on all agents, and setting the maximum time cost in all path planning schemes as # imgabs0 #; the sum of the cost of all the agents is set to be # imgabs 1 #; a # imgabs2 # is initialized; s3, operating a # imgabs3 # algorithm to solve a path planning scheme, entering S4 if no solution exists, and entering S5 if a solution exists; s4, enabling # imgabs4 #, and returning to S3; s5, outputting a path planning scheme; and the # imgabs5 # algorithm adopted in the step S3 constructs a proposition formula based on a multi-valued decision diagram, and solves the proposition formula based on Boolean satisfiability to obtain a path planning scheme. According to the method, a subway system is abstracted into an MAPF problem through modeling, and conflicts in path planning are solved by using an MDD-SAT algorithm, so that an optimal path planning solution of a high-speed railway system is found.
本发明公开了一种基于MDD‑SAT的轨道交通列车智能体路径规划方法,涉及路径规划技术领域,包括以下步骤:S1,对轨道交通系统进行地图建模和智能体建模;S2,分别对所有智能体进行单独的路径规划,将所有路径规划方案中最大的时间成本设置为#imgabs0#;将所有智能体的成本总和设置为#imgabs1#;初始化#imgabs2#;S3,运行#imgabs3#算法求解路径规划方案,无解则进入S4,有解则进入S5;S4,令#imgabs4#,返回S3;S5,输出路径规划方案;所述S3采用的#imgabs5#算法基于多值决策图构建命题公式,基于布尔可满足性求解命题公式,获得路径规划方案。本发明通过建模将地铁系统抽象为MAPF问题,并利用MDD‑SAT算法解决路径规划中的冲突,以找到高速铁路系统的最优路径规划解决方案。
Rail transit train agent path planning method based on MDD-SAT
一种基于MDD-SAT的轨道交通列车智能体路径规划方法
2024-09-10
Patent
Electronic Resource
Chinese
IPC: | G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
Path planning method based on urban rail transit information
European Patent Office | 2024
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