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| | | package lujing; |
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| | | import java.util.List; |
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| | | import java.util.ArrayList; |
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| | | import java.util.*; |
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| | | /** |
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| | | * 无障碍物异形地块路径规划类 |
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| | | * 异形草地路径规划 - 凹多边形兼容优化版 V5.0 |
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| | | * 修复：解决凹多边形扫描线跨越边界的问题，优化路径对齐 |
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| | | */ |
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| | | public class YixinglujingNoObstacle { |
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| | | /** |
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| | | * 生成路径 |
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| | | * @param boundaryCoordsStr 地块边界坐标字符串 "x1,y1;x2,y2;..." |
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| | | * @param mowingWidthStr 割草宽度字符串，如 "0.34" |
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| | | * @param safetyMarginStr 安全边距字符串，如 "0.2" |
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| | | * @return 路径坐标字符串，格式 "x1,y1;x2,y2;..." |
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| | | */ |
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| | | public static String planPath(String boundaryCoordsStr, String mowingWidthStr, String safetyMarginStr) { |
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| | | // TODO: 实现异形地块无障碍物路径规划算法 |
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| | | // 目前使用默认方法作为临时实现 |
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| | | throw new UnsupportedOperationException("YixinglujingNoObstacle.planPath 尚未实现"); |
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| | | public static List<PathSegment> planPath(String coordinates, String widthStr, String marginStr) { |
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| | | List<Point> rawPoints = parseCoordinates(coordinates); |
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| | | if (rawPoints.size() < 3) return new ArrayList<>(); |
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| | | |
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| | | double mowWidth = Double.parseDouble(widthStr); |
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| | | double safeMargin = Double.parseDouble(marginStr); |
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| | | |
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| | | // 1. 预处理：确保逆时针顺序 |
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| | | ensureCounterClockwise(rawPoints); |
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| | | |
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| | | // 2. 生成内缩多边形（安全边界） |
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| | | List<Point> boundary = getInsetPolygon(rawPoints, safeMargin); |
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| | | if (boundary.size() < 3) return new ArrayList<>(); |
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| | | |
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| | | // 3. 确定最优作业角度 |
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| | | double bestAngle = findOptimalAngle(boundary); |
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| | | |
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| | | // 4. 获取首个作业点，用于对齐围边起点 |
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| | | Point firstScanStart = getFirstScanPoint(boundary, mowWidth, bestAngle); |
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| | | |
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| | | // 5. 对齐围边：使围边最后结束于靠近扫描起点的位置 |
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| | | List<Point> alignedBoundary = alignBoundaryStart(boundary, firstScanStart); |
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| | | |
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| | | List<PathSegment> finalPath = new ArrayList<>(); |
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| | | |
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| | | // 6. 第一阶段：围边路径 |
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| | | for (int i = 0; i < alignedBoundary.size(); i++) { |
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| | | Point pStart = alignedBoundary.get(i); |
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| | | Point pEnd = alignedBoundary.get((i + 1) % alignedBoundary.size()); |
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| | | finalPath.add(new PathSegment(pStart, pEnd, true)); |
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| | | } |
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| | | |
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| | | // 7. 第二阶段：生成内部扫描路径（修复凹部空越问题） |
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| | | Point lastEdgePos = alignedBoundary.get(0); |
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| | | List<PathSegment> scanPath = generateGlobalScanPath(boundary, mowWidth, bestAngle, lastEdgePos); |
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| | | finalPath.addAll(scanPath); |
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| | | return finalPath; |
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| | | } |
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| | | } |
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| | | |
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| | | private static List<PathSegment> generateGlobalScanPath(List<Point> polygon, double width, double angle, Point currentPos) { |
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| | | List<PathSegment> segments = new ArrayList<>(); |
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| | | List<Point> rotatedPoly = new ArrayList<>(); |
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| | | for (Point p : polygon) rotatedPoly.add(rotatePoint(p, -angle)); |
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| | | |
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| | | double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE; |
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| | | for (Point p : rotatedPoly) { |
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| | | minY = Math.min(minY, p.y); |
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| | | maxY = Math.max(maxY, p.y); |
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| | | } |
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| | | |
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| | | boolean leftToRight = true; |
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| | | // 步长 y 从最小到最大扫描 |
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| | | for (double y = minY + width/2; y <= maxY - width/2; y += width) { |
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| | | List<Double> xIntersections = getXIntersections(rotatedPoly, y); |
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| | | if (xIntersections.size() < 2) continue; |
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| | | Collections.sort(xIntersections); |
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| | | |
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| | | // 处理凹多边形：每两个点组成一个有效作业段 |
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| | | List<PathSegment> lineSegmentsInRow = new ArrayList<>(); |
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| | | for (int i = 0; i < xIntersections.size() - 1; i += 2) { |
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| | | Point pS = rotatePoint(new Point(xIntersections.get(i), y), angle); |
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| | | Point pE = rotatePoint(new Point(xIntersections.get(i + 1), y), angle); |
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| | | lineSegmentsInRow.add(new PathSegment(pS, pE, true)); |
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| | | } |
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| | | |
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| | | // 根据当前S型方向排序作业段 |
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| | | if (!leftToRight) { |
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| | | Collections.reverse(lineSegmentsInRow); |
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| | | for (PathSegment s : lineSegmentsInRow) { |
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| | | Point temp = s.start; s.start = s.end; s.end = temp; |
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| | | } |
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| | | } |
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| | | |
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| | | // 将作业段连接到总路径 |
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| | | for (PathSegment s : lineSegmentsInRow) { |
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| | | if (Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.01) { |
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| | | // 如果间距大于1cm，添加空走路径 |
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| | | segments.add(new PathSegment(currentPos, s.start, false)); |
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| | | } |
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| | | segments.add(s); |
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| | | currentPos = s.end; |
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| | | } |
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| | | leftToRight = !leftToRight; |
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| | | } |
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| | | return segments; |
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| | | } |
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| | | private static Point getFirstScanPoint(List<Point> polygon, double width, double angle) { |
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| | | List<Point> rotatedPoly = new ArrayList<>(); |
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| | | for (Point p : polygon) rotatedPoly.add(rotatePoint(p, -angle)); |
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| | | double minY = Double.MAX_VALUE; |
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| | | for (Point p : rotatedPoly) minY = Math.min(minY, p.y); |
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| | | |
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| | | double firstY = minY + width/2; |
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| | | List<Double> xInter = getXIntersections(rotatedPoly, firstY); |
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| | | if (xInter.isEmpty()) return polygon.get(0); |
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| | | Collections.sort(xInter); |
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| | | return rotatePoint(new Point(xInter.get(0), firstY), angle); |
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| | | } |
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| | | private static List<Point> alignBoundaryStart(List<Point> boundary, Point targetStart) { |
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| | | int bestIdx = 0; |
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| | | double minDist = Double.MAX_VALUE; |
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| | | for (int i = 0; i < boundary.size(); i++) { |
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| | | double d = Math.hypot(boundary.get(i).x - targetStart.x, boundary.get(i).y - targetStart.y); |
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| | | if (d < minDist) { minDist = d; bestIdx = i; } |
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| | | } |
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| | | List<Point> aligned = new ArrayList<>(); |
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| | | for (int i = 0; i < boundary.size(); i++) { |
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| | | aligned.add(boundary.get((bestIdx + i) % boundary.size())); |
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| | | } |
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| | | return aligned; |
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| | | } |
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| | | |
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| | | private static List<Double> getXIntersections(List<Point> rotatedPoly, double y) { |
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| | | List<Double> xIntersections = new ArrayList<>(); |
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| | | for (int i = 0; i < rotatedPoly.size(); i++) { |
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| | | Point p1 = rotatedPoly.get(i); |
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| | | Point p2 = rotatedPoly.get((i + 1) % rotatedPoly.size()); |
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| | | if ((p1.y <= y && p2.y > y) || (p2.y <= y && p1.y > y)) { |
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| | | double x = p1.x + (y - p1.y) * (p2.x - p1.x) / (p2.y - p1.y); |
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| | | xIntersections.add(x); |
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| | | } |
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| | | } |
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| | | return xIntersections; |
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| | | } |
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| | | private static double findOptimalAngle(List<Point> polygon) { |
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| | | double bestAngle = 0; |
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| | | double minHeight = Double.MAX_VALUE; |
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| | | for (int i = 0; i < polygon.size(); i++) { |
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| | | Point p1 = polygon.get(i), p2 = polygon.get((i + 1) % polygon.size()); |
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| | | double angle = Math.atan2(p2.y - p1.y, p2.x - p1.x); |
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| | | double h = calculateHeightAtAngle(polygon, angle); |
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| | | if (h < minHeight) { minHeight = h; bestAngle = angle; } |
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| | | } |
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| | | return bestAngle; |
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| | | } |
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| | | private static double calculateHeightAtAngle(List<Point> poly, double angle) { |
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| | | double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE; |
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| | | for (Point p : poly) { |
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| | | Point rp = rotatePoint(p, -angle); |
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| | | minY = Math.min(minY, rp.y); maxY = Math.max(maxY, rp.y); |
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| | | } |
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| | | return maxY - minY; |
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| | | } |
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| | | private static List<Point> getInsetPolygon(List<Point> points, double margin) { |
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| | | List<Point> result = new ArrayList<>(); |
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| | | int n = points.size(); |
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| | | for (int i = 0; i < n; i++) { |
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| | | Point pPrev = points.get((i - 1 + n) % n); |
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| | | Point pCurr = points.get(i); |
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| | | Point pNext = points.get((i + 1) % n); |
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| | | double d1x = pCurr.x - pPrev.x, d1y = pCurr.y - pPrev.y; |
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| | | double l1 = Math.hypot(d1x, d1y); |
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| | | double d2x = pNext.x - pCurr.x, d2y = pNext.y - pCurr.y; |
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| | | double l2 = Math.hypot(d2x, d2y); |
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| | | if (l1 < 1e-6 || l2 < 1e-6) continue; |
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| | | |
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| | | // 单位法向量 |
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| | | double n1x = -d1y / l1, n1y = d1x / l1; |
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| | | double n2x = -d2y / l2, n2y = d2x / l2; |
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| | | |
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| | | // 角平分线方向 |
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| | | double bisectorX = n1x + n2x, bisectorY = n1y + n2y; |
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| | | double bLen = Math.hypot(bisectorX, bisectorY); |
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| | | if (bLen < 1e-6) { bisectorX = n1x; bisectorY = n1y; } |
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| | | else { bisectorX /= bLen; bisectorY /= bLen; } |
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| | | double cosHalfAngle = n1x * bisectorX + n1y * bisectorY; |
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| | | double dist = margin / Math.max(cosHalfAngle, 0.1); |
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| | | // 限制最大位移量，防止极尖角畸变 |
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| | | dist = Math.min(dist, margin * 5); |
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| | | result.add(new Point(pCurr.x + bisectorX * dist, pCurr.y + bisectorY * dist)); |
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| | | } |
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| | | return result; |
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| | | } |
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| | | private static Point rotatePoint(Point p, double angle) { |
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| | | double cos = Math.cos(angle), sin = Math.sin(angle); |
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| | | return new Point(p.x * cos - p.y * sin, p.x * sin + p.y * cos); |
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| | | } |
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| | | private static void ensureCounterClockwise(List<Point> points) { |
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| | | double sum = 0; |
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| | | for (int i = 0; i < points.size(); i++) { |
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| | | Point p1 = points.get(i), p2 = points.get((i + 1) % points.size()); |
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| | | sum += (p2.x - p1.x) * (p2.y + p1.y); |
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| | | } |
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| | | if (sum > 0) Collections.reverse(points); |
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| | | } |
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| | | |
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| | | private static List<Point> parseCoordinates(String coordinates) { |
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| | | List<Point> points = new ArrayList<>(); |
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| | | String[] pairs = coordinates.split(";"); |
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| | | for (String pair : pairs) { |
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| | | String[] xy = pair.split(","); |
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| | | if (xy.length == 2) points.add(new Point(Double.parseDouble(xy[0]), Double.parseDouble(xy[1]))); |
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| | | } |
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| | | if (points.size() > 1 && points.get(0).equals(points.get(points.size()-1))) points.remove(points.size()-1); |
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| | | return points; |
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| | | } |
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| | | public static class Point { |
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| | | public double x, y; |
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| | | public Point(double x, double y) { this.x = x; this.y = y; } |
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| | | @Override |
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| | | public boolean equals(Object o) { |
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| | | if (!(o instanceof Point)) return false; |
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| | | Point p = (Point) o; |
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| | | return Math.abs(x - p.x) < 1e-4 && Math.abs(y - p.y) < 1e-4; |
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| | | } |
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| | | } |
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| | | public static class PathSegment { |
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| | | public Point start, end; |
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| | | public boolean isMowing; // true: 割草中, false: 空载移动 |
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| | | public PathSegment(Point s, Point e, boolean m) { this.start = s; this.end = e; this.isMowing = m; } |
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| | | } |
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| | | } |
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