From 9d7822ada88392e1b1a612e9b4f680fe6b09aedf Mon Sep 17 00:00:00 2001
From: 826220679@qq.com <826220679@qq.com>
Date: 星期六, 27 十二月 2025 22:25:38 +0800
Subject: [PATCH] 优化了路径规划
---
src/lujing/YixinglujingNoObstacle.java | 285 ++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 221 insertions(+), 64 deletions(-)
diff --git a/src/lujing/YixinglujingNoObstacle.java b/src/lujing/YixinglujingNoObstacle.java
index 67a5bb0..304a3bc 100644
--- a/src/lujing/YixinglujingNoObstacle.java
+++ b/src/lujing/YixinglujingNoObstacle.java
@@ -3,11 +3,24 @@
import java.util.*;
/**
- * 寮傚舰鑽夊湴璺緞瑙勫垝 - 鍥磋竟+鍏ㄥ眬鎵弿鐗� V4.1
- * 浼樺寲锛氬洿杈圭粓鐐逛笌寮撳瓧褰㈣捣鐐硅嚜鍔ㄥ榻愶紝瀹炵幇鏃犵紳鍒囨崲锛岀‘淇濊矾寰勪笉瓒婄晫
+ * 寮傚舰鑽夊湴璺緞瑙勫垝 - 鍑瑰杈瑰舰鍏煎浼樺寲鐗� V5.0
+ * 淇锛氳В鍐冲嚬澶氳竟褰㈡壂鎻忕嚎璺ㄨ秺杈圭晫鐨勯棶棰橈紝浼樺寲璺緞瀵归綈
*/
public class YixinglujingNoObstacle {
-
+ // 鐢ㄦ硶璇存槑锛堟棤闅滅鐗╄矾寰勮鍒掞級锛�
+ // - 鏂规硶鐢ㄩ�旓細鏍规嵁鍦板潡杈圭晫銆佸壊鑽夊搴︿笌瀹夊叏杈硅窛锛岀敓鎴愯鐩栧叏鍖哄煙鐨勫壊鑽夎矾寰勩��
+ // - 鍙傛暟锛�
+ // coordinates锛氬湴鍧楄竟鐣屽潗鏍囧瓧绗︿覆锛屾牸寮� "x1,y1;x2,y2;..."锛岃嚦灏�3涓偣锛屽崟浣嶄负绫炽��
+ // widthStr锛氬壊鑽夊搴︼紙瀛楃涓诧紝鍗曚綅绫筹級锛岀敤浜庣‘瀹氭壂鎻忕嚎闂磋窛銆�
+ // marginStr锛氬畨鍏ㄨ竟璺濓紙瀛楃涓诧紝鍗曚綅绫筹級锛岀敤浜庡皢鍦板潡杈圭晫鍚戝唴鏀剁缉锛岄伩鍏嶈创杈逛綔涓氥��
+ // - 杩斿洖鍊硷細List<PathSegment>锛屽叾涓� PathSegment.start/end 涓哄潗鏍囩偣锛宨sMowing 涓� true 琛ㄧず鍓茶崏娈碉紝false 琛ㄧず绌鸿蛋娈点��
+ // - 澶辫触鎯呭喌锛氬綋杈圭晫鐐逛笉瓒虫垨鍐呯缉鍚庡尯鍩熻繃灏忥紝杩斿洖绌哄垪琛ㄣ��
+ // - 浣跨敤绀轰緥锛�
+ // String boundary = "0,0;20,0;20,15;0,15";
+ // String width = "0.3";
+ // String margin = "0.5";
+ // List<YixinglujingNoObstacle.PathSegment> path =
+ // YixinglujingNoObstacle.planPath(boundary, width, margin);
public static List<PathSegment> planPath(String coordinates, String widthStr, String marginStr) {
List<Point> rawPoints = parseCoordinates(coordinates);
if (rawPoints.size() < 3) return new ArrayList<>();
@@ -15,75 +28,48 @@
double mowWidth = Double.parseDouble(widthStr);
double safeMargin = Double.parseDouble(marginStr);
- // 1. 棰勫鐞嗭細閫嗘椂閽堝寲
+ // 1. 棰勫鐞嗭細纭繚閫嗘椂閽堥『搴�
ensureCounterClockwise(rawPoints);
- // 2. 鐢熸垚鍐呯缉澶氳竟褰�
+ // 2. 鐢熸垚鍐呯缉澶氳竟褰紙瀹夊叏杈圭晫锛�
List<Point> boundary = getInsetPolygon(rawPoints, safeMargin);
if (boundary.size() < 3) return new ArrayList<>();
- // 3. 纭畾鏈�浼樻壂鎻忚搴﹀苟鎵惧埌寮撳瓧褰㈣矾寰勭殑绗竴涓綔涓氳捣鐐�
+ // 3. 纭畾鏈�浼樹綔涓氳搴�
double bestAngle = findOptimalAngle(boundary);
+
+ // 4. 鑾峰彇棣栦釜浣滀笟鐐癸紝鐢ㄤ簬瀵归綈鍥磋竟璧风偣
Point firstScanStart = getFirstScanPoint(boundary, mowWidth, bestAngle);
- // 4. 瀵归綈鍥磋竟璧风偣锛氶噸鏂版帓鍒楀洿杈瑰潗鏍囷紝浣挎渶鍚庝竴涓偣闈犺繎(鎴栫瓑浜�)鎵弿璧风偣
+ // 5. 瀵归綈鍥磋竟锛氫娇鍥磋竟鏈�鍚庣粨鏉熶簬闈犺繎鎵弿璧风偣鐨勪綅缃�
List<Point> alignedBoundary = alignBoundaryStart(boundary, firstScanStart);
List<PathSegment> finalPath = new ArrayList<>();
- // 5. 銆愮涓�姝ャ�戠敓鎴愬洿杈硅矾寰�
+ // 6. 绗竴闃舵锛氬洿杈硅矾寰�
for (int i = 0; i < alignedBoundary.size(); i++) {
Point pStart = alignedBoundary.get(i);
Point pEnd = alignedBoundary.get((i + 1) % alignedBoundary.size());
finalPath.add(new PathSegment(pStart, pEnd, true));
}
- // 6. 銆愮浜屾銆戜粠瀵归綈鍚庣殑缁堢偣寮�濮嬬敓鎴愬唴閮ㄦ壂鎻忚矾寰�
- Point lastEdgePos = alignedBoundary.get(0); // 鍥磋竟闂悎鍥炲埌璧风偣
+ // 7. 绗簩闃舵锛氱敓鎴愬唴閮ㄦ壂鎻忚矾寰勶紙淇鍑归儴绌鸿秺闂锛�
+ Point lastEdgePos = alignedBoundary.get(0);
List<PathSegment> scanPath = generateGlobalScanPath(boundary, mowWidth, bestAngle, lastEdgePos);
finalPath.addAll(scanPath);
+ // 8. 鏍煎紡鍖栧潗鏍囷細淇濈暀涓や綅灏忔暟
+ for (PathSegment segment : finalPath) {
+ segment.start.x = Math.round(segment.start.x * 100.0) / 100.0;
+ segment.start.y = Math.round(segment.start.y * 100.0) / 100.0;
+ segment.end.x = Math.round(segment.end.x * 100.0) / 100.0;
+ segment.end.y = Math.round(segment.end.y * 100.0) / 100.0;
+ }
+
return finalPath;
}
- /**
- * 璁＄畻骞惰幏鍙栨壂鎻忚矾寰勭殑绗竴琛岃捣鐐�
- */
- private static Point getFirstScanPoint(List<Point> polygon, double width, double angle) {
- List<Point> rotatedPoly = new ArrayList<>();
- for (Point p : polygon) rotatedPoly.add(rotatePoint(p, -angle));
-
- double minY = Double.MAX_VALUE;
- for (Point p : rotatedPoly) minY = Math.min(minY, p.y);
-
- double firstY = minY + width;
- List<Double> xIntersections = getXIntersections(rotatedPoly, firstY);
-
- if (xIntersections.isEmpty()) return polygon.get(0);
- return rotatePoint(new Point(Collections.min(xIntersections), firstY), angle);
- }
-
- /**
- * 閲嶆柊鎺掑垪澶氳竟褰㈤《鐐癸紝浣胯捣濮嬬偣涓庢壂鎻忚捣鐐瑰鎺�
- */
- private static List<Point> alignBoundaryStart(List<Point> boundary, Point targetStart) {
- int bestIdx = 0;
- double minDist = Double.MAX_VALUE;
- for (int i = 0; i < boundary.size(); i++) {
- double d = Math.hypot(boundary.get(i).x - targetStart.x, boundary.get(i).y - targetStart.y);
- if (d < minDist) {
- minDist = d;
- bestIdx = i;
- }
- }
- List<Point> aligned = new ArrayList<>();
- for (int i = 0; i < boundary.size(); i++) {
- aligned.add(boundary.get((bestIdx + i) % boundary.size()));
- }
- return aligned;
- }
-
private static List<PathSegment> generateGlobalScanPath(List<Point> polygon, double width, double angle, Point currentPos) {
List<PathSegment> segments = new ArrayList<>();
List<Point> rotatedPoly = new ArrayList<>();
@@ -96,30 +82,33 @@
}
boolean leftToRight = true;
- // 浠� minY + width 寮�濮嬶紝閬垮紑鍥磋竟宸插壊鍖哄煙
- for (double y = minY + width; y <= maxY - width/2; y += width) {
+ // 姝ラ暱 y 浠庢渶灏忓埌鏈�澶ф壂鎻�
+ for (double y = minY + width/2; y <= maxY - width/2; y += width) {
List<Double> xIntersections = getXIntersections(rotatedPoly, y);
if (xIntersections.size() < 2) continue;
Collections.sort(xIntersections);
- List<PathSegment> lineRows = new ArrayList<>();
+ // 澶勭悊鍑瑰杈瑰舰锛氭瘡涓や釜鐐圭粍鎴愪竴涓湁鏁堜綔涓氭
+ List<PathSegment> lineSegmentsInRow = new ArrayList<>();
for (int i = 0; i < xIntersections.size() - 1; i += 2) {
Point pS = rotatePoint(new Point(xIntersections.get(i), y), angle);
Point pE = rotatePoint(new Point(xIntersections.get(i + 1), y), angle);
- lineRows.add(new PathSegment(pS, pE, true));
+ lineSegmentsInRow.add(new PathSegment(pS, pE, true));
}
+ // 鏍规嵁褰撳墠S鍨嬫柟鍚戞帓搴忎綔涓氭
if (!leftToRight) {
- Collections.reverse(lineRows);
- for (PathSegment s : lineRows) {
- Point t = s.start; s.start = s.end; s.end = t;
+ Collections.reverse(lineSegmentsInRow);
+ for (PathSegment s : lineSegmentsInRow) {
+ Point temp = s.start; s.start = s.end; s.end = temp;
}
}
- for (PathSegment s : lineRows) {
- // 濡傛灉闂磋窛鏋佸皬锛岃涓烘棤缂濊鎺�
- if (Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.05) {
- segments.add(new PathSegment(currentPos, s.start, false));
+ // 灏嗕綔涓氭杩炴帴鍒版�昏矾寰�
+ for (PathSegment s : lineSegmentsInRow) {
+ if (Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.01) {
+ // 濡傛灉闂磋窛澶т簬1cm锛屾坊鍔犵┖璧拌矾寰�
+ addSafeConnection(segments, currentPos, s.start, polygon);
}
segments.add(s);
currentPos = s.end;
@@ -129,14 +118,60 @@
return segments;
}
+ private static Point getFirstScanPoint(List<Point> polygon, double width, double angle) {
+ List<Point> rotatedPoly = new ArrayList<>();
+ for (Point p : polygon) rotatedPoly.add(rotatePoint(p, -angle));
+ double minY = Double.MAX_VALUE;
+ for (Point p : rotatedPoly) minY = Math.min(minY, p.y);
+
+ double firstY = minY + width/2;
+ List<Double> xInter = getXIntersections(rotatedPoly, firstY);
+ if (xInter.isEmpty()) return polygon.get(0);
+ Collections.sort(xInter);
+ return rotatePoint(new Point(xInter.get(0), firstY), angle);
+ }
+
+ private static List<Point> alignBoundaryStart(List<Point> boundary, Point targetStart) {
+ int bestIdx = 0;
+ double minDist = Double.MAX_VALUE;
+ for (int i = 0; i < boundary.size(); i++) {
+ double d = Math.hypot(boundary.get(i).x - targetStart.x, boundary.get(i).y - targetStart.y);
+ if (d < minDist) { minDist = d; bestIdx = i; }
+ }
+ List<Point> aligned = new ArrayList<>();
+ for (int i = 0; i < boundary.size(); i++) {
+ aligned.add(boundary.get((bestIdx + i) % boundary.size()));
+ }
+ return aligned;
+ }
+
private static List<Double> getXIntersections(List<Point> rotatedPoly, double y) {
List<Double> xIntersections = new ArrayList<>();
+ double tolerance = 1e-6;
+
for (int i = 0; i < rotatedPoly.size(); i++) {
Point p1 = rotatedPoly.get(i);
Point p2 = rotatedPoly.get((i + 1) % rotatedPoly.size());
- if ((p1.y <= y && p2.y > y) || (p2.y <= y && p1.y > y)) {
+
+ // 璺宠繃姘村钩杈癸紙閬垮厤涓庢壂鎻忕嚎閲嶅悎鏃剁殑鐗规畩鎯呭喌锛�
+ if (Math.abs(p1.y - p2.y) < tolerance) {
+ continue;
+ }
+
+ // 妫�鏌ユ槸鍚︾浉浜わ紙浣跨敤涓ユ牸涓嶇瓑寮忛伩鍏嶉《鐐归噸澶嶏級
+ if ((p1.y < y && p2.y >= y) || (p2.y < y && p1.y >= y)) {
double x = p1.x + (y - p1.y) * (p2.x - p1.x) / (p2.y - p1.y);
- xIntersections.add(x);
+ // 绠�鍗曞幓閲嶏細妫�鏌ユ槸鍚﹀凡瀛樺湪鐩歌繎鐨勭偣
+ boolean isDuplicate = false;
+ for (double existingX : xIntersections) {
+ if (Math.abs(x - existingX) < tolerance) {
+ isDuplicate = true;
+ break;
+ }
+ }
+ if (!isDuplicate) {
+ xIntersections.add(x);
+ }
}
}
return xIntersections;
@@ -163,37 +198,159 @@
return maxY - minY;
}
- private static List<Point> getInsetPolygon(List<Point> points, double margin) {
+ public static List<Point> getInsetPolygon(List<Point> points, double margin) {
List<Point> result = new ArrayList<>();
int n = points.size();
for (int i = 0; i < n; i++) {
Point pPrev = points.get((i - 1 + n) % n);
Point pCurr = points.get(i);
Point pNext = points.get((i + 1) % n);
+
double d1x = pCurr.x - pPrev.x, d1y = pCurr.y - pPrev.y;
double l1 = Math.hypot(d1x, d1y);
double d2x = pNext.x - pCurr.x, d2y = pNext.y - pCurr.y;
double l2 = Math.hypot(d2x, d2y);
+
if (l1 < 1e-6 || l2 < 1e-6) continue;
+
+ // 鍗曚綅娉曞悜閲�
double n1x = -d1y / l1, n1y = d1x / l1;
double n2x = -d2y / l2, n2y = d2x / l2;
+
+ // 瑙掑钩鍒嗙嚎鏂瑰悜
double bisectorX = n1x + n2x, bisectorY = n1y + n2y;
double bLen = Math.hypot(bisectorX, bisectorY);
if (bLen < 1e-6) { bisectorX = n1x; bisectorY = n1y; }
else { bisectorX /= bLen; bisectorY /= bLen; }
+
double cosHalfAngle = n1x * bisectorX + n1y * bisectorY;
- double dist = margin / Math.max(cosHalfAngle, 0.1);
+ double dist = margin / Math.max(cosHalfAngle, 0.1);
+
+ // 闄愬埗鏈�澶т綅绉婚噺锛岄槻姝㈡瀬灏栬鐣稿彉
+ dist = Math.min(dist, margin * 5);
+
result.add(new Point(pCurr.x + bisectorX * dist, pCurr.y + bisectorY * dist));
}
return result;
}
+ private static void addSafeConnection(List<PathSegment> segments, Point start, Point end, List<Point> polygon) {
+ if (isSegmentSafe(start, end, polygon)) {
+ segments.add(new PathSegment(start, end, false));
+ } else {
+ List<Point> path = getBoundaryPath(start, end, polygon);
+ for (int i = 0; i < path.size() - 1; i++) {
+ segments.add(new PathSegment(path.get(i), path.get(i+1), false));
+ }
+ }
+ }
+
+ private static boolean isSegmentSafe(Point p1, Point p2, List<Point> polygon) {
+ Point mid = new Point((p1.x + p2.x) / 2, (p1.y + p2.y) / 2);
+ if (!isPointInPolygon(mid, polygon)) return false;
+
+ for (int i = 0; i < polygon.size(); i++) {
+ Point a = polygon.get(i);
+ Point b = polygon.get((i + 1) % polygon.size());
+ if (isSamePoint(p1, a) || isSamePoint(p1, b) || isSamePoint(p2, a) || isSamePoint(p2, b)) continue;
+ if (segmentsIntersect(p1, p2, a, b)) return false;
+ }
+ return true;
+ }
+
+ private static boolean isSamePoint(Point a, Point b) {
+ return Math.abs(a.x - b.x) < 1e-4 && Math.abs(a.y - b.y) < 1e-4;
+ }
+
+ private static boolean segmentsIntersect(Point a, Point b, Point c, Point d) {
+ return ccw(a, c, d) != ccw(b, c, d) && ccw(a, b, c) != ccw(a, b, d);
+ }
+
+ private static boolean ccw(Point a, Point b, Point c) {
+ return (c.y - a.y) * (b.x - a.x) > (b.y - a.y) * (c.x - a.x);
+ }
+
+ private static boolean isPointInPolygon(Point p, List<Point> polygon) {
+ boolean result = false;
+ for (int i = 0, j = polygon.size() - 1; i < polygon.size(); j = i++) {
+ if ((polygon.get(i).y > p.y) != (polygon.get(j).y > p.y) &&
+ (p.x < (polygon.get(j).x - polygon.get(i).x) * (p.y - polygon.get(i).y) / (polygon.get(j).y - polygon.get(i).y) + polygon.get(i).x)) {
+ result = !result;
+ }
+ }
+ return result;
+ }
+
+ private static List<Point> getBoundaryPath(Point start, Point end, List<Point> polygon) {
+ int idx1 = getEdgeIndex(start, polygon);
+ int idx2 = getEdgeIndex(end, polygon);
+
+ if (idx1 == -1 || idx2 == -1 || idx1 == idx2) {
+ return Arrays.asList(start, end);
+ }
+
+ List<Point> path1 = new ArrayList<>();
+ path1.add(start);
+ int curr = idx1;
+ while (curr != idx2) {
+ path1.add(polygon.get((curr + 1) % polygon.size()));
+ curr = (curr + 1) % polygon.size();
+ }
+ path1.add(end);
+
+ List<Point> pathRev = new ArrayList<>();
+ pathRev.add(start);
+ curr = idx1;
+ while (curr != idx2) {
+ pathRev.add(polygon.get(curr));
+ curr = (curr - 1 + polygon.size()) % polygon.size();
+ }
+ pathRev.add(polygon.get((idx2 + 1) % polygon.size()));
+ pathRev.add(end);
+
+ return getPathLength(path1) < getPathLength(pathRev) ? path1 : pathRev;
+ }
+
+ private static double getPathLength(List<Point> path) {
+ double len = 0;
+ for (int i = 0; i < path.size() - 1; i++) {
+ len += Math.hypot(path.get(i).x - path.get(i+1).x, path.get(i).y - path.get(i+1).y);
+ }
+ return len;
+ }
+
+ private static int getEdgeIndex(Point p, List<Point> poly) {
+ int bestIdx = -1;
+ double minD = Double.MAX_VALUE;
+ for (int i = 0; i < poly.size(); i++) {
+ Point p1 = poly.get(i);
+ Point p2 = poly.get((i + 1) % poly.size());
+ double d = distToSegment(p, p1, p2);
+ if (d < minD) {
+ minD = d;
+ bestIdx = i;
+ }
+ }
+ // 鍙鎵惧埌鏈�杩戠殑杈瑰嵆鍙紝鏀惧闃堝�间互搴斿娴偣璇樊鍜屾棆杞彉褰�
+ // 濡傛灉璺濈杩囧ぇ锛堜緥濡傝秴杩�1绫筹級锛屽彲鑳界‘瀹炰笉鍦ㄨ竟鐣屼笂锛屼絾鍦ㄨ矾寰勮鍒掍笂涓嬫枃涓紝
+ // 杩欎簺鐐规槸鐢辨壂鎻忕嚎鐢熸垚鐨勶紝鐞嗚涓婁竴瀹氬湪杈圭晫涓婏紝鎵�浠ュ己鍒跺惛闄勬槸瀹夊叏鐨勩��
+ return minD < 1.0 ? bestIdx : -1;
+ }
+
+ private static double distToSegment(Point p, Point s, Point e) {
+ double l2 = (s.x - e.x)*(s.x - e.x) + (s.y - e.y)*(s.y - e.y);
+ if (l2 == 0) return Math.hypot(p.x - s.x, p.y - s.y);
+ double t = ((p.x - s.x) * (e.x - s.x) + (p.y - s.y) * (e.y - s.y)) / l2;
+ t = Math.max(0, Math.min(1, t));
+ return Math.hypot(p.x - (s.x + t * (e.x - s.x)), p.y - (s.y + t * (e.y - s.y)));
+ }
+
private static Point rotatePoint(Point p, double angle) {
double cos = Math.cos(angle), sin = Math.sin(angle);
return new Point(p.x * cos - p.y * sin, p.x * sin + p.y * cos);
}
- private static void ensureCounterClockwise(List<Point> points) {
+ public static void ensureCounterClockwise(List<Point> points) {
double sum = 0;
for (int i = 0; i < points.size(); i++) {
Point p1 = points.get(i), p2 = points.get((i + 1) % points.size());
@@ -226,7 +383,7 @@
public static class PathSegment {
public Point start, end;
- public boolean isMowing;
+ public boolean isMowing; // true: 鍓茶崏涓�, false: 绌鸿浇绉诲姩
public PathSegment(Point s, Point e, boolean m) { this.start = s; this.end = e; this.isMowing = m; }
}
}
\ No newline at end of file
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