From d58d5e1baf9390d4119f48c4af3fbcf308da10a3 Mon Sep 17 00:00:00 2001
From: 826220679@qq.com <826220679@qq.com>
Date: 星期六, 27 十二月 2025 22:46:10 +0800
Subject: [PATCH] 进一步优化了异形无障碍物路径规划算法
---
dikuai.properties | 6 +-
src/lujing/YixinglujingNoObstacle.java | 55 +++++++++++++++++++++------
set.properties | 8 ++--
Obstacledge.properties | 2
4 files changed, 51 insertions(+), 20 deletions(-)
diff --git a/Obstacledge.properties b/Obstacledge.properties
index e72df55..cee0dd7 100644
--- a/Obstacledge.properties
+++ b/Obstacledge.properties
@@ -1,5 +1,5 @@
# 鍓茶崏鏈哄湴鍧楅殰纰嶇墿閰嶇疆鏂囦欢
-# 鐢熸垚鏃堕棿锛�2025-12-27T22:24:22.132171500
+# 鐢熸垚鏃堕棿锛�2025-12-27T22:43:36.141786300
# 鍧愭爣绯伙細WGS84锛堝害鍒嗘牸寮忥級
# ============ 鍦板潡鍩哄噯绔欓厤缃� ============
diff --git a/dikuai.properties b/dikuai.properties
index 853026d..1a6c196 100644
--- a/dikuai.properties
+++ b/dikuai.properties
@@ -1,5 +1,5 @@
#Dikuai Properties
-#Sat Dec 27 22:24:22 GMT+08:00 2025
+#Sat Dec 27 22:43:36 GMT+08:00 2025
LAND1.intelligentSceneAnalysis=-1
LAND1.mowingSafetyDistance=0.53
LAND1.landArea=577.12
@@ -11,8 +11,8 @@
LAND1.returnPathRawCoordinates=-1
LAND1.boundaryOriginalXY=-1
LAND1.mowingWidth=1.00
-LAND1.plannedPath=73.87,49.87;50.78,50.04;41.97,22.44;49.61,19.99;51.85,34.26;66.29,36.70;66.29,21.40;78.09,24.75;73.87,49.87;73.96,49.37;50.62,49.54;50.30,48.54;74.12,48.37;74.29,47.37;49.98,47.54;49.66,46.55;74.46,46.37;74.63,45.37;49.34,45.55;49.02,44.55;74.80,44.37;74.96,43.37;48.71,43.55;48.39,42.55;75.13,42.36;75.30,41.36;48.07,41.56;47.75,40.56;75.47,40.36;75.64,39.36;47.43,39.56;47.11,38.56;75.80,38.36;75.97,37.36;46.79,37.57;46.48,36.57;64.75,36.44;66.29,36.43;76.14,36.36;76.31,35.36;66.29,35.43;59.07,35.48;46.16,35.57;45.84,34.57;53.38,34.52;66.29,34.43;76.48,34.35;76.64,33.35;66.29,33.43;51.73,33.53;45.52,33.57;45.20,32.58;51.57,32.53;66.29,32.43;76.81,32.35;76.98,31.35;66.29,31.43;51.42,31.53;44.88,31.58;44.56,30.58;51.26,30.53;66.29,30.43;77.15,30.35;77.32,29.35;66.29,29.43;51.11,29.53;44.25,29.58;43.93,28.59;50.95,28.54;66.29,28.43;77.48,28.35;77.65,27.35;66.29,27.43;50.79,27.54;43.61,27.59;43.29,26.59;50.64,26.54;66.29,26.43;77.82,26.34;77.99,25.34;66.29,25.43;50.48,25.54;42.97,25.59;42.65,24.59;50.32,24.54;66.29,24.43;76.69,24.35;73.25,23.38;66.29,23.43;50.17,23.54;42.33,23.60;42.02,22.60;50.01,22.54;66.29,22.43;69.81,22.40;66.38,21.43;66.29,21.43;49.85,21.54;44.66,21.58;47.85,20.56;49.70,20.54
-LAND1.updateTime=2025-12-27 22\:24\:22
+LAND1.plannedPath=73.87,49.87;50.78,50.04;41.97,22.44;49.61,19.99;51.85,34.26;66.29,36.70;66.29,21.40;78.09,24.75;73.87,49.87;73.96,49.37;50.62,49.54;50.30,48.54;74.12,48.37;74.29,47.37;49.98,47.54;49.66,46.55;74.46,46.37;74.63,45.37;49.34,45.55;49.02,44.55;74.80,44.37;74.96,43.37;48.71,43.55;48.39,42.55;75.13,42.36;75.30,41.36;48.07,41.56;47.75,40.56;75.47,40.36;75.64,39.36;47.43,39.56;47.11,38.56;75.80,38.36;75.97,37.36;46.79,37.57;66.29,36.43;76.14,36.36;76.31,35.36;66.29,35.43;66.29,34.43;76.48,34.35;76.64,33.35;66.29,33.43;66.29,32.43;76.81,32.35;76.98,31.35;66.29,31.43;66.29,30.43;77.15,30.35;77.32,29.35;66.29,29.43;66.29,28.43;77.48,28.35;77.65,27.35;66.29,27.43;66.29,26.43;77.82,26.34;77.99,25.34;66.29,25.43;66.29,24.43;76.69,24.35;73.25,23.38;66.29,23.43;66.29,22.43;69.81,22.40;66.38,21.43;66.29,21.43;47.85,20.56;49.70,20.54;46.48,36.57;64.75,36.44;59.07,35.48;46.16,35.57;45.84,34.57;53.38,34.52;51.73,33.53;45.52,33.57;45.20,32.58;51.57,32.53;51.42,31.53;44.88,31.58;44.56,30.58;51.26,30.53;51.11,29.53;44.25,29.58;43.93,28.59;50.95,28.54;50.79,27.54;43.61,27.59;43.29,26.59;50.64,26.54;50.48,25.54;42.97,25.59;42.65,24.59;50.32,24.54;50.17,23.54;42.33,23.60;42.02,22.60;50.01,22.54;49.85,21.54;44.66,21.58
+LAND1.updateTime=2025-12-27 22\:43\:36
LAND1.baseStationCoordinates=3949.89151752,N,11616.79267501,E
LAND1.boundaryPointInterval=-1
LAND1.createTime=2025-12-23 17\:08\:09
diff --git a/set.properties b/set.properties
index 1be2321..0aee2db 100644
--- a/set.properties
+++ b/set.properties
@@ -1,5 +1,5 @@
#Mower Configuration Properties - Updated
-#Sat Dec 27 22:24:35 GMT+08:00 2025
+#Sat Dec 27 22:43:28 GMT+08:00 2025
appVersion=-1
simCardNumber=-1
currentWorkLandNumber=LAND1
@@ -7,13 +7,13 @@
boundaryLengthVisible=false
idleTrailDurationSeconds=60
handheldMarkerId=1872
-viewCenterX=-60.00
-viewCenterY=-34.94
+viewCenterX=-66.17
+viewCenterY=-34.20
manualBoundaryDrawingMode=false
mowerId=6258
serialPortName=COM15
serialAutoConnect=true
-mapScale=12.39
+mapScale=10.32
measurementModeEnabled=false
firmwareVersion=-1
cuttingWidth=200
diff --git a/src/lujing/YixinglujingNoObstacle.java b/src/lujing/YixinglujingNoObstacle.java
index 304a3bc..bdda587 100644
--- a/src/lujing/YixinglujingNoObstacle.java
+++ b/src/lujing/YixinglujingNoObstacle.java
@@ -71,6 +71,20 @@
}
private static List<PathSegment> generateGlobalScanPath(List<Point> polygon, double width, double angle, Point currentPos) {
+ // 鍏堝皾璇曞皢鍑归櫡澶勮涓轰袱涓嫭绔嬪尯鍩燂紝鍒嗕袱娆℃壂鎻忥紝閬垮厤璺ㄥ尯鐩寸嚎杩炴帴
+ List<PathSegment> all = new ArrayList<>();
+ // 绗竴娆℃壂鎻忥細浼樺厛澶勭悊宸︿晶鍖哄煙锛坓roupIndex=0锛�
+ List<PathSegment> leftScan = generateScanPathForSide(polygon, width, angle, currentPos, 0);
+ all.addAll(leftScan);
+ Point posAfterLeft = leftScan.isEmpty() ? currentPos : leftScan.get(leftScan.size() - 1).end;
+ // 绗簩娆℃壂鎻忥細澶勭悊鍙充晶鍖哄煙锛坓roupIndex=1锛夛紝浠庡乏渚х粨鏉熺偣娌胯竟鐣屽埌鍙充晶棣栨
+ List<PathSegment> rightScan = generateScanPathForSide(polygon, width, angle, posAfterLeft, 1);
+ all.addAll(rightScan);
+ return all;
+ }
+
+ // 浠呮壂鎻忔寚瀹氫晶锛堝悓涓�鏉℃壂鎻忕嚎鐨勭 groupIndex 娈碉級锛岀敤浜庡皢鈥滆�虫湹鈥濊涓虹嫭绔嬪尯鍩�
+ private static List<PathSegment> generateScanPathForSide(List<Point> polygon, double width, double angle, Point currentPos, int sideIndex) {
List<PathSegment> segments = new ArrayList<>();
List<Point> rotatedPoly = new ArrayList<>();
for (Point p : polygon) rotatedPoly.add(rotatePoint(p, -angle));
@@ -82,37 +96,46 @@
}
boolean leftToRight = true;
- // 姝ラ暱 y 浠庢渶灏忓埌鏈�澶ф壂鎻�
+ boolean firstSegmentConnected = false;
+
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);
- // 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
+ // 鏋勫缓鏈鐨勪綔涓氭锛堝乏鍒板彸锛夊拰缁勭储寮�
List<PathSegment> lineSegmentsInRow = new ArrayList<>();
- for (int i = 0; i < xIntersections.size() - 1; i += 2) {
+ List<Integer> groupIndices = new ArrayList<>();
+ for (int i = 0, g = 0; i < xIntersections.size() - 1; i += 2, g++) {
Point pS = rotatePoint(new Point(xIntersections.get(i), y), angle);
Point pE = rotatePoint(new Point(xIntersections.get(i + 1), y), angle);
lineSegmentsInRow.add(new PathSegment(pS, pE, true));
+ groupIndices.add(g);
}
- // 鏍规嵁褰撳墠S鍨嬫柟鍚戞帓搴忎綔涓氭
if (!leftToRight) {
Collections.reverse(lineSegmentsInRow);
+ Collections.reverse(groupIndices);
for (PathSegment s : lineSegmentsInRow) {
Point temp = s.start; s.start = s.end; s.end = temp;
}
}
- // 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;
+ int idxInRow = groupIndices.indexOf(sideIndex);
+ if (idxInRow == -1) {
+ // 鏈涓嶅寘鍚渚х殑浣滀笟娈碉紝璺宠繃
+ leftToRight = !leftToRight;
+ continue;
}
+
+ PathSegment s = lineSegmentsInRow.get(idxInRow);
+ // 棣栨杩炴帴鎴栬法鍖鸿繛鎺ュ潎寮哄埗娌胯竟鐣岋紝閬垮厤绌胯秺鍑归櫡鍖�
+ if (Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.01) {
+ addBoundaryConnection(segments, currentPos, s.start, polygon);
+ firstSegmentConnected = true;
+ }
+ segments.add(s);
+ currentPos = s.end;
leftToRight = !leftToRight;
}
return segments;
@@ -245,6 +268,14 @@
}
}
+ // 寮哄埗娌胯竟鐣岀粫琛岀殑杩炴帴锛堜笉鍋氱洿绾垮畨鍏ㄥ垽鏂級锛岀敤鏉ュ湪鍚屼竴鎵弿琛岀殑澶氫釜浣滀笟娈典箣闂磋烦杞�
+ private static void addBoundaryConnection(List<PathSegment> segments, Point start, Point end, List<Point> polygon) {
+ 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;
--
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