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
---
src/lujing/YixinglujingNoObstacle.java | 201 ++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 185 insertions(+), 16 deletions(-)
diff --git a/src/lujing/YixinglujingNoObstacle.java b/src/lujing/YixinglujingNoObstacle.java
index c38d7c1..bdda587 100644
--- a/src/lujing/YixinglujingNoObstacle.java
+++ b/src/lujing/YixinglujingNoObstacle.java
@@ -59,10 +59,32 @@
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;
}
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));
@@ -74,37 +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�
- segments.add(new PathSegment(currentPos, s.start, false));
- }
- 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;
@@ -139,12 +170,31 @@
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;
@@ -171,7 +221,7 @@
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++) {
@@ -207,12 +257,131 @@
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));
+ }
+ }
+ }
+
+ // 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;
+
+ 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());
--
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