Research On Path Planning Based On Formal Concept Analysis And Design And Implementation Of Experimental Platform

With the continuous development of formal concept analysis theory,formal concept analysis is widely used in association analysis,recommender systems,software engineering and other fields.Path planning is one of the hot research topics in mobile robot technology.Scholars use grid method,A*algorithm,intelligent swarm algorithm,deep learning and other methods to solve this problem.However,few studies have applied formal concept analysis to path planning problems.This thesis proposes a path planning algorithm based on formal concept analysis,which is named P-FCA.In order to verify the effectiveness of the P-FCA algorithm,a formal concept analysis application experimental platform is designed and implemented,which can provide support for the research of path planning based on formal concept analysis.On the basis of the experimental platform,the relevant experiments of P-FCA algorithm are completed.The main work of this thesis is as follows:(1)A path planning algorithm based on formal concept analysis is proposed,which is named P-FCA.By transforming the map into the formal context,the square domain is constructed based on the formal concept,and the positional relationship between the square domains is mapped to the partial order relation in the domain concept lattice.Then,the path planning problem on the original map is transformed into a path search problem in the square domain graph.The P-FCA algorithm starts from the square domain containing the starting point with breadth-first search and gradually expands until the search reaches the target square domain,and finally obtains the square domain path and the inflection point path.(2)Requirement analysis and design of experimental platform.The functions of the experimental platform include conceptual lattice completeness verification experiment,formal concept construction comparison experiment,path planning comparison experiment,path planning visualization experiment,custom formal context and map,experiment configuration management,etc.In order to realize these functions,based on the demand model,this thesis adopts the object-oriented method to divide the overall architecture of the experimental platform into UI layer,control layer,business logic layer and data layer,and then divides the whole system into human-computer interaction subsystem,task management subsystem,business logic subsystem and data management subsystem,and finally carry out detailed design of related classes within each subsystem.(3)Implementation and application of experimental platform.The previous design results are implemented using Python,and the experimental platform is applied to the research of path planning based on formal concept analysis.Through the experimental platform,the P-FCA algorithm is compared with the A*algorithm.The experimental results show the effectiveness of the P-FCA algorithm.Compared with the A*algorithm,the number of inflection points of the P-FCA algorithm is significantly reduced.The P-FCA algorithm provides a new method for the mobile robot path planning problem.The implemented formal concept analysis application experimental platform provides an experimental environment to support research related to path planning based on formal concept analysis,which is of positive significance to promote the development of formal concept analysis and path planning research.