Path optimization method with multiple decision points

The invention discloses a path optimization method with multiple decision points, and the method comprises the steps: constructing a feasible path model based on the multiple decision points, building a path optimization model with the shortest total motion time as a target through integrating the factors of path length, motion speed and local shortest motion time, and solving the path optimization model based on a Bellman optimization principle. And finally determining an optimal path and motion time. The method realizes global optimization, pays attention to the overall efficiency, reasonably plans the optimal path, and ensures that evacuation is completed in a short time. 本发明公开了一种具有多决策点的路径优化方法，所述方法基于多决策点构建可行路径模型，通过综合路径长度、运动速度和局部最短运动时间因素，以总运动时间最短为目标建立路径优化模型，基于Bellman最优化原理求解路径优化模型，最终确定最优路径和运动时间。本发明方法实现全局优化，注重整体效率，合理规划出最优路径，保证较短时间内疏散完毕。