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Full-Text Articles in Engineering
Path Planning Of Coal Mine Rescue Robot Based On Improved A* Algorithm, Zhang Weimin, Zhang Yue, Zhang Hui
Path Planning Of Coal Mine Rescue Robot Based On Improved A* Algorithm, Zhang Weimin, Zhang Yue, Zhang Hui
Coal Geology & Exploration
A coal mine rescue robot that performs a rescue task needs to obtain the environment model and plan a collision-free path from the current location to the target location with the built-in algorithm upon receiving a task instruction. In order to reduce the moving time of the rescue robot, the path is usually required to be time-optimal. However, the path planned by the conventional A* algorithm that is widely used at present under the grid map environment has many problems, such as many path redundancy points and large turning angle, which leads to the fact that the path is suboptimal …
Multi-Robot Path Planning Based On Cbs Algorithm, Qiao Qiao, Yan Wang, Zhicheng Ji
Multi-Robot Path Planning Based On Cbs Algorithm, Qiao Qiao, Yan Wang, Zhicheng Ji
Journal of System Simulation
Abstract: Aiming at the long multi-robot planning path and long one-way search running time of conflict-based search(CBS) in the multi-agent path finding(MAPF), an improved CBS algorithm is proposed, which in a two-way A* focus search is used to optimize the search direction and search method. The suboptimal factorωis introduced into the underlying search function of the CBS algorithm to improve the efficiency of path search. The one-way search in the conflict search algorithm is optimized to a two-way A* search. The experimental results show that the path cost of the improved CBS algorithm is shortened …
Particle Swarm Algorithm For Solving Emergency Material Dispatch Considering Urgency, Li Zhang, Huizhen Zhang, Dong Liu, Yuxin Lu
Particle Swarm Algorithm For Solving Emergency Material Dispatch Considering Urgency, Li Zhang, Huizhen Zhang, Dong Liu, Yuxin Lu
Journal of System Simulation
Abstract: In the early stage of major public health events, medical supplies are rapidly consumed and severely insufficient. In order to distribute medical supplies in a reasonable and efficient manner, research on the distribution of emergency medical materials is carried out. The entropy method is introduced to determine the urgency of demand points, thus could give priority to the demand points with high urgency and make the distribution routing as short as possible on that basis to realize the construction of a split delivery and multi-objective emergency medical materials scheduling model based on different urgency of demand points. Meanwhile the …
Simulation Of Multi-Layer Ship Evacuation System Based On Improved A* Algorithm, Dun Meng, Zhuo Hu, Huajun Zhang
Simulation Of Multi-Layer Ship Evacuation System Based On Improved A* Algorithm, Dun Meng, Zhuo Hu, Huajun Zhang
Journal of System Simulation
Abstract: Aiming at the low efficiency of emergency evacuation at sea, an emergency evacuation system based on improved A* algorithm is proposed. Based on the network flow model, the traversal mode of the adjacency node is used to complete the path search, and the influence of the path personnel density and path obstacles is added to the calculation of the cost, which makes the algorithm more practical. In order to improve the efficiency of the algorithm, the node optimization of the network is carried out, and a multi-path optimal scheme is proposed in the case of single layer with multiple …
Research On 3d Path Planning Algorithm Based On Fast Rrt Algorithm, Zhaoqiang Li, Shiyu Zhang
Research On 3d Path Planning Algorithm Based On Fast Rrt Algorithm, Zhaoqiang Li, Shiyu Zhang
Journal of System Simulation
Abstract: RRT (rapidly exploring random tree) algorithm is a sampling-based path planning algorithm, which can search a path in high-dimensional environment. The traditional RRT algorithm has the problems of low node utilization and large amount of calculation. To solve these problems, the fast RRT* (Quick RRT*) algorithm is improved by optimizing the strategy of reselection of parent node and pruning range, improving the sampling method and introducing adaptive step size, which makes the algorithm time-consuming and path length shorter. At the same time, the node connection screening strategy is added to eliminate the excessive turning angle in the path. …