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相关概念视频

Area Computation by the Alternative Coordinate Method01:24

Area Computation by the Alternative Coordinate Method

47
The alternative coordinate method, also known as the Shoelace Formula, is a technique for determining the area of a traverse using Cartesian coordinates. This method relies on the sequential arrangement of x and y coordinates for each point of the shape, ensuring accuracy and ease of application.In this approach, each corner's x and y coordinates are listed as fractions, with the x-coordinate as the numerator and the y-coordinate as the denominator. These coordinates are arranged sequentially...
47

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VNS-BA*:一个改进的双向A*路径规划算法,基于可变邻域搜索.

Peng Li1, Ying Li1, Xuesong Dai2

  • 1School of Electronic and Information Engineering, Nanjing University of Information Science and Technology, Nanjing 210044, China.

Sensors (Basel, Switzerland)
|November 9, 2024
PubMed
概括

本研究介绍了VNS-BA*,这是一个改进的全球路径规划算法. 与标准的A*算法相比,它显著减少了路径转,并提高了规划效率.

科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 人工智能的人工智能
  • 计算机科学 计算机科学

背景情况:

  • A*算法广泛用于路径规划,但存在过度转和低效率等问题.
  • 现有的A*改进不能完全解决这些局限性.

研究的目的:

  • 为全球路径规划开发一个改进的双向A*算法.
  • 通过尽量减少转和冗余搜索来提高路径质量和规划效率.

主要方法:

  • 建议VNS-BA*,集成一个可变的邻里搜索 (VNS) 与双向的A*.
  • 使用 8-11-13 邻里搜索节点扩张.
  • 使用相反路径节点和全球目标优化双向搜索.
  • 应用立方线间波来平滑路径.

主要成果:

  • VNS-BA*显著减少了路径转和转角度的数量.
  • 该算法证明了比A*及其变体更好的规划效率.
  • 在不同的地图环境中验证了有效性.

结论:

  • VNS-BA*为全球路径规划提供了一种优越的方法.
关键词:
一个A*算法.这是双向搜索.全球规划全球规划移动机器人 移动机器人路径规划路径规划路径规划

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  • 该算法有效地克服了传统A*的局限性.
  • 实现更平滑,更高效的路径与更少的转.