Path planning is an important field in the research of mobile robot technology. The so-called path planning of mobile robot means that each robot plans a path of obstacle avoidance and navigation in the same workspace...
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Path planning is an important field in the research of mobile robot technology. The so-called path planning of mobile robot means that each robot plans a path of obstacle avoidance and navigation in the same workspace to ensure that there is no collision between the robot and the robot at any time. There is no collision between robots and environmental obstacles. There are many algorithms for path planning from single robot to multi robot. However, the current robot path planning algorithms are still far from satisfactory. Thus, in this work, we propose a novel graph-based algorithm to optimize robot paths, wherein the key is a floyd algorithm to dynamically assign weights to different paths. Firstly, we introduce the multi robot path planning methods from three aspects of multi robot cooperation, environment information and robot structure, including global path planning method, local path planning method, centralized path planning method and distributed path planning method. Next, a deep graph model by encoding the floyd algorithm is proposed for optimizing robot paths. Finally, the development trend of multi mobile robot path planning technology is prospected and the experimental results are analyzed. Experimental results on lots of robot path datasets have shown the effectiveness and robustness of our method. Moreover, the recognized robot path sequence can guide the operation of robots in industrial area. (C) 2021 Elsevier B.V. All rights reserved.
A rock slope can be characterized by tens of persistent discontinuities. A slope can be massive. The slip surface of the slope is usually easier to expand along with the discontinuities because the shear strength of t...
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A rock slope can be characterized by tens of persistent discontinuities. A slope can be massive. The slip surface of the slope is usually easier to expand along with the discontinuities because the shear strength of the discontinuities is substantially lower than that of the rock blocks. Based on this idea, this paper takes a jointed rock slope in Hengqin Island, Zhuhai as an example, and establishes a three-dimensional (3D) model of the studied slope by digital close-range photogrammetry to rapidly interpret 222 fracture parameters. Meanwhile, a new floyd algorithm for finding the shortest path is developed to realize the critical slip surface identification of the studied slope. Within the 3D fracture network model created using the Monte Carlo method, a sequence of cross-sections is placed. These cross-sections containing fractures are used to search for the shortest paths between the designated shear entrances and exits. For anyone combination of entry point and exit point, the shortest paths corresponding to different cross-sections are different and cluttered. For the sake of safety and convenience, these shortest paths are simplified as a circular arc that is regarded as a potential slip surface. The fracture frequency is used to determine the probability of sliding along a prospective critical slip surface. The potential slip surface through the entrance point (0, 80) and exit point (120, 0) is identified as the final critical slip surface of the slope due to the maximum fracture frequency.
Aiming at the problems of slow convergence and easy fall into local optimal solution of the classic ant colony algorithm in path planning, an improved ant colony algorithm is proposed. Firstly, the floyd algorithm is ...
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Aiming at the problems of slow convergence and easy fall into local optimal solution of the classic ant colony algorithm in path planning, an improved ant colony algorithm is proposed. Firstly, the floyd algorithm is introduced to generate the guiding path, and increase the pheromone content on the guiding path. Through the difference in initial pheromone, the ant colony is guided to quickly find the target node. Secondly, the fallback strategy is applied to reduce the number of ants who die due to falling into the trap to increase the probability of ants finding the target node. Thirdly, the gravity concept in the artificial potential field method and the concept of distance from the optional node to the target node are introduced to improve the heuristic function to make up for the fallback strategy on the convergence speed of the algorithm. Fourthly, a multi-objective optimization function is proposed, which comprehensively considers the three indexes of path length, security, and energy consumption and combines the dynamic optimization idea to optimize the pheromone update method, to avoid the algorithm falling into the local optimal solution and improve the comprehensive quality of the path. Finally, according to the connectivity principle and quadratic B-spline curve optimization method, the path nodes are optimized to shorten the path length effectively.
Reasonable travel designs for tourists attempt to achieve the least cost and the best travel experience. Distributed decision making with gradual optimization by the MATLAB floyd operation can find the shortest path f...
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Reasonable travel designs for tourists attempt to achieve the least cost and the best travel experience. Distributed decision making with gradual optimization by the MATLAB floyd operation can find the shortest path from a starting point to a tourist destination in a nationwide division of branches. An algorithm is derived and applied in this paper and, when popularized, will allow a choice of starting point, ending point, and intermediate scenic spots and can be expanded to provide corresponding suggestions to tourists and relevant departments.
The O2O platform has developed rapidly. The original one-person-one-order delivery model has a large number of personnel and high delivery costs. This paper adopts the method of one person with multiple orders, using ...
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The O2O platform has developed rapidly. The original one-person-one-order delivery model has a large number of personnel and high delivery costs. This paper adopts the method of one person with multiple orders, using floyd algorithm to solve the shortest distribution path, which greatly improves the distribution efficiency, reduces the distribution cost, and reduces the personnel occupation.
Error compensation technique is a recognized and cost-effective method to improve machining accuracy of machine tools. In this article, a new compensation method for geometric error is proposed based on floyd algorith...
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Error compensation technique is a recognized and cost-effective method to improve machining accuracy of machine tools. In this article, a new compensation method for geometric error is proposed based on floyd algorithm and product of exponential screw theory. Based on topological structure and measured data, volumetric geometric error modeling is established by product of exponential screw theory. Then, the improved floyd minimum-distance method was used to establish an error compensation model by adjusting weight unceasingly. In order to verify the effectiveness and generality of the method proposed in this article, two experiments were designed. A total of 5 five-axis machining centers of the same type with different use time were selected to carry out the simulation experiments. Results show that the floyd method can provide higher compensation precision, that is, floyd algorithm compensation method can keep positioning errors within the range [-8 mu m, 9 mu m]. In addition, roundness error, coaxial error, and surface roughness were reduced in the actual machining experiments of two machined conical tables. Therefore, it can be seen that the proposed compensation method is effective to improve machining accuracy of machine tools.
Emergency logistics is an important task for post-disaster emergencyManagement, which plays a key role in ensuring emergency supplies transported in time and reducing casualties and property losses in the disaster are...
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Emergency logistics is an important task for post-disaster emergencyManagement, which plays a key role in ensuring emergency supplies transported in time and reducing casualties and property losses in the disaster area. After proposing the problem of site selection and path optimization for urban emergency logistics, we establish an urban emergency logistics center location model and use floyd algorithm to solve it. Then we develop a path optimization model and solve it by shortest expected delivery time network model. At the end, a case is showed to demonstrate floyd algorithm has a certain of feasibility and practicality to solve this problem.
The traditional A (& lowast;) algorithm has problems such as low search speed and huge expansion nodes, resulting in low algorithm efficiency. This article proposes a circular arc distance calculation method in th...
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The traditional A (& lowast;) algorithm has problems such as low search speed and huge expansion nodes, resulting in low algorithm efficiency. This article proposes a circular arc distance calculation method in the heuristic function, which combines the Euclidean distance and the Manhattan distance as radius, uses a deviation distance as the correction, and assignes dynamic weights to the combined distance to make the overall heuristic function cost close to reality. Furthermore, the repulsive potential field function and turning cost are introduced into the heuristic function, to consider the relative position of obstacles while minimizing turns in the path. In order to reduce the comparison of nodes with similar cost values, the bounded suboptimal method is used, and the idea of simulated annealing is introduced to overcome the local optima trapped by node expansion. Simulation experiments show that the average running time of the improved algorithm has decreased by about 70%, the number of extended nodes has decreased by 92%, and the path has also been shortened, proving the effectiveness of the algorithm improvement.
With the rapid development of the Internet of Things and artificial intelligence, the market has higher and higher demands and expectations for positioning technology. For the management of indoor materials and equipm...
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ISBN:
(纸本)9781728176871
With the rapid development of the Internet of Things and artificial intelligence, the market has higher and higher demands and expectations for positioning technology. For the management of indoor materials and equipment, it is very important to be able to accurately obtain the location information of each material and equipment. However, to install equipment based on GPS or Beidou satellite positioning technology for each material and equipment requires high costs, and indoor buildings will block Satellite signals reduce the accuracy of indoor positioning. In this paper, combined with floyd's shortest path finding algorithm, an indoor positioning algorithm based on multi-dimensional scaling analysis is used to locate materials and equipment. The simulation experiment results show that the multidimensional scaling analysis (MDS)MAP positioning algorithm based on floyd shortest path proposed in this paper has better positioning accuracy than the positioning algorithm based on APIT and the positioning algorithm based on DV-Hop.
In the island power system, due to the special geographical location of the island, variable and unpredictable weather, power outages occur from time to time and power cannot be reliably guaranteed, so it is necessary...
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ISBN:
(数字)9781665450669
ISBN:
(纸本)9781665450669
In the island power system, due to the special geographical location of the island, variable and unpredictable weather, power outages occur from time to time and power cannot be reliably guaranteed, so it is necessary to establish an emergency power grid to ensure the power supply of important loads in case of faults, and distributed power supplies (DGs) can play an important role with their characteristics of rapid response, simple structure and flexibility. In the fault reconstruction recovery, firstly, the structural characteristics of the distribution network are reasonably optimized to reduce the complexity of the solution;secondly, the key influence of the DG start-up sequence on the recovery path is discussed based on the start-up and operation characteristics of the DG. In order to ensure fast and stable recovery of more important loads, the floyd-MPSO algorithm is combined with the minimum path cost and the maximum recovery of important loads as the objective, and the power balance and other constraints, in which the floyd algorithm is used to search in advance to obtain the shortest path matrix among DGs with the optimized distribution network as the base, and then the inertia factor of the standard particle swarm optimization algorithm is adjusted adaptively to improve the defect that the particle is easy to fall into the local optimal and cannot jump *** results verify that the combination of the two can improve the effectiveness and speed of fault reconstruction.
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