This paper discribes the importance and necessity of the study on the data structures for displaying the mining field using the interactive technology in open pit design and planning,based upon the grid block model. T...This paper discribes the importance and necessity of the study on the data structures for displaying the mining field using the interactive technology in open pit design and planning,based upon the grid block model. The commonly used data structures--rectangular array structure and quadtree structure ,are analyzed. Two compressed data structures--compressed circular link array structure and compressed doubly-linked circular array structure,are proposed,which are much more suitable for displaying the regularly gridded block model. When the two compressed data structures are adopted,the storage space can be tremendously saved and the algorithms are simple,while the requirements of the accuracy and the manipulating speed will be both satisfied for the interactive open pit short range plan formulation.展开更多
为解决柔性车间内AGV的面对动态障碍物时路径规划不准确的问题,基于位操作方法提出一种跳点搜索(Jump Point Search, JPS)的改进算法。算法采用二进制方式编码化栅格地图,实现障碍物的快速识别;通过位操作方法扩大剪枝规则的应用范围,提...为解决柔性车间内AGV的面对动态障碍物时路径规划不准确的问题,基于位操作方法提出一种跳点搜索(Jump Point Search, JPS)的改进算法。算法采用二进制方式编码化栅格地图,实现障碍物的快速识别;通过位操作方法扩大剪枝规则的应用范围,提升JPS算法中搜寻节点的效率;引入Octile距离模式对算法的启发式函数进行优化,达到降低计算复杂度,提升规划速度目的。分别将改进JPS算法与A*算法、JPS算法进行实验对比,结果表明:在复杂车间环境中,搜索时间、扩展节点数量、规划的路径同比其它两种算法都具有明显优势;在躲避动态障碍物测试中,改进型算法避障成功率为92%,躲避成功次数最高且规划的路径质量最优,同比两种算法综合性能最优。验证了算法的可行性。展开更多
文摘This paper discribes the importance and necessity of the study on the data structures for displaying the mining field using the interactive technology in open pit design and planning,based upon the grid block model. The commonly used data structures--rectangular array structure and quadtree structure ,are analyzed. Two compressed data structures--compressed circular link array structure and compressed doubly-linked circular array structure,are proposed,which are much more suitable for displaying the regularly gridded block model. When the two compressed data structures are adopted,the storage space can be tremendously saved and the algorithms are simple,while the requirements of the accuracy and the manipulating speed will be both satisfied for the interactive open pit short range plan formulation.
文摘为解决柔性车间内AGV的面对动态障碍物时路径规划不准确的问题,基于位操作方法提出一种跳点搜索(Jump Point Search, JPS)的改进算法。算法采用二进制方式编码化栅格地图,实现障碍物的快速识别;通过位操作方法扩大剪枝规则的应用范围,提升JPS算法中搜寻节点的效率;引入Octile距离模式对算法的启发式函数进行优化,达到降低计算复杂度,提升规划速度目的。分别将改进JPS算法与A*算法、JPS算法进行实验对比,结果表明:在复杂车间环境中,搜索时间、扩展节点数量、规划的路径同比其它两种算法都具有明显优势;在躲避动态障碍物测试中,改进型算法避障成功率为92%,躲避成功次数最高且规划的路径质量最优,同比两种算法综合性能最优。验证了算法的可行性。
