This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapi...This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapidly-exploring Random Trees*(Q-RRT*)algorithm.A cost inequality relationship between an ancestor and its descendants was derived,and the ancestors were filtered accordingly.Secondly,the underwater gravity-aided navigation path planning system was designed based on the DSFS algorithm,taking into account the fitness,safety,and asymptotic optimality of the routes,according to the gravity suitability distribution of the navigation space.Finally,experimental comparisons of the computing performance of the ChooseParent procedure,the Rewire procedure,and the combination of the two procedures for Q-RRT*and DSFS were conducted under the same planning environment and parameter conditions,respectively.The results showed that the computational efficiency of the DSFS algorithm was improved by about 1.2 times compared with the Q-RRT*algorithm while ensuring correct computational results.展开更多
Dijkstra algorithm is a theoretical basis to solve transportation network problems of the shortest path, which has a wide range of application in path optimization. Through analyzing traditional Dijkstra algorithm,on ...Dijkstra algorithm is a theoretical basis to solve transportation network problems of the shortest path, which has a wide range of application in path optimization. Through analyzing traditional Dijkstra algorithm,on account of the insufficiency of this algorithm in path optimization,this paper uses adjacency list and circular linked list with combination to store date,and through the improved quick sorting algorithm for weight sorting, accomplish a quick search to the adjacent node,and so an improved Dijkstra algorithm is got.Then apply it to the optimal path search,and make simulation analysis for this algorithm through the example,also verify the effectiveness of the proposed algorithm.展开更多
基金the National Natural Science Foundation of China(Grant No.42274119)the Liaoning Revitalization Talents Program(Grant No.XLYC2002082)+1 种基金National Key Research and Development Plan Key Special Projects of Science and Technology Military Civil Integration(Grant No.2022YFF1400500)the Key Project of Science and Technology Commission of the Central Military Commission.
文摘This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapidly-exploring Random Trees*(Q-RRT*)algorithm.A cost inequality relationship between an ancestor and its descendants was derived,and the ancestors were filtered accordingly.Secondly,the underwater gravity-aided navigation path planning system was designed based on the DSFS algorithm,taking into account the fitness,safety,and asymptotic optimality of the routes,according to the gravity suitability distribution of the navigation space.Finally,experimental comparisons of the computing performance of the ChooseParent procedure,the Rewire procedure,and the combination of the two procedures for Q-RRT*and DSFS were conducted under the same planning environment and parameter conditions,respectively.The results showed that the computational efficiency of the DSFS algorithm was improved by about 1.2 times compared with the Q-RRT*algorithm while ensuring correct computational results.
基金supported by the "Taishan Scholarship" Construction Engineering and Shandong Province Graduate Innovative Project(SDYC08011).
文摘Dijkstra algorithm is a theoretical basis to solve transportation network problems of the shortest path, which has a wide range of application in path optimization. Through analyzing traditional Dijkstra algorithm,on account of the insufficiency of this algorithm in path optimization,this paper uses adjacency list and circular linked list with combination to store date,and through the improved quick sorting algorithm for weight sorting, accomplish a quick search to the adjacent node,and so an improved Dijkstra algorithm is got.Then apply it to the optimal path search,and make simulation analysis for this algorithm through the example,also verify the effectiveness of the proposed algorithm.
