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
本文提出一种新的基于有序双端链表的比较排序算法,即ODListsort(ordered double-end linked list sort)算法。该算法首先要定义一个可共存的链表最大数量,然后通过生成链表、根据规则插入数据以及合并操作来对数据集进行排序。在ODList...本文提出一种新的基于有序双端链表的比较排序算法,即ODListsort(ordered double-end linked list sort)算法。该算法首先要定义一个可共存的链表最大数量,然后通过生成链表、根据规则插入数据以及合并操作来对数据集进行排序。在ODListsort算法中,数据元素是以链表形式进行动态内存分配的,因此它比一些经典的排序算法性能更优。实验结果表明,对于随机数据集,ODListsort排序与快速排序的速度接近,比归并排序、选择排序、插入排序以及冒泡排序的速度更快;对于有序数据集,ODListsort排序的效率远超快速排序,略高于归并排序。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.
文摘本文提出一种新的基于有序双端链表的比较排序算法,即ODListsort(ordered double-end linked list sort)算法。该算法首先要定义一个可共存的链表最大数量,然后通过生成链表、根据规则插入数据以及合并操作来对数据集进行排序。在ODListsort算法中,数据元素是以链表形式进行动态内存分配的,因此它比一些经典的排序算法性能更优。实验结果表明,对于随机数据集,ODListsort排序与快速排序的速度接近,比归并排序、选择排序、插入排序以及冒泡排序的速度更快;对于有序数据集,ODListsort排序的效率远超快速排序,略高于归并排序。
