移动机器人路径动态规划有向D*算法
|
|
刘军,冯硕,任建华
|
Directed D* algorithm for dynamic path planning of mobile robots
|
|
Jun LIU,Shuo FENG,Jian-hua REN
|
|
| 表 1 z=15、25、50时不同分段情况下事件A发生k次的概率 |
| Tab.1 Probability of event A occurring k times under different segmentation conditions at z of 15, 25 and 50 |
|
| k | z=15 | | z=25 | | z=50 | | b=4 | b=6 | b=8 | b=10 | | b=4 | b=6 | b=8 | b=10 | | b=4 | b=6 | b=8 | b=10 | | 3 | 1.8×10−1 | 9.3×10−2 | 5.1×10−2 | 3.1×10−2 | | 2.4×10−1 | 2.0×10−1 | 1.4×10−1 | 9.3×10−2 | | 7.2×10−2 | 1.9×10−1 | 2.3×10−1 | 2.2×10−1 | | 6 | 5.7×10−3 | 7.7×10−4 | 1.7×10−4 | 4.9×10−5 | | 5.4×10−2 | 1.1×10−2 | 3.1×10−3 | 1.0×10−3 | | 1.7×10−1 | 1.2×10−1 | 5.5×10−2 | 2.6×10−2 | | 9 | 1.7×10−5 | 5.8×10−7 | 4.9×10−8 | 7.2×10−9 | | 1.8×10−3 | 9.8×10−5 | 1.1×10−5 | 1.8×10−6 | | 7.8×10−2 | 1.4×10−2 | 2.6×10−3 | 6.0×10−4 | | 12 | 4.4×10−9 | 3.9×10−11 | 1.3×10−12 | 9.5×10−14 | | 1.3×10−5 | 1.9×10−7 | 8.0×10−9 | 6.5×10−10 | | 1.1×10−2 | 5.0×10−4 | 3.7×10−5 | 4.2×10−6 |
|
|
|