The path planning problem of complex wild environment with multiple elements still poses challenges.This paper designs an algorithm that integrates global and local planning to apply to the wild environmental path pla...The path planning problem of complex wild environment with multiple elements still poses challenges.This paper designs an algorithm that integrates global and local planning to apply to the wild environmental path planning.The modeling process of wild environment map is designed.Three optimization strategies are designed to improve the A-Star in overcoming the problems of touching the edge of obstacles,redundant nodes and twisting paths.A new weighted cost function is designed to achieve different planning modes.Furthermore,the improved dynamic window approach(DWA)is designed to avoid local optimality and improve time efficiency compared to traditional DWA.For the necessary path re-planning of wild environment,the improved A-Star is integrated with the improved DWA to solve re-planning problem of unknown and moving obstacles in wild environment with multiple elements.The improved fusion algorithm effectively solves problems and consumes less time,and the simulation results verify the effectiveness of improved algorithms above.展开更多
为综合评估南方特色林下仿野生模式栽培金线莲的生态环境效应,应用生命周期评价方法,定量评估该模式所产生的环境影响。结果表明,林下套种模式生产1 kg金线莲耗用的不可再生资源、土地、水资源分别为16702.27 MJ、0.58 m^(2)和13.45 t,...为综合评估南方特色林下仿野生模式栽培金线莲的生态环境效应,应用生命周期评价方法,定量评估该模式所产生的环境影响。结果表明,林下套种模式生产1 kg金线莲耗用的不可再生资源、土地、水资源分别为16702.27 MJ、0.58 m^(2)和13.45 t,该模式充分利用林下空地,占用较少的土地资源。但该模式也带来较大的潜在环境影响,生态环境综合影响值为0.3276,且以水体毒性和富营养化的潜在影响较大。每生产1 kg金线莲,全球变暖、环境酸化、富营养化、人体毒性、水体毒性、土壤毒性分别为2405.83 kg CO_(2)-eq、4.99 kg SO_(2)-eq、1.43 kg PO4-eq、1.32 kg 1,4-DCB-eq、5.31 kg 1,4-DCB-eq和1.09 kg 1,4-DCB-eq;对环境的潜在负面影响以来源于农资系统为主,且以组培苗生产占比最高。林下生产金线莲需要在组培苗生产、农药施用等方面加以改进,以控制其产生的潜在环境影响。展开更多
基金Industry-University-Research Cooperation Fund Project of the Eighth Research Institute of China Aerospace Science and Technology Corporation(No.USCAST2022-11)。
文摘The path planning problem of complex wild environment with multiple elements still poses challenges.This paper designs an algorithm that integrates global and local planning to apply to the wild environmental path planning.The modeling process of wild environment map is designed.Three optimization strategies are designed to improve the A-Star in overcoming the problems of touching the edge of obstacles,redundant nodes and twisting paths.A new weighted cost function is designed to achieve different planning modes.Furthermore,the improved dynamic window approach(DWA)is designed to avoid local optimality and improve time efficiency compared to traditional DWA.For the necessary path re-planning of wild environment,the improved A-Star is integrated with the improved DWA to solve re-planning problem of unknown and moving obstacles in wild environment with multiple elements.The improved fusion algorithm effectively solves problems and consumes less time,and the simulation results verify the effectiveness of improved algorithms above.
文摘为综合评估南方特色林下仿野生模式栽培金线莲的生态环境效应,应用生命周期评价方法,定量评估该模式所产生的环境影响。结果表明,林下套种模式生产1 kg金线莲耗用的不可再生资源、土地、水资源分别为16702.27 MJ、0.58 m^(2)和13.45 t,该模式充分利用林下空地,占用较少的土地资源。但该模式也带来较大的潜在环境影响,生态环境综合影响值为0.3276,且以水体毒性和富营养化的潜在影响较大。每生产1 kg金线莲,全球变暖、环境酸化、富营养化、人体毒性、水体毒性、土壤毒性分别为2405.83 kg CO_(2)-eq、4.99 kg SO_(2)-eq、1.43 kg PO4-eq、1.32 kg 1,4-DCB-eq、5.31 kg 1,4-DCB-eq和1.09 kg 1,4-DCB-eq;对环境的潜在负面影响以来源于农资系统为主,且以组培苗生产占比最高。林下生产金线莲需要在组培苗生产、农药施用等方面加以改进,以控制其产生的潜在环境影响。
