北京地区育龄男性与女性TORCH感染情况回顾分析

目的 回顾分析近2016年7月至2022年12月来我院就诊人群的TORCH感染情况,为本地区优生优育工作提供数据参考。方法 利用酶联免疫吸附实验检测男性和非妊娠期女性血清中TORCH各病原体IgG抗体和IgM抗体的阳性情况,对数据进行处理分析。结果 进行TORCH检测的人群,女性人数远高于男性人数;男性和女性之间TOX、RV、CMV和HSV的IgM抗体阳性率均存在差异,男性和女性之间TOX和HSV的所有感染模式存在差异,且所有差异均表现为女性的抗体阳性率高于男性的抗体阳性率;男性RV和CMV的IgM抗体阳性率在不同的季节存在差异,女性的TOX、RV、CMV和HSV-1的IgM抗体阳性率在不同的季节存在差异;男、女性HSV-1和HSV-2抗体IgM阳性率在各季节均存在差异,且男、女性HSV-2的所有感染模式在各个季节中也完全不同;在合并感染中,男、女性的IgG抗体阳性率均以RV+CMV、RV+HSV-1、CMV+HSV-1和RV+CMV+HSV-1为主,且女性的抗体阳性率高于男性,在IgM抗体的阳性率分析中,女性主要以HSV-1+HSV-2为主,男性主要以RV+HSV-1为主,其女性的抗体阳性率也远高于男性。结论 本地区TORCH感染人群主要为女性,TORCH感染的病原体有季节性差异,可针对此特点进行预防;建议增加育龄男性检测TORCH相关项目,可有助于夫妇备孕期感染的预防。

IVF/ICSI-ET患者TORCH血清学检测与出生缺陷分析:基于倾向性评分匹配法

目的:探讨实施体外受精-胚胎移植(In vitro fertilization and embryo transfer,IVF-ET)和卵泡内单精子注射(In vitro fertilization and embryo transfer,IVF-ET)技术患者TORCH血清学检测与出生缺陷的相关性。方法:,基于倾向性评分匹配(Propensityscorematching,PSM)的方法分析2017年1月-2020年12月期间在山东大学附属生殖医院实施IVF/ICSI-ET治疗患者的临床资料,根据既往妊娠结局分为出生缺陷组与正常组。比较倾向性评分匹配前后的TORCH血清学检测结果。结果:PSM前,不同组别的基线资料分布不均衡。出生缺陷组CMV-IgM、HSV-IgM阳性率高于正常组(P<005)。经倾向性评分匹配后,基线资料分布均衡。出生缺陷组TORCH-IgM阳性率与正常组无显著差异(P>0.05)。出生缺陷组TORCH-IgG阳性率与正常组无显著差异(P>0.05)。结论:行IVF/ICSI-ET治疗的患者TORCH感染与出生缺陷不存在相关性,出生缺陷患儿人数构成以先天性心脏病最多。

北京地区孕产妇TORCH血清流行病学调查研究

目的分析2018-2022年在该院就诊的孕产妇血清TORCH感染情况及流行特点。方法对2018-2022年在该院进行孕期筛查的女性共计27357例结果进行分析,按年龄段、年度进行分组,结果用SPSS软件进行统计分析。结果孕产妇TOX、RV、CMV、HSV-ⅡIgM的阳性率分别为0.03%、1.27%、1.86%和0.08%,IgG的阳性率分别为4.46%、90.31%、92.87%和4.49%。≥35岁高龄孕妇组CMV IgM、RV IgG抗体阳性率显著低于<35岁组,差异有统计学意义(均P<0.05),TOX IgG、HSV-ⅡIgG抗体阳性率显著高于<35岁组,差异有统计学意义(均P<0.05)。CMV IgG阳性率近几年呈递减趋势。结论高龄组CMV IgM、RV IgG抗体阳性率更低,TOX IgG、HSV-ⅡIgG抗体阳性率更高。CMV IgG阳性率有呈逐年下降趋势,RV IgG和HSV-ⅡIgG阳性率逐年上升。

Evolutionary Decision-Making and Planning for Autonomous Driving Based on Safe and Rational Exploration and Exploitation

Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.

Motion Planning for Autonomous Driving with Real Traffic Data Validation

Accurate trajectory prediction of surrounding road users is the fundamental input for motion planning,which enables safe autonomous driving on public roads.In this paper,a safe motion planning approach is proposed based on the deep learning-based trajectory prediction method.To begin with,a trajectory prediction model is established based on the graph neural network(GNN)that is trained utilizing the INTERACTION dataset.Then,the validated trajectory prediction model is used to predict the future trajectories of surrounding road users,including pedestrians and vehicles.In addition,a GNN prediction model-enabled motion planner is developed based on the model predictive control technique.Furthermore,two driving scenarios are extracted from the INTERACTION dataset to validate and evaluate the effectiveness of the proposed motion planning approach,i.e.,merging and roundabout scenarios.The results demonstrate that the proposed method can lower the risk and improve driving safety compared with the baseline method.

拉萨市育龄妇女及孕妇TORCH感染情况分析

目的分析拉萨市育龄妇女及孕妇的TORCH病原体感染情况,为优生优育提供数据支持及指导建议。方法收集从2018年~2021年在本院进行优生优育检查的2020名育龄妇女及孕妇TORCH检测结果。分别从民族、年龄、季节方面进行流行病学分析。结果TORCH四种病原体即弓形虫(Toxoplasma gondii,Tox)、风疹病毒(rubella virus,RV)、巨细胞病毒(cytomegalovirus,CMV)、单纯疱疹病毒(herpes simplex virus,HSV)的IgM阳性率分别为0.94%、0.94%、0.25%和20.74%,而IgG阳性率分别为8.54%、86.92%、97.94%和95.92%。不同民族之间RV-IgM(P=0.01)、HSV-I/II-IgM(P=0.00)和TOX-IgG(P=0.00)、CMV-IgG(P=0.00)差异有统计学意义。只有HSV-I/II-IgG在不同年龄组间差异有统计学意义(P=0.04)。而不同季节间只有RV-IgG差异有统计学意义(P=0.03)。结论TORCH四种病原体中,RV和CMV对拉萨地区育龄妇女及孕妇威胁性较国内其它地区小,而TOX和HSV威胁性较大。

Analysis of TORCH results of retinal exudative changes in neonates

AIM:To explore the relationship between retinal exudative changes in neonates and perinatal toxoplasmosis,others,rubella,cytomegalovirus,and herpes simplex virus(TORCH)infections,as well as the characteristics of TORCH infection in neonates with retinal exudative changes.METHODS:Retrospective study.A total of 612 neonates with retinal exudative changes detected during ophthalmic screening in our hospital from May 2019 to March 2023 were selected.TORCH tests were performed on these neonates,and the results were subjected to statistical analysis to determine the infection characteristics.The neonates with retinal exudative changes were grouped by sex and age,the characteristics of TORCH infection were analyzed,and the positive rates were compared.RESULTS:Among the 612 neonates with retinal exudative changes,the highest positive rate was observed for cytomegalovirus(CMV-IgG)(96.7%),followed by rubella virus(RV-IgG)(73.9%).Mixed infections with two or three viruses were also observed,with the highest positive rate for mixed infection of RV-IgG and CMV-IgG reaching 71.2%.There was no statistically significant difference in TORCH infection among neonates of different sex(P>0.05).However,there were statistically significant differences in RV-IgG and CMV-IgM infections with retinal exudative changes among neonates of different age groups(P<0.05).CONCLUSION:Perinatal TORCH infection may be an important factor causing retinal exudative changes in neonates.The differences in various infections are not related to sex but are related to different age groups.

皖南地区8199例婴幼儿TORCH感染血清学检测结果分析

目的探讨皖南地区近年来TORCH病原体,即弓形虫(Toxoplasma gondii,TOX)、风疹病毒(rubella virus,RV)、巨细胞病毒(cytomegalovirus,CMV)和单纯疱疹病毒(herpes simplex virus,HSV)在婴幼儿人群的感染状况及流行特点,为儿童相关疾病的预防、诊断和治疗提供参考。方法回顾性分析2016年4月—2023年3月皖南医学院第一附属医院接诊的0~3岁婴幼儿TORCH感染血清IgM和IgG抗体检测结果,并对不同年龄、年份的TORCH阳性率进行比较分析。结果共有8199例0~3岁婴幼儿进行TORCH感染血清学筛查检测,其中男性4631例,女性3568例。婴幼儿TOX、RV、CMV、HSVⅠ和HSVⅡ的IgM抗体阳性率分别为0.11%、0.20%、0.89%、0和0,差异有统计学意义(χ^(2)=100.000,P<0.05);相对应的IgG抗体阳性率分别为10.81%、78.36%、98.32%、82.38%和13.45%,差异有统计学意义(χ^(2)=22828.211,P<0.05)。不同年龄组比较,婴儿组CMV-IgM阳性率(11.90%)高于新生儿组(0.20%)和幼儿组(1.40%),差异均有统计学意义(χ^(2)=672.920、20.569,P均<0.017);新生儿组TOX-IgG、RV-IgG、CMV-IgG、HSVⅠ-IgG和HSVⅡ-IgG阳性率(11.01%、79.88%、98.76%、85.35%、13.72%)高于婴儿组(6.71%、49.35%、96.54%、50.87%、9.74%),差异均有统计学意义(χ^(2)=8.369、237.184、16.033、373.121、5.902,P均<0.017)。不同年份比较,CMV-IgM阳性率2016年最高,各年差异有统计学意义(χ^(2)=15.816,P<0.05);不同年份TOX-IgG、RV-Ig G、CMV-IgG、HSVⅠ-IgG、HSVⅡ-IgG阳性率差异均有统计学意义(χ^(2)=216.002、90.545、37.047、59.527、57.623,P均<0.05)。结论皖南地区0~3岁婴幼儿中TORCH既往感染以CMV、HSVⅠ和RV为主,现症感染主要为CMV,对婴幼儿进行TORCH感染筛查检测对于保护儿童的健康至关重要。此外,应做好妊娠规划、产前保健和筛查,预防TORCH感染。

Selection of media tools for community planning:A study from the perspective of communicative planning

In community planning,due to the lack of evidence regarding the selection of media tools,this study examines how a common but differentiated ideal speech situation can be created as well as how more appropriate media tools can be defined and selected in the community planning process.First,this study describes the concept and theoretical basis of media used in community planning from the perspectives of the multiple effects of media evolution on communicative planning.Second,the classification criteria and typical characteristics of media tools used to support community planning are clarified from three dimensions:acceptability,cost effectiveness,and applicability.Third,strategies for applying media tools in the four phases of communicative planning-namely,state analysis,problem identification,contradictory solution and optimization-are described.Finally,trends in the development of media tools for community planning are explored in terms of multistakeholder engagement,supporting scientific decision-making and multiple-type media integration.The results provide a reference for developing more inclusive,effective,and appropriate media tools for enhancing decision-making capacity and modernizing governance in community planning and policy-making processes.

TORCH联合血清β-hCG、AFP、uE3检测诊断超声软指标异常胎儿价值

目的:探究TORCH联合血清人绒膜促性腺激素(β-hCG)、甲胎蛋白(AFP)和游离雌三醇(uE3)检测对超声软指标异常胎儿产前诊断价值。方法:选取2021年7月-2023年12月于本院产前检查胎儿超声软指标异常的孕妇324例(300例单项软指标异常、24例≥2项软指标异常)纳入异常组,产前检查健康产妇300例纳入对照组。均行TORCH血清学检测,测定血清AFP、freeβ-hCG及uE3水平。对比两组血清TORCH、β-hCG、AFP和uE3检测结果;对比不同软指标异常组血清TORCH、β-hCG、AFP和uE3检测结果;ROC分析TORCH联合血清β-hCG、AFP和uE3对超声软指标异常胎儿产前诊断价值。结果:与对照组相比,异常组血清TORCH阳性率、β-hCG、AFP水平更高,血清uE3水平更低(均P<0.05);与单项软指标异常组相比,多项软指标异常组血清TORCH阳性率、β-hCG、AFP更高,血清uE3水平更低(均P<0.05);ROC工作曲线结果显示,血清TORCH、β-hCG、AFP和uE3联合检测诊断超声软指标异常孕妇的AUC分别为0.927,显著高于指标单独检测,且敏感度和特异度均较高,分别为90.00%和92.59%。结论:对产前检查孕妇行血清TORCH联合β-hCG、AFP和uE3检测,有助于提升超声软指标异常胎儿的产前诊断率,可为临床提供一种准确有效的诊断方法。

Influence of a diet meal plan on pepsinogen I and II,gastrin-17,and nutritional status in gastric ulcer patients

BACKGROUND Gastric ulcers(GUs)have a high risk of clinical morbidity and recurrence,and further exploration is needed for the prevention,diagnosis,and treatment of the disease.AIM To investigated the effects of a diet plan on pepsinogen(PG)I,PG II,gastrin-17(G-17)levels and nutritional status in patients with GUs.METHODS A total of 100 patients with GUs treated between May 2022 and May 2023 were enrolled,with 47 patients in the control group receiving routine nursing and 53 patients in the experimental group receiving dietary nursing intervention based on a diet plan.The study compared the two groups in terms of nursing efficacy,adverse events(vomiting,acid reflux,and celialgia),time to symptom improvement(burning sensation,acid reflux,and celialgia),gastric function(PG I,PG II,and G-17 levels),and nutritional status[prealbumin(PA)and albumin(ALB)levels].RESULTS The experimental group showed a markedly higher total effective rate of nursing,a significantly lower incidence of adverse events,and a shorter time to symptom improvement than the control group.Additionally,the experimental group’s post-intervention PG I,PG II,and G-17 levels were significantly lower than preintervention or control group levels,whereas PA and ALB levels were significantly higher.CONCLUSION The diet plan significantly reduced PG I,PG II,and G-17 levels in patients with GUs and significantly improved their nutritional status.

Optimal search path planning of UUV in battlefeld ambush scene

Aiming at the practical application of Unmanned Underwater Vehicle(UUV)in underwater combat,this paper proposes a battlefield ambush scene with UUV considering ocean current.Firstly,by establishing these mathematical models of ocean current environment,target movement,and sonar detection,the probability calculation methods of single UUV searching target and multiple UUV cooperatively searching target are given respectively.Then,based on the Hybrid Quantum-behaved Particle Swarm Optimization(HQPSO)algorithm,the path with the highest target search probability is found.Finally,through simulation calculations,the influence of different UUV parameters and target parameters on the target search probability is analyzed,and the minimum number of UUVs that need to be deployed to complete the ambush task is demonstrated,and the optimal search path scheme is obtained.The method proposed in this paper provides a theoretical basis for the practical application of UUV in the future combat.

Efficient Route Planning for Real-Time Demand-Responsive Transit

Demand Responsive Transit (DRT) responds to the dynamic users’ requests without any fixed routes and timetablesand determines the stop and the start according to the demands. This study explores the optimization of dynamicvehicle scheduling and real-time route planning in urban public transportation systems, with a focus on busservices. It addresses the limitations of current shared mobility routing algorithms, which are primarily designedfor simpler, single origin/destination scenarios, and do not meet the complex demands of bus transit systems. Theresearch introduces an route planning algorithm designed to dynamically accommodate passenger travel needsand enable real-time route modifications. Unlike traditional methods, this algorithm leverages a queue-based,multi-objective heuristic A∗ approach, offering a solution to the inflexibility and limited coverage of suburbanbus routes. Also, this study conducts a comparative analysis of the proposed algorithm with solutions based onGenetic Algorithm (GA) and Ant Colony Optimization Algorithm (ACO), focusing on calculation time, routelength, passenger waiting time, boarding time, and detour rate. The findings demonstrate that the proposedalgorithmsignificantly enhances route planning speed, achieving an 80–100-fold increase in efficiency over existingmodels, thereby supporting the real-time demands of Demand-Responsive Transportation (DRT) systems. Thestudy concludes that this algorithm not only optimizes route planning in bus transit but also presents a scalablesolution for improving urban mobility.

Exploration of Detailed Planning Practice of Chemical Industrial Parks under the Background of Territorial Space Planning

With the gradual completion of the overall planning of city and county land space,the detailed planning will be prepared according to the requirements of transmitting and refining the upper planning.Industrial parks are one of the“main forces”of local economic development,and the preparation of their detailed planning will escort their development.The key points of theControlIndicatorsofConstruction LandinIndustrialProjectsissued in 2008 and 2023 were compared,and the new requirements for detailed planning under the background of territorial space and the contradictions between the detailed planning of industrial parks and the overall planning of the upper territorial space were sorted out based on the summary of the existing problems in the development of chemical parks.It provides some ideas for the practice of detailed planning of chemical industrial parks under the background of territorial space.

Postpartum Family Planning at the Timbuktu Hospital in Mali

Introduction: Postpartum family planning is the prevention of pregnancies during the 12 months following childbirth. Few studies have been devoted to postpartum family planning in Mali. Our work will contribute to reducing unmet need for family planning. Objective: To study the use of contraceptive methods in the postpartum period in the obstetrics and gynecology unit of Timbuktu hospital. Materials and Methods: This was a descriptive and analytical cross-sectional study with prospective collection of data from January 1, 2022 to December 31, 2023. All women who gave birth having chosen and benefited from a contraceptive method were included. The statistical test used was the Fisher test with a significance threshold fixed at 5%. Results: The frequency of contraception in the postpartum period was 17.03%. The average age of clients was 26.14% with extremes of 14 and 45 years. They were paupiparous at 56.4% with an inter-birth interval of less than 12 months at 12.3%. More than half of the counseling (58.5%) was done during postnatal visits. The methods chosen were implants at 48.1%, injectable progestins at 21.3%, intrauterine device at 14.7%, miro-progestin pills at 13.5%, tubal ligation at 1 .4% and condoms at 1%. The regular follow-up rate was 51.1% of cases and 25.6% had no follow-up. Conclusion: The overall rate of postpartum family planning of 17.08% remains low. Improving FP staff skills will reduce unmet needs and contribute to increasing contraceptive prevalence in Timbuktu.

Stochastic programming based coordinated expansion planning of generation,transmission,demand side resources,and energy storage considering the DC transmission system

With the increasing penetration of wind and solar energies,the accompanying uncertainty that propagates in the system places higher requirements on the expansion planning of power systems.A source-grid-load-storage coordinated expansion planning model based on stochastic programming was proposed to suppress the impact of wind and solar energy fluctuations.Multiple types of system components,including demand response service entities,converter stations,DC transmission systems,cascade hydropower stations,and other traditional components,have been extensively modeled.Moreover,energy storage systems are considered to improve the accommodation level of renewable energy and alleviate the influence of intermittence.Demand-response service entities from the load side are used to reduce and move the demand during peak load periods.The uncertainties in wind,solar energy,and loads were simulated using stochastic programming.Finally,the effectiveness of the proposed model is verified through numerical simulations.

Correlates of Mistimed Pregnancy and Unmet Need for Family Planning among Women of Reproductive Age in Sandema, Ghana

Background: Globally, an estimated 80 million unintended pregnancies comprising both mistimed and unwanted pregnancies are recorded yearly. Yet only half of the women at risk of mistimed pregnancy use contraceptives. In developing countries, over 100 million females have unmet need, and national surveys in Ghana indicate 23% unmet need rate. Methods: Using a cross-sectional community-based approach, a sample size of 300 women of reproductive age were selected using multi-step cluster sampling techniques. The study was quantitative, using structured interviewer-administered questionnaires. Results: Two-third (66%) of the women in reproductive age still had unmet need, 71% were currently pregnant, and more than a third (36%) confirmed ever having a mistimed pregnancy. Fifty-three percent (53%) of the women confirmed never communicating with their partners on family planning issues, a little below half (45%) took their own health care decisions. Seventy nine percent (79%) ever received family planning services from a health professional. Factors related to unmet needs included mistimed pregnancy, level of education, preferred birth/pregnancy interval, communication between partners and the autonomy to spend self-earnings. Conclusion: Considering that high rates of unmet need results in mistimed pregnancy, improved policies around the influence of unmet need on mistimed pregnancies are needed.

A Reverse Path Planning Approach for Enhanced Performance of Multi-Degree-of-Freedom Industrial Manipulators

In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking.While Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion optimization.Achieving satisfactory results in practical scenarios remains challenging.In response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial manipulators.The approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free path.To enhance convergence speed,the Q-learning algorithm in RL is augmented with Dyna-Q.Additionally,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection technique.Furthermore,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power joints.The efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target positions.Experimental results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target point.Moreover,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.

A Planning Method for Operational Test of UAV Swarm Based on Mission Reliability

The unmanned aerial vehicle(UAV)swarm plays an increasingly important role in the modern battlefield,and the UAV swarm operational test is a vital means to validate the combat effectiveness of the UAV swarm.Due to the high cost and long duration of operational tests,it is essential to plan the test in advance.To solve the problem of planning UAV swarm operational test,this study considers the multi-stage feature of a UAV swarm mission,composed of launch,flight and combat stages,and proposes a method to find test plans that can maximize mission reliability.Therefore,a multi-stage mission reliability model for a UAV swarm is proposed to ensure successful implementation of the mission.A multi-objective integer optimization method that considers both mission reliability and cost is then formulated to obtain the optimal test plans.This study first constructs a mission reliability model for the UAV swarm in the combat stage.Then,the launch stage and flight stage are integrated to develop a complete PMS(Phased Mission Systems)reliability model.Finally,the Binary Decision Diagrams(BDD)and Multi Objective Quantum Particle Swarm Optimization(MOQPSO)methods are proposed to solve the model.The optimal plans considering both reliability and cost are obtained.The proposed model supports the planning of UAV swarm operational tests and represents a meaningful exploration of UAV swarm test planning.

Heuristic Expanding Disconnected Graph:A Rapid Path Planning Method for Mobile Robots

Existing mobile robots mostly use graph search algorithms for path planning,which suffer from relatively low planning efficiency owing to high redundancy and large computational complexity.Due to the limitations of the neighborhood search strategy,the robots could hardly obtain the most optimal global path.A global path planning algorithm,denoted as EDG*,is proposed by expanding nodes using a well-designed expanding disconnected graph operator(EDG)in this paper.Firstly,all obstacles are marked and their corners are located through the map pre-processing.Then,the EDG operator is designed to find points in non-obstruction areas to complete the rapid expansion of disconnected nodes.Finally,the EDG*heuristic iterative algorithm is proposed.It selects the candidate node through a specific valuation function and realizes the node expansion while avoiding collision with a minimum offset.Path planning experiments were conducted in a typical indoor environment and on the public dataset CSM.The result shows that the proposed EDG*reduced the planning time by more than 90%and total length of paths reduced by more than 4.6%.Compared to A*,Dijkstra and JPS,EDG*does not show an exponential explosion effect in map size.The EDG*showed better performance in terms of path smoothness,and collision avoidance.This shows that the EDG*algorithm proposed in this paper can improve the efficiency of path planning and enhance path quality.