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基于改进A^*算法的无人配送车避障最优路径规划 被引量:5
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作者 陈荣军 谢永平 +3 位作者 于永兴 赵慧民 卢旭 陆许明 《广东技术师范大学学报》 2020年第3期1-8,共8页
针对无人配送车在特定应用场景下的全局路径规划问题,提出了一种改进的A^*算法.首先,根据无人配送车的运行环境,建立栅格地图,并使用基于八邻域搜索的A^*算法在栅格地图上规划起始点到目标点的路径;其次,在基于八邻域搜索A^*算法的基础... 针对无人配送车在特定应用场景下的全局路径规划问题,提出了一种改进的A^*算法.首先,根据无人配送车的运行环境,建立栅格地图,并使用基于八邻域搜索的A^*算法在栅格地图上规划起始点到目标点的路径;其次,在基于八邻域搜索A^*算法的基础上,融入了一种适应无人配送车运行环境的多启发式搜索方法,使改进后的算法能够快速精确地规划出路径距离最优的初始路径;并进一步优化初始路径的转折线段为圆弧,最大限度地平滑路径;最后,改进A^*算法的路径生成机制,使规划生成的路径不会斜线经过障碍物的边界线,保证无人配送车安全有效地避开障碍物,到达目标点.仿真结果表明,该算法缩短了路径规划时间,同时转折线段优化为圆弧,生成的路径与障碍物始终保持至少半个栅格的最小安全距离,该研究对于无人配送车快速实现安全配送具有重要的理论价值和应用意义. 展开更多
关键词 无人配送车 全局路径规划 A^*算法 栅格地图 多启发式搜索
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Low Leakage Power Sequential Circuits Using Multi-Vth at Nano-Scale Transistor
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作者 Abdoul Rjoub Hassan Almanasrah 《Journal of Energy and Power Engineering》 2013年第1期193-205,共13页
Leakage power is the dominant source of power dissipation for Sub-100 nm VLSI (very large scale integration) circuits. Various techniques were proposed to reduce the leakage power at nano-scale; one of these techniq... Leakage power is the dominant source of power dissipation for Sub-100 nm VLSI (very large scale integration) circuits. Various techniques were proposed to reduce the leakage power at nano-scale; one of these techniques is MTV (multi-threshold voltage) In this paper, the exact and optimal value of threshold voltage (Vth) for each transistor in any sequential circuit in the design is found, so that the value of the total leakage current in the design is at the minimum. This could be achieved by applying AI (artificial intelligence) search algorithm. The proposed algorithm is called LOAIS (leakage optimization using AI search). LOAIS exploits the total slack time of each transistor's location and their contributions in the leakage current. It is introduced by AI heuristic search algorithms under 22 nm BSIM4 predictive technology model. The proposed approach saves around 80% of the sub-threshold leakage current without degrading the performance of the circuit. 展开更多
关键词 Component artificial intelligence leakage current low power mtflti-threshold technique NANOTECHNOLOGY SPICEparameters.
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