ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

Addressing the problems of deadlock and poor local path in traditional artificial potential field algorithm, some improvement measures were put forward. The obstacle detection algorithm was used to identify one effective obstacle and one intermediate point. Then a local path from starting point to the intermediate point was planed according to the gravitational field and boundary conditions. Setting the intermediate point to a new starting point and repeating this process until each local path was planed one by one. Secondly, aiming at the disadvantage of slow convergence rate and easy to fall into local optimum in basic ant colony algorithm, some improvements were proposed. The result of artificial potential field algorithm was used to build heuristic information of ant colony, so as to avoid the problems of path crossover and slow convergence. At the same time, a negative feedback loop was built to adaptively adjust the renewal speed of global pheromone and local pheromone through the iteration number. Finally, simulation experiment on three different algorithms was conducted. The results showed that under the same environment model, the proposed algorithm had fewer iterations, shorter running time and better global search ability than other two algorithms. In the given simple environment model, the iteration times of the algorithm was 3, the running time was 0.892s, and the optimal path length was 28.627m. In the given complex environment model, the iteration was 8 times, the running time was 3.376s, the optimal path length was 31.556m, and the global coverage of paths was 73.63%.