Path planning is one of the key technologies for autonomous navigation of mobile robots. The A* algorithm is a commonly used algorithm for path planning. However, the traditional A* algorithm has problems such as too many path turns, too many traversal nodes, long path finding time and long paths. Therefore, this paper proposes an improved A* algorithm based on a bilevel extension strategy, including obstacle block-based extension and feature corner point-based extension. The algorithm divides the obstacles on the raster map into different blocks, the outer level algorithm is responsible for planning the connection direction between different blocks, and the inner level algorithm plans the connection paths between specific feature corner points. The heuristic function of the traditional A* algorithm is also improved by adding directional angle information. Finally, the simulation and comparison experiments of the path planning algorithm were carried out using C++ and Matlab software, and the results show that compared with the traditional A* algorithm in two different map environments, the number of turning points of the paths planned by the improved A* algorithm in this paper is reduced by 57.1% and 46.7%, the search time is reduced by 62.2% and 48.9%, and the total length of the path is reduced by 8.3% and 12.7%, respectively. The experimental results show that the improved A* algorithm can achieve shorter path length, fewer turns, and shorter search time, which greatly improves the performance of the traditional algorithm.
KEYWORDS: Receivers, Digital signal processing, Power consumption, Tunable filters, Reconstruction algorithms, Optical filters, Crosstalk, Signal detection, Optical engineering, Design
Simplified coherence technology based on direct detection has been a hot topic because of its simple structure and low cost. However, some recently proposed simplified coherent receivers (SCRs) require extremely complex mathematical operations, resulting in high power consumption of digital signal processing. We design an asymmetric SCR (ASCR) based on a twin-single-sideband signal, and the field reconstruction algorithm only requires one Hilbert operation, avoiding the nonlinear mathematical operation and the digital up-sampling. Compared to the asymmetric direct detection receiver, the power consumption of the ASCR in the part of optical field reconstruction and dispersion compensation can be reduced by 79.83% under the same sensitivity. Besides, an optimal design of the optical filter and the channel equalization for the ASCR is proposed.
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