Patent ID: 11938636
Assignee: NANJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS
Field: Measurement (Instruments)
Classification: CPC B  G  Y | IPC B  G

Claim 6:
7. The feature-guided scanning trajectory optimization method of claim 5, wherein the state transfer probability Pa,a+1k is calculated as follows:, P
   
    a
    ,
    
     a
     +
     1
    
   
   k
  
  =
  
   {
   
    
     
      
       
        
         
          
           
            
             [
             
              
               ρ
               
                a
                ,
                
                 a
                 +
                 1
                
               
              
              (
              k
              )
             
             ]
            
            
             α
             ⁡
             (
             N
             )
            
           
           [
           
            
             H
             
              a
              ,
              
               a
               +
               1
              
             
            
            (
            k
            )
           
           ]
          
          
           β
           ⁡
           (
           N
           )
          
         
         
          ∑
          
           
            
             
              [
              
               
                ρ
                
                 a
                 ,
                 
                  a
                  +
                  1
                 
                
               
               (
               k
               )
              
              ]
             
             
              α
              ⁡
              (
              N
              )
             
            
            [
            
             
              H
              
               a
               ,
               
                a
                +
                1
               
              
             
             (
             k
             )
            
            ]
           
           
            β
            ⁡
            (
            N
            )
           
          
         
        
        ,
         
        
         
          P
          
           a
           +
           1
          
         
         ∈
         
          R
          ⁡
          (
          
           P
           a
          
          )
         
        
       
      
     
     
      
       
        0
        ,
        
         
          P
          
           a
           +
           1
          
         
         ∉
         
          R
          ⁡
          (
          
           P
           a
          
          )
         
        
       
      
     
    
    ;
   
  
 

 
  
   α
   ⁡
   (
   N
   )
  
  =
  
   cos
   ⁡
   (
   
    
     N
     ⁢
     •
     ⁢
     π
    
    
     2
     ⁢
     •
     ⁢
     
      N
      max
     
    
   
   )
  
 

 
  
   β
   ⁡
   (
   N
   )
  
  =
  
   sin
   ⁡
   (
   
    
     N
     ⁢
     •
     ⁢
     π
    
    
     2
     ⁢
     •
     ⁢
     
      N
      max
     
    
   
   )
  
 

 
  ;
  and
 

 
  
   
    H
    ⁡
    (
    k
    )
   
   =
   
    1
    
     d
     
      a
      ,
      
       a
       +
       1
      
     
    
   
  
  ;
 

wherein k represents a kth ant; N is the current iteration number; Nmax is the maximum number of iterations; ρa,a+1(k) is a pheromone of the kth ant between a feature node to be measured a and a feature node to be measured a+1; Ha,a+1(k) represents a heuristic function of the kth ant between individual feature nodes to be measured a and individual feature nodes to be measured a+1; da,a+1 is a distance between individual feature nodes to be measured a and individual feature nodes to be measured a+1; α(N) is a pheromone factor of a Nth iteration; β(N) is a heuristic function factor of the Nth iteration; and R(Pa) is a feasible region of the 3D working environment.