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

Claim 5:
6. The feature-guided scanning trajectory optimization method of claim 5, wherein the pheromone of individual feature nodes to be measured is initialized as follows:, ρ
   
    P
    ⁢
    a
   
   0
  
  =
  
   {
   
    
     
      
       
        
         
          ρ
          0
         
         +
         
          σ
          ×
          
           (
           
            1
            -
            
             
              2
              ⁢
              d
              ⁢
              i
              ⁢
              s
              ⁢
              
               t
               ⁡
               (
               
                
                 P
                 a
                
                ,
                L
               
               )
              
             
             
              L
              m
             
            
           
           )
          
         
        
         
        ,
         
        
         
          d
          ⁢
          i
          ⁢
          s
          ⁢
          
           t
           ⁡
           (
           
            
             P
             a
            
            ,
             
            L
           
           )
          
         
         ≤
         
          L
          m
         
        
       
      
     
     
      
       
        
         ρ
         0
        
        ,
         
        
         
          d
          ⁢
          i
          ⁢
          s
          ⁢
          
           t
           ⁡
           (
           
            
             P
             a
            
            ,
            L
           
           )
          
         
         >
         
          L
          m
         
        
       
      
     
    
    ;
   
  
 

wherein ρ0 is an initial pheromone of individual feature nodes to be measured; L is a line segment connecting the starting feature to be measured S and the target feature to be measured D; Lm is a width of a plane in the 3D working environment perpendicular to the line segment L; dist(Pa, L) is a distance from a feature node to be measured Pa to the line segment L; and σ is a map scale factor.