基于动态AVL树的巡检机器人事件响应算法  

Inspection robot incident response algorithm based on dynamic balance binary search tree

作　　者：艾菲[1] 宋晖[1] 

机构地区：[1]西南科技大学计算机学院,四川绵阳621010

出　　处：《计算机工程与设计》2013年第9期3318-3321,共4页Computer Engineering and Design

基　　金：科技部中小企业创新基金项目(09C26215105358)

摘　　要：基于AVL树的事件响应函数搜索算法虽然搜索速度快,但容易在初始化时陷入局部最优结构,且未考虑到机器人在不同巡检阶段事件量的聚集性。为此,设计一种动态搜索权值构建AVL树的算法,利用单位时间内事件发生量影响其搜索权值,使巡检机器人在运行过程中根据某类事件数量动态调整AVL树结构,优化查找效率。利用VS2005开发仿真模型,仿真结果表明,该算法能够根据事件访问量动态调整AVL树,且巡检机器人现场测试结果表明,该算法使巡检效率提高25%以上。The search algorithm of event response funciont based on AVL-tree has fast searching speed, but this algorithm easily get int local optimum structure when initialization, and this method does not consider the robot has different amount of event in different inspection stage. Therefore, a kind of algorithm based on dynamic search tree based on AVL-tree is designed, amount of event in stated time is utilized to affect the search value of every kind of event, the inspection robot adjusts AVL-tree dynami- cally according to the amount of events in order to optimize the searching efficiency. Simulation model is desecoped using VS2005, the simulation results show that this algorithm can adjust AVL-tree dynamically according to the amount of event, and the inspection robot for field tests show that the algorithm improves the inspection efficiency by more than 25 ~.

关 键 词：自主巡检 机器人 AVL树 事件聚集性 动态搜索权值 

分 类 号：TP312[自动化与计算机技术—计算机软件与理论]