
Schematic diagram of pipeline obstacle avoidance
Figures of the Article
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Grid layout space discretization
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Original layout space model
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Final layout space model
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Schematic diagram of equipment bounding box
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The flowchart of EPA-star algorithm
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Schematic diagram of the typical location relationship of the connection points
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Schematic diagram of connection point interferometry
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Schematic diagram of pipeline obstacle avoidance
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Schematic diagram of pipeline obstacle avoidance
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Schematic of path switchback and concave structure
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Schematic diagram of the path before and after pruning
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Schematic diagram of the search scope
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Schematic diagram of the branch point selection range
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The optimal layout of EPA-star
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Layout of the original project space equipment
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The optimal layout of case 2
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The optimal collaborative layout of case 2