延长的计算深度和时间；小车算不出路径时，计算时间过长；该数据（json文件已更新）下，无法找到路径

zhang

2025-10-28 6968116cd80b8f3e94893e81b132320eda2b627e

延长的计算深度和时间；小车算不出路径时，计算时间过长；该数据（json文件已更新）下，无法找到路径

 algo-zkd/ctu_agv_status.json

@@ -1,48 +1 @@
[
  {
    "agvId": "105",
    "status": 0,
    "position": "213",
    "empty": "2",
    "direction": "90",
    "vol": 85,
    "error": 0,
    "autoCharge": 30,
    "lowVol": 15,
    "currentPathIndex": 1,
    "nextPointArrivalTime": 1692345600000,
    "backpack": [
      {
        "index": 0,
        "loaded": false,
        "taskId": "TASK_001"
      },
      {
        "index": 1,
        "loaded": false,
        "taskId": null
      },
      {
        "index": 2,
        "loaded": false,
        "taskId": null
      }
    ],

    "physicalConfig": {
      "maxSpeed": 2.0,
      "normalSpeed": 1.5,
      "maxAcceleration": 1.0,
      "maxDeceleration": 1.5,
      "turnTime90": 2.0,
      "turnTime180": 4.0,
      "minSafetyDistance": 3.0,
      "minFollowingDistance": 2.0,
      "ctuLength": 1.5,
      "ctuWidth": 1.0,
      "startupTime": 1.0,
      "stopTime": 1.5,
      "standardPointDistance": 1.0
    }
  }
]
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 algo-zkd/ctu_agv_status2.json

File was deleted

 algo-zkd/ctu_task_data.json

@@ -1,11 +1 @@
[
  {
    "taskId": "TASK_001",
    "agvId": "105",
    "start": "238",
    "end": "250",
    "type": "1",
    "priority": 5,
    "taskTime": "2023-08-18 10:00:00"
  }
]
[{"agvId":"110","assignedToAgv":true,"chargeTask":false,"end":"00000027","priority":11,"standbyTask":false,"start":"00000160","taskId":"58","taskTime":"2025-10-24 06:11:55","transportTask":true,"type":"18","typeDescription":"移库"},{"agvId":"110","assignedToAgv":true,"chargeTask":false,"end":"00000059","priority":11,"standbyTask":false,"start":"00000206","taskId":"62","taskTime":"2025-10-24 06:11:55","transportTask":true,"type":"18","typeDescription":"移库"},{"agvId":"110","assignedToAgv":true,"chargeTask":false,"end":"00000027","priority":11,"standbyTask":false,"start":"00000246","taskId":"66","taskTime":"2025-10-24 06:18:57","transportTask":true,"type":"18","typeDescription":"移库"},{"agvId":"110","assignedToAgv":true,"chargeTask":false,"end":"00000206","priority":11,"standbyTask":false,"start":"00000239","taskId":"71","taskTime":"2025-10-24 06:19:03","transportTask":true,"type":"18","typeDescription":"移库"},{"agvId":"110","assignedToAgv":true,"chargeTask":false,"end":"00000093","priority":11,"standbyTask":false,"start":"00000263","taskId":"91","taskTime":"2025-10-24 06:31:58","transportTask":true,"type":"18","typeDescription":"移库"}]

 algo-zkd/ctu_task_data2.json

File was deleted

 algo-zkd/src/main/java/com/algo/model/AGVStatus.java

@@ -1,5 +1,7 @@
package com.algo.model;

import com.fasterxml.jackson.annotation.JsonIgnoreProperties;

import java.util.List;
import java.util.Objects;

@@ -7,6 +9,7 @@
 * AGV状态信息
 * 包含AGV的完整状态数据，包括剩余路径和CTU物理参数
 */
@JsonIgnoreProperties(ignoreUnknown = true)
public class AGVStatus {

    /**

 algo-zkd/src/main/java/com/algo/model/BackpackData.java

@@ -1,11 +1,14 @@
package com.algo.model;

import com.fasterxml.jackson.annotation.JsonIgnoreProperties;

import java.util.Objects;

/**
 * 背篓数据模型
 * 包含背篓的状态信息
 */
@JsonIgnoreProperties(ignoreUnknown = true)
public class BackpackData {

    /**

 algo-zkd/src/main/java/com/algo/model/PlannedPath.java

@@ -1,11 +1,14 @@
package com.algo.model;

import com.fasterxml.jackson.annotation.JsonIgnoreProperties;

import java.util.List;

/**
 * 规划路径模型
 * 表示AGV的完整路径规划结果
 */
@JsonIgnoreProperties(ignoreUnknown = true)
public class PlannedPath {

    /**

 algo-zkd/src/main/java/com/algo/model/TaskData.java

@@ -1,5 +1,7 @@
package com.algo.model;

import com.fasterxml.jackson.annotation.JsonIgnoreProperties;

import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
import java.util.Objects;
@@ -8,6 +10,7 @@
 * 任务数据模型
 * 包含任务的完整信息
 */
@JsonIgnoreProperties(ignoreUnknown = true)
public class TaskData {

    /**