大型油库消防救援寻路算法改进

大型油库区的地形不同于城市、山地等复杂的地形，虽然范围较大，但是油库区地形十分规整，油罐等建筑排列整齐，且在储油罐区的道路是笔直畅通的.根据这些特点，将标准的A^*寻路算法进行改进.一方面，根据油库地形结构简单，搜索节点相对少的特点，对A^*算法中搜索Open表中节点的数据结构进行改进，采用排序算法提高了搜索效率；另一方面，根据储油罐区道路笔直畅通的特点，将道路分为有障碍路段和无障碍路段，分而治之，提高整体的寻路效率.实验证明，将两种改进方法进行结合，寻路时间明显缩短，平均搜索效率提高6.86%.

Improved Pathfinding Algorithm for the Rescue of Large Oil File

The large oil depot map is different from city and mountainous region whose maps are complex. The map of large oil depot is very regular, oil tanks and other buildings arranged neatly and the roads of the oil tank area are straight. On the basis, the classic A^* algorithm is improved in this paper. On the one hand, according to the characteristics that the map of oil depot is simple and the number of search nodes is relatively small, the data structure of the Open table in the A^* algorithm is improved, to accelerate the search speed and the ranking algorithm is used to improve the search efficiency. On the other hand, because roads in the oil depot are straight, so we divide roads into two parts: roads with obstacles and barrier free roads, to improve the search efficiency. Experimental results show that, with the combination of the two improved methods, the time of searching roads is declined definitely by 6.86%.