Aiming at the problems of high cost, low efficiency, lack of systematic management and intelligent monitoring, a set of remote water quality monitoring system based on Lora technology and 4G Network is designed. The system uses solar battery as power supply, and F8L10T_LoRa as acquisition terminal module. The data of DO (dissolved oxygen), PH and temperature collected by the sensors are uploaded to F8926L_Router gateway. The gateway uses 4G Network to communicate with upper computer software. And the Kingview software is adopted to display and store the data in real time. The results show that the system can accurately obtain the data of each pond in real time, and the packet loss rate is less than 2% in the range of 5 km during the three-month test.
This study mainly introduces the advanced A* algorithm and steepest descent method for path planning based on grid form. A* algorithm is a node-searching strategy, namely uses the heuristic function to estimate the cost of the path from the start to the goal in the grid maps. The branching factor of A* algorithm describes the moving directions, which will be selected according to the path length in different grid maps. The steepest descent method adopts a heuristic-based gradient method with grid maps to search the shortest path. In this paper the appropriate path planning method will be selected by comparing the run time and the creation of complex maps of the two methods.
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