Simplified Algorithm of Moving Object Trajectory Based on Interval Floating

Algorithm 1

Simplified Algorithm of Moving Object Trajectory Based on Interval Floating (STIF).

	Input: The starting point , , , Angle deviation of current point , Cumulative angular deviation of current point , Upper interval , Lower interval , Current maximum and minimum angle deviation , , Float limit
	Output: Simplified trajectory
	for (int i = 1; i < P.size() − 1; i++){
	if ( < )
	= ;
	if ( > )
	=
	//If the angle deviation of the current point is greater than
	if (Math.abs() > ){
	add (P.get(ii));
	= 0;
	flag = 0;
	;//“Zero adjustment” in the upper section”
	; //“Zero adjustment” in the lower interval
	= 0;
	= 0;
	}
	if (Math.abs()> ){
	//The upper interval meets the floating condition
	if ( >  &&  <  && flag == 0){
	//Float in the lower interval
	= ;
	//Float up the upper interval
	=  + ;
	//Calculate the subsequent points after the interval has floated once. When //the simplified condition is reached again, “zero”
	flag = 1;
	} else if( <  &&  >  && flag = = 0){
	//The lower interval meets the floating condition
	//Float in the upper interval
	= ;
	//Float down in the lower interval
	=  + ;
	flag = 1;
	}else if(flag = = 1){
	//Already floated once, cannot float again
	add (P.get(ii));
	= 0;
	flag = 0;
	= ; //“Zero adjustment” in the upper section
	= -;//“Zero adjustment” in the lower interval
	= 0;
	= 0;
	} else if(Math.abs () >) { add(P.get(ii));
	= 0;
	flag = 0;
	= ;//“Zero adjustment” in the upper section
	= −; //“Zero adjustment” in the lower interval
	= 0;
	= 0;
	}
	if ( <  ||  > ){
	add (P.get(ii));
	= 0;
	flag = 0;
	= ; //“Zero adjustment” in the upper section
	= −; //“Zero adjustment” in the lower interval
	= 0;
	= 0;
	}
	} //if (Math.abs(deviation) >error_t)
	}
	add (P.get(P.size()-1)); //The last point is added
	}