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基于软翼无人机的遍历规划方法
Authors
何玉庆
李兵兵
+3 more
杨丽英
谷丰
黄伟
Publication date
5 November 2019
Publisher
Abstract
本发明涉及一种基于软翼无人机的遍历规划方法。该方法包括:采用区域分割法将软翼无人机待遍历区域划分为可行区域和障碍物区域;采用基于代价函数的改进贪心算法确定可行区域的待遍历顺序;采用折返形算法实施可行区域遍历,计算贴线直行的下一时刻目标期望点C的位置坐标、航向角,计算转弯过程中的偏航角速度;控制软翼无人机的行进轨迹。本方法实现了遍历规划,通过数值仿真验证了算法的可靠性
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Institutional Repository of Institute of Automation, CAS
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oai:ir.sia.cn/:173321/25825
Last time updated on 16/09/2020
Shenyang Institute of Automation,Chinese Academy Of Sciences
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:ir.sia.cn/:173321/25825
Last time updated on 08/01/2020