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A rapid path planner for autonomous ground vehicle using section collision detection 总被引:1,自引:0,他引:1
Rapid path planner plays an important role in autonomous ground vehicle (AGV) operation. Depending on the non-holonomic kinematics
constraints of AGV, its path planning problem is discussed. Since rapidly-exploring random tree (RRT) can directly take non-holonomic
constraints into consideration, it is selected to solve this problem. By applying extra constraints on the movement, the generation
of new configuration in RRT algorithm is simplified and accelerated. With section collision detection method applied, collision
detection within the planer becomes more accurate and efficient. Then a new path planner is developed. This method complies
with the non-holonomic constraints, avoids obstacles effectively and can be rapidly carried out while the vehicle is running.
Simulation shows that this path planner can complete path planning in less than 0.5 s for a 170 m×170 m area with moderate
obstacle complexity.
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通过对潜孔钻机凿岩过程中的地质条件、受力特征和钻孔偏斜机理进行研究,分析钻孔偏斜的主要原因,并提出钻孔偏斜的预防及处理对策.实践证明,采取合理的处理对策可以有效地控制潜孔钻机的钻孔偏斜问题. 相似文献
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针对利用高速公路发展区域经济、提高公路建设间接效益的问题,研究高速公路立体交叉周边区域企业选址的条件,分析比较日,美等国不同类型企业实际选址的特点和要求,探讨如何在立体立叉周边区域创造条件,从而有目的地指导企业选址以推相关区域经济发展。 相似文献
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