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An autonomous underwater vehicle (AUV) must use an algorithm to plan its path to distant, mobile offshore objects. Because
of the uneven distribution of obstacles in the real world, the efficiency of the algorithm decreases if the global environment
is represented by regular grids with all of them at the highest resolution. The framed quadtree data structure is able to
more efficiently represent the environment. When planning the path, the dynamic object is expressed instead as several static
objects which are used by the path planner to update the path. By taking account of the characteristics of the framed quadtree,
objects can be projected on the frame nodes to increase the precision of the path. Analysis and simulations showed the proposed
planner could increase efficiency while improving the ability of the AUV to follow an object. 相似文献
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依据砼心水泥土搅拌桩在南京至常州高速公路的软基处理中的应用,分析砼心水泥土搅拌桩的结构特征和工作机理,通过对砼心水泥土搅拌桩和水泥土搅拌桩复合地基承载力、复合地基沉降量和技术经济指标进行的对比分析,得出砼心水泥土搅拌桩处理方案优于水泥土搅拌桩的结论. 相似文献
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在以VAXlab计算机为主机的小型通用动力学半实物仿真系统上对某型水下航行器的运动进行了半实物仿真。给出了半实物仿真系统的基本组成和工作原理,讨论了水下航行器运动的仿真模型和实时积分算法。结果表明,该仿真系统结构合理,精度高,可靠性好,所采用的控制方案可使其满足使用要求,达到了预期的目的。 相似文献