针对无人机编队在复杂机动情形下的协同轨迹规划问题,提出了一种基于路径速度解耦方法的预瞄自适应轨迹规划方法。在路径规划阶段,考虑无人机转弯机动的曲率限制,采用Dubins曲线作为路径构成的基本子结构。为得到最优的Dubins曲线连接...针对无人机编队在复杂机动情形下的协同轨迹规划问题,提出了一种基于路径速度解耦方法的预瞄自适应轨迹规划方法。在路径规划阶段,考虑无人机转弯机动的曲率限制,采用Dubins曲线作为路径构成的基本子结构。为得到最优的Dubins曲线连接控制点,设计了自适应预跟随路径特征的预瞄距离规划算法。在速度规划阶段,针对控制参数化与时间离散化(control parameterization and time discretization,CPTD)的速度规划方法,提出了栅格化空域下差异区间速度规划方法,简称为DIPR。仿真结果表明,预瞄距离自适应算法能够有效优化路径,对比固定预瞄距离方法在转向弧度上平均减少30.70%,在跟踪偏离上减少16.41%,在路径长度上缩短10.87%。对比CPTD方法,DIPR平均提前30代收敛,收敛值平均提高10.67%,编队完成队形集结时间平均缩短15.4 s。得到结果更快更优,并且速度曲线结果连续平滑。展开更多
Based on the steady-state seepage method, we used the Mechanical Testing and Simulation 815.02 System and a self-designed seepage instrument for over-broken stone to measure seepage properties of water flows in three ...Based on the steady-state seepage method, we used the Mechanical Testing and Simulation 815.02 System and a self-designed seepage instrument for over-broken stone to measure seepage properties of water flows in three types of crushed rock samples. Three methods of confidence interval in describing permeability coefficients are presented: the secure interval, the calculated interval and the systemic interval. The lower bound of the secure interval can be applied to water-inrush and the upper bound can solve the problem of connectivity. For the calculated interval, as the axial pressure increases, the length of confidence interval is shortened and the upper and lower bounds are reduced. For the systemic interval, the length of its confidence interval, as well as the upper and lower bounds, clearly vary under low axial pressure but are fairly similar under high axial pressure. These three methods provide useful information and references for analyzing the permeability coefficient of over-broken rock.展开更多
文摘针对无人机编队在复杂机动情形下的协同轨迹规划问题,提出了一种基于路径速度解耦方法的预瞄自适应轨迹规划方法。在路径规划阶段,考虑无人机转弯机动的曲率限制,采用Dubins曲线作为路径构成的基本子结构。为得到最优的Dubins曲线连接控制点,设计了自适应预跟随路径特征的预瞄距离规划算法。在速度规划阶段,针对控制参数化与时间离散化(control parameterization and time discretization,CPTD)的速度规划方法,提出了栅格化空域下差异区间速度规划方法,简称为DIPR。仿真结果表明,预瞄距离自适应算法能够有效优化路径,对比固定预瞄距离方法在转向弧度上平均减少30.70%,在跟踪偏离上减少16.41%,在路径长度上缩短10.87%。对比CPTD方法,DIPR平均提前30代收敛,收敛值平均提高10.67%,编队完成队形集结时间平均缩短15.4 s。得到结果更快更优,并且速度曲线结果连续平滑。
基金Financial support for this work, provided by the National Natural Science Foundation of China (Nos. 50774083 and 41074040)the Program for New Century Excellent Talents in University (No. NCET-07-0803)the National Key Basic Research Program (No. 2009CB219605)
文摘Based on the steady-state seepage method, we used the Mechanical Testing and Simulation 815.02 System and a self-designed seepage instrument for over-broken stone to measure seepage properties of water flows in three types of crushed rock samples. Three methods of confidence interval in describing permeability coefficients are presented: the secure interval, the calculated interval and the systemic interval. The lower bound of the secure interval can be applied to water-inrush and the upper bound can solve the problem of connectivity. For the calculated interval, as the axial pressure increases, the length of confidence interval is shortened and the upper and lower bounds are reduced. For the systemic interval, the length of its confidence interval, as well as the upper and lower bounds, clearly vary under low axial pressure but are fairly similar under high axial pressure. These three methods provide useful information and references for analyzing the permeability coefficient of over-broken rock.
