Most of the current computing methods used to determine the magnetic field of a uniformly magnetized cuboid assume that the observation point is located in the upper half space without a source. However, such methods ...Most of the current computing methods used to determine the magnetic field of a uniformly magnetized cuboid assume that the observation point is located in the upper half space without a source. However, such methods may generate analytical singularities for conditions of undulating terrain. Based on basic geomagnetic field theories, in this study an improved magnetic field expression is derived using an integration method of variable substitution, and all singularity problems for the entire space without a source are discussed and solved. This integration process is simpler than that of previous methods, and final integral results with a more uniform form. AT at all points in the source-flee space can be calculated without requiring coordinate transformation; thus forward modeling is also simplified. Corresponding model tests indicate that the new magnetic field expression is more correct because there is no analytical singularity and can be used with undulating terrain.展开更多
对多机器人协作运输时环境地形起伏不平,运输过程中机器人和物体发生滑动的问题,提出了起伏地形环境中的协作运输策略.将观测者-推动者模式的多机器人协作推箱子任务转换为多机器人编队任务,通过基于几何规划的虚拟目标序列跟踪方法实...对多机器人协作运输时环境地形起伏不平,运输过程中机器人和物体发生滑动的问题,提出了起伏地形环境中的协作运输策略.将观测者-推动者模式的多机器人协作推箱子任务转换为多机器人编队任务,通过基于几何规划的虚拟目标序列跟踪方法实现被推动物体脱离运动方向时运输编队的重新形成.协作运输策略中的观测者机器人采用平缓地形优先(navigate plain first to destination,NPFD)导航策略指导编队运动.展开更多
基金supported by China Geological Survey Northeastern Tarim Aeromagnetic and Aerogravity comprehensive survey project(No.12120115039401)
文摘Most of the current computing methods used to determine the magnetic field of a uniformly magnetized cuboid assume that the observation point is located in the upper half space without a source. However, such methods may generate analytical singularities for conditions of undulating terrain. Based on basic geomagnetic field theories, in this study an improved magnetic field expression is derived using an integration method of variable substitution, and all singularity problems for the entire space without a source are discussed and solved. This integration process is simpler than that of previous methods, and final integral results with a more uniform form. AT at all points in the source-flee space can be calculated without requiring coordinate transformation; thus forward modeling is also simplified. Corresponding model tests indicate that the new magnetic field expression is more correct because there is no analytical singularity and can be used with undulating terrain.
文摘对多机器人协作运输时环境地形起伏不平,运输过程中机器人和物体发生滑动的问题,提出了起伏地形环境中的协作运输策略.将观测者-推动者模式的多机器人协作推箱子任务转换为多机器人编队任务,通过基于几何规划的虚拟目标序列跟踪方法实现被推动物体脱离运动方向时运输编队的重新形成.协作运输策略中的观测者机器人采用平缓地形优先(navigate plain first to destination,NPFD)导航策略指导编队运动.
