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An improved Rapidly-exploring Random Tree∗ (RRT∗) algorithm was given, which focused on the problem of UAV path planning in 3-D dynamic environment. By considering the constraint of the UAV, the frequency of collision checking in the searching stage was reduced. And this could save searching time. D∗ Lite algorithm was introduced to RRT∗ to solve the dynamic path planning problem. The information...
In order to achieve jumping performance similar with real frog, the frog-inspired robot is required to reach some velocity in takeoff phase. In this paper, trajectory planning method is introduced to analyze jumping performance under different takeoff velocities. Firstly, the kinematic model was built, and the dynamic equation was established using Lagrangian method. Then, aimed at minimum joint torques...
By the kinematic analysis of autonomous land vehicle, a novel motion planning algorithm using circular-arc virtual tentacles is proposed, which is based on the reactive action planning method and the insect's obstacle avoidance by tentacles. The reference front wheel angle of the arc trajectory fragment is also given. The simulation and experimental results show that with the proper initial parameters,...
According to the calculating methods given by Xie gaodi et al, this paper calculates the loss of the ecosystem services value, which is caused by the as-built highway of Shandong province, and the ecosystem services value of the land which will occupied by the proposed highway is estimated. The results indicate that the total loss of ecological services value caused by the construction of highway...
The over-pursuit of aesthetic effects in many recently created ecological corridors has caused the neglect of ecological benefits. According to the exploration of the connotation of urban ecological corridors, this paper, applying landscape-ecology principles, discusses the structural characteristics and ecological function of ecological corridors. Initial planning of various ecological corridor types...
In order to better understand, control, and optimize the supply chain, the advantages of modeling & simulation the coal industry in China play an important role in reconstructing the supply chain and providing appropriate decision support to against challenges from high variability and uncertainty. Realizing high-accuracy supply chain simulation will require integration of individual supply chain...
The paper presents an approach to build a coincident data structure which depicts road and field. Commonly, the road is represented by vector structure while the field is represented by tessellation structure. The path plan object in CGF or C2 should maneuver from road to field. In this paper, a novel method based on original data of GIS is put forward to build obstacle regions. It can effectively...
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