针对狭长空间无人车辆路径规划系统,提出一种基于改进的快速搜索随机树(rapidly-exploring random trees,RRT)路径规划算法,以解决传统RRT算法随机性较大、路径缺乏安全性的问题.该算法通过加入自适应目标概率采样策略、动态步长策略对...针对狭长空间无人车辆路径规划系统,提出一种基于改进的快速搜索随机树(rapidly-exploring random trees,RRT)路径规划算法,以解决传统RRT算法随机性较大、路径缺乏安全性的问题.该算法通过加入自适应目标概率采样策略、动态步长策略对传统的RRT算法进行改进,同时考虑到实际情况中无人驾驶车辆的动力学约束,该算法加入车辆碰撞约束和路径转角约束,并针对转角约束会导致迭代次数激增的问题提出了一种限制区域内随机转向的策略,最终得到一条安全性较高的路径.采用计算机仿真对所提算法和现有算法的性能进行对比验证.所提算法在狭长空间相较于传统人工势场引导下的RRT算法迭代次数降低了33.09%,规划时间减少了6.44%,路径长度减少了0.06%,并且在简单环境和复杂障碍物环境下规划能力均有提升.所提算法规划效率更高、迭代次数更少.展开更多
A method for integer ambiguity resolution in the global positioning system （GPS） multi-reference station network real time kinematic （RTK） is proposed. First, the barycenter of the triangle of reference stations f...A method for integer ambiguity resolution in the global positioning system （GPS） multi-reference station network real time kinematic （RTK） is proposed. First, the barycenter of the triangle of reference stations for ambiguity resolution is taken as a reference point. The satellite which has the largest elevation angle with the reference point is selected as a reference satellite. The parameters for constructing the weight matrix of carrier phase observation and the criteria for checking the correctness of integer ambiguity resolution of a network are obtained. Then, the wide ambiguity is calculated by a linear combination method of dualband observation. And the LI ambiguity is obtained by a nonionosphere combination method. The Kalman filter is introduced to refine the floating-point solution of ambiguity and estimate the real-time tropospheric delay. Finally, the cofactor matrix of ambiguity is de-correlated by Z-transformation to reduce the searching space of the integer ambiguity solution and improve the efficiency of the least-squares ambiguity decorrelation adjustment （LAMBDA） algorithm. The experimental results show that this method can reliably obtain the integer ambiguity solution among multi-reference stations with 40 epochs.展开更多
文摘针对狭长空间无人车辆路径规划系统,提出一种基于改进的快速搜索随机树(rapidly-exploring random trees,RRT)路径规划算法,以解决传统RRT算法随机性较大、路径缺乏安全性的问题.该算法通过加入自适应目标概率采样策略、动态步长策略对传统的RRT算法进行改进,同时考虑到实际情况中无人驾驶车辆的动力学约束,该算法加入车辆碰撞约束和路径转角约束,并针对转角约束会导致迭代次数激增的问题提出了一种限制区域内随机转向的策略,最终得到一条安全性较高的路径.采用计算机仿真对所提算法和现有算法的性能进行对比验证.所提算法在狭长空间相较于传统人工势场引导下的RRT算法迭代次数降低了33.09%,规划时间减少了6.44%,路径长度减少了0.06%,并且在简单环境和复杂障碍物环境下规划能力均有提升.所提算法规划效率更高、迭代次数更少.
基金The National Key Technology R&D Program of Chinaduring the11th Five-Year Plan Period (No2008BAJ11B05)
文摘A method for integer ambiguity resolution in the global positioning system （GPS） multi-reference station network real time kinematic （RTK） is proposed. First, the barycenter of the triangle of reference stations for ambiguity resolution is taken as a reference point. The satellite which has the largest elevation angle with the reference point is selected as a reference satellite. The parameters for constructing the weight matrix of carrier phase observation and the criteria for checking the correctness of integer ambiguity resolution of a network are obtained. Then, the wide ambiguity is calculated by a linear combination method of dualband observation. And the LI ambiguity is obtained by a nonionosphere combination method. The Kalman filter is introduced to refine the floating-point solution of ambiguity and estimate the real-time tropospheric delay. Finally, the cofactor matrix of ambiguity is de-correlated by Z-transformation to reduce the searching space of the integer ambiguity solution and improve the efficiency of the least-squares ambiguity decorrelation adjustment （LAMBDA） algorithm. The experimental results show that this method can reliably obtain the integer ambiguity solution among multi-reference stations with 40 epochs.
