In order to solve the problem of path planning of mobile robots in a dynamic environment,an improved rapidly-exploring random tree^(*)(RRT^(*))algorithm is proposed in this paper.First,the target bias sampling is intr...In order to solve the problem of path planning of mobile robots in a dynamic environment,an improved rapidly-exploring random tree^(*)(RRT^(*))algorithm is proposed in this paper.First,the target bias sampling is introduced to reduce the randomness of the RRT^(*)algorithm,and then the initial path planning is carried out in a static environment.Secondly,apply the path in a dynamic environment,and use the initially planned path as the path cache.When a new obstacle appears in the path,the invalid path is clipped and the path is replanned.At this time,there is a certain probability to select the point in the path cache as the new node,so that the new path maintains the trend of the original path to a greater extent.Finally,MATLAB is used to carry out simulation experiments for the initial planning and replanning algorithms,respectively.More specifically,compared with the original RRT^(*)algorithm,the simulation results show that the number of nodes used by the new improved algorithm is reduced by 43.19%on average.展开更多
This paper presents the architectures, algorithms, and implementation considerations of the digital phase locked loop (DPLL) used for burst-mode packet DS-CDMA receivers. As we know, carrier offset is a rather challen...This paper presents the architectures, algorithms, and implementation considerations of the digital phase locked loop (DPLL) used for burst-mode packet DS-CDMA receivers. As we know, carrier offset is a rather challenging problem in CDMA system. According to different applications, different DPLL forms should be adopted to correct different maximum carrier offset in CDMA systems. One classical DPLL and two novel DPLL forms are discussed in the paper. The acquisition range of carrier offset can be widened by using the two novel DPLL forms without any performance degradation such as longer acquisition time or larger variance of the phase error. The maximum acquisition range is 1/(4T), where T is the symbol period. The design can be implemented by FPGA directly.展开更多
In this paper, Moose scheme is used for frequency offset estimation in OFDMA uplink svstems due to that the signals from different users can be easily distinguished in frequency domain. However, differential multiple ...In this paper, Moose scheme is used for frequency offset estimation in OFDMA uplink svstems due to that the signals from different users can be easily distinguished in frequency domain. However, differential multiple access interference （MAI） will deteriorate the frequency offset estimation performances, especially in interleaved OFDMA system. Analysis and simulation results manifest that frequency offset estimation by Moose scheme in block OFDMA system is more robust than that in interleaved OFDMA systern. And an iterative interference cancellation method has been proposed to suppress the differential MAI interference for interleaved OFDMA system, in which Moose scheme is the special case of the number of iteration is equal to one. Simulation results demonstrate that the proposed method can improve the performance with the increase of the number of iterations. In consideration of the performance and complexity, the proposed method with two iterations is selected. And the full comparison results of the proposed iterative method with two iterations and that with one iteration （conventional Moose scheme） are given in the paper, which sufficiently demonstrate that the performance gain can be obtained by the interference cancellation operation in interleaved OFDMA system.展开更多
The bias drift of a micro-electro-mechanical systems （MEMS） accelerometer suffers from the l/f noise and the tem- perature effect. For massive applications, the bias drift urgently needs to be improved. Conventional...The bias drift of a micro-electro-mechanical systems （MEMS） accelerometer suffers from the l/f noise and the tem- perature effect. For massive applications, the bias drift urgently needs to be improved. Conventional methods often cannot ad- dress the l/f noise and temperature effect in one architecture. In this paper, a combined approach on closed-loop architecture modification is proposed to minimize the bias drift. The modulated feedback approach is used to isolate the l/f noise that exists in the conventional direct feedback approach. Then a common mode signal is created and added into the closed loop on the basis of modulated feedback architecture, to compensate for the temperature drift. With the combined approach, the bias instability is improved to less than 13 μg, and the drift of the Allan variance result is reduced to 17 μg at 100 s of the integration time. The temperature coefficient is reduced from 4.68 to 0.1 mg/℃. The combined approach could be useful for many other closed-loop accelerometers.展开更多
基金National Natural Science Foundation of China(No.61903291)。
文摘In order to solve the problem of path planning of mobile robots in a dynamic environment,an improved rapidly-exploring random tree^(*)(RRT^(*))algorithm is proposed in this paper.First,the target bias sampling is introduced to reduce the randomness of the RRT^(*)algorithm,and then the initial path planning is carried out in a static environment.Secondly,apply the path in a dynamic environment,and use the initially planned path as the path cache.When a new obstacle appears in the path,the invalid path is clipped and the path is replanned.At this time,there is a certain probability to select the point in the path cache as the new node,so that the new path maintains the trend of the original path to a greater extent.Finally,MATLAB is used to carry out simulation experiments for the initial planning and replanning algorithms,respectively.More specifically,compared with the original RRT^(*)algorithm,the simulation results show that the number of nodes used by the new improved algorithm is reduced by 43.19%on average.
文摘This paper presents the architectures, algorithms, and implementation considerations of the digital phase locked loop (DPLL) used for burst-mode packet DS-CDMA receivers. As we know, carrier offset is a rather challenging problem in CDMA system. According to different applications, different DPLL forms should be adopted to correct different maximum carrier offset in CDMA systems. One classical DPLL and two novel DPLL forms are discussed in the paper. The acquisition range of carrier offset can be widened by using the two novel DPLL forms without any performance degradation such as longer acquisition time or larger variance of the phase error. The maximum acquisition range is 1/(4T), where T is the symbol period. The design can be implemented by FPGA directly.
文摘In this paper, Moose scheme is used for frequency offset estimation in OFDMA uplink svstems due to that the signals from different users can be easily distinguished in frequency domain. However, differential multiple access interference （MAI） will deteriorate the frequency offset estimation performances, especially in interleaved OFDMA system. Analysis and simulation results manifest that frequency offset estimation by Moose scheme in block OFDMA system is more robust than that in interleaved OFDMA systern. And an iterative interference cancellation method has been proposed to suppress the differential MAI interference for interleaved OFDMA system, in which Moose scheme is the special case of the number of iteration is equal to one. Simulation results demonstrate that the proposed method can improve the performance with the increase of the number of iterations. In consideration of the performance and complexity, the proposed method with two iterations is selected. And the full comparison results of the proposed iterative method with two iterations and that with one iteration （conventional Moose scheme） are given in the paper, which sufficiently demonstrate that the performance gain can be obtained by the interference cancellation operation in interleaved OFDMA system.
文摘The bias drift of a micro-electro-mechanical systems （MEMS） accelerometer suffers from the l/f noise and the tem- perature effect. For massive applications, the bias drift urgently needs to be improved. Conventional methods often cannot ad- dress the l/f noise and temperature effect in one architecture. In this paper, a combined approach on closed-loop architecture modification is proposed to minimize the bias drift. The modulated feedback approach is used to isolate the l/f noise that exists in the conventional direct feedback approach. Then a common mode signal is created and added into the closed loop on the basis of modulated feedback architecture, to compensate for the temperature drift. With the combined approach, the bias instability is improved to less than 13 μg, and the drift of the Allan variance result is reduced to 17 μg at 100 s of the integration time. The temperature coefficient is reduced from 4.68 to 0.1 mg/℃. The combined approach could be useful for many other closed-loop accelerometers.
