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Full-Text Articles in Computer Engineering
Multi-Uav Trajectory Planning Based On Adaptive Segmented Potential Field Method, Guangjian Tian, Jiyang Dai, Jin Ying, Ning Wang
Multi-Uav Trajectory Planning Based On Adaptive Segmented Potential Field Method, Guangjian Tian, Jiyang Dai, Jin Ying, Ning Wang
Journal of System Simulation
Abstract: To solve the problems that the traditional artificial potential field method is prone to fall into the local extreme value, target unreachability and excessive curvature of the planned trajectory curvature in the application of UAV trajectory planning, on the basis of the layered potential field method, a method of adding a second local attractive field at the target point and an attractive set composed of the target attractive field is proposed. This method overcomes the defects of unreachable targets and easy falling into local extremes. In addition, a piecewise function is introduced into the original layered potential field method, …
Task Allocation Method For Multi-Uav Cooperative Reconnaissance In Complex Environment, Fuzhen Zhang, Yaoqin Zhu
Task Allocation Method For Multi-Uav Cooperative Reconnaissance In Complex Environment, Fuzhen Zhang, Yaoqin Zhu
Journal of System Simulation
Abstract: The existing cooperative planning methods of multiple UAVs often carry out path planning and task allocation separatly, which causes the cooperative scheme not being the best in a complex environment. The cost matrix of multi-UAV cooperative reconnaissance on heterogeneous targets is established. Aiming at the various obstacle constraints and the characteristics of UAV motion and track in complex environment, an improved PSO-AFSA is used to solve the single UAV track planning model. Hungarian algorithm is used to complete the cooperative allocation of reconnaissance tasks of UAVs. The simulation results show that the algorithm can make the flying range of …
Planning And Analysis On Uav Trajectory Based On Pce Method, Sijie Zeng, Yan Liang, Xiaojun Duan
Planning And Analysis On Uav Trajectory Based On Pce Method, Sijie Zeng, Yan Liang, Xiaojun Duan
Journal of System Simulation
Abstract: Focusing on the uncertainty in the UAV trajectory planning, combined with the artificial potential energy method, a UAV trajectory planning method based on polynomial chaos expansion (PCE), which can also efficiently obtain the optimal parameters of the model based on artificial potential field method is proposed. The PCE proxy model is established, and the stochastic collocation method is used to quickly solve the problem, so as to avoid the insufficient computing resources. Through the Sobol sensitivity analysis, the calculation overhead of the uncertainty parameters in the trajectory planning model is reduced. Cases of UAV trajectory planning prove the effectiveness …
Kinematics Analysis And Simulation Of Automatically Tracking Dental Surgery Lamp, Zerui Jiang, Lijun Yang, Li Jun, Xiaolong Jiao, Zheng Hang
Kinematics Analysis And Simulation Of Automatically Tracking Dental Surgery Lamp, Zerui Jiang, Lijun Yang, Li Jun, Xiaolong Jiao, Zheng Hang
Journal of System Simulation
Abstract: In order to solve the problem that the oral surgical lamp cannot automatically adjust the irradiation posture of the surgical lamp according to the face direction and oral cavity position, a six-degree-of-freedom automatic tracking visual manipulator solution is proposed. Coordinate conversion is achieved through binocular vision to obtain three-dimensional information of oral cavity position and face normal vector. The geometric method is introduced into the kinematics calculation, and the closed solution of the inverse kinematics is obtained. The correctness is verified by the Maltab programming and the introduction of numerical values. Five-degree polynomial motion planning is performed …