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Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
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Beams are structural elements commonly employed in engineering applications requiring different load-carrying capacities. The first step in analyzing a beam under a distributed load is to simplify the problem by dividing the load into smaller regions, which allows one to consider each region separately and calculate the magnitude of the equivalent resultant load acting on each portion of the beam. The magnitude of the equivalent resultant load for each region can be determined by calculating...
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基于在扰乱条件下单一规划的UGV到UAV的动态对接算法.

Jinge Si1, Yongkang Xu1, Tianwei Niu1

  • 1State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology, School of Automation, Beijing, China.

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概括

本研究提出了一种无人地面车辆 (UGV) 动态对接和跟踪移动无人机的新方法. 该方法使用扩展卡尔曼波器 (EKF) 来估计目标,并使用独特的路径规划算法来成功拦截.

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贝齐尔路径规划 路径规划动态对接 动态对接动态目标跟踪跟踪系统扩展卡尔曼波器 扩展卡尔曼波器车轮机器人控制控制器

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 控制系统 控制系统
  • 自主导航自主导航自主导航自主导航自主导航自主导航

背景情况:

  • 由于无人机的移动性和不可预测的运动,跟踪和恢复无人机带来了挑战.
  • 现有的方法经常与动态目标和实时轨迹干扰作斗争.
  • 无人地面车辆 (UGV) 需要先进的控制策略来有效地拦截无人机.

研究的目的:

  • 开发UGV的初始动态对接策略,以拦截移动和轨迹受干扰的无人机.
  • 通过解决目标运动偏差,使UGV能够跟踪和恢复无人机.
  • 创建一个统一的控制算法,用于同时对接和跟踪.

主要方法:

  • 使用扩展卡尔曼波器 (EKF) 估计目标状态.
  • 将无人机扰动映射到动态对接点,以量化运动偏差.
  • 设计一个初始路径规划算法,使用带有极偏移点的贝齐尔曲线.
  • 将路径规划与实时目标状态集成为单个规划对接控制算法.

主要成果:

  • 拟议的算法使UGV能够在位置和角度上与轨迹受干扰的无人机动态对接.
  • 该系统在简化后成功实现了对接后的目标跟踪.
  • 模拟和实验验证开发的对接和跟踪策略的有效性.

结论:

  • 开发的动态对接和跟踪算法为UGV无人机拦截提供了有效的解决方案.
  • 该方法在处理移动和受干扰的无人机目标方面表现出了稳健性.
  • 这项研究有助于自主机器人系统的进步,用于搜索,救援和恢复行动.