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相关概念视频

Relative Motion Analysis using Rotating Axes-Problem Solving01:29

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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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ZPTM:使用点云表示的农用车辆的齐格扎克路径跟踪方法.

Shuang Yang1, Engen Zhang1, Yufei Liu2

  • 1School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China.

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概括
此摘要是机器生成的。

一种新的齐格扎格路径跟踪方法 (ZPTM) 简化了农用车辆的导航,使用无人机捕获的数据. 这种自动化系统可以实现高精度的准确现场操作.

关键词:
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科学领域:

  • 农业工程 农业工程
  • 机器人技术 机器人技术 机器人技术
  • 地理空间技术是什么

背景情况:

  • 农业自动化依赖于先进的技术,例如无人农业车辆的自动导航.
  • 农业中复杂的路径规划可能会阻碍自动化操作的效率和准确性.

研究的目的:

  • 提出和评估Zigzag路径跟踪方法 (ZPTM) 以简化农业车辆导航中的路径规划.
  • 为了提高自动导航系统的准确性和稳定性,用于诸如喷等任务.

主要方法:

  • 利用来自无人机 (UAV) 的直观影像中的点点云来表示曲的路径.
  • 开发了一个非线性反功能,使用横向和方向错误来准确引导车辆.
  • 实现了图形用户界面 (GUI) 以实时监控和控制导航系统.
  • 使用高清晰度喷雾器进行了实地测试,以在不同参数下评估ZPTM的性能.

主要成果:

  • 通过在点之间创建局部直线路径,ZPTM简化了导航.
  • 通过回归模型进行优化,改善了路径跟踪参数的准确性和流性.
  • 实地测试显示最大,平均和根平均平方 (RMS) 误差分别为3.30厘米,2.04厘米和2.27厘米.

结论:

  • 基于点云路径的ZPTM提供了一个稳定,准确和适用的解决方案,用于农业自动化中的曲导航.
  • 该方法有效地减少了路线规划的复杂性,使农业车辆能够精确无人操作.