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相关概念视频

Rolling Resistance: Problem Solving01:17

Rolling Resistance: Problem Solving

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Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
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Hydraulic Jump: Problem Solving01:16

Hydraulic Jump: Problem Solving

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To analyze a hydraulic jump in a rectangular channel with a flow speed of 6 meters per second, follow these steps:Calculate Effective Upstream Velocity:When the downstream gate closes, a hydraulic jump forms, traveling upstream at 2 meters per second. This wave speed combines with the initial channel flow velocity, creating an effective upstream velocity.Identify Flow Velocities Before and After the Hydraulic Jump:Upstream of the hydraulic jump, the effective flow velocity includes both the...
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Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

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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.
Here, in order to determine the magnitude of velocity and acceleration for point...
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Statically Indeterminate Problem Solving01:16

Statically Indeterminate Problem Solving

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Statically indeterminate problems are those where statics alone can not determine the internal forces or reactions. Consider a structure comprising two cylindrical rods made of steel and brass. These rods are joined at point B and restrained by rigid supports at points A and C. Now, the reactions at points A and C and the deflection at point B are to be determined. This rod structure is classified as statically indeterminate as the structure has more supports than are necessary for maintaining...
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Orthogonal Trajectories01:26

Orthogonal Trajectories

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Orthogonal trajectories describe the geometric relationship between two families of curves that intersect each other at right angles. One illustrative case involves a family of parabolas that open sideways along the x-axis. These curves share a common shape but differ by a scaling parameter, resulting in a set of curves that all pass through the origin and widen at different rates.Determining Orthogonal TrajectoriesTo identify the orthogonal trajectories for these parabolas, the first step...
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相关实验视频

Updated: Jan 18, 2026

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基于改进的RRT*算法,用于有限空间的挖掘机的避障轨迹规划方法.

Shengjie Fu1,2, Chang Lin1,2, Zhaoyuan Yao3,4,5

  • 1Fujian Key Laboratory of Green Intelligent Drive and Transmission for Mobile Machinery, Huaqiao University, Xiamen, 361021, China.

Scientific reports
|January 16, 2026
PubMed
概括

本研究介绍了一种增强的RRT*算法,用于自动挖掘机轨迹规划,提高复杂环境中的效率和流性. 新方法确保无人驾驶操作的无碰撞,节能路径.

关键词:
狭窄的空间是一个有限的空间.改进了RRT*算法规划避障碍轨迹规划 规划避障碍轨迹规划轨道优化的轨迹优化无人驾驶自主运行 无人驾驶自主运行

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科学领域:

  • 机器人和自动化 机器人和自动化
  • 建筑工程工程 建筑工程
  • 人工智能的人工智能

背景情况:

  • 建筑机械正在向无人自主操作过渡.
  • 挖掘机需要复杂的轨迹规划,以适应复杂和狭窄的环境.
  • 现有的算法可能缺乏自主任务的效率和流性.

研究的目的:

  • 为自动挖掘机提出一个避障轨迹规划方案.
  • 在限制条件下提高路径搜索效率和轨迹质量.
  • 为了实现操作持续时间和运动流的多目标优化.

主要方法:

  • 开发了一个模拟模型用于挖掘机机制和环境.
  • 增强了基于环境参数的启发式搜索和基于目标的自适应策略的RRT*算法.
  • 利用五进制非统一的理性B-Spline (NURBS) 曲线来优化桶尖轨迹.

主要成果:

  • 路径长度减少了3.65%,代数减少了64.15%,计算时间减少了67.9%.
  • 改善了33.4%的轨道平滑性.
  • 生成无碰撞,平滑和节能的轨迹.

结论:

  • 改进的RRT*算法显著提高了自动挖掘机的性能.
  • 这种方法确保了无人操作的高效率和机械可靠性.
  • 这种方法在具有挑战性的环境中有效用于自主挖掘机导航.