This paper presents a path planning approach for rotary unmanned aerial vehicles(R-UAVs)in a known static rough terrain environment.This approach aims to find collision-free and feasible paths with minimum altitude,le...This paper presents a path planning approach for rotary unmanned aerial vehicles(R-UAVs)in a known static rough terrain environment.This approach aims to find collision-free and feasible paths with minimum altitude,length and angle variable rate.First,a three-dimensional(3D)modeling method is proposed to reduce the computation burden of the dynamic models of R-UAVs.Considering the length,height and tuning angle of a path,the path planning of R-UAVs is described as a tri-objective optimization problem.Then,an improved multi-objective particle swarm optimization algorithm is developed.To render the algorithm more effective in dealing with this problem,a vibration function is introduced into the collided solutions to improve the algorithm efficiency.Meanwhile,the selection of the global best position is taken into account by the reference point method.Finally,the experimental environment is built with the help of the Google map and the 3D terrain generator World Machine.Experimental results under two different rough terrains from Guilin and Lanzhou of China demonstrate the capabilities of the proposed algorithm in finding Pareto optimal paths.展开更多
A novel balun structure for dipole antenna,which is based on the current distribution on parallel microstrip lines and the emission cancellation characteristic of close equal and opposite currents,is proposed.The prin...A novel balun structure for dipole antenna,which is based on the current distribution on parallel microstrip lines and the emission cancellation characteristic of close equal and opposite currents,is proposed.The principle of the balun structure is first elaborated and verified.Then,a dipole antenna with resonance at 2.45 GHz is constructed using the balun and its radiation pattern is measured.The simulated and measured reflection coefficients(S_(11))of the antenna are in good agreement 2—3 GHz.The relative bandwidth with an S_(11) of below-10 dB is more than 25%.The antenna also shows a good radiation pattern at 2.45 GHz.The proposed structure can provide a new balun design method for dipole antennas.展开更多
基金supported by the National Natural Science Foundation of China(6167321461673217+2 种基金61673219)the Natural Science Foundation of the Jiangsu Higher Education Institutions of China(18KJB120011)the Postgraduate Research and Practice Innovation Program of Jiangsu Province(KYCX19_0299)
文摘This paper presents a path planning approach for rotary unmanned aerial vehicles(R-UAVs)in a known static rough terrain environment.This approach aims to find collision-free and feasible paths with minimum altitude,length and angle variable rate.First,a three-dimensional(3D)modeling method is proposed to reduce the computation burden of the dynamic models of R-UAVs.Considering the length,height and tuning angle of a path,the path planning of R-UAVs is described as a tri-objective optimization problem.Then,an improved multi-objective particle swarm optimization algorithm is developed.To render the algorithm more effective in dealing with this problem,a vibration function is introduced into the collided solutions to improve the algorithm efficiency.Meanwhile,the selection of the global best position is taken into account by the reference point method.Finally,the experimental environment is built with the help of the Google map and the 3D terrain generator World Machine.Experimental results under two different rough terrains from Guilin and Lanzhou of China demonstrate the capabilities of the proposed algorithm in finding Pareto optimal paths.
基金supported by the Fundamental Research Funds for the Central Universities (No. 30920140122005)the Research Innovation Program for College Graduates of Jiangsu Province (No.CXLX11_ 0198)
文摘A novel balun structure for dipole antenna,which is based on the current distribution on parallel microstrip lines and the emission cancellation characteristic of close equal and opposite currents,is proposed.The principle of the balun structure is first elaborated and verified.Then,a dipole antenna with resonance at 2.45 GHz is constructed using the balun and its radiation pattern is measured.The simulated and measured reflection coefficients(S_(11))of the antenna are in good agreement 2—3 GHz.The relative bandwidth with an S_(11) of below-10 dB is more than 25%.The antenna also shows a good radiation pattern at 2.45 GHz.The proposed structure can provide a new balun design method for dipole antennas.
