Trajectory Planning Algorithm Based on Quaternion for 6-DOF Aircraft Wing Automatic Position and Pose Adjustment Method

A 6-degree of freedom （6-DOF） aircraft wing position and pose automatic adjustment method is presented to improve ARJ21 wing-fuselage connection precision and efficiency. Wing position and pose are adjusted by three pillars which are driven by six high-precision servo motors. During the adjustment process, wing is tracked and positioned by laser tracker. Wing initial position and pose are calibrated by using the measurement coordinates of assembly reference points. Wing target position and pose are calculated according to wing initial, fuselage position and pose, and relative position and pose requirements between wing and fuselage for the connection. Combining Newton-Euler method with quaternion position and pose analyzing method, the inverse kinematics of servo motors, together with the adjustment system dynamics is obtained. Wing quintic polynomial trajectory planning algorithm based on quatemion is proposed; the initial, target position and pose need to be solved and the intermediate moving path is uncertain. Simulation results show that the adjustment method has good dynamic characteristics and satisfies engineering requirements. Preliminary engineering application indicates that ARJ21 wing adjustment efficiency and precision are improved by using the proposed method.

An improved Gmapping algorithm based map construction method for indoor mobile robot

With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation capabilities have become one of the research hotspots.An accurate map construction is a prerequisite for a mobile robot to achieve autonomous localization and navigation.However,the problems of blurring and missing the borders of obstacles and map boundaries are often faced in the Gmapping algorithm when constructing maps in complex indoor environments.In this pursuit,the present work proposes the development of an improved Gmapping algorithm based on the sparse pose adjustment(SPA)optimizations.The improved Gmapping algorithm is then applied to construct the map of a mobile robot based on single-line Lidar.Experiments show that the improved algorithm could build a more accurate and complete map,reduce the number of particles required for Gmapping,and lower the hardware requirements of the platform,thereby saving and minimizing the computing resources.