A new Chien search method for shortened Reed-Solomon （RS） code is proposed, based on this, a versatile RS decoder for correcting both errors and erasures is designed. Compared with the traditional RS decoder, the we...A new Chien search method for shortened Reed-Solomon （RS） code is proposed, based on this, a versatile RS decoder for correcting both errors and erasures is designed. Compared with the traditional RS decoder, the weighted coefficient of the Chien search method is calculated sequentially through the three pipelined stages of the decoder. And therefore, the computation of the errata locator polynomial and errata evaluator polynomial needs to be modified. The versatile RS decoder with minimum distance 21 has been synthesized in the Xilinx Virtex-Ⅱ series field programmable gate array （FPGA） xe2v1000-5 and is used by coneatenated coding system for satellite communication. Results show that the maximum data processing rate can be up to 1.3 Gbit/s.展开更多
针对无人车在复杂环境中进行全局路径规划时存在的盲目搜索、节点冗余、路径不光滑及不安全等问题,提出一种基于快速扩展随机树(RRT,rapidly-exploring random tree)的综合改进路径规划算法;首先引入目标动态概率采样策略和人工势场引...针对无人车在复杂环境中进行全局路径规划时存在的盲目搜索、节点冗余、路径不光滑及不安全等问题,提出一种基于快速扩展随机树(RRT,rapidly-exploring random tree)的综合改进路径规划算法;首先引入目标动态概率采样策略和人工势场引导随机树扩展机制;其次根据汽车运动学模型,对规划的路径进行转角约束和碰撞检测,保证路径的安全性;然后引入Reeds-Sheep曲线用于直接与目标位姿进行连接,避免多余的位姿调整;最后对路径进行剪枝和平滑处理,得到一条更短更光滑的路径;在实验部分,针对不同仿真环境,以规划时间、路径长度和节点数目作为评价指标,对比了RRT算法、RRT*算法和文章算法的路径规划效果;实验结果显示,文章算法相比于RRT算法和RRT*算法,节点数目分别减少了58.94%和85.22%,规划时间分别缩短了61.20%和79.23%,且路径长度相比于RRT算法缩短了17.26%,并和RRT*算法规划的最优路径长度相近。展开更多
基金Sponsored by the Ministerial Level Advanced Research Foundation (20304)
文摘A new Chien search method for shortened Reed-Solomon （RS） code is proposed, based on this, a versatile RS decoder for correcting both errors and erasures is designed. Compared with the traditional RS decoder, the weighted coefficient of the Chien search method is calculated sequentially through the three pipelined stages of the decoder. And therefore, the computation of the errata locator polynomial and errata evaluator polynomial needs to be modified. The versatile RS decoder with minimum distance 21 has been synthesized in the Xilinx Virtex-Ⅱ series field programmable gate array （FPGA） xe2v1000-5 and is used by coneatenated coding system for satellite communication. Results show that the maximum data processing rate can be up to 1.3 Gbit/s.
文摘针对无人车在复杂环境中进行全局路径规划时存在的盲目搜索、节点冗余、路径不光滑及不安全等问题,提出一种基于快速扩展随机树(RRT,rapidly-exploring random tree)的综合改进路径规划算法;首先引入目标动态概率采样策略和人工势场引导随机树扩展机制;其次根据汽车运动学模型,对规划的路径进行转角约束和碰撞检测,保证路径的安全性;然后引入Reeds-Sheep曲线用于直接与目标位姿进行连接,避免多余的位姿调整;最后对路径进行剪枝和平滑处理,得到一条更短更光滑的路径;在实验部分,针对不同仿真环境,以规划时间、路径长度和节点数目作为评价指标,对比了RRT算法、RRT*算法和文章算法的路径规划效果;实验结果显示,文章算法相比于RRT算法和RRT*算法,节点数目分别减少了58.94%和85.22%,规划时间分别缩短了61.20%和79.23%,且路径长度相比于RRT算法缩短了17.26%,并和RRT*算法规划的最优路径长度相近。
