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Channel Correlation Based User Grouping Algorithm for Nonlinear Precoding Satellite Communication System 被引量:1
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作者 Ke Wang Baorui Feng +5 位作者 Jingui Zhao Wenliang Lin Zhongliang Deng Dongdong Wang Yi Cen Genan Wu 《China Communications》 SCIE CSCD 2024年第1期200-214,共15页
Low Earth Orbit(LEO)multibeam satellites will be widely used in the next generation of satellite communication systems,whose inter-beam interference will inevitably limit the performance of the whole system.Nonlinear ... Low Earth Orbit(LEO)multibeam satellites will be widely used in the next generation of satellite communication systems,whose inter-beam interference will inevitably limit the performance of the whole system.Nonlinear precoding such as Tomlinson-Harashima precoding(THP)algorithm has been proved to be a promising technology to solve this problem,which has smaller noise amplification effect compared with linear precoding.However,the similarity of different user channels(defined as channel correlation)will degrade the performance of THP algorithm.In this paper,we qualitatively analyze the inter-beam interference in the whole process of LEO satellite over a specific coverage area,and the impact of channel correlation on Signal-to-Noise Ratio(SNR)of receivers when THP is applied.One user grouping algorithm is proposed based on the analysis of channel correlation,which could decrease the number of users with high channel correlation in each precoding group,thus improve the performance of THP.Furthermore,our algorithm is designed under the premise of co-frequency deployment and orthogonal frequency division multiplexing(OFDM),which leads to more users under severe inter-beam interference compared to the existing research on geostationary orbit satellites broadcasting systems.Simulation results show that the proposed user grouping algorithm possesses higher channel capacity and better bit error rate(BER)performance in high SNR conditions relative to existing works. 展开更多
关键词 channel correlation inter-beam interference multibeam satellite Tomlinson-Harashima precoding user grouping
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Design and Implementation of Nonlinear Precoding for MIMO-SDMA Toward 6G Wireless
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作者 Chaowu Wu Yue Xiao +1 位作者 Shu Fang Gang Wu 《China Communications》 SCIE CSCD 2024年第1期69-87,共19页
In this paper,we present a novel and robust nonlinear precoding(NLP)design and detection structure specifically tailored for multiple-input multipleoutput space division multiple access(MIMO-SDMA)systems toward 6G wir... In this paper,we present a novel and robust nonlinear precoding(NLP)design and detection structure specifically tailored for multiple-input multipleoutput space division multiple access(MIMO-SDMA)systems toward 6G wireless.Our approach aims to effectively mitigate the impact of imperfect channel estimation by leveraging the channel fluctuation mean square error(MSE)for reconstructing a highly accurate precoding matrix at the transmitter.Furthermore,we introduce a simplified receiver structure that eliminates the need for equalization,resulting in reduced interference and notable enhancements in overall system performance.We conduct both computer simulations and experimental tests to validate the efficacy of our proposed approach.The results reveals that the proposed NLP scheme offers significant performance improvements,making it particularly well-suited for the forthcoming 6G wireless. 展开更多
关键词 MIMO-SDMA nonlinear precoding Tomlinson-Harashima precoding(THP) vector perturbation(VP)
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Joint Optimization of Precoding and Constellation Shaping for Faster-than-Nyquist Signaling
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作者 Kang Weimin 《China Communications》 SCIE CSCD 2024年第11期141-149,共9页
Faster-than-Nyquist(FTN)signaling is a potential scheme for the sixth generation(6G)communication system to improve the spectral efficiency(SE).In this paper,we propose a joint optimization algorithm of precoding and ... Faster-than-Nyquist(FTN)signaling is a potential scheme for the sixth generation(6G)communication system to improve the spectral efficiency(SE).In this paper,we propose a joint optimization algorithm of precoding and constellation shaping for FTN signaling,which is based on simulated optimization via the bare bones particle swarm optimization(BBPSO).The information-theoretical analysis and simulated error performance show that the proposed method is efficient,which can get a significant improvement in terms of average mutual information(AMI)and bit error rate(BER)performance.The simulated BER results verify the theoretical AMI analysis.Compared with the conventional regular 16QAM FTN scheme,when BER is at 10-5,the joint optimized scheme can obtain 0.50 dB and 0.60 dB performance gain with SE at 3.077 bits/s/Hz and 3.282 bits/s/Hz,respectively.Therefore,the proposed scheme is reliable,and thus suitable for the 6G communication. 展开更多
关键词 constellation shaping faster-than-Nyquist precoding spectral efficiency
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An Optimal and Fast Precoding for RIS-Assisted MIMO Communications
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作者 Feng Yimeng Jiang Yi +1 位作者 Qin Yajie Jin Shi 《China Communications》 SCIE CSCD 2024年第11期123-140,共18页
In addition to conventional antenna-based array,the reconfigurable intelligent surface(RIS)holds promise as an alternative technology for manufacturing massive multi-input multi-output(MIMO)array for beyond 5G communi... In addition to conventional antenna-based array,the reconfigurable intelligent surface(RIS)holds promise as an alternative technology for manufacturing massive multi-input multi-output(MIMO)array for beyond 5G communications.This paper designs a fast algorithm to optimize the RIS-based MIMO precoder for maximizing the spectral efficiency,which includes the digital precoder and the RIS reflection phases.We evaluate the optimality of the algorithm by deriving an RIS channel capacity upper bound utilizing majorization theory.Our scheme can work for an RIS in both frequency flat and frequency selective channels,with either continuously or discretely tunable phases.The simulation results show that the proposed algorithm can achieve the capacity upper bound in some scenarios,which empirically proves its optimality.It is also shown that our algorithm is one-to-two orders of magnitude faster than the state-of-the-art methods in the literature. 展开更多
关键词 majorization theory MIMO precodER reconfigurable intelligent surface
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High Energy Efficiency Dynamic Connected Hybrid Precoding for mm Wave Massive MIMO Systems
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作者 Du Ruiyan Liu Huajing +1 位作者 Li Tiangui Liu Fulai 《China Communications》 SCIE CSCD 2024年第5期36-44,共9页
This paper considers a high energy efficiency dynamic connected(HEDC)structure,which promotes the practicability and reduces the power consumption of hybrid precoding system by lowresolution phase shifters(PSs).Based ... This paper considers a high energy efficiency dynamic connected(HEDC)structure,which promotes the practicability and reduces the power consumption of hybrid precoding system by lowresolution phase shifters(PSs).Based on the proposed structure,a new hybrid precoding algorithm is presented to optimize the energy efficiency,namely,HP-HEDC algorithm.Firstly,via a new defined effective optimal precoding matrix,the problem of optimizing the analog switch precoding matrix is formulated as a sparse representation problem.Thus,the optimal analog switch precoding matrix can be readily obtained by the branch-and-bound method.Then,the digital precoding matrix optimization problem is modeled as a dictionary update problem and solved by the method of optimal direction(MOD).Finally,the diagonal entries of the analog PS precoding matrix are optimized by exhaustive search independently since PS and antenna is one-to-one.Simulation results show that the HEDC structure enjoys low power consumption and satisfactory spectral efficiency.The proposed algorithm presents at least 50%energy efficiency improvement compared with other algorithms when the PS resolution is set as 3-bit. 展开更多
关键词 energy efficiency hybrid precoding mmWave optimized resolution phase shifter
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ESTIMATION OF AVERAGE DIFFERENTIAL ENTROPY FOR A STATIONARY ERGODIC SPACE-TIME RANDOM FIELD ON A BOUNDED AREA
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作者 Zhanjie SONG Jiaxing ZHANG 《Acta Mathematica Scientia》 SCIE CSCD 2024年第5期1984-1996,共13页
In this paper,we mainly discuss a discrete estimation of the average differential entropy for a continuous time-stationary ergodic space-time random field.By estimating the probability value of a time-stationary rando... In this paper,we mainly discuss a discrete estimation of the average differential entropy for a continuous time-stationary ergodic space-time random field.By estimating the probability value of a time-stationary random field in a small range,we give an entropy estimation and obtain the average entropy estimation formula in a certain bounded space region.It can be proven that the estimation of the average differential entropy converges to the theoretical value with a probability of 1.In addition,we also conducted numerical experiments for different parameters to verify the convergence result obtained in the theoretical proofs. 展开更多
关键词 differential entropy STATIONARY ERGODICITY space-time random field time series
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Hybrid Block Diagonalization Precoding for Multi-User Weighted Sum-Rate Maximization
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作者 Su Xiaofeng Jiang Yi 《China Communications》 SCIE CSCD 2024年第8期127-141,共15页
This paper studies large-scale multi-input multi-output(MIMO)orthogonal frequency division multiplexing(OFDM)communications in a broadband frequency-selective channel,where a massive MIMO base station(BS)communicates ... This paper studies large-scale multi-input multi-output(MIMO)orthogonal frequency division multiplexing(OFDM)communications in a broadband frequency-selective channel,where a massive MIMO base station(BS)communicates with multiple users equipped with multi-antenna.We develop a hybrid precoding design to maximize the weighted sum-rate(WSR)of the users by optimizing the digital and the analog precoders alternately.For the digital part,we employ block-diagonalization to eliminate inter-user interference and apply water-filling power allocation to maximize the WSR.For the analog part,the optimization of the PSN is formulated as an unconstrained problem,which can be efficiently solved by a gradient descent method.Numerical results show that the proposed block-diagonal hybrid precoding algorithm can outperform the existing works. 展开更多
关键词 block-diagonal gradient descent hybrid precoding iterative optimization MIMO-OFDM MULTI-USER water-filling power allocation weighted sum-rate maximization
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Robust Space-Time Adaptive Track-Before-Detect Algorithm Based on Persymmetry and Symmetric Spectrum
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作者 Xiaojing Su Da Xu +1 位作者 Dongsheng Zhu Zhixun Ma 《Journal of Beijing Institute of Technology》 EI CAS 2024年第1期65-74,共10页
Underwater monopulse space-time adaptive track-before-detect method,which combines space-time adaptive detector(STAD)and the track-before-detect algorithm based on dynamic programming(DP-TBD),denoted as STAD-DP-TBD,ca... Underwater monopulse space-time adaptive track-before-detect method,which combines space-time adaptive detector(STAD)and the track-before-detect algorithm based on dynamic programming(DP-TBD),denoted as STAD-DP-TBD,can effectively detect low-speed weak targets.However,due to the complexity and variability of the underwater environment,it is difficult to obtain sufficient secondary data,resulting in a serious decline in the detection and tracking performance,and leading to poor robustness of the algorithm.In this paper,based on the adaptive matched filter(AMF)test and the RAO test,underwater monopulse AMF-DP-TBD algorithm and RAO-DP-TBD algorithm which incorporate persymmetry and symmetric spectrum,denoted as PSAMF-DP-TBD and PS-RAO-DP-TBD,are proposed and compared with the AMF-DP-TBD algorithm and RAO-DP-TBD algorithm based on persymmetry array,denoted as P-AMF-DP-TBD and P-RAO-DP-TBD.The simulation results show that the four methods can work normally with sufficient secondary data and slightly insufficient secondary data,but when the secondary data is severely insufficient,the P-AMF-DP-TBD and P-RAO-DP-TBD algorithms has failed while the PSAMF-DP-TBD and PS-RAO-DP-TBD algorithms still have good detection and tracking capabilities. 展开更多
关键词 space-time adaptive detection track before detect ROBUSTNESS persymmetric property symmetric spectrum AMF test RAO test
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Secure symbol level precoding for cell-free network based on band-region constraint of the eavesdropper’s receiving signal
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作者 LI Zewen JIN Yong +2 位作者 FU Chunling PENG Xin HU Zhentao 《High Technology Letters》 EI CAS 2024年第3期304-309,共6页
A symbol level secure precoding scheme based on band-region constraint of the eavesdropper’s receiving signal is proposed to enhance the energy efficiency of cell-free multiple-input multiple-output(MIMO)networks in ... A symbol level secure precoding scheme based on band-region constraint of the eavesdropper’s receiving signal is proposed to enhance the energy efficiency of cell-free multiple-input multiple-output(MIMO)networks in the presence of an eavesdropper while guaranteeing the quality of service(QoS)of user and the security of system.Moreover,to lighten its high computational complexity,original problem is divided into several cascade sub-problems firstly,and then those sub-problems are handled by combining Lagrangian dual function and improved Hooke-Jeeves method together.Comparative ex-periment with other secure symbol-level precoding schemes demonstrate that proposed scheme can achieve the lower power consumption with almost same symbol error rate and QoS of user. 展开更多
关键词 cell-free symbol-level precoding(SLP) physical layer security(PLS) multi-ple-input multiple-output(MIMO) band-region constraint
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Curved Space-Time at the Planck Scale
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作者 Lewis Nash 《Journal of High Energy Physics, Gravitation and Cosmology》 CAS 2024年第1期167-179,共13页
This paper presents a physically plausible and somewhat illuminating first step in extending the fundamental principles of mechanical stress and strain to space-time. Here the geometry of space-time, encoded in the me... This paper presents a physically plausible and somewhat illuminating first step in extending the fundamental principles of mechanical stress and strain to space-time. Here the geometry of space-time, encoded in the metric tensor, is considered to be made up of a dynamic lattice of extremely small, localized fields that form a perfectly elastic Lorentz symmetric space-time at the global (macroscopic) scale. This theoretical model of space-time at the Planck scale leads to a somewhat surprising result in which matter waves in curved space-time radiate thermal gravitational energy, as well as an equally intriguing relationship for the anomalous dispersion of light in a gravitational field. 展开更多
关键词 Schwarzschild space-time Continuum Mechanics Planck Lattice Gravitational Radiation
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Virtually coupled train set control subject to space-time separation:A distributed economic MPC approach with emergency braking configuration
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作者 Xiaolin Luo Tao Tang +1 位作者 Le Wang Hongjie Liu 《High-Speed Railway》 2024年第3期143-152,共10页
The emerging virtual coupling technology aims to operate multiple train units in a Virtually Coupled Train Set(VCTS)at a minimal but safe distance.To guarantee collision avoidance,the safety distance should be calcula... The emerging virtual coupling technology aims to operate multiple train units in a Virtually Coupled Train Set(VCTS)at a minimal but safe distance.To guarantee collision avoidance,the safety distance should be calculated using the state-of-the-art space-time separation principle that separates the Emergency Braking(EB)trajectories of two successive units during the whole EB process.In this case,the minimal safety distance is usually numerically calculated without an analytic formulation.Thus,the constrained VCTS control problem is hard to address with space-time separation,which is still a gap in the existing literature.To solve this problem,we propose a Distributed Economic Model Predictive Control(DEMPC)approach with computation efficiency and theoretical guarantee.Specifically,to alleviate the computation burden,we transform implicit safety constraints into explicitly linear ones,such that the optimal control problem in DEMPC is a quadratic programming problem that can be solved efficiently.For theoretical analysis,sufficient conditions are derived to guarantee the recursive feasibility and stability of DEMPC,employing compatibility constraints,tube techniques and terminal ingredient tuning.Moreover,we extend our approach with globally optimal and distributed online EB configuration methods to shorten the minimal distance among VCTS.Finally,experimental results demonstrate the performance and advantages of the proposed approaches. 展开更多
关键词 Virtually coupled train set space-time separation Economic model predictive control Distributed model predictive control Emergency braking configuration
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A Precoding Scheme to Reduce the Effect of Channel Correlation for MIMO-PLC System 被引量:2
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作者 Wangbin Cao Hui Kang +2 位作者 Xiaolin Liang Zhiyuan Xie Xiongwen Zhao 《China Communications》 SCIE CSCD 2023年第2期216-225,共10页
MIMO technique can provide higher information throughput and transmission reliability for the PLC system.However,the MIMO-PLC system based on three-conductor cable has a high correlation among its sub-channels.Spatial... MIMO technique can provide higher information throughput and transmission reliability for the PLC system.However,the MIMO-PLC system based on three-conductor cable has a high correlation among its sub-channels.Spatial multiplexing technology will be affected by the spatial correlation between MIMO-PLC sub-channels.To reduce the system bit error rate caused by MIMO-PLC correlation among sub-channels,this paper proposed a phase rotation precoding scheme for the 2×2 closed-loop MIMO-PLC system.According to the channel transfer function of high correlation MIMO-PLC system,the phase rotation precoding matrix F is calculated,and the transmission signal matrix S is modulated with the F,the code distance at the receiving point with smallest code distance is increased by phase rotation.Simulation results show that the scheme can effectively reduce the bit error rate of the 2×2 MIMO-PLC system based on ML detection,and significantly improve the system performance. 展开更多
关键词 carrier transmission on power lines telecommunication cables error correction precoding
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REAL PALEY-WIENER THEOREMS FOR THE SPACE-TIME FOURIER TRANSFORM
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作者 Youssef EL HAOUI Mohra ZAYED 《Acta Mathematica Scientia》 SCIE CSCD 2023年第3期1105-1115,共11页
This paper presents an extension of certain forms of the real Paley-Wiener theorems to the Minkowski space-time algebra. Our emphasis is dedicated to determining the space-time valued functions whose space-time Fourie... This paper presents an extension of certain forms of the real Paley-Wiener theorems to the Minkowski space-time algebra. Our emphasis is dedicated to determining the space-time valued functions whose space-time Fourier transforms(SFT) have compact support using the partial derivatives operator and the Dirac operator of higher order. 展开更多
关键词 Paley-Wiener theorem Minkowski algebra space-time algebra space-time Fourier transform
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Space-time correlations of passive scalar in Kraichnan model
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作者 Ping-Fan Yang Liubin Pan Guowei He 《Theoretical & Applied Mechanics Letters》 CSCD 2023年第5期338-340,共3页
We consider the two-point,two-time(space-time)correlation of passive scalar R(r,τ)in the Kraichnan model under the assumption of homogeneity and isotropy.Using the fine-gird PDF method,we find that R(r,τ)satisfies a... We consider the two-point,two-time(space-time)correlation of passive scalar R(r,τ)in the Kraichnan model under the assumption of homogeneity and isotropy.Using the fine-gird PDF method,we find that R(r,τ)satisfies a diffusion equation with constant diffusion coefficient determined by velocity variance and molecular diffusion.Itssolution can be expressed in terms of the two-point,one time correlation of passive scalar,i.e.,R(r,0).Moreover,the decorrelation o R(k,τ),which is the Fourier transform of R(r,τ),is determined byR(k,0)and a diffusion kernal. 展开更多
关键词 space-time correlation Passive scalar Kraichnan model
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Evaluation of Linear Precoding Schemes for Cooperative Multi-Cell MU MIMO in Future Mobile Communication Systems
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作者 Juma Said Ally 《Journal of Computer and Communications》 2023年第6期28-42,共15页
In Mobile Communication Systems, inter-cell interference becomes one of the challenges that degrade the system’s performance, especially in the region with massive mobile users. The linear precoding schemes were prop... In Mobile Communication Systems, inter-cell interference becomes one of the challenges that degrade the system’s performance, especially in the region with massive mobile users. The linear precoding schemes were proposed to mitigate interferences between the base stations (inter-cell). These schemes are categorized into linear and non-linear;this study focused on linear precoding schemes, which are grounded into three types, namely Zero Forcing (ZF), Block Diagonalization (BD), and Signal Leakage Noise Ratio (SLNR). The study included the Cooperative Multi-cell Multi Input Multi Output (MIMO) System, whereby each Base Station serves more than one mobile station and all Base Stations on the system are assisted by each other by shared the Channel State Information (CSI). Based on the Multi-Cell Multiuser MIMO system, each Base Station on the cell is intended to maximize the data transmission rate by its mobile users by increasing the Signal Interference to Noise Ratio after the interference has been mitigated due to the usefully of linear precoding schemes on the transmitter. Moreover, these schemes used different approaches to mitigate interference. This study mainly concentrates on evaluating the performance of these schemes through the channel distribution models such as Ray-leigh and Rician included in the presence of noise errors. The results show that the SLNR scheme outperforms ZF and BD schemes overall scenario. This implied that when the value of SNR increased the performance of SLNR increased by 21.4% and 45.7% for ZF and BD respectively. 展开更多
关键词 precoding Schemes Cooperative Networks Interference Multi-Input Multi-Output (MIMO) Multi-Cell and Multiuser
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Coulomb Force, Charge, and Electric Properties under Collision Space-Time
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作者 Espen Gaarder Haug 《Journal of Applied Mathematics and Physics》 2023年第3期686-704,共19页
We have recently published a series of papers on a theory we call collision space-time, that seems to unify gravity and quantum mechanics. In this theory, mass and energy are redefined. We have not so far demonstrated... We have recently published a series of papers on a theory we call collision space-time, that seems to unify gravity and quantum mechanics. In this theory, mass and energy are redefined. We have not so far demonstrated how to make it compatible with electric properties such as charge and the Coulomb force. The aim of this paper is to show how electric properties can be reformulated to make it consistent with collision space-time. It is shown that we need to incorporate the Planck scale into the electric constants to do so. This is also fully possible from a practical point of view, as it has recently been shown how to measure the Planck length independent of other constants and without the need for dimensional analysis. 展开更多
关键词 Coulomb’s Law Elementary Charge Planck Charge Electric Units Collision space-time
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Design and implementation of space-time precoded systems with full diversity and lossless capacity
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作者 郑武 张海滨 +2 位作者 何晓炜 刘陈 宋文涛 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2008年第6期846-850,共5页
A new space-time(ST)code design is proposed based on the design criteria of space-time codes,which is applied to the MIMO systems with fewer receive antennas than transmit antennas.The space-time codes,referred to as ... A new space-time(ST)code design is proposed based on the design criteria of space-time codes,which is applied to the MIMO systems with fewer receive antennas than transmit antennas.The space-time codes,referred to as full diversity lossless capacity(FDLLC)ST code,achieve full transmit diversity and lossless equivalent channel capacity for ST precoded systems.Combined FDLLC-ST codes with channel codes,ST bit interleaved coded modulation(ST-BICM)system is constructed and an iterative detector/decoder is employed at the receiver.Simulations are presented.It is proved that the proposed design has good performance compared with other ST precoded MIMO systems. 展开更多
关键词 MIMO systems space-time codes turbo codes iterative decoder
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Scalable transcoding for video transmission over space-time OFDM systems 被引量:2
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作者 钱团结 孙军 +2 位作者 解蓉 苏鹏程 王嘉 《Journal of Southeast University(English Edition)》 EI CAS 2005年第4期405-410,共6页
A new scheme combining a scalable transcoder with space time block codes (STBC) for an orthogonal frequency division multiplexing (OFDM) system is proposed for robust video transmission in dispersive fading channe... A new scheme combining a scalable transcoder with space time block codes (STBC) for an orthogonal frequency division multiplexing (OFDM) system is proposed for robust video transmission in dispersive fading channels. The target application for such a scalable transcoder is to provide successful access to the pre-encoded high quality video MPEG-2 from mobile wireless terminals. In the scalable transcoder, besides outputting the MPEG-4 fine granular scalability (FGS) bitstream, both the size of video frames and the bit rate are reduced. And an array processing algorithm of layer interference suppression is used at the receiver which makes the system structure provide different levels of protection to different layers. Furthermore, by considering the important level of scalable bitstream, the different bitstreams can be given different level protection by the system structure and channel coding. With the proposed system, the concurrent large diversity gain characteristic of STBC and alleviation of the frequency-selective fading effect of OFDM can be achieved. The simulation results show that the proposed schemes integrating scalable transcoding can provide a basic quality of video transmission and outperform the conventional single layer transcoding transmitted under the random and bursty error channel conditions. 展开更多
关键词 scalable transcoding DOWN-SAMPLING space-time codes orthogonal frequency division multiplexing
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EM-based detection scheme for differential unitary space-time modulation
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作者 杜正锋 陈杰 +1 位作者 潘文 高西奇 《Journal of Southeast University(English Edition)》 EI CAS 2007年第4期484-488,共5页
The performance loss of an approximately 3 dB signal-to-noise ratio is always paid with conventional differential detection compared to the related coherent detection. A new detection scheme consisting of two steps is... The performance loss of an approximately 3 dB signal-to-noise ratio is always paid with conventional differential detection compared to the related coherent detection. A new detection scheme consisting of two steps is proposed for the differential unitary space-time modulation (DUSTM) system. In the first step, the data sequence is estimated by conventional unitary space-time demodulation (DUSTD) and differentially encoded again to produce an initial estimate of the transmitted symbol stream. In the second step, the initial estimate of the symbol stream is utilized to initialize an expectation maximization (EM)-based iterative detector. In each iteration, the most recent detected symbol stream is employed to estimate the channel, which is then used to implement coherent sequence detection to refine the symbol stream. Simulation results show that the proposed detection scheme performs much better than the conventional DUSTD after several iterations. 展开更多
关键词 unitary space-time modulation differential detection expectation maximization (EM) algorithm
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基于space-time的二叉树表示动态环境中的路径规划
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作者 唐平 何卓华 杨宜民 《计算机工程》 CAS CSCD 北大核心 2002年第5期59-60,74,共3页
研究具有空间和时间的三维动态环境下的机器人路径规划分析了四叉树表示二维空间的搜索算法,在此基础上,提出采space-time,用二叉树表示二维空间的方法时间信息中增加加速度利用二叉树遍历方法和算法设计一个在动态障碍物环境下进行路... 研究具有空间和时间的三维动态环境下的机器人路径规划分析了四叉树表示二维空间的搜索算法,在此基础上,提出采space-time,用二叉树表示二维空间的方法时间信息中增加加速度利用二叉树遍历方法和算法设计一个在动态障碍物环境下进行路径规划的新算法并,,A*,,在足球机器人系统中进行仿真,实现了较好的路径规划。 展开更多
关键词 移动机器人 数据结构 space-time 二叉树 动态环境 路径规划
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