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多无人机路径规划下冲模型
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作者 陈立军 《火力与指挥控制》 CSCD 北大核心 2023年第7期140-146,155,共8页
针对多无人机飞行时需要规避与其他无人机相撞的问题,提出了一种模拟四旋翼无人机(UAV)产生的气流下冲效应及其对邻近无人机影响的模型,该模型推导了下冲力和扭矩,并考虑无人机的姿态,每架无人机由一个虚拟结构塑造,用于无碰撞路径规划... 针对多无人机飞行时需要规避与其他无人机相撞的问题,提出了一种模拟四旋翼无人机(UAV)产生的气流下冲效应及其对邻近无人机影响的模型,该模型推导了下冲力和扭矩,并考虑无人机的姿态,每架无人机由一个虚拟结构塑造,用于无碰撞路径规划,形状从标准球形体修改为建议的圆柱体,以更好地减少下冲冲击。为分析所提出的圆柱形无人机模型的下冲效应和性能,应用基于成群结队的路径规划算法和最优交互避碰(ORCA)算法。仿真实验证明:圆柱形模型可以提高路径规划性能。 展开更多
关键词 四旋翼无人机 路径规划算法 最优交互避碰算法 下冲效应 下冲模型
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Simulating Underwater Plasma Sound Sources to Evaluate Focusing Performance and Analyze Errors
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作者 马天 黄建国 +2 位作者 雷开卓 陈建峰 张群飞 《Journal of Marine Science and Application》 2010年第1期75-80,共6页
Focused underwater plasma sound sources are being applied in more and more fields. Focusing performance is one of the most important factors determining transmission distance and peak values of the pulsed sound waves.... Focused underwater plasma sound sources are being applied in more and more fields. Focusing performance is one of the most important factors determining transmission distance and peak values of the pulsed sound waves. The sound source’s components and focusing mechanism were all analyzed. A model was built in 3D Max and wave strength was measured on the simulation platform. Error analysis was fully integrated into the model so that effects on sound focusing performance of processing-errors and installation-errors could be studied. Based on what was practical, ways to limit the errors were proposed. The results of the error analysis should guide the design, machining, placement, debugging and application of underwater plasma sound sources. 展开更多
关键词 underwater plasma sound source focusing sound field error analysis 3D Max
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