针对传统全局定位方法存在对传感器要求多、计算量大的问题,提出了一种基于全局特征点匹配的移动机器人定位方法。该方法采用普通2D雷达作为传感器,在机器人建立全局地图的过程中同步地提取全局特征点,在全局定位算法中,通过建立局部地...针对传统全局定位方法存在对传感器要求多、计算量大的问题,提出了一种基于全局特征点匹配的移动机器人定位方法。该方法采用普通2D雷达作为传感器,在机器人建立全局地图的过程中同步地提取全局特征点,在全局定位算法中,通过建立局部地图和提取局部地图特征点,实时将局部地图特征点和全局地图特征点进行匹配后求解全局位姿。在两个数据集上的测试,结果优于蒙特卡罗自适应定位(adaptive Monte Carlo localization,AMCL)和Cartographer的全局定位效果,运算速度更快。结果表明,与已有的方法相比,该全局定位方法能够更快地完成全局定位和有效减少计算资源的消耗。展开更多
This paper focuses on the stabilities of the equilibria to a predator-prey model with stage structure incorporating prey refuge. By analyzing the characteristic functions, we obtain that the equilibria of the model ar...This paper focuses on the stabilities of the equilibria to a predator-prey model with stage structure incorporating prey refuge. By analyzing the characteristic functions, we obtain that the equilibria of the model are locally stable when some suitable conditions are being satisfied. According to the comparison theorem and iteration technique, the globally asymptotic stability of the positive equilibrium is discussed. And, the sufficient conditions of the global stability to the trivial equilibrium and the boundary equilibrium are derived. The study shows that the prey refuge will enhance the density of the prey species, and it will decrease the density of predator species. Finally, some numerical simulations are carried out to show the efficiency of our main results.展开更多
文摘针对传统全局定位方法存在对传感器要求多、计算量大的问题,提出了一种基于全局特征点匹配的移动机器人定位方法。该方法采用普通2D雷达作为传感器,在机器人建立全局地图的过程中同步地提取全局特征点,在全局定位算法中,通过建立局部地图和提取局部地图特征点,实时将局部地图特征点和全局地图特征点进行匹配后求解全局位姿。在两个数据集上的测试,结果优于蒙特卡罗自适应定位(adaptive Monte Carlo localization,AMCL)和Cartographer的全局定位效果,运算速度更快。结果表明,与已有的方法相比,该全局定位方法能够更快地完成全局定位和有效减少计算资源的消耗。
文摘This paper focuses on the stabilities of the equilibria to a predator-prey model with stage structure incorporating prey refuge. By analyzing the characteristic functions, we obtain that the equilibria of the model are locally stable when some suitable conditions are being satisfied. According to the comparison theorem and iteration technique, the globally asymptotic stability of the positive equilibrium is discussed. And, the sufficient conditions of the global stability to the trivial equilibrium and the boundary equilibrium are derived. The study shows that the prey refuge will enhance the density of the prey species, and it will decrease the density of predator species. Finally, some numerical simulations are carried out to show the efficiency of our main results.
