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带拖车的移动机器人包络路径分析与描述 被引量:7
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作者 李宏超 黄亚楼 +2 位作者 夏毅 徐国华 谭民 《机器人》 EI CSCD 北大核心 2001年第4期334-337,共4页
带拖车的移动机器人系统是一类复杂的多车体系统 ,其路径规划问题难以沿用单体移动机器人系统的规划方法 .本文通过分析这类系统运动时的路径特征 ,提出包络路径概念 ;并根据路径与车体约束的关系 ,给出包络路径的量化描述 ,从而把这类... 带拖车的移动机器人系统是一类复杂的多车体系统 ,其路径规划问题难以沿用单体移动机器人系统的规划方法 .本文通过分析这类系统运动时的路径特征 ,提出包络路径概念 ;并根据路径与车体约束的关系 ,给出包络路径的量化描述 ,从而把这类多车体系统的路径规划问题转化为单个车体的规划问题 ,本质地改变了带拖车移动机器人的运动规划 . 展开更多
关键词 移动机器人 路径规划 包络路径 拖车
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带拖车轮式移动机器人包络路径的分析与量化
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作者 苑晶 黄亚楼 +2 位作者 康叶伟 刘作军 孙凤池 《机器人》 EI CSCD 北大核心 2003年第3期222-225,281,共5页
带拖车的轮式移动机器人系统由一节牵引车拖挂若干节拖车构成 ,其运动轨迹具有单车体机器人无法比拟的复杂性 .本文针对带拖车的轮式移动机器人运动所生成的包络路径进行了分析 ,并结合系统的运动轨迹和障碍物的分布情况提出了计算包络... 带拖车的轮式移动机器人系统由一节牵引车拖挂若干节拖车构成 ,其运动轨迹具有单车体机器人无法比拟的复杂性 .本文针对带拖车的轮式移动机器人运动所生成的包络路径进行了分析 ,并结合系统的运动轨迹和障碍物的分布情况提出了计算包络路径宽度的方法 。 展开更多
关键词 轮式移动机器人 包络路径 分析 量化 运动轨迹 仿真 路径规划 运动学
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Instantaneous phase inversion based on an unwrapping algorithm
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作者 Lin Yu-Zhao Li Zhen-Chun +2 位作者 Zhang Kai Ding Ren-Wei Jiang Ping 《Applied Geophysics》 SCIE CSCD 2020年第1期124-132,169,170,共11页
The full-waveform inversion method is a high-precision inversion method based on the minimization of the misfit between the synthetic seismograms and the observed data.However,this method suffers from cycle skipping i... The full-waveform inversion method is a high-precision inversion method based on the minimization of the misfit between the synthetic seismograms and the observed data.However,this method suffers from cycle skipping in the time domain or phase wrapping in the frequency because of the inaccurate initial velocity or the lack of low-frequency information.furthermore,the object scale of inversion is affected by the observation system and wavelet bandwidth,the inversion for large-scale structures is a strongly nonlinear problem that is considerably difficult to solve.In this study,we modify the unwrapping algorithm to obtain accurate unwrapped instantaneous phase,then using this phase conducts the inversion for reducing the strong nonlinearity.The normal instantaneous phases are measured as modulo 2π,leading the loss of true phase information.The path integral algorithm can be used to unwrap the instantaneous phase of the seismograms having time series and onedimensional(1 D)signal characteristics.However,the unwrapped phase is easily affected by the numerical simulation and phase calculations,resulting in the low resolution of inversion parameters.To increase the noise resistance and ensure the inversion accuracy,we present an improved unwrapping method by adding an envelope into the path integral unwrapping algorithm for restricting the phase mutation points,getting accurate instantaneous phase.The objective function constructed by unwrapping instantaneous phase is less affected by the local minimum,thereby making it suitable for full-waveform inversion.Further,the corresponding instantaneous phase inversion formulas are provided.Using the improved algorithm,we can invert the low-wavenumber components of the underneath structure and ensure the accuracy of the inverted velocity.Finally,the numerical tests of the 2 D Marmousi model and 3 D SEG/EAGE salt model prove the accuracy of the proposed algorithm and the ability to restore largescale low-wavenumber structures,respectively. 展开更多
关键词 Instantaneous phase path integral algorithm envelope constraint strongly nonlinear problem
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