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非圆形AMV在变向路段的车体可活动范围研究
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作者 全思博 王荣辉 《现代信息科技》 2021年第12期14-17,共4页
通常移动机器人的路径规划是在地图平面上,将机器人简化为质点或圆形,再对障碍物的轮廓进行膨胀得出的,非圆运动体沿着这样的规划路径运行,很可能会在变向区段受到干扰,或者规划中被判定为无路可走,而实际上可在一定条件下通行。考虑AM... 通常移动机器人的路径规划是在地图平面上,将机器人简化为质点或圆形,再对障碍物的轮廓进行膨胀得出的,非圆运动体沿着这样的规划路径运行,很可能会在变向区段受到干扰,或者规划中被判定为无路可走,而实际上可在一定条件下通行。考虑AMV形状、大小几何约束和道路条件,经建模计算出AMV以斜向平移、定点自转和沿曲线转弯等方式通过变向段的约束参数;模拟AMV连续运动通过变向段,得到其可通过的车体中心可活动范围,在此范围内的路径既安全又不过于保守。 展开更多
关键词 AMV 非圆车体 规划路径 变向 可活动范围
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Evapotranspiration and humidity variations in response to land cover conversions in the Three Gorges Reservoir Region 被引量:3
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作者 DENG Hua SHAO Jing-an 《Journal of Mountain Science》 SCIE CSCD 2018年第3期590-605,共16页
A new land cover classification system was established for the Three Gorges Reservoir Region(TGRR) after considering the continuity of inundation and the natural characteristics of land cover. The potential evapotrans... A new land cover classification system was established for the Three Gorges Reservoir Region(TGRR) after considering the continuity of inundation and the natural characteristics of land cover. The potential evapotranspiration(PET) was predicted using a modified Penman-Monteith(P-M) model. The region's ratio of precipitation to evapotranspiration was calculated as the humidity index(HI). The data obtained was used to analyze climatic responses to land cover conversions from the perspectives of evapotranspiration and humidity variations. The results show that, from 1997 to 2009, the average annual PET increased in the early years and decreased later. In terms of overall spatial distribution, a significant reciprocal relationship appeared between annual PET and annual HI. In 1997,the annual PET was higher in the lower reaches than in the upper reaches of the TGRR, but the areas with high PET shifted substantially westward by 2003. The annual PET continued to increase in 2006, but the areas with high PET shrank by 2009. In contrast, the annual HI showed varying degrees of localized spatial variability. Over the three periods, the dominantforms of land cover conversions occurred from evergreen cover to seasonal green cover, from seasonal green cover to evergreen cover, and from seasonal green cover to seasonally inundated areas, respectively. These accounted for 48.0%, 38.4%, and 23.8% of the total areas of converted land covers in the three periods, respectively. During the period between 1997 and 2003, the main forms of land cover conversions resulted in both positive and negative growths in the average annual PET, while all of them pushed down the average annual HI. From 2003 to 2006, the reservoir region experienced neither a decrease in the annual PET nor an increase in the annual HI. The period between 2006 and 2009 saw a consistent downward trend in the annual PET and a consistent upward trend in the annual HI. 展开更多
关键词 Land cover EVAPOTRANSPIRATION Humidity variations RESPONSE Three Gorges Reservoir Region
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