Let Hn（p,q） be a tree obtained from two stars K1,p and K1,q by identifying the center of K1,p with one end of a path Pn and the center of K1,q with the other end of Pn.We call Hn（p,p-1） a double quasi-star tree.In...Let Hn（p,q） be a tree obtained from two stars K1,p and K1,q by identifying the center of K1,p with one end of a path Pn and the center of K1,q with the other end of Pn.We call Hn（p,p-1） a double quasi-star tree.In this paper,we show that a double quasi-star tree is determined by its Laplacian spectrum.展开更多
This study aims to solve path planning of ntelligent vehicles in self driving In this study,an improved path planning method com-bining constraints of the environment and vehicle is proposed.The algorithm designs a re...This study aims to solve path planning of ntelligent vehicles in self driving In this study,an improved path planning method com-bining constraints of the environment and vehicle is proposed.The algorithm designs a reasonable path cost function,then uses a heuristic guided search strategy to improve the speed and quality of path planning,and finally generates smooth and continuous cur-vature paths based on the path post-processing method focusing on the requirements of path smoothness.A simulation test shows that compared with the basic rapidly-exploring random tree(RRT),RRT-Connect and RRT*algorithms,the path length of the proposed algorithm can be reduced by 19.7%,29.3%and 1%respectively,and the maximum planned path curvature of the proposed algorithm is 0.0796 mr1 and 0.1512 mi respectively.under the condition of a small amount of planning time.The algorithm can plan the more suitable driving path for intelligent vehicles in a complex environment.展开更多
基金Project supported by the Natural Science Foundation of Gausu Province (Grant Nos.3Z5051-A25-037, 0809RJZA017)the National Natural Science Foundation of China (Grant No.50877034)the Foundation of Lanzhou University of Technology(Grant No.0914ZX136)
文摘Let Hn（p,q） be a tree obtained from two stars K1,p and K1,q by identifying the center of K1,p with one end of a path Pn and the center of K1,q with the other end of Pn.We call Hn（p,p-1） a double quasi-star tree.In this paper,we show that a double quasi-star tree is determined by its Laplacian spectrum.
基金Supported by Guangdong Natural Science Foundation(Grant No.2015A030310411)Guangdong University Char acteristic Innovation(Grant No.2018KQNCX207)+1 种基金Shaoguan science and technology plan(Grant No.2018sn043)Shaoguan university scientific research(Grant No.sz2018KJ06).
文摘This study aims to solve path planning of ntelligent vehicles in self driving In this study,an improved path planning method com-bining constraints of the environment and vehicle is proposed.The algorithm designs a reasonable path cost function,then uses a heuristic guided search strategy to improve the speed and quality of path planning,and finally generates smooth and continuous cur-vature paths based on the path post-processing method focusing on the requirements of path smoothness.A simulation test shows that compared with the basic rapidly-exploring random tree(RRT),RRT-Connect and RRT*algorithms,the path length of the proposed algorithm can be reduced by 19.7%,29.3%and 1%respectively,and the maximum planned path curvature of the proposed algorithm is 0.0796 mr1 and 0.1512 mi respectively.under the condition of a small amount of planning time.The algorithm can plan the more suitable driving path for intelligent vehicles in a complex environment.
