为了完成对电力杆塔运行状态的有效监测与故障诊断,要求无人机规划最优三维航线。文章基于快速探索随机树(rapidly exploring random trees,RRT)算法,提出一种启发策略的无碰撞三维航线规划方法,该方法集成启发式搜索策略进行代价函数设...为了完成对电力杆塔运行状态的有效监测与故障诊断,要求无人机规划最优三维航线。文章基于快速探索随机树(rapidly exploring random trees,RRT)算法,提出一种启发策略的无碰撞三维航线规划方法,该方法集成启发式搜索策略进行代价函数设计,加速算法收敛,确保航线最优。在仿真环境与实际场景下的实验结果表明,同传统的RRT与改进的RRT*算法相比,本方法针对电力杆塔所规划的无碰撞三维航线,具有稳定可靠的最短路径长度,能够满足智能监测的应用需求。展开更多
China's spatial planning system has a tradition of prioritizing vertical control over horizontal coordination, which leads to conflicts among various plans for one area. This has brought many problems to the spati...China's spatial planning system has a tradition of prioritizing vertical control over horizontal coordination, which leads to conflicts among various plans for one area. This has brought many problems to the spatial management of Chinese cities. Since socio-economic development plan, urban-rural plan, and land use plan are the three major elements of China's spatial planning system, conflicts among them can be taken as an intensified case of the system's problems, and the practice of three-plan integration should focus on bridging the gaps and solving conflicts among them, so as to eventually eliminate predicaments to China's spatial planning. Currently, due to influences of the actual law and governance systems, threeplan integration is largely a sort of government-led planning coordination dedicated to urban-rural spatial development. In the context of China's constantly deepened political and economic system reforms, three-plan integration, together with the extended multi-plan integration, will surely play an important role in the construction and exploration of China's spatial planning system.展开更多
文摘为了完成对电力杆塔运行状态的有效监测与故障诊断,要求无人机规划最优三维航线。文章基于快速探索随机树(rapidly exploring random trees,RRT)算法,提出一种启发策略的无碰撞三维航线规划方法,该方法集成启发式搜索策略进行代价函数设计,加速算法收敛,确保航线最优。在仿真环境与实际场景下的实验结果表明,同传统的RRT与改进的RRT*算法相比,本方法针对电力杆塔所规划的无碰撞三维航线,具有稳定可靠的最短路径长度,能够满足智能监测的应用需求。
文摘China's spatial planning system has a tradition of prioritizing vertical control over horizontal coordination, which leads to conflicts among various plans for one area. This has brought many problems to the spatial management of Chinese cities. Since socio-economic development plan, urban-rural plan, and land use plan are the three major elements of China's spatial planning system, conflicts among them can be taken as an intensified case of the system's problems, and the practice of three-plan integration should focus on bridging the gaps and solving conflicts among them, so as to eventually eliminate predicaments to China's spatial planning. Currently, due to influences of the actual law and governance systems, threeplan integration is largely a sort of government-led planning coordination dedicated to urban-rural spatial development. In the context of China's constantly deepened political and economic system reforms, three-plan integration, together with the extended multi-plan integration, will surely play an important role in the construction and exploration of China's spatial planning system.