As autonomous underwater vehicles(AUVs)merely adopt the inductive obstacle avoidance mechanism to avoid collisions with underwater obstacles,path planners for underwater robots should consider the poor search efficien...As autonomous underwater vehicles(AUVs)merely adopt the inductive obstacle avoidance mechanism to avoid collisions with underwater obstacles,path planners for underwater robots should consider the poor search efficiency and inadequate collision-avoidance ability.To overcome these problems,a specific two-player path planner based on an improved algorithm is designed.First,by combing the artificial attractive field(AAF)of artificial potential field(APF)approach with the random rapidly exploring tree(RRT)algorithm,an improved AAF-RRT algorithm with a changing attractive force proportional to the Euler distance between the point to be extended and the goal point is proposed.Second,a twolayer path planner is designed with path smoothing,which combines global planning and local planning.Finally,as verified by the simulations,the improved AAF-RRT algorithm has the strongest searching ability and the ability to cross the narrow passage among the studied three algorithms,which are the basic RRT algorithm,the common AAF-RRT algorithm,and the improved AAF-RRT algorithm.Moreover,the two-layer path planner can plan a global and optimal path for AUVs if a sudden obstacle is added to the simulation environment.展开更多
2009年5月18日到22日．亚洲动物基金《Animals Asia Foundation）来到上海进行“拯救黑熊弃用熊胆”大学巡讲。在4天的时间里．来自亚洲动物基金四川龙桥黑熊救护中心的高级教育主管分别在上海大学、复旦大学、上海海洋大学、华东理工...2009年5月18日到22日．亚洲动物基金《Animals Asia Foundation）来到上海进行“拯救黑熊弃用熊胆”大学巡讲。在4天的时间里．来自亚洲动物基金四川龙桥黑熊救护中心的高级教育主管分别在上海大学、复旦大学、上海海洋大学、华东理工大学、上海交通大学五所高校和上海建平实验小学进行了宣讲。《人与自然》作为本次活动的支持媒体，为那些被囚禁在狭窄的养熊场铁笼内的濒危亚洲黑熊发出我们应有的声音。展开更多
基金国家自然科学基金(the National Natural Science Foundation of China under Grant No.50279041)国家高技术研究发展计划(863)(the National High- Tech Research and Development Plan of China under Grant No.2005AA113150)
基金Supported by Zhejiang Key R&D Program 558 No.2021C03157the“Construction of a Leading Innovation Team”project by the Hangzhou Munic-559 ipal government,the Startup funding of New-joined PI of Westlake University with Grant No.560(041030150118)the funding support from the Westlake University and Bright Dream Joint In-561 stitute for Intelligent Robotics.
文摘As autonomous underwater vehicles(AUVs)merely adopt the inductive obstacle avoidance mechanism to avoid collisions with underwater obstacles,path planners for underwater robots should consider the poor search efficiency and inadequate collision-avoidance ability.To overcome these problems,a specific two-player path planner based on an improved algorithm is designed.First,by combing the artificial attractive field(AAF)of artificial potential field(APF)approach with the random rapidly exploring tree(RRT)algorithm,an improved AAF-RRT algorithm with a changing attractive force proportional to the Euler distance between the point to be extended and the goal point is proposed.Second,a twolayer path planner is designed with path smoothing,which combines global planning and local planning.Finally,as verified by the simulations,the improved AAF-RRT algorithm has the strongest searching ability and the ability to cross the narrow passage among the studied three algorithms,which are the basic RRT algorithm,the common AAF-RRT algorithm,and the improved AAF-RRT algorithm.Moreover,the two-layer path planner can plan a global and optimal path for AUVs if a sudden obstacle is added to the simulation environment.
文摘2009年5月18日到22日．亚洲动物基金《Animals Asia Foundation）来到上海进行“拯救黑熊弃用熊胆”大学巡讲。在4天的时间里．来自亚洲动物基金四川龙桥黑熊救护中心的高级教育主管分别在上海大学、复旦大学、上海海洋大学、华东理工大学、上海交通大学五所高校和上海建平实验小学进行了宣讲。《人与自然》作为本次活动的支持媒体，为那些被囚禁在狭窄的养熊场铁笼内的濒危亚洲黑熊发出我们应有的声音。
