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Sensitivity of short-range order prediction to machine learning potential formalisms:A case study on NbMoTaW high-entropy alloy
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作者 Dingyi Jin Guo Wei Haidong Wang 《Chinese Physics B》 2025年第9期364-372,共9页
Chemical short-range order(SRO),a phenomenon at the atomic scale resulting from inhomogeneities in the local chemical environment,is usually studied using machine learning force field-based molecular dynamics simulati... Chemical short-range order(SRO),a phenomenon at the atomic scale resulting from inhomogeneities in the local chemical environment,is usually studied using machine learning force field-based molecular dynamics simulations due to the limitations of experimental methods.To promote the reliable application of machine potentials in high-entropy alloy simulations,first,this work uses NEP models trained on two different datasets to predict the SRO coefficients of NbMoTaW.The results show that within the same machine learning framework,there are significant differences in the prediction of SRO coefficients for the Nb-Nb atomic pair.Subsequently,this work predicts the SRO coefficients of NbMoTaW using the NEP model and the SNAP model,both of which are trained on the same dataset.The results reveal significant discrepancies in SRO predictions for like-element pairs(e.g.,Nb-Nb and W-W)between the two potentials,despite the identical training data.The findings of this study indicate that discrepancies in the prediction results of SRO coefficients can arise from either the same machine learning framework trained on different datasets or different learning frameworks trained on the same dataset.This reflects possible incompleteness in the current training set's coverage of local chemical environments at the atomic scale.Future research should establish unified evaluation standards to assess the capability of training sets to accurately describe complex atomic-scale behaviors such as SRO. 展开更多
关键词 multi-principal element alloys short-range order machine-learning potential
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Kernel Optimization on Short-Range Potentials Computations in Molecular Dynamics Simulations
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作者 Xianmeng Wang Jianjiang Li +2 位作者 Jue Wang Xinfu He Ningming Nie 《国际计算机前沿大会会议论文集》 2015年第B12期67-69,共3页
We present multi-threading and SIMD optimizations on short-range potential calculation kernel in Molecular Dynamics.For the multi-threading optimization,we design a partition-and-two-steps(PTS)method to avoid write co... We present multi-threading and SIMD optimizations on short-range potential calculation kernel in Molecular Dynamics.For the multi-threading optimization,we design a partition-and-two-steps(PTS)method to avoid write conflicts caused by using Newton’s third law.Our method eliminates serialization bottle-neck without extra memory.We implement our PTS method using OpenMP.Afterwards,we discuss the influence of the cutoff if statement on the performance of vectorization in MD simulations.We propose a pre-searching neighbors method,which makes about 70%atoms meet the cutoff check,reducing a large amount of redundant calculation.The experiment results prove our PTS method is scalable and efficient.In double precision,our 256-bit SIMD implementation is about 3×faster than the scalar version. 展开更多
关键词 Molecular dynamics EAM SIMD VECTORIZATION OPENMP short-range potential High-performance computing
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Energy Spectrum for a Short-Range 1/r Singular Potential with a Non-Orbital Barrier Using the Asymptotic Iteration Method 被引量:1
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作者 Abdullah J. Sous Abdulaziz D. Alhaidari 《Journal of Applied Mathematics and Physics》 2016年第1期79-85,共7页
Using the asymptotic iteration method, we obtain the S-wave solution for a short-range three-parameter central potential with 1/r singularity and with a non-orbital barrier. To the best of our knowledge, this is the f... Using the asymptotic iteration method, we obtain the S-wave solution for a short-range three-parameter central potential with 1/r singularity and with a non-orbital barrier. To the best of our knowledge, this is the first attempt at calculating the energy spectrum for this potential, which was introduced by H. Bahlouli and A. D. Alhaidari and for which they obtained the “potential parameter spectrum”. Our results are also independently verified using a direct method of diagonalizing the Hamiltonian matrix in the J-matrix basis. 展开更多
关键词 short-range Three-Parameter Central potential Asymptotic Iteration Method potential Parameter Spectrum Method J-Matrix Diagonalizing Method Energy Eigenvalues
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Short-ranged potential effects on the recurrence spectra of lithium M=1 atoms in parallel electric and magnetic fields
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作者 王文鹏 李洪云 +1 位作者 王树宝 林圣路 《Chinese Physics B》 SCIE EI CAS CSCD 2008年第3期801-806,共6页
This paper presents recurrence spectra of highly excited lithium atoms with M = 1 state in parallel electric and magnetic fields at a fixed scaled energy ε = -0.03. Short-ranged potentials including ionic core potent... This paper presents recurrence spectra of highly excited lithium atoms with M = 1 state in parallel electric and magnetic fields at a fixed scaled energy ε = -0.03. Short-ranged potentials including ionic core potential and centrifugal barrier are taken into account. Their effects on the states and photo-absorption spectrum are analysed in detail. This demonstrates that the geometric features of classical orbits are of special importance for modulations of the spectral pattern. Thus the weak polarization as well as the reduction of correlation of electrons induced by short-ranged potentials give rise to the recurrence spectra of lithium M = 1 atoms more compact than that of the M = 0 one, which is in good agreement with the experimental prediction. 展开更多
关键词 closed-orbit theory recurrence spectra short-ranged potential centrifugal barrier
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Unbiased Fuzzy Global Optimization of Morse Clusters with Short-Range Potential for N≤400
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作者 Liping Chen Linjun Wang 《Chinese Journal of Chemical Physics》 SCIE CAS CSCD 2021年第6期896-904,I0004,I0005,I0094-I0157,共75页
Global optimization of Morse clusters with shortrange potential is a great challenge.Here,we apply our recently developed unbiased fuzzy global optimization method to systematically study Morse clusters with the poten... Global optimization of Morse clusters with shortrange potential is a great challenge.Here,we apply our recently developed unbiased fuzzy global optimization method to systematically study Morse clusters with the potential rangeρ=14 and the number of atoms N up to 400.All the putative global minima reported in the literature have been successfully reproduced with relatively high success ratios.Compared to the available results for N≤240 and several larger Morse clusters,new global minima(and local minima)with lower energies have been found out for N=164,175,188,193,194,197,239,246,260,318,and 389.Clusters with magic numbers are figured out through fitting the size-dependent global minimum energies.The cluster structures tend to be close-packed for short-range potential with large N. 展开更多
关键词 Unbiased fuzzy global optimization Morse clusters short-range potential
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Spherical quantum dot described by a scalar exponential potential under the influence of a linear electric field
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作者 K Bakke 《Communications in Theoretical Physics》 2025年第2期170-173,共4页
We study the confinement of a spinless charged particle to a spherical quantum dot under the influence of a linear electric field.The spherical quantum dot is described by a short-range potential given by the power-ex... We study the confinement of a spinless charged particle to a spherical quantum dot under the influence of a linear electric field.The spherical quantum dot is described by a short-range potential given by the power-exponential potential.Then,by analysing the region near the spherical quantum dot centre,we discuss two cases where the energy levels can be obtained for s-waves and how the linear electric field modifies the spectrum of energy of the spherical quantum dot. 展开更多
关键词 spherical quantum dot power-exponential potential short-range potential linear electric field
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Multilevel B-Spline Repulsive Energy in Nanomodeling of Graphenes
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作者 Maharavo Randrianarivony 《Journal of Surface Engineered Materials and Advanced Technology》 2014年第2期75-86,共12页
Quantum energies which are used in applications are usually composed of repulsive and attractive terms. The objective of this study is to use an accurate and efficient fitting of the repulsive energy instead of using ... Quantum energies which are used in applications are usually composed of repulsive and attractive terms. The objective of this study is to use an accurate and efficient fitting of the repulsive energy instead of using standard parametrizations. The investigation is based on Density Functional Theory and Tight Binding simulations. Our objective is not only to capture the values of the repulsive terms but also to efficiently reproduce the elastic properties and the forces. The elasticity values determine the rigidity of a material when some traction or load is applied on it. The pair-potential is based on an exponential term corrected by B-spline terms. In order to accelerate the computations, one uses a hierarchical optimization for the B-splines on different levels. Carbon graphenes constitute the configurations used in the simulations. We report on some results to show the efficiency of the B-splines on different levels. 展开更多
关键词 repulsive potential B-SPLINE FORCE ELASTIC STRESS HIERARCHY
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Erratum to “Multilevel B-Spline Repulsive Energy in Nanomodeling of Graphenes” [Journal of Surface Engineered Materials and Advanced Technology Vol. 4 No. 2 (April 2014) 75-86]
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作者 Maharavo Randrianarivony 《Journal of Surface Engineered Materials and Advanced Technology》 2015年第2期84-84,共1页
Quantum energies which are used in applications are usually composed of repulsive and attractive terms. The objective of this study is to use an accurate and efficient fitting of the repulsive energy instead of using ... Quantum energies which are used in applications are usually composed of repulsive and attractive terms. The objective of this study is to use an accurate and efficient fitting of the repulsive energy instead of using standard parametrizations. The investigation is based on Density Functional Theory and Tight Binding simulations. Our objective is not only to capture the values of the repulsive terms but also to efficiently reproduce the elastic properties and the forces. The elasticity values determine the rigidity of a material when some traction or load is applied on it. The pair-potential is based on an exponential term corrected by B-spline terms. In order to accelerate the computations, one uses a hierarchical optimization for the B-splines on different levels. Carbon graphenes constitute the configurations used in the simulations. We report on some results to show the efficiency of the B-splines on different levels. 展开更多
关键词 repulsive potential B-SPLINE Force ELASTIC stress HIERARCHY
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Focal Points at Infinity for Short-Range Scattering Trajectories
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作者 HOHBERGER Horst KLEIN Markus 《Journal of Shanghai Jiaotong university(Science)》 EI 2018年第1期146-157,共12页
Classical scattering trajectories are known to form a Lagrangian manifold in euclidean phase space,which allows the classification of local focal points for sufficiently small dimensions. For the case of a short-range... Classical scattering trajectories are known to form a Lagrangian manifold in euclidean phase space,which allows the classification of local focal points for sufficiently small dimensions. For the case of a short-range potential, we show that the natural description of focal points at infinity is a Lagrangian manifold in the cotangent bundle of the sphere and establish the relationship between focal points at infinity and the projection singularities of that manifold. 展开更多
关键词 Lagrangian manifold classical scattering theory short-range potential
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基于改进APF的机器人路径规划 被引量:2
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作者 时旭光 王挺 邵士亮 《组合机床与自动化加工技术》 北大核心 2025年第2期12-16,21,共6页
为了解决传统人工势场算法中存在的局部最小值、目标不可达以及路径震荡的问题,分别对这几个问题产生的原因进行了分析,并提出了对应的解决方案。首先,新增障碍物相对速度势场斥力,解决局部最小值问题;其次,引入静态斥力势场的作用范围... 为了解决传统人工势场算法中存在的局部最小值、目标不可达以及路径震荡的问题,分别对这几个问题产生的原因进行了分析,并提出了对应的解决方案。首先,新增障碍物相对速度势场斥力,解决局部最小值问题;其次,引入静态斥力势场的作用范围因子,动态调整目标点附近斥力势场的作用范围,解决目标点不可达的问题;最后,引入多级斥力作用范围策略以及牛顿运动力学,成功解决了机器人在狭窄空间中路径震荡的问题。仿真以及实验结果表明,该算法在能够在复杂环境中规划出有效的平滑路径。 展开更多
关键词 人工势场 路径规划 相对速度斥力势场 多级斥力作用范围
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斥力场引导RRT算法的机械臂路径规划 被引量:2
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作者 黄上章 宋爱国 +1 位作者 缪天缘 张玉波 《中国测试》 北大核心 2025年第1期126-132,共7页
针对现有的快速搜索随机树(RRT)及其改进算法在机械臂路径规划中存在的效率不足、无法快速绕开障碍空间以及路径冗余等问题,提出一种基于斥力场引导的改进RRT-Connect算法的机械臂路径规划,以下称改进RRTConnect(improved RRT-Connect)... 针对现有的快速搜索随机树(RRT)及其改进算法在机械臂路径规划中存在的效率不足、无法快速绕开障碍空间以及路径冗余等问题,提出一种基于斥力场引导的改进RRT-Connect算法的机械臂路径规划,以下称改进RRTConnect(improved RRT-Connect)。首先对已知环境构建栅格化地图及其斥力势场;其次利用改进RRT-Connect以及臂形约束进行路径规划;最后通过逆运动学以及插值算法得到关节空间路径点,伺服控制机械臂运动。将所提算法进行仿真与实际操作实验验证,结果表明:基于斥力场引导的改进RRT-Connect算法的机械臂路径规划可以绕开高效障碍空间,消融实验表明减少规划路径点17.24%以上、提高规划效率,较RRT减少规划时间99.71%、以及减少路径冗余,保留10.59%以下,验证了算法的可行性。 展开更多
关键词 快速搜索随机树 机械臂 路径规划 斥力势场
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多智能体编队中人工势场法的改进研究
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作者 何兴 柏艳红 《现代电子技术》 北大核心 2025年第17期181-186,共6页
针对传统人工势场法易陷入局部最小值的问题,依据破坏智能体在非目标点时的平衡状态的思路,提出斥力衰减权重的人工势场改进算法。该算法为智能体在探测范围内遇到的障碍物分配权重,并将此权重应用到障碍物对智能体的斥力计算中,权重随... 针对传统人工势场法易陷入局部最小值的问题,依据破坏智能体在非目标点时的平衡状态的思路,提出斥力衰减权重的人工势场改进算法。该算法为智能体在探测范围内遇到的障碍物分配权重,并将此权重应用到障碍物对智能体的斥力计算中,权重随着智能体的运动而衰减,确保智能体在目标点之前避免产生合力相等的情况,从而走出局部极小值点。仿真实验结果表明,与传统人工势场法及其他解决局部最小问题的随机扰动法和边缘行走法相比,所提算法解决了局部最小值问题,在收敛速度、稳定性和能耗方面均有显著改善。 展开更多
关键词 人工势场法 多智能体编队 局部最小值 衰减权重 斥力计算 权重分配
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改进势场法在无人机编队三维路径规划上的应用研究
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作者 许海涛 陈龙胜 王宇翔 《航空工程进展》 2025年第4期100-109,共10页
无人机编队在与现实复杂环境交互时,合理地进行路径规划非常重要。人工势场法在引导无人机进行三维路径规划时存在目标点不可达和局部最小值的缺陷。针对该问题,通过改进传统人工势场法的斥力计算公式来解决目标点不可达问题,并对局部... 无人机编队在与现实复杂环境交互时,合理地进行路径规划非常重要。人工势场法在引导无人机进行三维路径规划时存在目标点不可达和局部最小值的缺陷。针对该问题,通过改进传统人工势场法的斥力计算公式来解决目标点不可达问题,并对局部最值进行分类;针对不同类型的局部平衡点采用不同的斥力计算方法,有效地解决了传统人工势场法易陷入局部最小值的问题;结合领航跟随法将改进后的人工势场法应用于多无人机编队的路径规划问题。结果表明:基于改进人工势场法的多无人机编队三维路径规划算法在静态环境下可有效地解决多无人机编队飞行的路径规划问题。 展开更多
关键词 无人机编队 路径规划 人工势场法 领航跟随法 改进斥力函数
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人工势场算法下复杂水域船舶海上交通规划方法
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作者 陈留远 许江涛 +1 位作者 王举 郑炎伟 《舰船科学技术》 北大核心 2025年第6期162-166,共5页
针对复杂水域中船舶频繁遭遇的动态与静态障碍物问题,本文提出人工势场算法下复杂水域船舶海上交通规划方法。运用实时采集的海上环境信息,构建船舶交通人工势场模型,通过模型中障碍物与目标点的斥力与引力,获得二者的合力,引导船舶躲... 针对复杂水域中船舶频繁遭遇的动态与静态障碍物问题,本文提出人工势场算法下复杂水域船舶海上交通规划方法。运用实时采集的海上环境信息,构建船舶交通人工势场模型,通过模型中障碍物与目标点的斥力与引力,获得二者的合力,引导船舶躲避障碍物并向目标点航行;向障碍物斥力函数中引入目标距离参数,限制障碍物斥力,解决复杂障碍物下船舶无法抵达目标点问题;增设虚拟目标点,避免复杂水域下船舶规划陷入局部最优状态,得到全局最优规划路径。结果表明,该方法可实现不同复杂水域下船舶最优交通路径规划,准确避障的同时,降低船舶航行时间步长,保证船舶安全高效航行。 展开更多
关键词 人工势场算法 复杂水域 船舶海上交通 障碍物 斥力函数 虚拟目标点
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Programmable repulsive potential for tight-binding from Chen-Möbius inversion theorem
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作者 Jian-Gao Li Jin-Kun Tang +2 位作者 Hong-Quan Song Gotthard Seifert Dong-Bo Zhang 《Science China(Physics,Mechanics & Astronomy)》 SCIE EI CAS CSCD 2024年第1期71-83,共13页
An accurate total energy calculation is essential in materials computation.To date,many tight-binding(TB)approaches based on parameterized hopping can produce electronic structures comparable to those obtained using f... An accurate total energy calculation is essential in materials computation.To date,many tight-binding(TB)approaches based on parameterized hopping can produce electronic structures comparable to those obtained using first-principles calculations.However,TB approaches still have limited applicability for determining material properties derived from the total energy.That is,the predictive power of the TB total energy is impaired by an inaccurate evaluation of the repulsive energy.The complexity associated with the parametrization of TB repulsive potentials is the weak link in this evaluation.In this study,we propose a new method for obtaining the pairwise TB repulsive potential for crystalline materials by employing the Chen-Möbius inversion theorem.We show that the TB-based phonon dispersions,calculated using the resulting repulsive potential,compare well with those obtained by first-principles calculations for various systems,including covalent and ionic bulk materials and twodimensional materials.The present approach only requires the first-principles total energy and TB electronic band energy as input and does not involve any parameters.This striking feature enables us to generate repulsive potentials programmatically. 展开更多
关键词 tight binding first-principles calculation total energy repulsive potential phonon dispersion
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改进A^(*)算法和人工势场法的路径规划 被引量:22
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作者 余翔 姜陈 +1 位作者 段思睿 邓千锐 《系统仿真学报》 CAS CSCD 北大核心 2024年第3期782-794,共13页
A^(*)算法存在折线路径多和搜索节点多的问题,人工势场(artificial potential field,APF)法存在局部最优和不可到达的问题,针对两种算法存在的问题进行了研究。利用欧氏距离与投影距离提出一种新的混合式启发函数,依据该函数对A^(*)算... A^(*)算法存在折线路径多和搜索节点多的问题,人工势场(artificial potential field,APF)法存在局部最优和不可到达的问题,针对两种算法存在的问题进行了研究。利用欧氏距离与投影距离提出一种新的混合式启发函数,依据该函数对A^(*)算法的流程进行改进,减少A^(*)算法的搜索节点,提高搜索效率。利用新A^(*)算法生成的最优节点作为APF算法的局部目标点,辅助机器人摆脱局部最优点;通过加入机器人和目标点的位置关系改进势场函数,修改斥力的增益,优化斥力的生成方向。在改进的基础上将两种算法融合提出一种新的算法,利用APF法的势场函数引导A^(*)算法的搜索。从路径长度、避障效果、迭代次数对改进算法进行对比分析,仿真结果表明,提出的改进算法搜索效率高,实现避障的同时保证计算的路径最优。 展开更多
关键词 APF算法 A^(*)算法 路径规划 引力势场 斥力势场
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基于改进人工势场算法的煤矿井下机器人路径规划 被引量:4
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作者 薛光辉 王梓杰 +2 位作者 王一凡 李亚男 刘文海 《工矿自动化》 CSCD 北大核心 2024年第5期6-13,共8页
路径规划是煤矿机器人在煤矿井下狭小巷道空间中应用亟待解决的关键技术之一。针对传统人工势场(APF)算法在狭小巷道环境中规划出的路径可能离巷道边界过近,以及在障碍物附近易出现目标不可达和路径振荡等问题,提出了一种基于改进APF算... 路径规划是煤矿机器人在煤矿井下狭小巷道空间中应用亟待解决的关键技术之一。针对传统人工势场(APF)算法在狭小巷道环境中规划出的路径可能离巷道边界过近,以及在障碍物附近易出现目标不可达和路径振荡等问题,提出了一种基于改进APF算法的煤矿机器人路径规划方法。参考《煤矿安全规程》有关规定建立了巷道两帮边界势场,将机器人行驶路径尽量规划在巷道中间,以提高机器人行驶安全性;在障碍物斥力势场中引入调节因子,以解决目标不可达问题;引入转角限制系数以平滑规划出的路径,减少振荡,提高规划效率,保证规划路径的安全性。仿真结果表明:当目标点离障碍物很近时,改进APF算法可成功规划出能够抵达目标点的路径;改进APF算法规划周期数较传统算法平均减少了14.48%,转向角度变化累计值平均减少了87.41%,曲率绝对值之和平均减少了78.09%,表明改进APF算法规划的路径更加平滑,路径长度更短,规划效率和安全性更高。 展开更多
关键词 煤矿机器人 路径规划 人工势场法 目标不可达 路径振荡 斥力势场修正 转角限制系数
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基于改进人工势场法的通用航空路径规划
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作者 杨昌其 陈旭辉 +1 位作者 李君皓 周浩敏 《航空计算技术》 2024年第2期37-40,46,共5页
通用航空飞机在飞行过程除了要面对障碍物和天气系统的威胁,同时也受到飞行空域的限制,往往飞机只能在一块固定的空域或狭小的飞行走廊内飞行,一旦飞出限制空域,则有可能引发飞行冲突,甚至发生严重的安全事故。针对这些问题,在人工势场... 通用航空飞机在飞行过程除了要面对障碍物和天气系统的威胁,同时也受到飞行空域的限制,往往飞机只能在一块固定的空域或狭小的飞行走廊内飞行,一旦飞出限制空域,则有可能引发飞行冲突,甚至发生严重的安全事故。针对这些问题,在人工势场法斥力势场函数中添加航空器和目标点之间的相对距离函数,首先解决传统人工势场法存在的目标不可达问题和局部极小点问题,然后在算法中加入航路边界斥力影响因子,使飞机避障后在边界斥力的作用下重回航路中心。经过MATLAB仿真验证,试验结果表明,改进后的人工势场法能够实现主动避障和飞机航迹的规划。 展开更多
关键词 人工势场法 航路边界斥力 相对距离函数 目标不可达 局部极小点
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基于改进人工势场法的内河应急抢险船舶路径规划 被引量:1
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作者 林威 于竞宇 +2 位作者 王静峰 朱勇超 张琼 《船舶工程》 CSCD 北大核心 2024年第9期99-106,共8页
针对应急抢险船舶在极端洪涝灾害时的路径规划问题,提出一种改进人工势场法的路径规划算法,实现内河应急抢险船舶的快速精准救援。由于传统人工势场法中存在局部极小点、目标不可达等影响应急抢险船舶救援的安全问题,通过改进斥力势场... 针对应急抢险船舶在极端洪涝灾害时的路径规划问题,提出一种改进人工势场法的路径规划算法,实现内河应急抢险船舶的快速精准救援。由于传统人工势场法中存在局部极小点、目标不可达等影响应急抢险船舶救援的安全问题,通过改进斥力势场函数解决了船舶在靠近障碍物的救援点时的目标不可达问题;引入逃逸力避免了局部极小点问题。通过数值仿真试验对比验证,改进后的人工势场法能够帮助应急抢险船舶在复杂的内河航道环境中安全到达救援点。 展开更多
关键词 应急抢险船舶 局部路径规划 人工势场法 改进斥力势场函数 逃逸力
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基于AGD-RRT算法的机械臂路径规划 被引量:2
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作者 周枫林 赵钒地 +3 位作者 陈腾飞 龙厚云 王瑾元 李光 《湖南工业大学学报》 2024年第1期40-47,共8页
针对RRT(rapidly-exploring random tree)算法在进行机械臂路径规划过程中存在的拓展导向性差、冗余节点多、路径质量差等问题,提出了一种基于AGD-RRT(adaptive goal-directed RRT)的算法。首先,该算法构建了一种动态的目标偏向概率函数... 针对RRT(rapidly-exploring random tree)算法在进行机械臂路径规划过程中存在的拓展导向性差、冗余节点多、路径质量差等问题,提出了一种基于AGD-RRT(adaptive goal-directed RRT)的算法。首先,该算法构建了一种动态的目标偏向概率函数,实时调整对目标点进行采样的概率以达到自适应目标导向的效果,减少了无用节点的生成,提高了收敛速度。其次,采用贪婪收敛策略,防止了随机树在目标周围时的盲目扩张。搜索结束后,采用节点剔除法剔除路径中的冗余节点,并用B样条曲线对轨迹进行平滑处理,提高了路径质量。然后在二维、三维环境中进行了对比仿真实验,验证了该算法的可行性与优越性。最后进行了样机实验,验证了所提算法在机械臂关节空间进行路径规划的可行性。 展开更多
关键词 机械臂 拓展导向性 人工势场 引力 斥力 路径规划 AGD-RRT算法
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