Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees l...Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees lead to slow convergence and force an unfavorable trade-off between path quality and traversal safety.To address these challenges,we introduce HS-APF-RRT*,a novel algorithm that fuses layered sampling,an enhanced Artificial Potential Field(APF),and a dynamic neighborhood-expansion mechanism.First,the workspace is hierarchically partitioned into macro,meso,and micro sampling layers,progressively biasing random samples toward safer,lower-energy regions.Second,we augment the traditional APF by incorporating a slope-dependent repulsive term,enabling stronger avoidance of steep obstacles.Third,a dynamic expansion strategy adaptively switches between 8 and 16 connected neighborhoods based on local obstacle density,striking an effective balance between search efficiency and collision-avoidance precision.In simulated off-road scenarios,HS-APF-RRT*is benchmarked against RRT*,GoalBiased RRT*,and APF-RRT*,and demonstrates significantly faster convergence,lower path-energy consumption,and enhanced safety margins.展开更多
为加快末端物流配送的效率,提出一种配送无人机的航迹规划问题。针对传统快速搜索随机树(rapidlysearch random tree,RRT)算法在航迹规划中存在的盲目性和路径不平滑等问题,将人工势场法(artificial potential field,APF)与Informed-RRT...为加快末端物流配送的效率,提出一种配送无人机的航迹规划问题。针对传统快速搜索随机树(rapidlysearch random tree,RRT)算法在航迹规划中存在的盲目性和路径不平滑等问题,将人工势场法(artificial potential field,APF)与Informed-RRT^(*)算法融合,提出一种自适应步长增长策略的改进APF-Informed-RRT^(*)算法。首先在选择新节点时,考虑到障碍物和目标点的影响,提出一种自适应步长增长策略来解决采样的盲目性;其次采用三次B样条对拐点处进行平滑处理;最后分别采用RRT^(*)算法、Informed-RRT^(*)算法和改进APF-Informed-RRT^(*)算法在两种环境中进行仿真实验。结果表明,改进APF-Informed-RRT^(*)算法相较于RRT^(*)算法和Informed-RRT^(*)算法,在运行时间、迭代次数以及路径平滑上都得到提升。展开更多
由于微电网中分布式电源的间歇性、非线性负荷增减频繁等原因,导致谐波能量变化较大,采用多台并联运行的有源电力滤波器APF(active power filter)能够对微电网谐波进行有效治理。然而,多台APF并联运行会因各APF补偿的电流不均而形成环流...由于微电网中分布式电源的间歇性、非线性负荷增减频繁等原因,导致谐波能量变化较大,采用多台并联运行的有源电力滤波器APF(active power filter)能够对微电网谐波进行有效治理。然而,多台APF并联运行会因各APF补偿的电流不均而形成环流,从而导致系统损耗增加。为此,本文提出1种基于电能信息一体化传输技术的均流控制方法,通过在逆变器功率调制环节加入信息调制,实现电能变换的同时传递关键信息,完成并联系统的均流控制。相较于传统的集中式、主从式控制方法,本文提出的方法无需额外的通信设备和通信线路,可进一步提高系统的可靠性、灵活性和可扩展性。通过RT-LAB仿真实验验证了所提均流控制方法的可行性与有效性。展开更多
很多工业企业因为负荷的原因导致电能质量很差,对自己的生产造成影响的同时也对公共电网造成污染。APF设备不仅可以治理企业自身的电能质量,同时也会给企业的节能降耗带来经济效益,帮助企业绿色低碳转型和高质量发展。APF(Active Power ...很多工业企业因为负荷的原因导致电能质量很差,对自己的生产造成影响的同时也对公共电网造成污染。APF设备不仅可以治理企业自身的电能质量,同时也会给企业的节能降耗带来经济效益,帮助企业绿色低碳转型和高质量发展。APF(Active Power Filter有源电力滤波器)。展开更多
基金supported in part by 14th Five Year National Key R&D Program Project(Project Number:2023YFB3211001)the National Natural Science Foundation of China(62273339,U24A201397).
文摘Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees lead to slow convergence and force an unfavorable trade-off between path quality and traversal safety.To address these challenges,we introduce HS-APF-RRT*,a novel algorithm that fuses layered sampling,an enhanced Artificial Potential Field(APF),and a dynamic neighborhood-expansion mechanism.First,the workspace is hierarchically partitioned into macro,meso,and micro sampling layers,progressively biasing random samples toward safer,lower-energy regions.Second,we augment the traditional APF by incorporating a slope-dependent repulsive term,enabling stronger avoidance of steep obstacles.Third,a dynamic expansion strategy adaptively switches between 8 and 16 connected neighborhoods based on local obstacle density,striking an effective balance between search efficiency and collision-avoidance precision.In simulated off-road scenarios,HS-APF-RRT*is benchmarked against RRT*,GoalBiased RRT*,and APF-RRT*,and demonstrates significantly faster convergence,lower path-energy consumption,and enhanced safety margins.
文摘为加快末端物流配送的效率,提出一种配送无人机的航迹规划问题。针对传统快速搜索随机树(rapidlysearch random tree,RRT)算法在航迹规划中存在的盲目性和路径不平滑等问题,将人工势场法(artificial potential field,APF)与Informed-RRT^(*)算法融合,提出一种自适应步长增长策略的改进APF-Informed-RRT^(*)算法。首先在选择新节点时,考虑到障碍物和目标点的影响,提出一种自适应步长增长策略来解决采样的盲目性;其次采用三次B样条对拐点处进行平滑处理;最后分别采用RRT^(*)算法、Informed-RRT^(*)算法和改进APF-Informed-RRT^(*)算法在两种环境中进行仿真实验。结果表明,改进APF-Informed-RRT^(*)算法相较于RRT^(*)算法和Informed-RRT^(*)算法,在运行时间、迭代次数以及路径平滑上都得到提升。
文摘由于微电网中分布式电源的间歇性、非线性负荷增减频繁等原因,导致谐波能量变化较大,采用多台并联运行的有源电力滤波器APF(active power filter)能够对微电网谐波进行有效治理。然而,多台APF并联运行会因各APF补偿的电流不均而形成环流,从而导致系统损耗增加。为此,本文提出1种基于电能信息一体化传输技术的均流控制方法,通过在逆变器功率调制环节加入信息调制,实现电能变换的同时传递关键信息,完成并联系统的均流控制。相较于传统的集中式、主从式控制方法,本文提出的方法无需额外的通信设备和通信线路,可进一步提高系统的可靠性、灵活性和可扩展性。通过RT-LAB仿真实验验证了所提均流控制方法的可行性与有效性。
