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本文以自主驾驶车辆为实际应用背景．提出了一种改进的ＲＲＴ（快速随机搜索树）路径规划算法．该路 径规划算法将非完整性约束条件与双向多步扩展ＲＲＴ搜索算法相结合，在提高搜索效率的同时保证了规划路径的可 行性．同时将路径点作为Ｂ样条基函数的控制点，用三次Ｂ样条函数来拟合控制点生成平滑可跟踪的路径．通过在平 面障碍物环境下实验，验证了该算法的有效性．(ＡｉｍｉｎｇａｔｔｈｅａｐｐｌｉｃａｔｉｏｎｏｆＡＬＶ（ａｕｔｏｍａｔｉｃｌａｎｄｖｅｈｉｃｌｅ），ａｎｉｍｐｒｏｖｅｄＲＲＴ（ＲａｐｉｄｌｙＲａｎｄｏｍ?ｅｘｐｌｏｒｉｎｇ Ｔｒｅｅｓ）ｐａｔｈｐｌａｎｎｉｎｇａｌｇｏｒｉｔｈｍ ｉｓｐｒｏｐｏｓｅｄ．Ｔｈｅａｌｇｏｒｉｔｈｍ ｃｏｍｂｉｎｅｓｔｈｅｎｏｈｏｌｏｎｏｍｉｃｃｏｎｓｔｒａｉｎｔｓｏｆｖｅｈｉｃｌｅｗｉｔｈｄｏｕｂｌｅｅｘｔｅｎｄ ＲＲＴｓ，ｗｈｉｃｈｎｏｔｏｎｌｙｉｍｐｒｏｖｅｓｔｈｅｅｆｆｉｃｉｅｎｃｙｏｆｓｅａｒｃｈｉｎｇｂｕｔａｌｓｏｇｕａｒａｎｔｅｅｓｔｈｅｆｅａｓｉｂｉｌｉｔｙｏｆｔｈｅｐａｔｈａｔｔｈｅｓａｍｅｔｉｍｅ．Ｔｈｅｐａｔｈ ｐｏｉｎｔｓａｒｅｔａｋｅｎａｓｒｅｆｅｒｅｎｃｅｐｏｉｎｔｓｆｏｒｔｈｅＢ?ｓｐｌｉｎｅｂａｓｉｃｆｕｎｃｔｉｏｎ，ａｐｐｒｏａｃｈａｎｄｃｒｅａｔｅａｎｅｗｓｍｏｏｔｈｒｏｕｔｅｗｈｉｃｈｓｕｉｔｓｆｏｒｔｈｅｖｅｈｉ? ｃｌｅｔｏｆｏｌｌｏｗ．Ｔｈｅｓｉｍｕｌａｔｉｏｎｏｕｔｃｏｍｅｓａｎｄｆｉｅｌｄｔｅｓｔｓｖｅｒｉｆｙｔｈｅｅｆｆｅｃｔｉｖｅｎｅｓｓｏｆｔｈｅｍｅｔｈｏｄｐｒｏｐｏｓｅｄ．)

FMCW调频连续波雷达的测距测角，能量熵的计算，ICA（主分量分析）算法和程序。( FMCW frequency modulated continuous wave radar range and angular measurements, Energy entropy calculation, ICA (Principal Component Analysis) algorithm and procedures.)

说明：  道床加速度时程曲线。功率谱密度函数 图。1/3倍频程Z振级频谱图。道床Z振级VLz（dB）。(Acceleration time history curve of ballast. Power spectral density function. Frequency spectrum of 1 / 3 octave Z vibration level. Ballast Z vibration level vlz (DB).)

包括logistic映射，tent映射，Henon映射，Kent映射的Matlab程序及图像。(Including the logistic map, tent map, Henon mapping Kent Matlab program and image mapping.)

surf特征点提取与匹配，该算法能达到实时性的要求，不仅能用于两幅图的匹配，还能用于单幅图的复制粘贴取证(surf feature point extraction and matching, this algorithm can achieve real-time requirements, not only for the two graph matching, but also for single figure copy and paste forensics)

该Matlab程序能够去除CT扫描得到的图像的环形伪影(The Matlab program is capable of removing ring artifacts from images obtained by CT scans)

阴影消除matlab代码，运行可用，可供参考(The shadow eliminates the matlab code, which is available for reference)

说明：  多阈值分割 ，基于otsu生成阈值，有用的可以试试(Multi threshold segmentation, threshold generation based on Otsu, useful can try)

说明：  运用OMP、BP、StOMP及MP算法对lena图像进行重构。(Use OMP, BP, StOMP and MP algorithms to reconstruct the lena image.)

在图像分割中，FCM作为一种高效的分割方法收到广泛应用，FILCM分割算法是FCM算法的一种改进算法。(In image segmentation, FCM is widely used as an efficient segmentation method, and FILCM segmentation algorithm is an improved FCM algorithm.)