登录
首页 » Visual C++ » RRT-path-panning-algorithm

RRT-path-panning-algorithm

于 2012-12-01 发布 文件大小:274KB
0 324
下载积分: 1 下载次数: 63

代码说明:

  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.)

文件列表:

RRT path panning algorithm.pdf,283871,2012-12-01

下载说明:请别用迅雷下载,失败请重下,重下不扣分!

发表评论

0 个回复

  • mesh_simplification
    网格简化, 将复杂的带有很多细节的物体的三维立体网格进行任意比例的简化,使得其减少点和面片的数量并保持物体的基本特征,以达到加快图像显示及压缩文件的效果。(Mesh simplification, the complex three-dimensional grid with many of the details of the object simplified in any proportion, such that it reduce the number of points and surfaces of the sheet and keep the basic characteristics of the object, in order to achieve the speed up of the image display and the effect of the compressed file .)
    2014-12-21 14:36:07下载
    积分:1
  • ch2_ex2_4
    载入一副图像并进行平滑处理与高斯或其他核函数进行卷积有效的减少图像信息内容(Loading an image and smoothed with a Gaussian or other nuclear convolution function effectively reduce the information content of the image)
    2016-08-23 16:01:08下载
    积分:1
  • sift
    sift匹配算法 尺度不变变换 特征描述子 特征点匹配 (sift match)
    2020-12-10 10:49:21下载
    积分:1
  • Tracking
    使用VC++ 6.0 和 OpenCv实现粒子滤波目标跟踪算法,主要功能在MFC对话框内实现。(particle filter object tracking)
    2011-08-21 22:30:52下载
    积分:1
  • uuity7i
    自适应模板更新的粒子滤波实时跟踪算法_赖作镁.zip(Adaptive template updating particle filter for real-time tracking algorithm _ Ryan magnesium. Zip)
    2013-08-08 20:44:51下载
    积分:1
  • EC1211Source
    this is a project about animation. how do we form the shape to make it look like car, house abd so on. with the colours that wee like and the movement.
    2009-05-29 21:31:36下载
    积分:1
  • 002
    指纹图像因设备、图像增强处理等原因造成的纹线断裂会产生伪特征点,会对指纹识别产生负面影响。在结 合传统方法优点的同时,针对间距大、方向偏移小和间距大、方向偏移大的断裂情况,本文设计出窗口制约法和改进的 窗口制约法2 种不同的修复方法。实验结果表明,该方法使修复更加全面、完整,提高了伪特征点去除率,易于编程实 现,对细化指纹图像的断裂有很好的修复效果。(The broken ridge fingerprint image processing equipment, image enhancement and other causes will generate pseudo-feature points to be a negative impact on fingerprint identification. While combining the traditional method has the advantage, for the spacing, direction offset small spacing, direction offset large fracture situation, this design window constraints window method and the improved two kinds of constraints, different repair methods. Experimental results show the method to fix a more comprehensive and complete removal of pseudo-feature points, easy to program, well thinned fingerprint image fracture repair.)
    2013-03-17 22:06:01下载
    积分:1
  • MeFrm
    说明:  傅立叶变换在图像处理中的重要作用: (A) 图像增强与图像去噪 绝大部分噪音都是图像的高频分量,通过低通滤波器来滤除高频噪声;边缘也是图像的高频分量,可以通过添加高频分量来增强原始图像的边缘; (B) 图像分割与边缘检测 提取图像高频分量 (C) 图像特征提取 形状特征:傅里叶描述子 纹理特征:直接通过傅里叶系数来计算纹理特征 其他特征:将提取的特征值进行傅里叶变换来使特征具有平移、伸缩、旋转不变性 (D ) 图像压缩 可以直接通过傅里叶系数来压缩数据;常用的离散余弦变换是傅立叶变换的实变换; (Fourier transform in the important role of image processing: (A) image enhancement and image denoising Most of all images of high frequency noise by low pass filter to filter out high frequency noise edge is the image of the high frequency components can be enhanced by adding high frequency components to the edge of the original image (B) Image segmentation and edge detection High frequency components extracted image (C) image feature extraction Shape features: Fourier descriptors Texture: directly through the Fourier coefficients to calculate the texture features Other features: The characteristic value extracted by Fourier transform to the characteristics of translation, scaling, rotation invariance (D) image compression Fourier coefficients can be directly compressed data commonly used discrete cosine transform is the Fourier transform of the real transformation 朗读显示对应的拉丁字符的拼音)
    2011-03-28 19:06:27下载
    积分:1
  • view
    Matlab time-frequency analysis supporting the source code of chapter 12, please share
    2017-08-03 03:15:27下载
    积分:1
  • SplitterWnd
    利用CSplitterWnd类实现对单文档工程进行视图区域的分割(Using the CSplitterWnd class implements the single document engineering for segmenting the view area)
    2013-05-13 10:12:39下载
    积分:1
  • 696516资源总数
  • 106914会员总数
  • 0今日下载