Satellite networks have many inherent advantages over terrestrial networks and have become an important part of the global network infrastructure.Routing aimed at satellite networks has become a hot and challenging re...Satellite networks have many inherent advantages over terrestrial networks and have become an important part of the global network infrastructure.Routing aimed at satellite networks has become a hot and challenging research topic.Satellite networks,which are special kind of Delay Tolerant Networks(DTN),can also adopt the routing solutions of DTN.Among the many routing proposals,Contact Graph Routing(CGR) is an excellent candidate,since it is designed particularly for use in highly deterministic space networks.The applicability of CGR in satellite networks is evaluated by utilizing the space oriented DTN gateway model based on OPNET(Optimized Network Engineering Tool).Link failures are solved with neighbor discovery mechanism and route recomputation.Earth observation scenario is used in the simulations to investigate CGR's performance.The results show that the CGR performances are better in terms of effectively utilizing satellite networks resources to calculate continuous route path and alternative route can be successfully calculated under link failures by utilizing fault tolerance scheme.展开更多
为满足铁路接触网腕臂智能检修作业中机械臂自动导航需求,提出一种综合解决路径规划和障碍物避让问题的研究方法。该方法将双重目标转化为单一的约束优化问题。在此基础上,对标准快速搜索随机树(Rapidly exploring Random Tree,RRT)算...为满足铁路接触网腕臂智能检修作业中机械臂自动导航需求,提出一种综合解决路径规划和障碍物避让问题的研究方法。该方法将双重目标转化为单一的约束优化问题。在此基础上,对标准快速搜索随机树(Rapidly exploring Random Tree,RRT)算法进行改进,引入地图复杂程度评估策略和高斯混合分布采样策略,以约束随机采样点的生成方向。通过加入角度约束策略和临近障碍物的变步长机制,确保随机树始终向目标点方向生长,从而规划出渐进最优的路径。此外,设计一种基于甲虫嗅觉探测的递归神经网络(Recurrent Neural Network based on Beetle Olfactory Detection,RNNBOD)算法,配置最优关节角度,驱动冗余机械臂末端执行器沿规划的参考路径移动,从而降低其计算成本。仿真结果表明,该方法不仅有效提升了标准RRT算法的搜索效率、节点利用率和路径质量,还成功解决了冗余机械臂在运行过程中的跟踪控制难题。展开更多
基金Supported by the open project of Communication network transmission and distribution technologies Key Laboratory(ITD-12005/K1260011)the National Natural Science Foundation of China(61371126) and the National Natural Science Foundation of China(60903195)
文摘Satellite networks have many inherent advantages over terrestrial networks and have become an important part of the global network infrastructure.Routing aimed at satellite networks has become a hot and challenging research topic.Satellite networks,which are special kind of Delay Tolerant Networks(DTN),can also adopt the routing solutions of DTN.Among the many routing proposals,Contact Graph Routing(CGR) is an excellent candidate,since it is designed particularly for use in highly deterministic space networks.The applicability of CGR in satellite networks is evaluated by utilizing the space oriented DTN gateway model based on OPNET(Optimized Network Engineering Tool).Link failures are solved with neighbor discovery mechanism and route recomputation.Earth observation scenario is used in the simulations to investigate CGR's performance.The results show that the CGR performances are better in terms of effectively utilizing satellite networks resources to calculate continuous route path and alternative route can be successfully calculated under link failures by utilizing fault tolerance scheme.
文摘为满足铁路接触网腕臂智能检修作业中机械臂自动导航需求,提出一种综合解决路径规划和障碍物避让问题的研究方法。该方法将双重目标转化为单一的约束优化问题。在此基础上,对标准快速搜索随机树(Rapidly exploring Random Tree,RRT)算法进行改进,引入地图复杂程度评估策略和高斯混合分布采样策略,以约束随机采样点的生成方向。通过加入角度约束策略和临近障碍物的变步长机制,确保随机树始终向目标点方向生长,从而规划出渐进最优的路径。此外,设计一种基于甲虫嗅觉探测的递归神经网络(Recurrent Neural Network based on Beetle Olfactory Detection,RNNBOD)算法,配置最优关节角度,驱动冗余机械臂末端执行器沿规划的参考路径移动,从而降低其计算成本。仿真结果表明,该方法不仅有效提升了标准RRT算法的搜索效率、节点利用率和路径质量,还成功解决了冗余机械臂在运行过程中的跟踪控制难题。
