ID 原文 译文
39846 针对三维环境下的多自主水下机器人(AutonomousUnderwaterVehicle，AUV)全覆盖路径规划问题，提出一种基于改进神经网络—Glasius生物启发神经网络（GlasiusBio-inspiredNeural Network，GBNN）的全覆盖路径规划算法。 Aiming at the working space search task of multiple AUVs(Autonomous Underwater Vehicle) in 3-dimensional underwater environments, a complete coverage path planning algorithm based on an improved neural network-Glasius Bio-inspired Neural Network(GBNN) is presented in this paper.
39847 对AUV的水下工作环境构建离散的三维栅格地图； A discrete 3-D grid map of the underwater environment is constructed.
39848 根据栅格地图，建立相对应的三维GBNN模型； A 3-D GBNN model is established topologically according to the map.
39849 根据GBNN活性值的动态变化，AUV规划各自的搜索路径，对水下任务区域进行全覆盖搜索。 Based on the dynamic activities of GBNN model, each AUV plans its own coverage path independently, and covers the whole working space collaboratively.
39850 仿真结果表示，多AUV可以协同完成覆盖搜索任务，能够自动避开各类静态和动态的障碍物，自动逃离路径的死锁区。 The simulation results show that the multiple AUVs can collaboratively cover the working space completely, automatically avoid the obstacle and escape from the deadlock in the path.
39851 针对弹道导弹在空间中形成的目标群轨迹具有复杂性和多阶段的特点，提出一种弹道导弹目标群轨迹分阶段建模方法。 Aiming at the complexity and multi-phase process of the trajectory of target complex formed by ballistic missile in space, a phased modeling approach is proposed.
39852 由于不同阶段下目标群运动特性存在差异，基于分阶段建模的思想，在定义相应坐标系的基础上，建立了对称释放结构下的中段诱饵释放模型； Due to the differences of the motion characteristics at different phases, based on the phased modeling thought, the release model of coast decoy in symmetric release structure is established under the corresponding coordinate systems.
39853 在考虑数量质量、初始状态及消亡条件等因素下，设计了助推段多批次碎片轨迹产生过程。 Under the consideration of several factors:the number, mass, initial state, and vanishing condition, the generation process of multiple batches of boost debris trajectories is designed.
39854 实验仿真了地固系下弹道导弹主体弹道、诱饵释放过程以及多批次碎片轨迹。 The main target trajectory of ballistic missile, decoys release process and multiple batches of debris trajectories in Earth-centered Earth-fixed(ECEF) coordinate system are simulated.
39855 结果表明，该方法在选择恰当参数的条件下可近似逼近真实情况。 Simulation results show the approach can approximate the reality under the condition of the proper parameters.