ID 原文 译文
51047 其次，给出了利用凸壳算法进行路径规划的执行机制，并利用其建立了飞机调运可行路径有向图。 Second, was given by using convex hull algorithm for path planning execution mechanism, and use its aircraft scheduling feasible path directed graph is established.
51048 然后，利用Dijkstra方法对该可行路径有向图进行最短路径求解，最终给出最优路径。 Then, using the Dijkstra method for the feasible path directed graph shortest path solution, finally gives the optimal path.
51049 最后，将该方法应用于库兹涅佐夫号航母飞机机库调运。 Finally, the method was applied to the aircraft carrier admiral kuznetsov aircraft hangar dispatching.
51050 结果表明，该方法原理正确，且能够较好地给出最优路径。 Results show that the method principle is correct, and can give the optimal path.
51051 针对同步定位与地图构建(simultaneous localization and mapping，SLAM)中状态量高维时变的问题，本文通过综合集中式和分布式实现结构的各自优势， For simultaneous localization and map building (simultaneous localization and mapping, SLAM) state in the high dimensional time-varying problem, this paper integrated the advantages of centralized and distributed implementation structure,
51052 提出了一种基于空间域划分的分布式SLAM算法。 this paper proposes a distributed SLAM algorithm based on space domain partition.
51053 该算法依据两个路标点与机器人连线之间的夹角，将整个空间域中的路标点进行区域划分， The algorithm is based on the Angle between the two waypoints and robot attachment, divide the waypoint to area of the whole space domain,
51054 保证每个子空间域内含有两个不共线的路标点， ensure each subspace domain contains two collinear waypoints,
51055 并将每个空间域内的路标点组合构建观测模型， and each model of waypoint combination build observation in spatial domain,
51056 采用分布式无味粒子滤波器进行机器人位姿的估计， distributed unscented particle filter is adopted to improve the robot pose estimation,