ID 原文 译文
53007 测试结果表明，本文算法对实时任意方向虚拟漫游路径的拟合程度优于其他方法，曲线平滑去抖动效果好、计算量小、FPS值稳定。 The test results show that the fitting degree of the algorithm is better than other methods, the curve is smooth and the jitter is good, the calculation is small, and the FPS value is stable.
53008 提出了一种基于时序A*(TSA*)算法的双机械臂路径规划方法。 A path planning method of double manipulator is proposed based on time sequence A*(TSA*) algorithm.
53009 主臂在静态环境中进行避障路径规划，从臂以主臂为已知动态障碍物进行路径规划。 In the static environment, motion planning for the main arm is obtained. Then the main arm is regarded as dynamic obstacles to obtain a feasible motion trajectory of the slave arm.
53010 针对A*算法在高维环境下计算时间急剧增加的问题，引入期望步数Fs避开无效节点，减少计算工作量; Aiming at the problem that the computing time of A* algorithm increases sharply in high-dimensional environment, the expected steps Fs are introduced to avoid invalid nodes and reduce the computing workload.
53011 在高维空间搜索时，因open表急剧变大导致维持open表最小二叉堆结构的时间大幅增加，通过对open表进行拆分，进而降低维持open表结构的时间消耗。 In high-dimensional space search, the time to maintain the minimum binary heap structure of the open table increases greatly due to the sharp increase of the open table, which can be reduced by splitting the open table.
53012 在规划从臂时，通过运动等待策略实现从臂自动做出等待决策。 When planning the slave arm, the slave arm can automatically make the waiting decision through the motion waiting strategy.
53013 经过仿真实验对比，验证了该算法的有效性和可行性。 The simulation results show that the proposed algorithm is effective and feasible.
53014 针对无人机(UAV)机群在编队飞行过程中可能受机群其他无人机或鸟类等障碍物的影响，基于传统人工势场(APF)的编队避障算法易陷入局部优化解，进而导致无人机机群避障失败的问题，提出了 一种基于改进三维人工势场(3D-APF)的编队避障算法。 The unmanned aerial vehicle(UAV) fleet may be disturbed by other UAVs or obstacles such as birds during formation flying, and the obstacle avoidance algorithm based on the traditional artificial potential field(APF) method is easily trapped in local optimal solution, which will lead to the failure of the UAV fleet to avoid obstacle. In order to overcome the disadvantages mentioned above, an obstacle avoidance method for the UAV fleet based on improved three-dimensional artificial potential field(3 D-APF) is proposed in this paper.
53015 通过在势场函数中引入一致性理论的通信拓扑和权重等概念，实现无人机机群在分布式结构下的快速编队。 The concept of communication topology and weight of consensus theory is introduced into the potential field function to realize the rapid formation of UAV fleet in the distributed structure.
53016 然后将z轴势场引入二维势场，并引入与障碍物移动方向垂直的辅助势场以消除算法陷入局部最优化解的缺陷。 Then the z-axis potential field is introduced into the two-dimensional potential field and the auxiliary potential field perpendicular to the moving direction of the obstacle is introduced to eliminate the defect of the algorithm falling into the local optimization solution.