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[IEEE 2018 IEEE 3rd International Conference on Signal and Image Processing (ICSIP) - Shenzhen, China (2018.7.13-2018.7.15)] 2018 IEEE 3rd International Conference on Signal and Image Processing (ICSIP) - Real-time Path Planning Based on IRRT Algorithm in 3D Environment
摘要： This paper presents a real-time path planning method for unmanned aerial vehicles(UAVs) navigation in 3D environment. In this study, 3D point clouds are processed into octomap, which is the octree-based 3D map representation of environment and is a probabilistic representation of occupancy including free and unknown areas. Rapidly-exploring random tree is improved by introducing the random probability and storing relatively optimal path with a certain number of iterations, called iteration rapidly-exploring random tree, to find a collision-free path in the free areas. Down-sampling and curve fitting by Bezier curve are performed to smooth path that satisfy the constraints of flight trajectory of UAVs. Experimental results verify the proposed algorithm and prove that it is valid.
关键词： octree,real-time,planning,iteration rapidly-exploring random tree(IRRT),Bezier curve,path
更新于2025-09-23 15:22:29
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Investigation of Geometric Characteristics in Curved Surface Laser Cladding with Curve Path
摘要： Laser cladding on curved surfaces is essential in industrial applications for restoration and remanufacturing of high-value parts. This study investigated the in?uence of di?erent factors on clad width, clad height, and dilution rate in curved surface laser cladding with curved path. Mathematical models were developed using central composite designs to predict these geometric characteristics by controlling laser power, scanning speed, gas ?ow, and altering the outside radius of the cylindrical substrate. Analysis of variance and response surface methodology indicated that clad width increased with increasing laser power and reducing scanning speed. Clad height positively correlated to laser power and negatively correlated to the outside radius of the cylindrical substrate. Increasing the laser power while decreasing the scanning speed led to an increase in dilution rate. Afterwards, the geometric characteristics of the clad were improved by optimizing these factors with the target to maximize clad width and height as well as to minimize dilution rate. The di?erence between model predictions and experimental validations for clad width, clad height, and dilution rate were 3.485%, 3.863%, and 6.566%, respectively. The predicted accuracy was veri?ed with these models, and they were able to provide theoretical guidance to predict and control the geometric characteristics of curved surface laser cladding with a curved path.
关键词： central composite design,curved surface,forming control,curve path,laser cladding
更新于2025-09-16 10:30:52