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针对传统优化方法不易解决含有复杂动力学约束的路径规划问题,提出利用勒让德伪谱法(Legendre Pseudospectral Method,LPM)对地面无人驾驶器(unmanned ground vehicle,UGV)的避障路径规划进行研究。通过建立UGV的动力学模型和障碍物模型,整合了基于LPM的路径约束条件。最后应用以LPM为基础开发的MATLAB插件包DIDO,计算得出了优化路径。仿真实验中以UGV移动路径规划为例,设计实现了UGV的避障规划。仿真结果表明此方法具有较快的计算速度和准确性。 相似文献
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Barnett S. Koven 《战略研究杂志》2016,39(5-6):878-898
ABSTRACTRecent US advances in counterinsurgency doctrine have been adopted by developing country armed forces. Nevertheless, no systematic study has examined the barriers they face to implementing highly involved counterinsurgency strategy. Tracing the evolution of Peruvian doctrine demonstrates that Peru was able to quickly improve the unity of effort, intelligence capacity, and military basing to meet the demands of a population-centric hearts-and-minds approach to counterinsurgency. Nevertheless, the limited tactical initiative and flexibility of Peruvian forces remains a challenge. The Peruvian experience is instructive for other militaries undergoing similar transitions. However, given the diversity of insurgent conflicts, this doctrine is not universally appropriate. 相似文献
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针对路径覆盖测试,给出了一般循环结构的一种简化处理方案及把按此方案得到的控制流图转化为自由边控制流图方法,并探讨了基于自由边控制流图进行路径覆盖分析的实现方法和优点。 相似文献
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William Yaworsky 《战略研究杂志》2013,36(4):651-666
This article analyzes the assumptions of US and Peruvian military personnel regarding insurgent susceptibilities to psychological operations in 1988. The discussion is based on both archival material and the experiences of the author, who was a member of the joint US-Peruvian team. The paper provides insight into the workings of US Army psychological operations as they were conducted in the 1980s and outlines both the strengths and weaknesses of the approach taken. 相似文献
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In June 2016, the Colombian Government and the FARC insurgent movement signed a ceasefire agreement, which brings the two sides one step closer to putting an end to over five decades of war. Unfortunately, Latin America has a rich history of insurgent movements, particularly during the cold war era, some of which continue to operate today. Most of these movements disappeared due to military operations, though some did so via peace negotiations. This essay aims to discuss the various ends of Latin American insurgencies to answer whether, indeed, insurgents can be negotiated with. 相似文献