<?xml version="1.0" encoding="utf-8" ?><rss version="2.0"><channel><title><![CDATA[YUE__zy的博客]]></title><description><![CDATA[]]></description><link>https://blog.youkuaiyun.com/YUE__zy</link><language>zh-cn</language><generator>https://blog.youkuaiyun.com/</generator><copyright><![CDATA[Copyright &copy; YUE__zy]]></copyright><item><title><![CDATA[【yolo数据集合并方法】]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/137826301</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/137826301</guid><author>YUE__zy</author><pubDate>Tue, 16 Apr 2024 15:26:37 +0800</pubDate><description><![CDATA[需要修改labels文件夹下txt文件class信息，根据每个单独数据集的class name 对照合并后数据集的期待class name修改。每一个数据集中包含图像文件夹和标签文件夹。包含训练集、验证集和测试集。]]></description><category></category></item><item><title><![CDATA[PredRecon: A Prediction-boosted Planning Framework for Fast and High-quality Autonomous Aerial Recon]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/134640704</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/134640704</guid><author>YUE__zy</author><pubDate>Tue, 28 Nov 2023 14:45:29 +0800</pubDate><description><![CDATA[文章中提出的表面预测模型，在当前飞行获取的不完整点云信息的状态下，预测全局建筑物模型，用于生成更有目的的视点。将从两个或多个不同视点观察到的表面定义为完整的观测表面，提取那些不完整的观测表面作为分层规划器的目标未覆盖区域。其中v是视点，s是观察到的表面，N（v）是从v可以看到的s中可见点的数量，N（s）是s中的点的数量。一个三角单元有相邻的两个视点和一个共可见的簇表面的形心组成，路径的立体视觉性能由所有三角测量单元的。ATSP可以通过设计适当的代价矩阵ΓG，由现有的已证明的算法来求解。]]></description><category></category></item><item><title><![CDATA[FC-Planner: A Skeleton-guided Planning Framework for Fast Aerial Coverage of Complex 3D Scenes]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/133477237</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/133477237</guid><author>YUE__zy</author><pubDate>Mon, 02 Oct 2023 03:45:19 +0800</pubDate><description><![CDATA[利用骨架有效地生成一组专业和信息丰富的最小视点，以实现完整的覆盖。基于SSD，分层规划器将大规划问题有效地分为独立的子问题，实现了每个子空间的并行规划。然后，采用精心设计的全局和局部规划策略，以保证路径生成的高质量和高效率。]]></description><category></category></item><item><title><![CDATA[【Structural Inspection Path Planning via Iterative Viewpoint Resampling with Application to Aerial 】]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/133297624</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/133297624</guid><author>YUE__zy</author><pubDate>Wed, 27 Sep 2023 14:49:31 +0800</pubDate><description><![CDATA[假设结构为三角形网格表示，并采用交替的两步优化范式来寻找良好的视角，这些视角共同提供了全覆盖和低成本的连接路径。在每次迭代中，都会选择视点，从而降低连接成本，并随后优化游览。]]></description><category></category></item><item><title><![CDATA[【Hierarchical Coverage Path Planning in Complex 3D Environments】]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/132909287</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/132909287</guid><author>YUE__zy</author><pubDate>Fri, 15 Sep 2023 18:08:54 +0800</pubDate><description><![CDATA[算法分两层，一层高级一层低级：高层算法将环境分离多个子空间，如果给定体积中有大量的结构，则空间会进一步细分。全局TSP问题；低层算法采用简单的采样路径规划，解决每一个子空间的详细覆盖扫描问题。]]></description><category></category></item><item><title><![CDATA[【launch文件的启动节点的编写规范】]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/132853412</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/132853412</guid><author>YUE__zy</author><pubDate>Wed, 13 Sep 2023 15:04:12 +0800</pubDate><description><![CDATA[launch文件的启动节点的编写规范]]></description><category></category></item><item><title><![CDATA[Multi-UAV Disaster Environment Coverage Planning with Limited-Endurance]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/132379001</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/132379001</guid><author>YUE__zy</author><pubDate>Sun, 20 Aug 2023 19:46:51 +0800</pubDate><description><![CDATA[解决灾区救援任务中多无人机区域覆盖路径规划问题，重点考虑救援效率。设计区域地图的热图表示方式，考虑潜在的重点救援场景；改进贪婪覆盖路径规划方案，解决路径规划中几种效率权重问题。]]></description><category></category></item><item><title><![CDATA[运动规划概述]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/131688122</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/131688122</guid><author>YUE__zy</author><pubDate>Wed, 12 Jul 2023 21:24:15 +0800</pubDate><description><![CDATA[动态规划概述]]></description><category></category></item><item><title><![CDATA[【CDC 2023 Cooperative Aerial Robots Inspection Challenge】]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/131564355</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/131564355</guid><author>YUE__zy</author><pubDate>Wed, 05 Jul 2023 21:44:20 +0800</pubDate><description><![CDATA[【CDC 2023 Cooperative Aerial Robots Inspection Challenge】
协同无人机检查挑战赛介绍]]></description><category></category></item><item><title><![CDATA[蓝桥杯 小数第n位 问题的几种解法]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/129834401</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/129834401</guid><author>YUE__zy</author><pubDate>Wed, 29 Mar 2023 13:01:05 +0800</pubDate><description><![CDATA[蓝桥杯 小数第n位]]></description><category></category></item><item><title><![CDATA[【双目图像转点云】]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/129557029</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/129557029</guid><author>YUE__zy</author><pubDate>Wed, 15 Mar 2023 15:28:28 +0800</pubDate><description><![CDATA[一个示例代码，它使用C++编写ROS功能包，订阅双目相机的两个图像话题，处理这些图像以生成点云消息，并将其发布到另一个话题。]]></description><category></category></item><item><title><![CDATA[Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments 论文笔记]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/129326541</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/129326541</guid><author>YUE__zy</author><pubDate>Tue, 07 Mar 2023 17:20:22 +0800</pubDate><description><![CDATA[Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments 论文笔记。提出的飞行走廊生成方法，构成飞行走廊的凸多面体膨胀方法，凸多面体重复的环路消除，以及减少计算时间的方法。在全局轨迹优化后，对动态障碍物进行障碍规避，提出在线局部重规划框架，采用窗口滑动重规划方法。]]></description><category></category></item><item><title><![CDATA[EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors（论文笔记）]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/129208759</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/129208759</guid><author>YUE__zy</author><pubDate>Sat, 25 Feb 2023 17:44:19 +0800</pubDate><description><![CDATA[EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors（论文笔记）主要提出的无预先准备的ESDF欧式符号距离场的规划方法，在Fast-Planner的基础上，摆脱全局ESDF计算的负担，节省大量的计算时间。此外，还提出了时间再分配和轨迹细化，在优化之前分配精确的时间是不合理的，因为规划者不知道最终轨迹的信息。]]></description><category></category></item><item><title><![CDATA[STD-Trees: Spatio-temporal Deformable Trees for Multirotors Kinodynamic Planning （论文解析）]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/129127253</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/129127253</guid><author>YUE__zy</author><pubDate>Tue, 21 Feb 2023 21:17:50 +0800</pubDate><description><![CDATA[论文中主要提出一种时空变形的轨迹树生成方法，在RRT#产生轨迹树的步骤中添加时间维度的考量，考虑四种变形单位的选择，建立包含时间参数的代价函数。]]></description><category></category></item><item><title><![CDATA[Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths（论文解析）]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/128653208</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/128653208</guid><author>YUE__zy</author><pubDate>Wed, 25 Jan 2023 13:57:04 +0800</pubDate><description><![CDATA[Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths（论文解析）设计PGO导向路径优化，解决基于梯度的路径引导优化的两种无效情况；提出拓扑路径搜索方法，涉及拓扑等价关系。]]></description><category></category></item><item><title><![CDATA[Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight 论文解析]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/128235954</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/128235954</guid><author>YUE__zy</author><pubDate>Thu, 08 Dec 2022 20:32:52 +0800</pubDate><description><![CDATA[Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight 论文解析 ，fast 路径规划算法的几个优化要点，表现在B样条轨迹的优化，利用B样条的凸包性设计优化公式。]]></description><category></category></item><item><title><![CDATA[对 RRG 算法的解释]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/128192932</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/128192932</guid><author>YUE__zy</author><pubDate>Thu, 08 Dec 2022 17:16:00 +0800</pubDate><description><![CDATA[无人机实时路径规划中的RRG算法应用，产生安全飞行走廊。]]></description><category></category></item><item><title><![CDATA[Trajectory Generation of a Quadrotor Transporting a Bulky Payload in the Cluttered Environments 论文解析]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/128161141</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/128161141</guid><author>YUE__zy</author><pubDate>Sat, 03 Dec 2022 14:36:54 +0800</pubDate><description><![CDATA[Trajectory Generation of a Quadrotor Transporting a Bulky Payload in the Cluttered Environments 论文解析，论文中主要解决的是无人机在重载的情况下的最优飞行轨迹的生成，平缓无人机的摇晃程度，考虑载物的质量和体积形态，将无人机抽象成一个椭球，采用旋转的方式通过狭窄的通道，最小化航向角的角速度变化使无人机在转角的时候能保持相对的平稳。]]></description><category></category></item><item><title><![CDATA[Minimum jerk / Minimum snap后端轨迹优化]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/128130253</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/128130253</guid><author>YUE__zy</author><pubDate>Thu, 01 Dec 2022 13:36:50 +0800</pubDate><description><![CDATA[Minimum jerk / Minimum snap后端轨迹优化，在深蓝学院的课程中有对这部分进行讲解，详细的内容可以去 b 站找视屏看一看，这里主要是理解运用，包含程序。]]></description><category></category></item><item><title><![CDATA[Geometrically Constrained Trajectory Optimization for Multicopters 论文解析]]></title><link>https://blog.youkuaiyun.com/YUE__zy/article/details/128116539</link><guid>https://blog.youkuaiyun.com/YUE__zy/article/details/128116539</guid><author>YUE__zy</author><pubDate>Wed, 30 Nov 2022 20:17:45 +0800</pubDate><description><![CDATA[Geometrically Constrained Trajectory Optimization for Multicopters 论文解析，在路径规划后端轨迹优化上的效率突破]]></description><category></category></item></channel></rss>