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📋📋📋本文目录如下:🎁🎁🎁
目录
💥1 概述
“(UUV)与(UAS)的空间与时间会合”是一个涉及复杂技术和精确协调的研究领域。UUV(无人水下航行器)和 UAS(无人航空系统)分别在水下和空中运行,实现它们的空间与时间会合面临诸多挑战。 这需要对两者的运动特性、导航定位能力、通信方式以及环境影响有深入的理解。在空间上,要精确计算它们的位置、速度和姿态,以确保在特定的三维空间点相遇。时间上,需考虑各种因素导致的时间延迟和不确定性,精准规划和协调它们的行动时间。 这种会合在众多领域具有重要应用,如海洋监测、资源勘探、军事侦察等。成功实现 UUV 与 UAS 的空间与时间会合,能够极大地拓展它们的协同作业能力,提高任务效率和成果质量。
📚2 运行结果
主函数部分代码:
clc;
clear all;
close all;
% MATLAB script to draw a 50x40 point plot and animate an agent moving
% from (0,0) to (50,40) using a Boustrophedon pattern with two circles
% Define the grid size
gridWidth = 50;
gridHeight = 40;
% Define the radius and colors of the circles
radius1 = 5;
color1 = 'y'; % green
radius2 = 10;
color2 = 'g'; % blue
% Initialize the figure
figure;
hold on;
axis([0 gridWidth 0 gridHeight]);
xlabel('X (miles)');
ylabel('Y (miles)');
title('Unmanned Underwater Vehicle (UUV) Presence Possibilty');
% Draw the grid
for i = 0:gridWidth
plot([i i], [0 gridHeight], 'k:'); % vertical lines
end
for j = 0:gridHeight
plot([0 gridWidth], [j j], 'k:'); % horizontal lines
end
% Initialize the agent position
agent = plot(0, 0, 'ro', 'MarkerSize', 8, 'MarkerFaceColor', 'r');
% Function to plot circles
plot_circle = @(x, y, r, color) rectangle('Position', [x-r, y-r, 2*r, 2*r], ...
'Curvature', [1, 1], ...
'LineWidth', 3, ...
'EdgeColor', color);
% Initialize the circles
circle1 = plot_circle(0, 0, radius1, color1);
circle2 = plot_circle(0, 0, radius2, color2);
% Initialize the path
pathX = [];
pathY = [];
% Initialize time
time = 0;
% Boustrophedon path generation and animation
for y = 0:gridHeight-1
if mod(y, 2) == 0
% Even row: move right
for x = 0:gridWidth-1
pathX = [pathX, x];
pathY = [pathY, y];
set(agent, 'XData', x, 'YData', y);
set(circle1, 'Position', [x-radius1, y-radius1, 2*radius1, 2*radius1]);
set(circle2, 'Position', [x-radius2, y-radius2, 2*radius2, 2*radius2]);
time = time + 0.01;
title(sprintf('Unmanned Underwater Vehicle (UUV) Presence Possibilty\nTime: %.2f hours', time));
pause(0.01); % Adjust the pause duration to control the animation speed
end
else
% Odd row: move left
for x = gridWidth-1:-1:0
pathX = [pathX, x];
pathY = [pathY, y];
set(agent, 'XData', x, 'YData', y);
set(circle1, 'Position', [x-radius1, y-radius1, 2*radius1, 2*radius1]);
set(circle2, 'Position', [x-radius2, y-radius2, 2*radius2, 2*radius2]);
time = time + 0.01;
title(sprintf('Unmanned Underwater Vehicle (UUV) Presence Possibilty\nTime: %.2f hours', time));
pause(0.01);
end
end
end
% Move to the final point (50, 40)
pathX = [pathX, gridWidth];
pathY = [pathY, gridHeight-1];
set(agent, 'XData', gridWidth, 'YData', gridHeight-1);
set(circle1, 'Position', [gridWidth-radius1, gridHeight-1-radius1, 2*radius1, 2*radius1]);
set(circle2, 'Position', [gridWidth-radius2, gridHeight-1-radius2, 2*radius2, 2*radius2]);
time = time + 0.01;
title(sprintf('Unmanned Underwater Vehicle (UUV) Presence Possibilty\nTime: %.2f seconds', time));
🎉3 参考文献
文章中一些内容引自网络,会注明出处或引用为参考文献,难免有未尽之处,如有不妥,请随时联系删除。
[1]韩博,徐红丽,邱少雄,等.基于边界约束粒子滤波的多UUV纯方位协同目标跟踪[J].水下无人系统学报,2024,32(02):250-259.
[2]何小二,魏征,夏凯,等.基于DoDAF和SysML的潜艇与UUV协同作战概念描述方法[J].舰船科学技术,2024,46(02):63-67.