Couldn't transform from laser to base_footprint, even though the message notifier is in use

chickendinosaur-footprint-js:为 Browserify-ES6-Babel 和其他冗余 JavaScript 构建最小化

脚印使用 ES6、Babel/Babelify、Browserify？这个给你！用于重组冗余代码的节点模块。每个 Transform 只是一个接收文本字符串的方法，可以单独使用。写这篇文章是为了让我可以安心地尽早迁移到 ES6 并使用 Browserify，因为臃肿让我咳嗽jQuery。最小化 Babel 连接文件（如 Browserify 包）的占用空间。适用于任何样式格式的缩小（用 uglify 缩小）和非缩小代码！（为了调试目的，输出保持原始形式，所以即使它会破坏丑化的代码，你也需要重新丑化，之后丑化应该总是在构建过程的最后完成）发展要求节点 npm install -g gulp 安装测试吞咽测试用法安装 npm install chickendinosaur-footprint 如何使用... 转换类型足迹.Transform.usest

无标题文档 2.tar.gz_4FT_毫米波定位_毫米波雷达_视觉和毫米波雷达的车道级定位方法

基于视觉和毫米波雷达的车道级定位方法要解决的问题:针对中、高速城市道路及高速公路场景的横向定位问题

ComponentOne Studio for WPF2012 v3 2/3

ComponentOne Studio for WPF2012 v3 一共有 3 个压缩文件，请全部下载后解压 ComponentOne Studio WPF2012 v3 Leveraging the full potential of Windows Presentation Foundation (WPF), ComponentOne Studio® for WPF offers everything from high-performing datagrids, charts and scheduler controls to slick layout and navigation controls. Accomplish more enterprise-level functionality in less time. What's Inside? Chart DataGrid FlexGrid Maps RichTextBox Scheduler Why Choose Studio for WPF? Build Enterprise Applications Faster Studio for WPF features all of the rich data visualization and LOB controls you need to shorten your development time and create compelling Windows desktop applications. Choose from 50+ WPF controls packed with developer-requested features like easy styling, printing, export to Microsoft Excel, complete XAML support, and more. Professional Themes and Simple Styling Get 12+ themes including Office 2010 and Expression for the entire studio. Plus, with built-in ClearStyle technology, you can easily change control colors without having to modify complex templates. By just setting a few brush properties in Visual Studio you can quickly give a unique look to any C1 control without having to work in Expression Blend or be a professional designer. Stunning and Powerful Data Visualization With 40+ chart types, flexible data binding, run-time interaction, optimization for large data sets, and so much more, Chart for WPF is the most advanced charting control on the market. Apply styles, animations, markers and live updates to bring your dashboards to life! Fast and Flexible Grids Experience the FlexGrid's legendary flexibility, speed, and small footprint. Inspired by Microsoft Excel for creating bound and unbound grids and scrolling speed 10x faster than the competition, FlexGrid for WPF provides built-in printing, cell merging, column aggregation, custom cells, and all the extensibility you need for your business data. Maps Powered By Esri When it comes to mapping, we have you covered. ComponentOne has partnered with Esri, the leading online map and GIS provider, to bring you the best mapping tools and UI controls together in one package. Easily transform GIS data into business intelligence with Maps powered by Esri®. With Studio for WPF you get free access to to the Esri controls, online map tiles and the ArcGIS API for WPF. HTML and PDF Support Get first-class support for HTML and PDF content in Silverlight with many of the ComponentOne controls. View your PDF documents and HTML reports using the innovative PdfViewer and ReportViewer controls. Deliver complete HTML editing with the Microsoft Word-like RichTextBox control. Export your data to PDF with ease using the C1Pdf class library. Built-in Localization Broaden your global audience with quick localization support for 20+ international languages. Studio for WPF includes the necessary resource files for localizing your apps so you can publish in Arabic, Chinese (General, Simplified and Traditional), Czech, Danish, English, German, Greek, Finnish, French, Hebrew, Italian, Japanese, Dutch, Norwegian, Polish, Portuguese, Russian, Slovak, Spanish and Swedish. MVVM Support Use the latest presentation model or MVVM (Model-View-ViewModel) design patterns in your applications with ComponentOne Studio for WPF. Each control supports dependency properties, complete XAML configuration and WPF data-binding techniques.

ComponentOne Studio for WPF2012 v3 1/3

ComponentOne Studio for WPF2012 v3 一共有 3 个压缩文件，请全部下载后解压 ComponentOne Studio WPF2012 v3 Leveraging the full potential of Windows Presentation Foundation (WPF), ComponentOne Studio® for WPF offers everything from high-performing datagrids, charts and scheduler controls to slick layout and navigation controls. Accomplish more enterprise-level functionality in less time. What's Inside? Chart DataGrid FlexGrid Maps RichTextBox Scheduler Why Choose Studio for WPF? Build Enterprise Applications Faster Studio for WPF features all of the rich data visualization and LOB controls you need to shorten your development time and create compelling Windows desktop applications. Choose from 50+ WPF controls packed with developer-requested features like easy styling, printing, export to Microsoft Excel, complete XAML support, and more. Professional Themes and Simple Styling Get 12+ themes including Office 2010 and Expression for the entire studio. Plus, with built-in ClearStyle technology, you can easily change control colors without having to modify complex templates. By just setting a few brush properties in Visual Studio you can quickly give a unique look to any C1 control without having to work in Expression Blend or be a professional designer. Stunning and Powerful Data Visualization With 40+ chart types, flexible data binding, run-time interaction, optimization for large data sets, and so much more, Chart for WPF is the most advanced charting control on the market. Apply styles, animations, markers and live updates to bring your dashboards to life! Fast and Flexible Grids Experience the FlexGrid's legendary flexibility, speed, and small footprint. Inspired by Microsoft Excel for creating bound and unbound grids and scrolling speed 10x faster than the competition, FlexGrid for WPF provides built-in printing, cell merging, column aggregation, custom cells, and all the extensibility you need for your business data. Maps Powered By Esri When it comes to mapping, we have you covered. ComponentOne has partnered with Esri, the leading online map and GIS provider, to bring you the best mapping tools and UI controls together in one package. Easily transform GIS data into business intelligence with Maps powered by Esri®. With Studio for WPF you get free access to to the Esri controls, online map tiles and the ArcGIS API for WPF. HTML and PDF Support Get first-class support for HTML and PDF content in Silverlight with many of the ComponentOne controls. View your PDF documents and HTML reports using the innovative PdfViewer and ReportViewer controls. Deliver complete HTML editing with the Microsoft Word-like RichTextBox control. Export your data to PDF with ease using the C1Pdf class library. Built-in Localization Broaden your global audience with quick localization support for 20+ international languages. Studio for WPF includes the necessary resource files for localizing your apps so you can publish in Arabic, Chinese (General, Simplified and Traditional), Czech, Danish, English, German, Greek, Finnish, French, Hebrew, Italian, Japanese, Dutch, Norwegian, Polish, Portuguese, Russian, Slovak, Spanish and Swedish. MVVM Support Use the latest presentation model or MVVM (Model-View-ViewModel) design patterns in your applications with ComponentOne Studio for WPF. Each control supports dependency properties, complete XAML configuration and WPF data-binding techniques.

ComponentOne Studio for WPF2012 v3 3/3

ComponentOne Studio for WPF2012 v3 一共有 3 个压缩文件，请全部下载后解压 ComponentOne Studio WPF2012 v3 Leveraging the full potential of Windows Presentation Foundation (WPF), ComponentOne Studio® for WPF offers everything from high-performing datagrids, charts and scheduler controls to slick layout and navigation controls. Accomplish more enterprise-level functionality in less time. What's Inside? Chart DataGrid FlexGrid Maps RichTextBox Scheduler Why Choose Studio for WPF? Build Enterprise Applications Faster Studio for WPF features all of the rich data visualization and LOB controls you need to shorten your development time and create compelling Windows desktop applications. Choose from 50+ WPF controls packed with developer-requested features like easy styling, printing, export to Microsoft Excel, complete XAML support, and more. Professional Themes and Simple Styling Get 12+ themes including Office 2010 and Expression for the entire studio. Plus, with built-in ClearStyle technology, you can easily change control colors without having to modify complex templates. By just setting a few brush properties in Visual Studio you can quickly give a unique look to any C1 control without having to work in Expression Blend or be a professional designer. Stunning and Powerful Data Visualization With 40+ chart types, flexible data binding, run-time interaction, optimization for large data sets, and so much more, Chart for WPF is the most advanced charting control on the market. Apply styles, animations, markers and live updates to bring your dashboards to life! Fast and Flexible Grids Experience the FlexGrid's legendary flexibility, speed, and small footprint. Inspired by Microsoft Excel for creating bound and unbound grids and scrolling speed 10x faster than the competition, FlexGrid for WPF provides built-in printing, cell merging, column aggregation, custom cells, and all the extensibility you need for your business data. Maps Powered By Esri When it comes to mapping, we have you covered. ComponentOne has partnered with Esri, the leading online map and GIS provider, to bring you the best mapping tools and UI controls together in one package. Easily transform GIS data into business intelligence with Maps powered by Esri®. With Studio for WPF you get free access to to the Esri controls, online map tiles and the ArcGIS API for WPF. HTML and PDF Support Get first-class support for HTML and PDF content in Silverlight with many of the ComponentOne controls. View your PDF documents and HTML reports using the innovative PdfViewer and ReportViewer controls. Deliver complete HTML editing with the Microsoft Word-like RichTextBox control. Export your data to PDF with ease using the C1Pdf class library. Built-in Localization Broaden your global audience with quick localization support for 20+ international languages. Studio for WPF includes the necessary resource files for localizing your apps so you can publish in Arabic, Chinese (General, Simplified and Traditional), Czech, Danish, English, German, Greek, Finnish, French, Hebrew, Italian, Japanese, Dutch, Norwegian, Polish, Portuguese, Russian, Slovak, Spanish and Swedish. MVVM Support Use the latest presentation model or MVVM (Model-View-ViewModel) design patterns in your applications with ComponentOne Studio for WPF. Each control supports dependency properties, complete XAML configuration and WPF data-binding techniques.

ComponentOne 2012 V2 Studio for Silverlight(完整安装)

ComponentOne 2012 V2 Studio for Silverlight 文件名称：C1Silverlight_2012v2.msi 60+ powerful, yet lightweight, controls offer the latest Web UI trends and take advantage of everything Silverlight 5 has to offer. Silverlight UI Controls with Power and Style Get the controls and features you need to develop compelling applications and dashboards with ease. ComponentOne Studio® for Silverlight is a suite of 60+ controls built on Microsoft® Silverlight®. These powerful, yet lightweight, controls offer the latest Web UI trends and take advantage of everything Silverlight 5 has to offer from rich media to business application development. What's Inside? § Chart § DataGrid § FlexGrid § Maps § RichTextBox § Scheduler § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § Show More Why Choose Studio for Silverlight? § Professional Themes and Simple Styling Get 12+ themes including Metro, Office and Expression for the entire studio. Plus, with built-in ClearStyle technology, you can easily change control colors without having to modify complex templates. By just setting a few brush properties in Visual Studio you can quickly give a unique look to any C1 control without having to work in Expression Blend or be a professional designer. § Stunning and Powerful Data Visualization With 40+ chart types, flexible data binding, run-time interaction, optimization for large data sets, and so much more, Chart for Silverlight is the most advanced charting control on the market. Apply styles, animations, markers and live updates to bring your dashboards to life! § Maps Powered By Esri When it comes to mapping, we have you covered. ComponentOne has partnered with Esri, the leading online map and GIS provider, to bring you the best mapping tools and UI controls together in one package. Easily transform GIS data into business intelligence with Maps powered by Esri®. With Studio for Silverlight yo

5ROS仿真.pptx

ComponentOne 2012 V2 Studio for Silverlight 3/3

ComponentOne 2012 V2 Studio for Silverlight 3/3 文件名称：C1Silverlight_2012v2.msi 共三个压缩分卷，请全部下载后解压 60+ powerful, yet lightweight, controls offer the latest Web UI trends and take advantage of everything Silverlight 5 has to offer. Silverlight UI Controls with Power and Style Get the controls and features you need to develop compelling applications and dashboards with ease. ComponentOne Studio® for Silverlight is a suite of 60+ controls built on Microsoft® Silverlight®. These powerful, yet lightweight, controls offer the latest Web UI trends and take advantage of everything Silverlight 5 has to offer from rich media to business application development. What's Inside? § Chart § DataGrid § FlexGrid § Maps § RichTextBox § Scheduler § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § Show More Why Choose Studio for Silverlight? § Professional Themes and Simple Styling Get 12+ themes including Metro, Office and Expression for the entire studio. Plus, with built-in ClearStyle technology, you can easily change control colors without having to modify complex templates. By just setting a few brush properties in Visual Studio you can quickly give a unique look to any C1 control without having to work in Expression Blend or be a professional designer. § Stunning and Powerful Data Visualization With 40+ chart types, flexible data binding, run-time interaction, optimization for large data sets, and so much more, Chart for Silverlight is the most advanced charting control on the market. Apply styles, animations, markers and live updates to bring your dashboards to life! § Maps Powered By Esri When it comes to mapping, we have you covered. ComponentOne has partnered with Esri, the leading online map and GIS provider, to bring you the best mapping tools and UI controls together in one package. Easily transform GIS data into business intelligence with Maps powered by Esri®. With Studio for Silverlight you get free access to to the Esri controls, online map tiles and the ArcGIS API for Silverlight. § Fast and Flexible FlexGrid Experience the FlexGrid's legendary flexibility, speed, and small footprint. Inspired by Microsoft Excel for creating bound and unbound grids and scrolling speed 10x faster than the competition, FlexGrid for Silverlight provides built-in printing, cell merging, column aggregation, custom cells, and all the extensibility you need for your business data. § HTML and PDF Support Get first-class support for HTML and PDF content in Silverlight with many of the ComponentOne controls. View your PDF documents and HTML reports using the innovative PdfViewer and ReportViewer controls. Deliver complete HTML editing with the Microsoft Word-like RichTextBox control. Export your data to PDF with ease using the C1Pdf class library. § Built-in Localization Broaden your global audience with quick localization support for 20+ international languages. Studio for WPF includes the necessary resource files for localizing your apps so you can publish in Arabic, Chinese (General, Simplified and Traditional), Czech, Danish, English, German, Greek, Finnish, French, Hebrew, Italian, Japanese, Dutch, Norwegian, Polish, Portuguese, Russian, Slovak, Spanish and Swedish. § MVVM Support Use the latest presentation model or MVVM (Model-View-ViewModel) design patterns in your applications with ComponentOne Silverlight and WPF controls. Each control supports dependency properties, complete XAML configuration and WPF data-binding techniques. § Write Once Deploy Everywhere Studio for Silverlight controls share the same codebase as our WPF controls and Windows Phone controls. So you can build rich web, mobile and desktop client applications while sharing a lot of the same code. This will reduce development time, cost and eliminate the learning curve of having to learn controls from multiple platforms. You can also use your XAML skills to develop LightSwitch extensions and SharePoint Web Parts using our controls. See our Studio for SharePoint and OLAP for LightSwitch as examples.

ComponentOne 2012 V2 Studio for Silverlight 2/3

ComponentOne 2012 V2 Studio for Silverlight 2/3 文件名称：C1Silverlight_2012v2.msi 共三个压缩分卷，请全部下载后解压 60+ powerful, yet lightweight, controls offer the latest Web UI trends and take advantage of everything Silverlight 5 has to offer. Silverlight UI Controls with Power and Style Get the controls and features you need to develop compelling applications and dashboards with ease. ComponentOne Studio® for Silverlight is a suite of 60+ controls built on Microsoft® Silverlight®. These powerful, yet lightweight, controls offer the latest Web UI trends and take advantage of everything Silverlight 5 has to offer from rich media to business application development. What's Inside? § Chart § DataGrid § FlexGrid § Maps § RichTextBox § Scheduler § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § § Show More Why Choose Studio for Silverlight? § Professional Themes and Simple Styling Get 12+ themes including Metro, Office and Expression for the entire studio. Plus, with built-in ClearStyle technology, you can easily change control colors without having to modify complex templates. By just setting a few brush properties in Visual Studio you can quickly give a unique look to any C1 control without having to work in Expression Blend or be a professional designer. § Stunning and Powerful Data Visualization With 40+ chart types, flexible data binding, run-time interaction, optimization for large data sets, and so much more, Chart for Silverlight is the most advanced charting control on the market. Apply styles, animations, markers and live updates to bring your dashboards to life! § Maps Powered By Esri When it comes to mapping, we have you covered. ComponentOne has partnered with Esri, the leading online map and GIS provider, to bring you the best mapping tools and UI controls together in one package. Easily transform GIS data into business intelligence with Maps powered by Esri®. With Studio for Silverlight you get free access to to the Esri controls, online map tiles and the ArcGIS API for Silverlight. § Fast and Flexible FlexGrid Experience the FlexGrid's legendary flexibility, speed, and small footprint. Inspired by Microsoft Excel for creating bound and unbound grids and scrolling speed 10x faster than the competition, FlexGrid for Silverlight provides built-in printing, cell merging, column aggregation, custom cells, and all the extensibility you need for your business data. § HTML and PDF Support Get first-class support for HTML and PDF content in Silverlight with many of the ComponentOne controls. View your PDF documents and HTML reports using the innovative PdfViewer and ReportViewer controls. Deliver complete HTML editing with the Microsoft Word-like RichTextBox control. Export your data to PDF with ease using the C1Pdf class library. § Built-in Localization Broaden your global audience with quick localization support for 20+ international languages. Studio for WPF includes the necessary resource files for localizing your apps so you can publish in Arabic, Chinese (General, Simplified and Traditional), Czech, Danish, English, German, Greek, Finnish, French, Hebrew, Italian, Japanese, Dutch, Norwegian, Polish, Portuguese, Russian, Slovak, Spanish and Swedish. § MVVM Support Use the latest presentation model or MVVM (Model-View-ViewModel) design patterns in your applications with ComponentOne Silverlight and WPF controls. Each control supports dependency properties, complete XAML configuration and WPF data-binding techniques. § Write Once Deploy Everywhere Studio for Silverlight controls share the same codebase as our WPF controls and Windows Phone controls. So you can build rich web, mobile and desktop client applications while sharing a lot of the same code. This will reduce development time, cost and eliminate the learning curve of having to learn controls from multiple platforms. You can also use your XAML skills to develop LightSwitch extensions and SharePoint Web Parts using our controls. See our Studio for SharePoint and OLAP for LightSwitch as examples.

ROS2导航学习笔记[可运行源码]

本文详细介绍了ROS2中导航功能的实现步骤，包括地图构建、保存地图、Navigation2的安装与配置、以及启动导航的launch文件编写。首先通过slam-toolbox构建地图，然后使用nav2-map-server保存地图。接着安装Navigation2并配置相关参数，如修改robot_radius值。最后通过编写launch文件启动导航功能，并设置小车的初始位置。整个过程涵盖了从地图构建到导航启动的完整流程，适合ROS2学习者参考。

ComponentOne Studio for Silverlight 2012 v3 2/3

ComponentOne Studio for Silverlight 2012 v3 1/3 一共有 3 个压缩文件，请全部下载后解压 ComponentOne Studio Silverlight 2012 v3 Silverlight UI Controls with Power and Style Get the controls and features you need to develop compelling applications and dashboards with ease. ComponentOne Studio® for Silverlight is a suite of 60+ controls built on Microsoft® Silverlight®. These powerful, yet lightweight, controls offer the latest Web UI trends and take advantage of everything Silverlight 5 has to offer from rich media to business application development. What's Inside? Chart DataGrid FlexGrid Maps RichTextBox Scheduler Why Choose Studio for Silverlight? Professional Themes and Simple Styling Get 12+ themes including Metro, Office and Expression for the entire studio. Plus, with built-in ClearStyle technology, you can easily change control colors without having to modify complex templates. By just setting a few brush properties in Visual Studio you can quickly give a unique look to any C1 control without having to work in Expression Blend or be a professional designer. Stunning and Powerful Data Visualization With 40+ chart types, flexible data binding, run-time interaction, optimization for large data sets, and so much more, Chart for Silverlight is the most advanced charting control on the market. Apply styles, animations, markers and live updates to bring your dashboards to life! Maps Powered By Esri When it comes to mapping, we have you covered. ComponentOne has partnered with Esri, the leading online map and GIS provider, to bring you the best mapping tools and UI controls together in one package. Easily transform GIS data into business intelligence with Maps powered by Esri®. With Studio for Silverlight you get free access to to the Esri controls, online map tiles and the ArcGIS API for Silverlight. Fast and Flexible FlexGrid Experience the FlexGrid's legendary flexibility, speed, and small footprint. Inspired by Microsoft Excel for creating bound and unbound grids and scrolling speed 10x faster than the competition, FlexGrid for Silverlight provides built-in printing, cell merging, column aggregation, custom cells, and all the extensibility you need for your business data. HTML and PDF Support Get first-class support for HTML and PDF content in Silverlight with many of the ComponentOne controls. View your PDF documents and HTML reports using the innovative PdfViewer and ReportViewer controls. Deliver complete HTML editing with the Microsoft Word-like RichTextBox control. Export your data to PDF with ease using the C1Pdf class library. Built-in Localization Broaden your global audience with quick localization support for 20+ international languages. Studio for Silverlight includes the necessary resource files for localizing your apps so you can publish in Arabic, Chinese (General, Simplified and Traditional), Czech, Danish, English, German, Greek, Finnish, French, Hebrew, Italian, Japanese, Dutch, Norwegian, Polish, Portuguese, Russian, Slovak, Spanish and Swedish. MVVM Support Use the latest presentation model or MVVM (Model-View-ViewModel) design patterns in your applications with ComponentOne Silverlight and WPF controls. Each control supports dependency properties, complete XAML configuration and WPF data-binding techniques. Write Once Deploy Everywhere Studio for Silverlight controls share the same codebase as our WPF controls and Windows Phone controls. So you can build rich web, mobile and desktop client applications while sharing a lot of the same code. This will reduce development time, cost and eliminate the learning curve of having to learn controls from multiple platforms. You can also use your XAML skills to develop LightSwitch extensions and SharePoint Web Parts using our controls. See our Studio for SharePoint and OLAP for LightSwitch as examples.

ComponentOne Studio for Silverlight 2012 v3 3/3

ComponentOne Studio for Silverlight 2012 v3 1/3 一共有 3 个压缩文件，请全部下载后解压 ComponentOne Studio Silverlight 2012 v3 Silverlight UI Controls with Power and Style Get the controls and features you need to develop compelling applications and dashboards with ease. ComponentOne Studio® for Silverlight is a suite of 60+ controls built on Microsoft® Silverlight®. These powerful, yet lightweight, controls offer the latest Web UI trends and take advantage of everything Silverlight 5 has to offer from rich media to business application development. What's Inside? Chart DataGrid FlexGrid Maps RichTextBox Scheduler Why Choose Studio for Silverlight? Professional Themes and Simple Styling Get 12+ themes including Metro, Office and Expression for the entire studio. Plus, with built-in ClearStyle technology, you can easily change control colors without having to modify complex templates. By just setting a few brush properties in Visual Studio you can quickly give a unique look to any C1 control without having to work in Expression Blend or be a professional designer. Stunning and Powerful Data Visualization With 40+ chart types, flexible data binding, run-time interaction, optimization for large data sets, and so much more, Chart for Silverlight is the most advanced charting control on the market. Apply styles, animations, markers and live updates to bring your dashboards to life! Maps Powered By Esri When it comes to mapping, we have you covered. ComponentOne has partnered with Esri, the leading online map and GIS provider, to bring you the best mapping tools and UI controls together in one package. Easily transform GIS data into business intelligence with Maps powered by Esri®. With Studio for Silverlight you get free access to to the Esri controls, online map tiles and the ArcGIS API for Silverlight. Fast and Flexible FlexGrid Experience the FlexGrid's legendary flexibility, speed, and small footprint. Inspired by Microsoft Excel for creating bound and unbound grids and scrolling speed 10x faster than the competition, FlexGrid for Silverlight provides built-in printing, cell merging, column aggregation, custom cells, and all the extensibility you need for your business data. HTML and PDF Support Get first-class support for HTML and PDF content in Silverlight with many of the ComponentOne controls. View your PDF documents and HTML reports using the innovative PdfViewer and ReportViewer controls. Deliver complete HTML editing with the Microsoft Word-like RichTextBox control. Export your data to PDF with ease using the C1Pdf class library. Built-in Localization Broaden your global audience with quick localization support for 20+ international languages. Studio for Silverlight includes the necessary resource files for localizing your apps so you can publish in Arabic, Chinese (General, Simplified and Traditional), Czech, Danish, English, German, Greek, Finnish, French, Hebrew, Italian, Japanese, Dutch, Norwegian, Polish, Portuguese, Russian, Slovak, Spanish and Swedish. MVVM Support Use the latest presentation model or MVVM (Model-View-ViewModel) design patterns in your applications with ComponentOne Silverlight and WPF controls. Each control supports dependency properties, complete XAML configuration and WPF data-binding techniques. Write Once Deploy Everywhere Studio for Silverlight controls share the same codebase as our WPF controls and Windows Phone controls. So you can build rich web, mobile and desktop client applications while sharing a lot of the same code. This will reduce development time, cost and eliminate the learning curve of having to learn controls from multiple platforms. You can also use your XAML skills to develop LightSwitch extensions and SharePoint Web Parts using our controls. See our Studio for SharePoint and OLAP for LightSwitch as examples.

ComponentOne Studio for Silverlight 2012 v3 1/3

ComponentOne Studio for Silverlight 2012 v3 1/3 一共有 3 个压缩文件，请全部下载后解压 ComponentOne Studio Silverlight 2012 v3 Silverlight UI Controls with Power and Style Get the controls and features you need to develop compelling applications and dashboards with ease. ComponentOne Studio® for Silverlight is a suite of 60+ controls built on Microsoft® Silverlight®. These powerful, yet lightweight, controls offer the latest Web UI trends and take advantage of everything Silverlight 5 has to offer from rich media to business application development. What's Inside? Chart DataGrid FlexGrid Maps RichTextBox Scheduler Why Choose Studio for Silverlight? Professional Themes and Simple Styling Get 12+ themes including Metro, Office and Expression for the entire studio. Plus, with built-in ClearStyle technology, you can easily change control colors without having to modify complex templates. By just setting a few brush properties in Visual Studio you can quickly give a unique look to any C1 control without having to work in Expression Blend or be a professional designer. Stunning and Powerful Data Visualization With 40+ chart types, flexible data binding, run-time interaction, optimization for large data sets, and so much more, Chart for Silverlight is the most advanced charting control on the market. Apply styles, animations, markers and live updates to bring your dashboards to life! Maps Powered By Esri When it comes to mapping, we have you covered. ComponentOne has partnered with Esri, the leading online map and GIS provider, to bring you the best mapping tools and UI controls together in one package. Easily transform GIS data into business intelligence with Maps powered by Esri®. With Studio for Silverlight you get free access to to the Esri controls, online map tiles and the ArcGIS API for Silverlight. Fast and Flexible FlexGrid Experience the FlexGrid's legendary flexibility, speed, and small footprint. Inspired by Microsoft Excel for creating bound and unbound grids and scrolling speed 10x faster than the competition, FlexGrid for Silverlight provides built-in printing, cell merging, column aggregation, custom cells, and all the extensibility you need for your business data. HTML and PDF Support Get first-class support for HTML and PDF content in Silverlight with many of the ComponentOne controls. View your PDF documents and HTML reports using the innovative PdfViewer and ReportViewer controls. Deliver complete HTML editing with the Microsoft Word-like RichTextBox control. Export your data to PDF with ease using the C1Pdf class library. Built-in Localization Broaden your global audience with quick localization support for 20+ international languages. Studio for Silverlight includes the necessary resource files for localizing your apps so you can publish in Arabic, Chinese (General, Simplified and Traditional), Czech, Danish, English, German, Greek, Finnish, French, Hebrew, Italian, Japanese, Dutch, Norwegian, Polish, Portuguese, Russian, Slovak, Spanish and Swedish. MVVM Support Use the latest presentation model or MVVM (Model-View-ViewModel) design patterns in your applications with ComponentOne Silverlight and WPF controls. Each control supports dependency properties, complete XAML configuration and WPF data-binding techniques. Write Once Deploy Everywhere Studio for Silverlight controls share the same codebase as our WPF controls and Windows Phone controls. So you can build rich web, mobile and desktop client applications while sharing a lot of the same code. This will reduce development time, cost and eliminate the learning curve of having to learn controls from multiple platforms. You can also use your XAML skills to develop LightSwitch extensions and SharePoint Web Parts using our controls. See our Studio for SharePoint and OLAP for LightSwitch as examples.

ComponentOne Studio for Silverlight 2013 v1

ComponentOne Studio for Silverlight 2013 v1 Part of: Ultimate | Enterprise 60+ powerful, yet lightweight, controls offer the latest Web UI trends and take advantage of everything Silverlight 5 has to offer. Professional Themes and Simple Styling Professional Themes and Simple Styling Get 12+ themes including Metro, Office and Expression for the entire studio. Plus, with built-in ClearStyle technology, you can easily change control colors without having to modify complex templates. By just setting a few brush properties in Visual Studio you can quickly give a unique look to any C1 control without having to work in Expression Blend or be a professional designer. Stunning and Powerful Data Visualization Stunning and Powerful Data Visualization With 40+ chart types, flexible data binding, run-time interaction, optimization for large data sets, and so much more, Chart for Silverlight is the most advanced charting control on the market. Apply styles, animations, markers and live updates to bring your dashboards to life! Maps Powered By Esri Maps Powered By Esri When it comes to mapping, we have you covered. ComponentOne has partnered with Esri, the leading online map and GIS provider, to bring you the best mapping tools and UI controls together in one package. Easily transform GIS data into business intelligence with Maps powered by Esri®. With Studio for Silverlight you get free access to to the Esri controls, online map tiles and the ArcGIS API for Silverlight. Fast and Flexible FlexGrid Fast and Flexible FlexGrid Experience the FlexGrid's legendary flexibility, speed, and small footprint. Inspired by Microsoft Excel for creating bound and unbound grids and scrolling speed 10x faster than the competition, FlexGrid for Silverlight provides built-in printing, cell merging, column aggregation, custom cells, and all the extensibility you need for your business data. HTML and PDF Support HTML and PDF Support Get first-class support for HTML and PDF content in Silverlight with many of the ComponentOne controls. View your PDF documents and HTML reports using the innovative PdfViewer and ReportViewer controls. Deliver complete HTML editing with the Microsoft Word-like RichTextBox control. Export your data to PDF with ease using the C1Pdf class library. Write Once Deploy Everywhere Studio for Silverlight controls share the same codebase as our WPF controls and Windows Phone controls. So you can build rich web, mobile and desktop client applications while sharing a lot of the same code. This will reduce development time, cost and eliminate the learning curve of having to learn controls from multiple platforms. You can also use your XAML skills to develop LightSwitch extensions and SharePoint Web Parts using our controls. See our Studio for SharePoint and OLAP for LightSwitch as examples.

ComponentOne Studio for Silverlight 2013 v1 3/3

ComponentOne Studio for Silverlight 2013 v1 1/3 共三个压缩文件，请全部下载后解压 Part of: Ultimate | Enterprise 60+ powerful, yet lightweight, controls offer the latest Web UI trends and take advantage of everything Silverlight 5 has to offer. Professional Themes and Simple Styling Professional Themes and Simple Styling Get 12+ themes including Metro, Office and Expression for the entire studio. Plus, with built-in ClearStyle technology, you can easily change control colors without having to modify complex templates. By just setting a few brush properties in Visual Studio you can quickly give a unique look to any C1 control without having to work in Expression Blend or be a professional designer. Stunning and Powerful Data Visualization Stunning and Powerful Data Visualization With 40+ chart types, flexible data binding, run-time interaction, optimization for large data sets, and so much more, Chart for Silverlight is the most advanced charting control on the market. Apply styles, animations, markers and live updates to bring your dashboards to life! Maps Powered By Esri Maps Powered By Esri When it comes to mapping, we have you covered. ComponentOne has partnered with Esri, the leading online map and GIS provider, to bring you the best mapping tools and UI controls together in one package. Easily transform GIS data into business intelligence with Maps powered by Esri®. With Studio for Silverlight you get free access to to the Esri controls, online map tiles and the ArcGIS API for Silverlight. Fast and Flexible FlexGrid Fast and Flexible FlexGrid Experience the FlexGrid's legendary flexibility, speed, and small footprint. Inspired by Microsoft Excel for creating bound and unbound grids and scrolling speed 10x faster than the competition, FlexGrid for Silverlight provides built-in printing, cell merging, column aggregation, custom cells, and all the extensibility you need for your business data. HTML and PDF Support HTML and PDF Support Get first-class support for HTML and PDF content in Silverlight with many of the ComponentOne controls. View your PDF documents and HTML reports using the innovative PdfViewer and ReportViewer controls. Deliver complete HTML editing with the Microsoft Word-like RichTextBox control. Export your data to PDF with ease using the C1Pdf class library. Write Once Deploy Everywhere Studio for Silverlight controls share the same codebase as our WPF controls and Windows Phone controls. So you can build rich web, mobile and desktop client applications while sharing a lot of the same code. This will reduce development time, cost and eliminate the learning curve of having to learn controls from multiple platforms. You can also use your XAML skills to develop LightSwitch extensions and SharePoint Web Parts using our controls. See our Studio for SharePoint and OLAP for LightSwitch as examples.

ComponentOne Studio for Silverlight 2013 v1 2/3

ComponentOne Studio for Silverlight 2013 v1 1/3 共三个压缩文件，请全部下载后解压 Part of: Ultimate | Enterprise 60+ powerful, yet lightweight, controls offer the latest Web UI trends and take advantage of everything Silverlight 5 has to offer. Professional Themes and Simple Styling Professional Themes and Simple Styling Get 12+ themes including Metro, Office and Expression for the entire studio. Plus, with built-in ClearStyle technology, you can easily change control colors without having to modify complex templates. By just setting a few brush properties in Visual Studio you can quickly give a unique look to any C1 control without having to work in Expression Blend or be a professional designer. Stunning and Powerful Data Visualization Stunning and Powerful Data Visualization With 40+ chart types, flexible data binding, run-time interaction, optimization for large data sets, and so much more, Chart for Silverlight is the most advanced charting control on the market. Apply styles, animations, markers and live updates to bring your dashboards to life! Maps Powered By Esri Maps Powered By Esri When it comes to mapping, we have you covered. ComponentOne has partnered with Esri, the leading online map and GIS provider, to bring you the best mapping tools and UI controls together in one package. Easily transform GIS data into business intelligence with Maps powered by Esri®. With Studio for Silverlight you get free access to to the Esri controls, online map tiles and the ArcGIS API for Silverlight. Fast and Flexible FlexGrid Fast and Flexible FlexGrid Experience the FlexGrid's legendary flexibility, speed, and small footprint. Inspired by Microsoft Excel for creating bound and unbound grids and scrolling speed 10x faster than the competition, FlexGrid for Silverlight provides built-in printing, cell merging, column aggregation, custom cells, and all the extensibility you need for your business data. HTML and PDF Support HTML and PDF Support Get first-class support for HTML and PDF content in Silverlight with many of the ComponentOne controls. View your PDF documents and HTML reports using the innovative PdfViewer and ReportViewer controls. Deliver complete HTML editing with the Microsoft Word-like RichTextBox control. Export your data to PDF with ease using the C1Pdf class library. Write Once Deploy Everywhere Studio for Silverlight controls share the same codebase as our WPF controls and Windows Phone controls. So you can build rich web, mobile and desktop client applications while sharing a lot of the same code. This will reduce development time, cost and eliminate the learning curve of having to learn controls from multiple platforms. You can also use your XAML skills to develop LightSwitch extensions and SharePoint Web Parts using our controls. See our Studio for SharePoint and OLAP for LightSwitch as examples.

ComponetOne Studio for WPF 2013 v1 1/3

ComponetOne Studio for WPF 2013 v1 1/3 共三个压缩文件，请全部下载后解压 Part of: Ultimate | Enterprise 50+ WPF controls including everything from advanced data binding to rich data visualizations in grids, schedulers, charts, reports, and more. Build Enterprise Applications Faster Studio for WPF features all of the rich data visualization and LOB controls you need to shorten your development time and create compelling Windows desktop applications. Choose from 50+ WPF controls packed with developer-requested features like easy styling, printing, export to Microsoft Excel, complete XAML support, and more. Professional Themes and Simple Styling Professional Themes and Simple Styling Get 12+ themes including Office 2010 and Expression for the entire studio. Plus, with built-in ClearStyle technology, you can easily change control colors without having to modify complex templates. By just setting a few brush properties in Visual Studio you can quickly give a unique look to any C1 control without having to work in Expression Blend or be a professional designer. Stunning and Powerful Data Visualization Stunning and Powerful Data Visualization With 40+ chart types, flexible data binding, run-time interaction, optimization for large data sets, and so much more, Chart for WPF is the most advanced charting control on the market. Apply styles, animations, markers and live updates to bring your dashboards to life! Fast and Flexible Grids Fast and Flexible Grids Experience the FlexGrid's legendary flexibility, speed, and small footprint. Inspired by Microsoft Excel for creating bound and unbound grids and scrolling speed 10x faster than the competition, FlexGrid for WPF provides built-in printing, cell merging, column aggregation, custom cells, and all the extensibility you need for your business data. Maps Powered By Esri Maps Powered By Esri When it comes to mapping, we have you covered. ComponentOne has partnered with Esri, the leading online map and GIS provider, to bring you the best mapping tools and UI controls together in one package. Easily transform GIS data into business intelligence with Maps powered by Esri®. With Studio for WPF you get free access to to the Esri controls, online map tiles and the ArcGIS API for WPF. HTML and PDF Support HTML and PDF Support Get first-class support for HTML and PDF content in Silverlight with many of the ComponentOne controls. View your PDF documents and HTML reports using the innovative PdfViewer and ReportViewer controls. Deliver complete HTML editing with the Microsoft Word-like RichTextBox control. Export your data to PDF with ease using the C1Pdf class library. Built-in Localization Broaden your global audience with quick localization support for 20+ international languages. Studio for WPF includes the necessary resource files for localizing your apps so you can publish in Arabic, Chinese (General, Simplified and Traditional), Czech, Danish, English, German, Greek, Finnish, French, Hebrew, Italian, Japanese, Dutch, Norwegian, Polish, Portuguese, Russian, Slovak, Spanish, Swedish and Turkish.

ComponetOne Studio for WPF 2013 v1 3/3

ComponetOne Studio for WPF 2013 v1 3/3 共三个压缩文件，请全部下载后解压 Part of: Ultimate | Enterprise 50+ WPF controls including everything from advanced data binding to rich data visualizations in grids, schedulers, charts, reports, and more. Build Enterprise Applications Faster Studio for WPF features all of the rich data visualization and LOB controls you need to shorten your development time and create compelling Windows desktop applications. Choose from 50+ WPF controls packed with developer-requested features like easy styling, printing, export to Microsoft Excel, complete XAML support, and more. Professional Themes and Simple Styling Professional Themes and Simple Styling Get 12+ themes including Office 2010 and Expression for the entire studio. Plus, with built-in ClearStyle technology, you can easily change control colors without having to modify complex templates. By just setting a few brush properties in Visual Studio you can quickly give a unique look to any C1 control without having to work in Expression Blend or be a professional designer. Stunning and Powerful Data Visualization Stunning and Powerful Data Visualization With 40+ chart types, flexible data binding, run-time interaction, optimization for large data sets, and so much more, Chart for WPF is the most advanced charting control on the market. Apply styles, animations, markers and live updates to bring your dashboards to life! Fast and Flexible Grids Fast and Flexible Grids Experience the FlexGrid's legendary flexibility, speed, and small footprint. Inspired by Microsoft Excel for creating bound and unbound grids and scrolling speed 10x faster than the competition, FlexGrid for WPF provides built-in printing, cell merging, column aggregation, custom cells, and all the extensibility you need for your business data. Maps Powered By Esri Maps Powered By Esri When it comes to mapping, we have you covered. ComponentOne has partnered with Esri, the leading online map and GIS provider, to bring you the best mapping tools and UI controls together in one package. Easily transform GIS data into business intelligence with Maps powered by Esri®. With Studio for WPF you get free access to to the Esri controls, online map tiles and the ArcGIS API for WPF. HTML and PDF Support HTML and PDF Support Get first-class support for HTML and PDF content in Silverlight with many of the ComponentOne controls. View your PDF documents and HTML reports using the innovative PdfViewer and ReportViewer controls. Deliver complete HTML editing with the Microsoft Word-like RichTextBox control. Export your data to PDF with ease using the C1Pdf class library. Built-in Localization Broaden your global audience with quick localization support for 20+ international languages. Studio for WPF includes the necessary resource files for localizing your apps so you can publish in Arabic, Chinese (General, Simplified and Traditional), Czech, Danish, English, German, Greek, Finnish, French, Hebrew, Italian, Japanese, Dutch, Norwegian, Polish, Portuguese, Russian, Slovak, Spanish, Swedish and Turkish.

ComponetOne Studio for WPF 2013 v1 2/3

ComponetOne Studio for WPF 2013 v1 2/3 共三个压缩文件，请全部下载后解压 Part of: Ultimate | Enterprise 50+ WPF controls including everything from advanced data binding to rich data visualizations in grids, schedulers, charts, reports, and more. Build Enterprise Applications Faster Studio for WPF features all of the rich data visualization and LOB controls you need to shorten your development time and create compelling Windows desktop applications. Choose from 50+ WPF controls packed with developer-requested features like easy styling, printing, export to Microsoft Excel, complete XAML support, and more. Professional Themes and Simple Styling Professional Themes and Simple Styling Get 12+ themes including Office 2010 and Expression for the entire studio. Plus, with built-in ClearStyle technology, you can easily change control colors without having to modify complex templates. By just setting a few brush properties in Visual Studio you can quickly give a unique look to any C1 control without having to work in Expression Blend or be a professional designer. Stunning and Powerful Data Visualization Stunning and Powerful Data Visualization With 40+ chart types, flexible data binding, run-time interaction, optimization for large data sets, and so much more, Chart for WPF is the most advanced charting control on the market. Apply styles, animations, markers and live updates to bring your dashboards to life! Fast and Flexible Grids Fast and Flexible Grids Experience the FlexGrid's legendary flexibility, speed, and small footprint. Inspired by Microsoft Excel for creating bound and unbound grids and scrolling speed 10x faster than the competition, FlexGrid for WPF provides built-in printing, cell merging, column aggregation, custom cells, and all the extensibility you need for your business data. Maps Powered By Esri Maps Powered By Esri When it comes to mapping, we have you covered. ComponentOne has partnered with Esri, the leading online map and GIS provider, to bring you the best mapping tools and UI controls together in one package. Easily transform GIS data into business intelligence with Maps powered by Esri®. With Studio for WPF you get free access to to the Esri controls, online map tiles and the ArcGIS API for WPF. HTML and PDF Support HTML and PDF Support Get first-class support for HTML and PDF content in Silverlight with many of the ComponentOne controls. View your PDF documents and HTML reports using the innovative PdfViewer and ReportViewer controls. Deliver complete HTML editing with the Microsoft Word-like RichTextBox control. Export your data to PDF with ease using the C1Pdf class library. Built-in Localization Broaden your global audience with quick localization support for 20+ international languages. Studio for WPF includes the necessary resource files for localizing your apps so you can publish in Arabic, Chinese (General, Simplified and Traditional), Czech, Danish, English, German, Greek, Finnish, French, Hebrew, Italian, Japanese, Dutch, Norwegian, Polish, Portuguese, Russian, Slovak, Spanish, Swedish and Turkish.

基于多机器人协作的未知环境下路径探索研究

目录摘要…………………………………………………………………………………………Ⅰ Abstract……………………………………………………………………………………Ⅲ 第1章绪论…………………………………………………………………………………1 1.1课题的背景和意义…………………………………………………………………1 1.2自主导航综述………………………………………………………………………2 1.2.1导航的概念……………………………………………………………………2 1.2.2导航的分类……………………………………………………………………2 1.2.3已知环境下的自主导航技术………………………………………………3 1.2.4未知环境下的自主导航技术………………………………………………8 1.3地图创建……………………………………………………………………………12 1.3.1几种常用的环境表示方法…………………………………………………12 1.3.2快速同时定位与地图生成(fastSLAM)……………………………………14 1.3.3基于视觉的同时定位与地图生成(vSLAM)……………………………16 1.3.4基于拓扑地图的同时定位与地图生成…………………………………18 1.4基于多机器人协作的路径探索综述…………………………………………19 1.4.1协作探索的定义………………………………………………………………19 1.4.2协作探索的国内外研究现状………………………………………………20 1.4.3协作探索中的关键问题……………………………………………………21 1.5本文的主要研究内容……………………………………………………………23 第2章基于速度空间寻优的局部避障方法………………………………………25 2.1引言…………………………………………………………………………………25 2.2速度空间寻优方法………………………………………………………………27 2.2.1曲率-速率法(CVM)…………………………………………………………27 2.2.2巷道-曲率法(LCM)…………………………………………………………28 2.2.3扇区-曲率法(BCM)…………………………………………………………29 2.3从笛卡儿空间到构型空间的转换……………………………………………30 2.4基于扇区分类的BCM改进……………………………………………………33 2.4.1扇区的形成与分类……………………………………………………………33 2.4.2最优扇区的选择………………………………………………………………34 -V-哈尔滨工业大学工学博士学位论文 2.5碰撞检测方法………………………………………………………………………36 2.5.1碰撞预测模型…………………………………………………………………36 2.5.2扩展卡尔曼滤波与速度估计………………………………………………37 2.5.3轨迹预测和碰撞检测方法…………………………………………………39 2.6基于BCM的局部避障实验结果及其分析…………………………………41 2.7本章小结……………………………………………………………………………43 第3章基于拓扑地图的单机器人路径探索………………………………………45 3.1引言…………………………………………………………………………………45 3.2拓扑地图的必要性……………………………………………………………45 3.2.1拓扑地图与逻辑定位…………………………………………………45 3.2.2拓扑地图创建需要解决的关键技术…………………………………47 3.3基于BCM的实时拓扑地图创建方法…………………………………………48 3.3.1新型拓扑地图的定义………………………………………………………48 3.3.2拓扑节点的检测………………………………………………………………49 3.3.3拓扑节点的定位………………………………………………………………50 3.4比例不变特征变换………………………………………………………………54 3.4.1特征提取………………………………………………………………………55 3.4.2特征匹配………………………………………………………………………57 3.5基于拓扑地图的定位算法………………………………………………………58 3.6拓扑地图与其他地图的性能比较实验………………………………………59 3.6.1导航效率对比实验……………………………………………………………59 3.6.2地图维护与更新性能比较…………………………………………………62 3.6.3 SIFT与实时导航的矛盾……………………………………………………63 3.7本章小结……………………………………………………………………………64 第4章基于拓扑地图的多机器人协作路径探索…………………………………65 4.1引言…………………………………………………………………………………65 4.2基于隐马尔可夫模型的节点定位……………………………………67 4.2.1贝叶斯滤波……………………………………………………………………67 4.2.2隐马尔可夫模型………………………………………………………………68 4.3协作策略的选择……………………………………………………………………70 4.3.1基于HMM的拓扑地图拼接………………………………………………71 4.3.2基于市场法的多任务分配…………………………………………………73 4.4基于扫描匹配的混合地图拼接…………………………………………………75 -VI-目录 4.4.1混合地图………………………………………………………………………76 4.4.2基于fastSLAM的栅格地图生成…………………………………………77 4.4.3基于足迹匹配的混合地图拼接……………………………………………81 4.5基于拓扑地图的多机器人协作探索实验……………………………………83 4.5.1地图拼接实验…………………………………………………………………83 4.5.2基于市场法的协作探索实验………………………………………………85 4.6本章小结……………………………………………………………………………88 第5章利用移动感知网提高路径探索效率………………………………………89 5.1引言…………………………………………………………………………………89 5.2移动感知网体系结构……………………………………………………………90 5.2.1总体结构………………………………………………………………………90 5.2.2传感器系统……………………………………………………………………91 5.3无线感知网的节点定位方法……………………………………………………92 5.3.1蒙特卡罗定位………………………………………………………………94 5.3.2基于MCL的节点定位……………………………………………………95 5.3.3基于混合蒙特卡罗Box的节点定位……………………………………96 5.3.4节点定位对比实验…………………………………………………………98 5.4基于移动感知网的多机器人协作路径探索………………………………100 5.4.1利用机器人部署无线感知网节点………………………………………100 5.4.2利用无线感知网减轻无线通讯负担……………………………………101 5.5多机器人协作路径探索实验系统……………………………………………102 5.5.1硬件系统………………………………………………………………………102 5.5.2软件系统………………………………………………………………………103 5.6本章小结…………………………………………………………………………105 结论…………………………………………………………………………………………106 参考文献……………………………………………………………………………………108 攻读博士学位期间所发表的学术论文………………………………………………120 哈尔滨工业大学博士学位论文原创性声明…………………………………………121 哈尔滨工业大学博士学位论文使用授权书…………………………………………121 致谢…………………………………………………………………………………………122 个人简历……………………………………………………………………………………123 -VII-哈尔滨工业大学工学博士学位论文 Contents Abstract(In Chinese)………………………………………………………………………Ⅰ Abstract(In English)………………………………………………………………………Ⅲ Chapter 1 Introduction…………………………………………………………………1 1.1 The Background and Significance of the Research Work……………………1 1.2 Overview of Autonomous Navigation……………………………………………2 1.2.1 Defination of Navigation………………………………………………………2 1.2.2 Classification of Navigation…………………………………………………2 1.2.3 Autonomous Navigation Techniques in Known Environments…………3 1.2.4 Autonomous Navigation Techniques in Unknown Environments………8 1.3 Map Building………………………………………………………………………12 1.3.1 Several Existing Environment Representations…………………………12 1.3.2 Fast Simultaneous Localization and Mapping(fastSLAM)……………14 1.3.3 Vision-based Simultaneous Localization and Mapping(vSLAM)……16 1.3.4 Topological Map-based Simultaneous Localization and Mapping……18 1.4 Overview of Cooperative Path Exploration by Multi-robots………………19 1.4.1 Defination of Cooperative Exploration……………………………………19 1.4.2 State-of-the-art of Cooperative Exploration………………………………20 1.4.3 Critical Problems in Cooperative Exploration……………………………21 1.5 Main Work of Dissatation…………………………………………………………23 Chapter 2 Local Obstacle Avoidance based on Velocity Space Method………25 2.1 Introduction…………………………………………………………………………25 2.2 Velocity Space Method……………………………………………………………27 2.2.1 Curvature Velocity Method(CVM)…………………………………………27 2.2.2 Lane Curvature Method(LCM)……………………………………………28 2.2.3 Beam Curvature Method(BCM)……………………………………………29 2.3 Conversion from Cartesian Space to Configuration Space…………………30 2.4 Improvements on BCM based on Beam Classification………………………33 2.4.1 Formation and Classification of the Beams………………………………33 2.4.2 Selection of the Best Beam…………………………………………………34 -VIII-Contents 2.5 The Prediction Method of Collision……………………………………………36 2.5.1 The Prediction Model of Collision…………………………………………36 2.5.2 Extended Kalman Filter and Velocity Estimation………………………37 2.5.3 Trajectory Prediction and Collision Detection Method…………………39 2.6 The Experimental Result and Analysis of Local Obstacle Avoidance based on BCM……………………………………………………………………………………41 2.7 Summary……………………………………………………………………………43 Chapter 3 Topological Map-based Path Exploration by Single robot………45 3.1 Introduction…………………………………………………………………………45 3.2 Necessity of Topological Map……………………………………………………45 3.2.1 Topological Map and Logic Localization…………………………………45 3.2.2 Critical Techniques to be Resolved in Topological Map Construction 47 3.3 The Method of Realtime Topological Map Building based on BCM………48 3.3.1 The Defination of the Novel Topological Map……………………………48 3.3.2 Detection of the Topological Node…………………………………………49 3.3.3 Localization of the Topological Node………………………………………50 3.4 Scale-invariant Feature Transform………………………………………………54 3.4.1 Feature Extraction……………………………………………………………55 3.4.2 Feature Matching………………………………………………………………57 3.5 Localization based on Topological Map………………………………………58 3.6 Comparative Experiments of the Map Performance between the Topological Map and other Map Representations………………………………………………59 3.6.1 Comparative Experiments on Navigation Efficiency……………………59 3.6.2 Performance Comparison of Map Maintenance and Update……………62 3.6.3 Contradiction between SIFT and Realtime Navigation…………………63 3.7 Summary……………………………………………………………………………64 Chapter 4 Cooperative Path Exploration based on Topological Map by Multi- robot………………………………………………………………………………………65 4.1 Introduction…………………………………………………………………………65 4.2 Node Localization based on Hidden Markov Model(HMM)………………67 4.2.1 Bayes Filter……………………………………………………………………67 4.2.2 Hidden Markov Model………………………………………………………68 4.3 Selection of Coordination Strategy………………………………………………70 -IX-哈尔滨工业大学工学博士学位论文 4.3.1 Topological Map Merging based on HMM………………………………71 4.3.2 Multi-task Allocation based on Market Economy………………………73 4.4 Hybrid Map Merging based on Scan Matching………………………………75 4.4.1 Hybrid Map……………………………………………………………………76 4.4.2 Grid Map Building based on fastSLAM…………………………………77 4.4.3 Hybrid Map Merging based on Footprint Matching……………………81 4.5 Topological Map-based Experiment of Cooperative Path Exploration by Multi-robot………………………………………………………………………………83 4.5.1 The Experiment of Map Merging…………………………………………83 4.5.2 The Experiment of Cooperative Exploration based on Market Economy……………………………………………………………………………85 4.6 Summary……………………………………………………………………………88 Chapter 5 Improve the Efficiency of Path Exploration by Mobile Sensor Networks…………………………………………………………………………………89 5.1 Introduction…………………………………………………………………………89 5.2 Achitecture of Mobile Sensor Networks(MSN)………………………………90 5.2.1 Gross Structure…………………………………………………………………90 5.2.2 Sensor System…………………………………………………………………91 5.3 Node Localization of MSN………………………………………………………92 5.3.1 Monte Carlo Localization……………………………………………………94 5.3.2 Node Localization based on MCL…………………………………………95 5.3.3 Node Localization based on Mixture Monte Carlo Box…………………96 5.3.4 Comparative Experiments of Node Localization…………………………98 5.4 Cooperative Path Exploration by Multi-robot based on MSN……………100 5.4.1 Use Robots to Deploy the Node of MSN…………………………………100 5.4.2 Use MSN to Reduce the Burden of Wireless Communication………101 5.5 The System of Cooperative Path Exploration by Multi-robot…………102 5.5.1 Hardware System……………………………………………………………102 5.5.2 Software System……………………………………………………………103 5.6 Summary……………………………………………………………………………105 Conclusion…………………………………………………………………………………106 References…………………………………………………………………………………108 Papers published in the period of Ph.D.education……………………………120 -X-Contents Statement of copyright…………………………………………………………………121 Letter of authorization…………………………………………………………………121 Acknowledgment…………………………………………………………………………122 Resume………………………………………………………………………………………123

目录