陈慧岩 , 张玉 . 军用地面无人机动平台技术发展综述 [J ] . 兵工学报 , 2014 , 35 ( 10 ): 1696 - 1706 . DOI: 10.3969/j.issn.1000-1093.2014.10.026 http://doi.org/10.3969/j.issn.1000-1093.2014.10.026 地面无人机动平台对发展高机动地面无人战斗系统具有重要的战略意义，是当前各国国防科技领域的研究热点。文中综述了军用地面无人机动平台的发展历程与最新进展，分别阐述和分析了其基本组成和发展特点，然后从环境感知、运动规划、跟踪控制等方面总结了军用地面无人机动平台发展中的关键技术，并对军用无人机动平台的研究方向和研究重点进行了展望。

CHEN H Y , ZHANG Y . An overview of research on military unmanned ground vehicles [J ] . Acta Armamentarii , 2014 , 35 ( 10 ): 1696 - 1706 . (in Chinese)

GANGANATH N , CHENG C T , TSE C K . Rapidly replanning A * [J ] ∥Proceedings of 2016 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery. Chengdu,China:IEEE , 2016 : 386 - 389 .

张晓晔 , 谢志文 , 吴晖 . 基于时间栅格法和最优搜索的电网巡检机器人避障路径规划方法 [J ] . 机械与电子 , 2021 , 39 ( 9 ): 71 - 75 .

ZHANG X Y , XIE Z W , WU H . Obstacle avoidance path planning method for power grid inspection robot based on time grid method and optimal search [J ] . Machinery & Electronics , 2021 , 39 ( 9 ): 71 - 75 . (in Chinese)

CHEN Y , LI W , QI R . Research and simulation of UAV three-dimensional path replanning in complex environment [C ] ∥Proceedings of 2021 IEEE Asia-Pacific Conference on Image Processing, Electronics and Computers.Dalian,China:IEEE , 2021 : 746 - 751 .

朱杰 , 鲁艺 , 张辉明 . 突发威胁情况下的无人机航迹重规划 [J ] . 计算机工程与应用 , 2018 , 54 ( 8 ): 255 - 259 . DOI: 10.3778/j.issn.1002-8331.1709-0345 http://doi.org/10.3778/j.issn.1002-8331.1709-0345 为了提高Voronoi图在航迹规划方面的实用性，提出了一种改进型的Voronoi图构造模型。该模型通过引入威胁源的不可穿越区域边界，利用折中原理，在Delaunay三角网的基础上构建航迹拓扑空间。改进型的Voronoi图模型拓展了传统模型的航迹段数量，提高了航迹段对威胁的敏感性，使规划的航迹更为合理。其次，在分析突发威胁对于航迹拓扑空间影响的基础上，提出了一种基于改进型Voronoi图的航迹重规划模型，并结合D*算法对突发情况下的航迹重规划进行了研究，规划出了理想航迹。

ZHU J , LU Y , ZHANG H M . Path replanning for UAV in emergent threats [J ] . Computer Engineering and Applications , 2018 , 54 ( 8 ): 255 - 259 . (in Chinese) DOI: 10.3778/j.issn.1002-8331.1709-0345 http://doi.org/10.3778/j.issn.1002-8331.1709-0345 To improve the practicability of the Voronoi diagram for path planning, a model which is based on the improved Voronoi diagram is presented. According to bringing in the boundary of the threat sources noncrossing region, using compromised principle, the path topological space on the basis of Delaunay triangulation is established. The improved Voronoi diagram model expands the number of path segments for traditional model, improves the sensitivity of the path segments to the threats, and makes the planning path more reasonable. Secendly, based on analyzing the influence of emergent threats to path topological space, a kind of path replanning model is proposed. Combined with D* algorithm, the path replanning in the emergency is studied and the ideal path is planned.

邹启杰 , 刘世慧 , 张跃 . 基于强化学习的快速探索随机树特殊环境中路径重规划算法 [J ] . 控制理论与应用 , 2020 , 37 ( 8 ): 1737 - 1748 .

ZOU Q J , LIU S H , ZHANG Y . Rapidly-exploring random tree algorithm for path re-planning based on reinforcement learning under the peculiar environment [J ] . Control Theory & Applications , 2020 , 37 ( 8 ): 1737 - 1748 . (in Chinese)

房立金 , 吴政翰 , 王怀震 . 基于改进RRT*FN算法的机械臂多场景运动规划 [J ] . 中国机械工程 , 2021 , 32 ( 21 ): 2590 - 2597 .

FANG L J , WU Z H , WANG H Z . Multi-scene motion planning of manipulators based on improved RRT*FN algorithm [J ] . China Mechanical Engineering , 2021 , 32 ( 21 ): 2590 - 2597 . (in Chinese) DOI: 10.3969/j.issn.1004-132X.2021.21.008 http://doi.org/10.3969/j.issn.1004-132X.2021.21.008 Aiming at the problems of low precision, poor environmental adaptability of RRT*FN algorithm, an improved RRT*FN motion planning algorithm for manipulators was proposed. Firstly, in the iteration processes, combining the advantages of target biased random sampling and ellipsoid subset sampling, a new heuristic method was constructed to constrain the sampling areas, so as to ensure better search paths. Then, in expanding node processes, the preset values of total number of nodes in the tree were configured, and the leaf nodes in the tree were deleted by weighting method, which avoided the infinite growth of tree sizes. Finally, under the dynamic environment, a heuristic replanning method of node pruning and connection was adopted to effectively improve the adaptability of dynamic environment. Experimental results show that the algorithm herein has faster convergence speed and higher efficiency in planning processes, and has strong environmental adaptability.

丛玉华 , 赵宗豪 , 邢长达 , 等 . 基于改进人工势场的无人机动态避障路径规划 [J ] . 兵器装备工程学报 , 2021 , 42 ( 9 ): 170 - 176 .

CONG Y H , ZHAO Z H , XING C D , et al. Dynamic obstacle avoidance path planning of UAV based on improved artificial potential field [J ] . Journal of Ordnance Equipment Engineering , 2021 , 42 ( 9 ): 170 - 176 . (in Chinese)

朱大奇 , 刘雨 , 孙兵 , 等 . 自治水下机器人的自主启发式生物启发神经网络路径规划算法 [J ] . 控制理论与应用 , 2019 , 36 ( 2 ): 183 - 191 .

ZHU D Q , LIU Y , SUN B , et al. Autonomous underwater vehicles path planning based on autonomous inspired Glasius bio-inspired neural network algorithm [J ] . Control Theory & Applications , 2019 , 36 ( 2 ): 183 - 191 . (in Chinese)

孙鹏耀 , 黄炎焱 , 潘尧 . 基于改进势场法的移动机器人路径规划 [J ] . 兵工学报 , 2020 , 41 ( 10 ): 2106 - 2121 . DOI: 10.3969/j.issn.1000-1093.2020.10.021 http://doi.org/10.3969/j.issn.1000-1093.2020.10.021 针对传统势场法存在的路径不被识别、局部极小陷阱、振荡问题，提出适用于复杂障碍环境情况下机器人路径规划、结合多行为策略与可变影响范围的势场法。通过对障碍物影响范围做可变处理，消除问题共同必要条件，提前规避路径不识别、多障碍区导致的振荡、多障碍区导致的局部极小陷阱3个问题；采取新的步进与振荡分类方式，设计多行为行动策略，并给出各行为的准确起止条件，通过预判问题的共同表现形式以及起止条件的衔接进行行为切换，提前规避单障碍区导致的局部极小陷阱和单障碍区导致的振荡2个问题；基于数学仿真软件MATLAB平台的仿真结果验证所提方法在战场复杂障碍环境下的有效性与稳定性，与传统势场法、动态窗口法、A星算法、快速随机树算法的对比结果更突出了该方法的可行性与优越性。

SUN P Y , HUANG Y Y , PAN Y . Path planning of mobile robots based on improved potential field algorithm [J ] . Acta Armamentarii , 2020 , 41 ( 10 ): 2106 - 2121 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2020.10.021 http://doi.org/10.3969/j.issn.1000-1093.2020.10.021 In view of the problems existing in the traditional potential field algorithm (PFA), such as unrecognized path, local minimal trap and oscillation, a potential field algorithm combining multi-behavior strategy and obstacles variable affected range, and the path planning of robots suitable for the complex obstacle environment is proposed. The obstacles affected range can be changed to eliminate the common necessary conditions of the above problems, so as to avoid unrecognized path, oscillation caused by multiple obstacles and local minimal trap caused by multiple obstacles in advance. Based on the new classification method for step-by-step and oscillation, the multi-behavior strategy is designed with the exact starting and ending conditions. The behaviors are switched by predicting the common expression of problems and the connection of starting and ending conditions, thus avoiding the local minimum trap caused by single obstacle and the oscillation caused by single obstacle in advance. The simulated results based on MATLAB verify the effectiveness and stability of the proposed method in the complex battlefield obstacle environment, and the proposed method has the feasibility for path planning compared with potential field algorithm, dynamic window approach, A-star algorithm and rapid-exploration random tree algorithm.

赵梓烨 , 刘海鸥 , 陈慧岩 . 分布式电驱动无人高速履带车辆越野环境轨迹预测方法研究 [J ] . 兵工学报 , 2019 , 40 ( 4 ): 680 - 688 . DOI: 10.3969/j.issn.1000-1093.2019.04.002 http://doi.org/10.3969/j.issn.1000-1093.2019.04.002 越野环境下，无人车辆轨迹预测是车辆轨迹跟踪和精确导航的核心模块，预测误差将直接影响无人车辆行驶任务完成的准确程度。为实现速差转向式履带车辆在复杂越野环境下无人行驶轨迹准确预测的目的，搭建了分布式电驱动无人履带车辆系统，实现了车辆动态过程中的无人系统数据和车辆底层状态数据的同步采集。建立了速差转向车辆运动学模型，分析了履带车辆滑动转向特性。分别采用扩展卡尔曼滤波(EKF)方法和Levenberg-Marquardt方法对转向过程中的滑动参数进行估计，并完成了车辆轨迹预测。基于真实越野环境下的实车数据进行了验证。试验结果表明：相比于履带车辆理想预测模型，所采用的两种轨迹预测方法都大幅降低了车辆轨迹预测误差；对误差均值而言，EKF方法预测轨迹优于Levenberg-Marquardt方法；对误差标准差而言，后者优于前者，且随着转向程度的增加而增大。

ZHAO Z Y , LIU H O , CHEN H Y . Research on trajectory prediction method of distributed high speed electric drive unmanned tracked vehicle in off-road conditions [J ] . Acta Armamentarii , 2019 , 40 ( 4 ): 680 - 688 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2019.04.002 http://doi.org/10.3969/j.issn.1000-1093.2019.04.002 The unmanned vehicle trajectory prediction module is a core module of vehicle trajectory tracking and precise navigation in the off-road conditions. The prediction error has direct effect on the accuracy of the completion of unmanned vehicle driving tasks. In order to realize the accurate prediction of trajectory of skid-steered unmanned tracked vehicle in the complex off-road conditions, a distributed electric drive unmanned tracked vehicle system was built, which realizes the synchronous acquisition of unmanned system data and vehicle state data in the vehicle dynamic process. A kinematic model of skided-steered tracked vehicle is established, and the sliding steering characteristics of tracked vehicle are analyzed. The extended Kalman filter (EKF) method and the Levenberg-Marquardt(L-M) method are used to estimate the sliding parameters in the steering process, and the vehicle trajectory prediction is completed. The verification analysis is based on real vehicle data in real off-road conditions. The statistical analysis method is used to compare the prediction errors of two prediction methods. The test results show that, compared with the ideal prediction model of tracked vehicles, the two trajectory prediction methods greatly reduce the prediction error of vehicle trajectory. For the mean of error, EKF method is better than L-M method in the trajectory prediction; for the standard deviation, the latter is better than the former, and the standard deviation increases with the increase in the degree of steering. Key

赵屹东 , 陈慧岩 , 胡家铭 . 双侧独立电驱动履带车辆自动机械变速器线控换挡控制方法 [J ] . 兵工学报 , 2021 , 42 ( 3 ): 459 - 467 . DOI: 10.3969/j.issn.1000-1093.2021.03.002 http://doi.org/10.3969/j.issn.1000-1093.2021.03.002 为应用自动机械变速器（AMT）实现双侧独立电驱动履带车辆的换挡，降低换挡控制难度，设计非道路行驶时的换挡控制方法。基于无离合器、有同步器的两挡行星AMT，通过线控系统及纯电动换挡机构进行换挡操纵；对驱动电机调速以实现主动同步，接近同步后开始挂挡，由同步器辅助精确同步；使两侧变速器同时开始换挡，但不要求两侧精确同时完成。在软土路面进行实车正向行驶试验，连续换挡多次均成功，换挡过程稳定流畅。试验结果表明：同步器未明显发生锁止与磨损；升挡及减挡时间均会随换挡起始车速的增高而增加；换挡起始车速不变时，升挡时间常大于减挡时间；两侧换挡用时差异性较小，基本同时完成；换挡期间，外界影响主要表现为行驶阻力，导致车辆减速，车辆未因路面的随机差异性而出现两侧明显差速现象。

ZHAO Y D , CHEN H Y , HU J M . Control method for amt shifting of a shift-by-wire bilateral electric drive tracked vehicle [J ] . Acta Armamentarii , 2021 , 42 ( 3 ): 459 - 467 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2021.03.002 http://doi.org/10.3969/j.issn.1000-1093.2021.03.002 A suitable simplified shifting control method is designed for using automated mechanical transmission(AMT) to realize the shifting of bilateral electric drive tracked vehicle. AMT is a clutchless two-speed planetary gearbox. Gear shifting is electric and driven by wire. During synchronizing phase, the speed of input shaft is roughly synchronized using traction motor; during gear engaging phase, the accurate speed matching is supposed to be ensured by the synchronizer. Two gearboxes are used for vehicle shifting. Their shifting processes start simultaneously and last independently. Upshifting and downshifting are tested for many times when driving forwardly on soft soil land. Test results show that shifting is executed successfully and efficiently; the synchronizers hardly lock to cause wear; upshifting needs longer time than downshifting as vehicle speed remains unchanged; upshifting and downshifting times both tend to be longer as vehicle speed becomes higher; two gearboxes accomplish shifting almost simultaneously; while shifting, the environment mainly causes vehicle speed reduction, and hardly causes the speed difference of vehicle track.

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