基于Dubins曲线和改进A*算法的AUV路径规划方法

将Dubins曲线和具有角度约束的改进A*搜索算法结合应用于路径规划中,能解决路径长度最短和安全性的问题。这样规划出来的路径由两段满足AUV最小转弯半径的圆弧和一段同时与两弧相切的直线构成。圆弧段由产生Dubins路径的方法产生,直线段由改进A*搜索算法扩展产生。首先通过判断Dubins路径存在条件,解算Dubins曲线参数,从而确定此路径中两圆弧的起始点、终止点坐标。再通过这些圆弧坐标可得到直线与圆弧的切入点、切出点,此两点就是改进A*搜索算法扩展路径的起始点和终止点。以Matlab为工具进行仿真实验,验证了此方法能产生规避障碍物的可行的最短路径。     

Spin Transport Properties of MnBi2Te4-Based Magnetic Tunnel Junctions

The van der Waals heterojunctions,stacking of different two-dimensional materials,have opened unprecedented opportunities to explore new physics and device concepts.Here,combining the density functional theory with non-equilibrium Green’s function technique,we systematically investigate the spin-polarized transport properties of van der Waals magnetic tunnel junctions (MTJs),Cu/MnBi₂Te₄/MnBi₂Te₄/Cu and Cu/MnBi₂Te₄/hBN/n·MnBi_2...