Abstract: The present invention relates to an air-ground heterogeneous robot system path planning method based on a neighborhood constraint. A smallest heterogeneous robot system is formed by a ground mobile robot and an air flying robot. The steps of the method include the ground mobile robot and the air flying robot start from a start point at the same time, successively access N sub-task points for executing sub-tasks and finally reach a destination together. In the present invention, it is considered that the position of each sub-task point is allowed to be effective in a certain neighborhood, and a neighborhood constraint is introduced. In addition, the maximum speed constraints are considered respectively for the air flying robot and the ground mobile robot.

Abstract: The present invention relates to an air-ground heterogeneous robot system path planning method based on a neighborhood constraint. A smallest heterogeneous robot system is formed by a ground mobile robot and an air flying robot. The steps of the method include the ground mobile robot and the air flying robot start from a start point at the same time, successively access N sub-task points for executing sub-tasks and finally reach a destination together. In the present invention, it is considered that the position of each sub-task point is allowed to be effective in a certain neighborhood, and a neighborhood constraint is introduced. In addition, the maximum speed constraints are considered respectively for the air flying robot and the ground mobile robot.

Abstract: The present invention provides a microalloyed steel mechanical property prediction method based on globally additive model, including the following steps: determining some influencing factors of the microalloyed steel mechanical property prediction model; calculating the components and contents of carbonitride precipitation in a microalloyed steel rolling process; expressing the microalloyed steel mechanical property prediction model as an additive form of several submodels according to generalized additive model; estimating the microalloyed steel mechanical property prediction model; and verifying reliability of the submodels. The microalloyed steel property prediction models obtained in the foregoing solution have advantages such as high prediction precision and a wide adaptation range, and may be used for design of new products and steel grade component optimization, so as to reduce the quantity of physical tests, shorten the product research and development cycle, and reduce costs.