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改进A~*蚁群算法求解机器人路径规划问题 被引量:17
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作者 万逸飞 彭力 《传感器与微系统》 CSCD 2019年第12期153-156,160,共5页
针对蚁群算法收敛速度慢、效率低以及易陷入局部最优的一系列问题,提出改进的A^*蚁群算法。为降低蚁群死锁、停滞的概率,先将栅格地图进行处理。其次为了提高蚁群的效率,引进A^*算法确定蚁群的初始信息素,同时改进蚁群信息素更新方式,... 针对蚁群算法收敛速度慢、效率低以及易陷入局部最优的一系列问题,提出改进的A^*蚁群算法。为降低蚁群死锁、停滞的概率,先将栅格地图进行处理。其次为了提高蚁群的效率,引进A^*算法确定蚁群的初始信息素,同时改进蚁群信息素更新方式,从而提高算法的收敛速度;针对局部最优的问题,提出将蚁群中的启发函数进行改进,不仅考虑到可行栅格中的最短距离,还考虑到目标点的位置,并且引入简化算子对蚁群的路径进行优化。通过4组仿真对比,改进的A^*蚁群算法效果显著。 展开更多
关键词 路径规划 蚁群算法 A*算法 不平等更新 简化算子
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优化多步长蚁群算法求解机器人路径规划问题 被引量:9
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作者 胡佳斌 王祥澍 +1 位作者 张琪 全瑞坤 《传感器与微系统》 CSCD 北大核心 2021年第10期121-124,共4页
针对蚁群算法收敛速度慢,规划路径存在冗余拐点不是最短路径等的一系列问题,提出优化的多步长蚁群算法。通过扩大机器人的视野域和活动域并加入简化算子,增加路径平滑度;通过差异化更新信息素并改进启发函数,促使机器人倾向终点移动,以... 针对蚁群算法收敛速度慢,规划路径存在冗余拐点不是最短路径等的一系列问题,提出优化的多步长蚁群算法。通过扩大机器人的视野域和活动域并加入简化算子,增加路径平滑度;通过差异化更新信息素并改进启发函数,促使机器人倾向终点移动,以提高收敛速度。应用MATLAB程序对改进后的算法与原蚁群算法和多步长蚁群算法进行仿真对比,通过多次仿真实验,优化的多步长蚁群算法效果显著。 展开更多
关键词 路径规划 蚁群优化算法 多步长 启发函数 简化算子
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A new method of mesh simplification for 3-Dimension terrain using Laplace operator 被引量:1
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作者 Zuo Wenpin Che Xiangjiu 《Computer Aided Drafting,Design and Manufacturing》 2012年第1期44-48,共5页
This paper proposes a new method to simplify mesh in 3D terrain. The 3D terrain is presented by digital elevation model. First, Laplace operator is introduced to calculate sharp degree of mesh point, which indicates t... This paper proposes a new method to simplify mesh in 3D terrain. The 3D terrain is presented by digital elevation model. First, Laplace operator is introduced to calculate sharp degree of mesh point, which indicates the variation trend of the terrain. Through setting a critical value of sharp degree, feature points are selected. Second, critical mesh points are extracted by an recursive process, and constitute the simplified mesh. Third, the algorithm of linear-square interpolation is employed to restore the characteris- tics of the terrain. Last, the terrain is rendered with color and texture. The experimental results demonstrate that this method can compress data by 16% and the error is lower than 10%. 展开更多
关键词 3-dimension terrain critical mesh point simplified mesh Laplace operator
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基于灰色简化B型关联度的图像边缘检测 被引量:4
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作者 李会鸽 韩跃平 郭静 《红外技术》 CSCD 北大核心 2017年第2期163-167,共5页
鉴于传统的灰色边缘检测算法在阈值选取上需要人工干预,不具备自适应能力,提出了基于灰色简化B型关联度的自适应阈值选取进行图像边缘检测新算法。首先,用标准差化矩阵算子对图像灰度值进行预处理;其次,在3×3的像素模板上,将预处... 鉴于传统的灰色边缘检测算法在阈值选取上需要人工干预,不具备自适应能力,提出了基于灰色简化B型关联度的自适应阈值选取进行图像边缘检测新算法。首先,用标准差化矩阵算子对图像灰度值进行预处理;其次,在3×3的像素模板上,将预处理后的中心像素点及周围8个像素点的数值一维化作为比较序列,并将这9个像素点的均值作为参考序列;最后,利用简化B型关联度计算两者之间的灰关联度,根据迭代算法求取灰色简化B型关联度的最佳阈值来检测图像边缘。实验结果表明,所提算法对灰度变化剧烈的图像具有较强的适应性,检测边缘清晰准确,比传统的邓氏相关度边缘检测算法能够更好的抑制噪声。 展开更多
关键词 边缘检测 简化B型关联度 矩阵算子 灰度图像 迭代算法
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Power Aggregation Operators of Simplified Neutrosophic Sets and Their Use in Multi-attribute Group Decision Making 被引量:2
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作者 Chunfang Liu Yuesheng Luo 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2019年第2期575-583,共9页
The simplified neutrosophic set(SNS) is a useful generalization of the fuzzy set that is designed for some practical situations in which each element has different truth membership function, indeterminacy membership f... The simplified neutrosophic set(SNS) is a useful generalization of the fuzzy set that is designed for some practical situations in which each element has different truth membership function, indeterminacy membership function and falsity membership function. In this paper, we develop a series of power aggregation operators called simplified neutrosophic number power weighted averaging(SNNPWA) operator, simplified neutrosophic number power weighted geometric(SNNPWG) operator, simplified neutrosophic number power ordered weighted averaging(SNNPOWA) operator and simplified neutrosophic number power ordered weighted geometric(SNNPOWG) operator. We present some useful properties of the operators and discuss the relationships among them. Moreover, an approach to multiattribute group decision making(MAGDM) within the framework of SNSs is developed by the above aggregation operators.Finally, a practical application of the developed approach to deal with the problem of investment is given, and the result shows that our approach is reasonable and effective in dealing with uncertain decision making problems. 展开更多
关键词 MULTI-ATTRIBUTE group decision making(MAGDM) POWER AGGREGATION operator(PAO) simplified neutrosophic set(SNS) uncertainty
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压电陶瓷执行器的输入历史相关Preisach模型 被引量:2
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作者 李黎 刘向东 +1 位作者 王伟 侯朝桢 《压电与声光》 CSCD 北大核心 2008年第5期551-553,557,共4页
压电陶瓷执行器的迟滞特性是影响其定位精度的主要因素。用于描述迟滞特性的经典Preisach模型的输出与历史时刻输入密切相关,在Preisach权函数中引入历史时刻输入信息,提出一种新的Preisach模型。采用简化迟滞算子对模型进行预处理后,... 压电陶瓷执行器的迟滞特性是影响其定位精度的主要因素。用于描述迟滞特性的经典Preisach模型的输出与历史时刻输入密切相关,在Preisach权函数中引入历史时刻输入信息,提出一种新的Preisach模型。采用简化迟滞算子对模型进行预处理后,构造神经网络实现模型的辨识。实验数据表明,在衰减正弦电压信号激励下,该模型预测位移误差绝对值的最大值与经典Preisach模型相比减少了76%,均方误差减少了78%。 展开更多
关键词 压电陶瓷执行器 简化迟滞算子 PREISACH模型 输入历史相关
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Determination of the Response Amplitude Operator(s) of an FPSO 被引量:1
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作者 Imabibo Ibinabo Daniel T. Tamunodukobipi 《Engineering(科研)》 2019年第9期541-556,共16页
The driving necessities of cost reduction and the need to develop fields at ever increasing water depths have led to the use of floating structures. Among these structures are the Floating Production Storage and Offlo... The driving necessities of cost reduction and the need to develop fields at ever increasing water depths have led to the use of floating structures. Among these structures are the Floating Production Storage and Offloading (FPSO) units whose motion analysis is considered in this paper. In actual environmental condition, it is required to accurately determine or predict large amplitude motion of the FPSO before any offshore operation. This paper seeks to present a detailed method of computing the Response Amplitude Operator(s) (RAOs) for the six (6) degrees of freedom using ANSYS AQWA. The results indicate for Heave motion a tendency for the heave peak value to move slightly higher dimensionless encounter-frequency as the wave moves from Head sea to Beam sea direction. A MATLAB source code was developed to validate the result for heave motion at head sea. Although a small difference in predicted heave motion occurred, it is pertinent to note that the comparisons between results generated in the MATLAB program and ANSYS AQWA demonstrate generally good agreement, and the roll response of the FPSO is noted to be critical. 展开更多
关键词 RESPONSE AMPLITUDE operator(s) FLOATING Production Storage and OFFLOADING Unit ANSYS AQWA MATLAB simplified Method
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