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Optimal M-BCJR Turbo Decoding: The Z-MAP Algorithm
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作者 Aissa Ouardi Ali Djebbari Boubakar Seddik Bouazza 《Wireless Engineering and Technology》 2011年第4期230-234,共5页
In this paper, we propose a novel idea for improvement performances of the leader M-BCJR algorithm functioning in low complexity. The basic idea consists to localize error instant possibility, and then increase the co... In this paper, we propose a novel idea for improvement performances of the leader M-BCJR algorithm functioning in low complexity. The basic idea consists to localize error instant possibility, and then increase the complexity around this moment. We also propose an easy and important idea for early localisation of erroneous moments. We call this new algorithm Z-MAP. The simulations show that the improvement of performances is significant. The performances of Z-MAP turbo decoding are so close to full MAP-BCJR performances. Furthermore, the complexity is the same that of the M-BCJR. So, Z-MAP is an optimal version of M-BCJR algorithm. 展开更多
关键词 map-BCJR algorithm M-BCJR TURBO Decoding Complexity Reduction Error LOCALISATION Criterion
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Power forecasting method of ultra-short-term wind power cluster based on the convergence cross mapping algorithm
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作者 Yuzhe Yang Weiye Song +5 位作者 Shuang Han Jie Yan Han Wang Qiangsheng Dai Xuesong Huo Yongqian Liu 《Global Energy Interconnection》 2025年第1期28-42,共15页
The development of wind power clusters has scaled in terms of both scale and coverage,and the impact of weather fluctuations on cluster output changes has become increasingly complex.Accurately identifying the forward... The development of wind power clusters has scaled in terms of both scale and coverage,and the impact of weather fluctuations on cluster output changes has become increasingly complex.Accurately identifying the forward-looking information of key wind farms in a cluster under different weather conditions is an effective method to improve the accuracy of ultrashort-term cluster power forecasting.To this end,this paper proposes a refined modeling method for ultrashort-term wind power cluster forecasting based on a convergent cross-mapping algorithm.From the perspective of causality,key meteorological forecasting factors under different cluster power fluctuation processes were screened,and refined training modeling was performed for different fluctuation processes.First,a wind process description index system and classification model at the wind power cluster level are established to realize the classification of typical fluctuation processes.A meteorological-cluster power causal relationship evaluation model based on the convergent cross-mapping algorithm is pro-posed to screen meteorological forecasting factors under multiple types of typical fluctuation processes.Finally,a refined modeling meth-od for a variety of different typical fluctuation processes is proposed,and the strong causal meteorological forecasting factors of each scenario are used as inputs to realize high-precision modeling and forecasting of ultra-short-term wind cluster power.An example anal-ysis shows that the short-term wind power cluster power forecasting accuracy of the proposed method can reach 88.55%,which is 1.57-7.32%higher than that of traditional methods. 展开更多
关键词 Ultra-short-term wind power forecasting Wind power cluster Causality analysis Convergence cross mapping algorithm
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基于改进RTAB-Map算法的爬壁机器人导航研究
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作者 覃超 唐东林 +3 位作者 游东潘 丁超 饶胜 何媛媛 《工程设计学报》 北大核心 2025年第1期32-41,共10页
针对爬壁机器人难以对大型石化装备壁面感知和自动化检测等难题,提出了一种改进RTAB-Map(real-time appearance-based mapping,基于外观的实时建图)算法,通过多传感器数据融合实现爬壁机器人定位、建图与导航。首先,搭建了具有壁面吸附... 针对爬壁机器人难以对大型石化装备壁面感知和自动化检测等难题,提出了一种改进RTAB-Map(real-time appearance-based mapping,基于外观的实时建图)算法,通过多传感器数据融合实现爬壁机器人定位、建图与导航。首先,搭建了具有壁面吸附能力的机器人运动底盘,以保证爬壁机器人在壁面灵活稳定运动;其次,针对爬壁机器人在壁面滑移导致的里程计累计误差问题,采用扩展卡尔曼滤波并融合编码器和惯性测量单元的数据,为建图和导航提供精确的里程计信息;再次,基于RTAB-Map算法对深度相机、激光雷达及里程计的数据进行融合,生成二维栅格和三维点云地图,实现对装备壁面的完整描述,并基于融合数据构建了爬壁机器人导航算法的框架;最后,在装备壁面进行了实验验证。结果表明:采用融合里程计算法,能显著减小航向角误差,航向角平均误差为0.78°,相对轮式里程计规划,航向角误差减少了88.94%;改进RTAB-Map算法提高了爬壁机器人在壁面环境下的建图与感知能力,结合路径规划算法,实现了机器人自主导航。研究结果对爬壁机器人自动化检测技术的研究及应用具有一定的参考意义。 展开更多
关键词 爬壁机器人 RTAB-map(基于外观的实时建图)算法 扩展卡尔曼滤波 多传感器融合 导航
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Differential Spatial Modulation Mapping Algorithms
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作者 WANG Chanfei CHAI Jianxin XU Yamei 《ZTE Communications》 2024年第3期116-122,共7页
Differential spatial modulation(DSM)is a multiple-input multiple-output(MIMO)transmission scheme.It has attracted extensive research interest due to its ability to transmit additional data without increasing any radio... Differential spatial modulation(DSM)is a multiple-input multiple-output(MIMO)transmission scheme.It has attracted extensive research interest due to its ability to transmit additional data without increasing any radio frequency chain.In this paper,DSM is investigated using two mapping algorithms:Look-Up Table Order(LUTO)and Permutation Method(PM).Then,the bit error rate(BER)performance and complexity of the two mapping algorithms in various antennas and modulation methods are verified by simulation experiments.The results show that PM has a lower BER than the LUTO mapping algorithm,and the latter has lower complexity than the former. 展开更多
关键词 spatial modulation(SM) multiple-input multiple-output(MIMO) Look-Up Table Order(LUTO) Permutation Method(PM) mapping algorithm
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基于Gmapping算法的智能车建图研究
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作者 刘慧敏 郑竹安 +1 位作者 谢双健 朱乃宣 《自动化与仪表》 2025年第9期51-55,60,共6页
该研究旨在解决智能车在室内环境中高效建图的问题,以提高车辆的自主导航能力。基于机器人操作系统(ROS)平台进行实现,对2种广泛使用的地图构建算法—Gmapping和Cartographer进行了实现与评估,并在相同的室内场景下进行了对比实验。通... 该研究旨在解决智能车在室内环境中高效建图的问题,以提高车辆的自主导航能力。基于机器人操作系统(ROS)平台进行实现,对2种广泛使用的地图构建算法—Gmapping和Cartographer进行了实现与评估,并在相同的室内场景下进行了对比实验。通过量化分析建图精度、地图完整性及算法稳定性等关键指标,全面评估了2种算法的性能。实验结果表明,Gmapping的测量误差为3%,优于Cartographer的4%误差;在室内环境中,Gmapping生成的地图与真实环境更为吻合,展现出更高的精度和稳定性;Gmapping在室内地图构建中具有更强的鲁棒性,为提升自主导航系统性能提供了重要参考。 展开更多
关键词 智能车 建图算法 ROS Gmapping Cartographer
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基于Supermap的石油化工厂区导航系统地图模块研发
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作者 王建林 《化工装备技术》 2025年第5期38-41,共4页
石油化工厂区作为核心工业区域,其地理环境复杂、功能区域多样,对导航的效率和准确提出了较高的要求。传统导航方式无法满足厂区内车辆和人员的需求,尤其在涉及机密信息的场景下,商业地图软件的应用受到限制。基于Supermap平台,对比研究... 石油化工厂区作为核心工业区域,其地理环境复杂、功能区域多样,对导航的效率和准确提出了较高的要求。传统导航方式无法满足厂区内车辆和人员的需求,尤其在涉及机密信息的场景下,商业地图软件的应用受到限制。基于Supermap平台,对比研究了A*算法与传统迪杰斯特拉算法(Dijkstra),为厂区提供精细化地图展示和路径规划支持,实现人员和车辆的最优路径规划。该模块引入数据加密和权限控制等安全机制,确保地图数据的安全性和保密性。通过无人机航拍和实地测量获取厂区内部的地理信息,并对原始数据进行预处理和系统整合,利用GIS引擎实现地图数据的快速加载和高效渲染,为用户提供流畅的导航体验。该地图模块已成功应用于某石化企业的导航系统,实际应用效果良好。 展开更多
关键词 SUPERmap 地图模块 路径规划算法 导航
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Multi-Strategy Improved Secretary Bird Optimization Algorithm
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作者 Fengkai Wang Bo Wang 《Journal of Computer and Communications》 2025年第1期90-107,共18页
This paper addresses the shortcomings of the Sparrow and Eagle Optimization Algorithm (SBOA) in terms of convergence accuracy, convergence speed, and susceptibility to local optima. To this end, an improved Sparrow an... This paper addresses the shortcomings of the Sparrow and Eagle Optimization Algorithm (SBOA) in terms of convergence accuracy, convergence speed, and susceptibility to local optima. To this end, an improved Sparrow and Eagle Optimization Algorithm (HS-SBOA) is proposed. Initially, the algorithm employs Iterative Mapping to generate an initial sparrow and eagle population, enhancing the diversity of the population during the global search phase. Subsequently, an adaptive weighting strategy is introduced during the exploration phase of the algorithm to achieve a balance between exploration and exploitation. Finally, to avoid the algorithm falling into local optima, a Cauchy mutation operation is applied to the current best individual. To validate the performance of the HS-SBOA algorithm, it was applied to the CEC2021 benchmark function set and three practical engineering problems, and compared with other optimization algorithms such as the Grey Wolf Optimization (GWO), Particle Swarm Optimization (PSO), and Whale Optimization Algorithm (WOA) to test the effectiveness of the improved algorithm. The simulation experimental results show that the HS-SBOA algorithm demonstrates significant advantages in terms of convergence speed and accuracy, thereby validating the effectiveness of its improved strategies. 展开更多
关键词 Secretary Bird Optimization algorithm Iterative mapping Adaptive Weight Strategy Cauchy Variation Convergence Speed
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基于RCMDE和ISOMAP的行星齿轮传动耦合故障辨识研究 被引量:1
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作者 苏世卿 王华锋 《机电工程》 CAS 北大核心 2024年第9期1584-1594,共11页
现有针对行星齿轮箱的故障诊断方法一般仅研究单一故障,但实际行星齿轮箱的故障一般由多个故障耦合而成,耦合故障的故障机理比单一故障的故障机理更复杂,振动信号中的非线性因素对特征提取的干扰更严重。针对该问题,提出了一种基于精细... 现有针对行星齿轮箱的故障诊断方法一般仅研究单一故障,但实际行星齿轮箱的故障一般由多个故障耦合而成,耦合故障的故障机理比单一故障的故障机理更复杂,振动信号中的非线性因素对特征提取的干扰更严重。针对该问题,提出了一种基于精细复合多尺度散度熵(RCMDE)、等距特征映射(ISOMAP)和遗传算法优化核极限学习机(GA-KELM)的行星齿轮箱耦合故障诊断方法。首先,利用振动加速度计采集了行星齿轮箱单一故障和耦合故障下运行时的振动信号,构建了故障数据集;随后,利用RCMDE提取了行星齿轮箱振动信号的故障特征,建立了初始的特征样本;接着,利用ISOMAP对故障特征进行了降维,并以可视化的方式获取了低维的特征样本;最后,将新特征输入至GA-KELM分类器中,对行星齿轮箱的不同故障类型进行了识别,并基于行星齿轮箱多点损伤样本,对RCMDE方法的可靠性进行了研究。研究结果表明:基于RCMDE和ISOMAP的故障特征提取方法能够有效提取振动信号中的故障特征,而GA-KELM的故障诊断准确率达到了98.13%,平均诊断准确率达到了96.25%。相较其他故障特征提取方法,基于RCMDE、ISOMAP和GA-KELM的行星齿轮箱耦合故障诊断方法能够更好地诊断行星齿轮箱的耦合故障,具有更高的诊断准确率。 展开更多
关键词 齿轮传动 耦合故障 故障诊断准确率 精细复合多尺度散度熵 等距特征映射 遗传算法优化核极限学习机
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A New Hybrid Algorithm and Its Numerical Realization for a Quasi-nonexpansive Mapping 被引量:7
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作者 GAO XING-HUI MA LE-RONG Ji You-qing 《Communications in Mathematical Research》 CSCD 2017年第4期340-346,共7页
The purpose of this article is to propose a new hybrid projection method for a quasi-nonexpansive mapping. The strong convergence of the algorithm is proved in real Hilbert spaces. A numerical experiment is also inclu... The purpose of this article is to propose a new hybrid projection method for a quasi-nonexpansive mapping. The strong convergence of the algorithm is proved in real Hilbert spaces. A numerical experiment is also included to explain the effectiveness of the proposed methods. The results of this paper are interesting extensions of those known results. 展开更多
关键词 quasi-nonexpansive mapping hybrid algorithm strong convergence Hilbert space
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S-box:six-dimensional compound hyperchaotic map and artificial bee colony algorithm 被引量:1
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作者 Ye Tian Zhimao Lu 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2016年第1期232-241,共10页
Being as unique nonlinear components of block ciphers,substitution boxes(S-boxes) directly affect the security of the cryptographic systems.It is important and difficult to design cryptographically strong S-boxes th... Being as unique nonlinear components of block ciphers,substitution boxes(S-boxes) directly affect the security of the cryptographic systems.It is important and difficult to design cryptographically strong S-boxes that simultaneously meet with multiple cryptographic criteria such as bijection,non-linearity,strict avalanche criterion(SAC),bits independence criterion(BIC),differential probability(DP) and linear probability(LP).To deal with this problem,a chaotic S-box based on the artificial bee colony algorithm(CSABC) is designed.It uses the S-boxes generated by the six-dimensional compound hyperchaotic map as the initial individuals and employs ABC to improve their performance.In addition,it considers the nonlinearity and differential uniformity as the fitness functions.A series of experiments have been conducted to compare multiple cryptographic criteria of this algorithm with other algorithms.Simulation results show that the new algorithm has cryptographically strong S-box while meeting multiple cryptographic criteria. 展开更多
关键词 substitution boxes(S-boxes) multiple cryptographic criteria six-dimensional compound hyperchaotic map artificial bee colony algorithm(ABC).
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δ-Mapping Algorithm and Its Application in Traffic Flow Problems with Inhomogeneities
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作者 张鹏 刘儒勋 戴世强 《Journal of Shanghai University(English Edition)》 CAS 2003年第4期315-317,共3页
With the Riemann solver to the scalar hyperbolic conservation law with a spatially varying flux, a δ-mapping algorithm was proposed. The algorithm and its prospective application in traffic flow problems were briefed... With the Riemann solver to the scalar hyperbolic conservation law with a spatially varying flux, a δ-mapping algorithm was proposed. The algorithm and its prospective application in traffic flow problems were briefed in the paper. 展开更多
关键词 INHOMOGENEITIES non-strictly hyperbolicity δ-mapping algorithm.
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考虑铣削表面形貌的工艺参数可靠性优化 被引量:1
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作者 黄贤振 王旭 +1 位作者 丁鹏飞 姜智元 《东北大学学报(自然科学版)》 北大核心 2025年第3期80-87,共8页
针对球头铣削过程进行研究,旨在完成铣削工艺参数的可靠性优化.首先,根据球头铣刀切削刃运动轨迹,利用Z映射(Z-MAP)算法对加工形成的表面形貌进行仿真,引入表面粗糙度(Ra)衡量加工后的表面质量,通过表面形貌分析实验验证表面形貌仿真模... 针对球头铣削过程进行研究,旨在完成铣削工艺参数的可靠性优化.首先,根据球头铣刀切削刃运动轨迹,利用Z映射(Z-MAP)算法对加工形成的表面形貌进行仿真,引入表面粗糙度(Ra)衡量加工后的表面质量,通过表面形貌分析实验验证表面形貌仿真模型的准确性;然后,考虑到铣削过程中加工表面质量、刀具使用寿命以及工艺参数不确定性的实际约束条件,建立以主轴转速、刀具进给速度、轴向切深、径向切深为优化变量,以材料去除率(Q)的最大化为优化目标的工艺参数可靠性优化模型;最后,基于灰狼优化算法对优化模型进行求解以获得最优工艺参数,并通过铣削实验验证优化结果的可行性. 展开更多
关键词 球头铣刀 Z-map算法 表面形貌 表面粗糙度 灰狼优化算法 可靠性优化
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Layered MAP algorithm for MIMO ISI channels
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作者 MO Yong ZHOU Xing-wei LI Dao-ben 《The Journal of China Universities of Posts and Telecommunications》 EI CSCD 2008年第4期19-23,共5页
The layered maximum a posteriori (L-MAP) algorithm has been proposed to detect signals under frequency selective fading multiple input multiple output (MIMO) channels. Compared to the optimum MAP detector, the L-M... The layered maximum a posteriori (L-MAP) algorithm has been proposed to detect signals under frequency selective fading multiple input multiple output (MIMO) channels. Compared to the optimum MAP detector, the L-MAP algorithm can efficiently identify signal bits, and the complexity grows linearly with the number of input antennas. The basic idea of L-MAP is to operate on each input sub-stream with an optimum MAP sequential detector separately by assuming the other streams are Gaussian noise. The soft output can also be forwarded to outer channel decoder for iterative decoding. Simulation results show that the proposed method can converge with a small number of iterations under different channel conditions and outperforms other sub-optimum detectors for rank-deficient channels. 展开更多
关键词 MIMO L-map Bahl-Cocke-Jelinek-Raviv (BCJR) algorithm soft-in soft-out
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基于阻塞栅格地图的煤矿救援机器人路径规划 被引量:1
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作者 邵小强 刘明乾 +3 位作者 马博 李浩 吕植越 韩泽辉 《煤炭科学技术》 北大核心 2025年第7期249-261,共13页
针对矿难发生后,煤矿救援机器人面对井下复杂环境使用路径规划算法耗时太长,路径规划过程中产生冗余点过多且易陷入死锁的问题,提出一种基于类型匹配的栅格地图阻塞算法,该算法可通过迭代阻塞以减少栅格地图中无需探索的可通行节点数量... 针对矿难发生后,煤矿救援机器人面对井下复杂环境使用路径规划算法耗时太长,路径规划过程中产生冗余点过多且易陷入死锁的问题,提出一种基于类型匹配的栅格地图阻塞算法,该算法可通过迭代阻塞以减少栅格地图中无需探索的可通行节点数量。算法的阻塞过程利用定义的栅格节点和其邻节点构成的3×3子图类型与栅格地图进行匹配。首先根据路径规划算法的寻路特点定义可阻塞栅格类型和不可阻塞栅格类型;然后按照各种类型特征进行建模,为每种类型设置权重和偏置;最后将各类型子图与初始栅格地图通过二维卷积操作进行匹配以阻塞无需拓展节点,在使用基于栅格地图的路径规划算法之前对输入栅格地图进行阻塞处理。阻塞节点不会断开原始栅格地图中存在最小成本路径。结果表明:该算法可应用于各种栅格环境地图中,在真实煤矿井下栅格地图环境下,与单独使用路径规划算法相比,使用本文算法结合A*算法与仅使用A*算法相比,该算法结合A*算法路径规划总时间减少60.0%,拓展节点数量减少60.4%;结合蚁群算法与仅使用蚁群算法相比,该算法结合蚁群算法路径规划总时间减少55.8%,迭代次数减少53.7%。所提算法极大缩小了路径规划时间,解决了路径规划死锁问题,在复杂环境地图中优势明显,保证事故救援的及时性。 展开更多
关键词 煤矿救援机器人 栅格地图 阻塞栅格地图 A*算法 蚁群算法
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基于不同收敛交叉映射算法的土地利用变化对环境热舒适度的时空响应因果分析
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作者 唐立娜 梁枫迪 +6 位作者 颜金珊 何秋琴 王宁 杨晨 张雨辰 郑欣雨 王琳 《生态学报》 北大核心 2025年第12期5619-5636,共18页
城市化不仅导致城市区域气温上升,还会改变城市内部的微气候条件,从而影响人体的热舒适度和身心健康。目前的研究多集中于城市化与温度之间的关联分析,对热舒适度这一更为综合的指标的因果关系探讨尚显不足。同时,不同土地利用类型对热... 城市化不仅导致城市区域气温上升,还会改变城市内部的微气候条件,从而影响人体的热舒适度和身心健康。目前的研究多集中于城市化与温度之间的关联分析,对热舒适度这一更为综合的指标的因果关系探讨尚显不足。同时,不同土地利用类型对热舒适度的影响呈现复杂的时空异质性,使得在大范围、长时间尺度上进行系统分析具有较大挑战。多空间收敛交叉映射方法通过重构多个空间单元的时间序列识别非线性因果关系,而地理收敛交叉映射方法结合地理邻接特征,能进一步提高空间因果推断的稳定性和可靠性。结合多空间收敛交叉映射和地理收敛交叉映射算法,系统分析了2005至2022年间福建省不同规模建成区以及2022年不同区域中各类土地利用类型与热舒适度之间的因果关系。研究结果显示,建设用地扩张与热舒适度在中小和中等级别建成区呈显著正向因果关系(P值分别为0.037和0.015),且其负面影响更为突出;在大规模建成区,裸地通常会加剧热负荷,而农田的影响因区域特征不同而存在差异;森林覆盖对改善热舒适度的作用最强,草地、灌木和水体对热舒适度的调节作用较弱,其效果在不同区域间存在差异,有时甚至产生不利影响。研究建议根据建成区的规模,合理增加森林、草地和灌木覆盖,并优化水体配置,以提升城市热舒适度。这一成果为基于热舒适优化的城市规划与环境管理提供了科学依据,具有重要的理论和实践意义。 展开更多
关键词 土地利用变化 热舒适度 收敛交叉映射算法 因果分析 城市规模
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融合多策略的改进鹈鹕优化算法 被引量:1
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作者 李智杰 赵铁柱 +3 位作者 李昌华 介军 石昊琦 杨辉 《控制工程》 北大核心 2025年第7期1184-1197,1206,共15页
针对鹈鹕优化算法在寻优过程中存在的种群多样性降低、收敛速度下降、易陷入局部最优等问题,融合多种策略对其进行改进,提出了改进鹈鹕优化算法(improved pelican optimization algorithm,IPOA)。首先,利用帐篷(tent)混沌映射和折射反... 针对鹈鹕优化算法在寻优过程中存在的种群多样性降低、收敛速度下降、易陷入局部最优等问题,融合多种策略对其进行改进,提出了改进鹈鹕优化算法(improved pelican optimization algorithm,IPOA)。首先,利用帐篷(tent)混沌映射和折射反向学习策略初始化鹈鹕种群,在增加种群多样性的同时为算法寻优能力的提升打下基础;然后,在鹈鹕逼近猎物阶段引入非线性惯性权重因子以提高算法的收敛速度;最后,引入樽海鞘群算法的领导者策略以协调算法的全局搜索能力和局部寻优能力。实验测试了单一改进策略的改进效果,并将IPOA与其他9种优化算法进行了对比。实验结果证明了各改进策略的有效性和IPOA的优越性和鲁棒性。 展开更多
关键词 鹈鹕优化算法 帐篷混沌映射 折射反向学习 非线性惯性权重因子 樽海鞘群算法
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A Reduced Search Soft-Output Detection Algorithm and Its Application to Turbo-Equalization
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作者 樊祥宁 窦怀宇 毕光国 《Journal of Southeast University(English Edition)》 EI CAS 2001年第1期8-12,共5页
To decrease the complexity of MAP algorithm, reduced state or reduced search techniques can be applied. In this paper we propose a reduced search soft output detection algorithm fully based on the principle of M a... To decrease the complexity of MAP algorithm, reduced state or reduced search techniques can be applied. In this paper we propose a reduced search soft output detection algorithm fully based on the principle of M algorithm for turbo equalization, which is a suboptimum version of the Lee algorithm. This algorithm is called soft output M algorithm (denoted as SO M algorithm), which applies the M strategy to both the forward recursion and the extended forward recursion of the Lee algorithm. Computer simulation results show that, by properly selecting and adjusting the breadth parameter and depth parameter during the iteration of turbo equalization, this algorithm can obtain good performance and complexity trade off. 展开更多
关键词 map algorithm Lee algorithm soft output M algorithm turbo equalization
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基于障碍密度优先策略改进A^(*)算法的AGV路径规划 被引量:1
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作者 陈一馨 段宇轩 +2 位作者 刘豪 谭世界 郑天乐 《郑州大学学报(工学版)》 北大核心 2025年第2期26-34,共9页
针对传统A^(*)算法在障碍物较多的实际场景下进行AGV路径规划时,存在路径拐点多、路径冗余节点过多以及易陷入局部最优解等问题,提出一种改进A^(*)算法,采用栅格法进行环境建模。首先,在启发函数中引入障碍物密度函数K(n)改进代价函数,... 针对传统A^(*)算法在障碍物较多的实际场景下进行AGV路径规划时,存在路径拐点多、路径冗余节点过多以及易陷入局部最优解等问题,提出一种改进A^(*)算法,采用栅格法进行环境建模。首先,在启发函数中引入障碍物密度函数K(n)改进代价函数,用于更准确地估计当前节点到目标节点的实际代价;其次,采用动态邻域搜索策略提高算法的搜索效率和运行效率;最后,通过冗余节点处理策略减少路径拐点和删除冗余节点,得到只包含起点、转折点以及终点的路径。采用不同尺寸和复杂度的栅格环境地图进行仿真实验,结果表明:所提改进A^(*)算法与传统A^(*)算法以及其他改进的A^(*)算法相比,路径长度分别缩短了4.71%和2.07%,路径拐点数量分别减少了45.45%和20.54%,路径存在节点分别减少了82.24%和62.45%。 展开更多
关键词 路径规划 栅格地图 改进A^(*)算法 启发函数 动态邻域搜索 冗余节点优化
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小样本下基于改进麻雀算法优化卷积神经网络的飞轮储能系统损耗 被引量:4
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作者 魏乐 李承霖 +1 位作者 房方 刘渝斌 《电网技术》 北大核心 2025年第1期366-372,I0113-I0115,共10页
飞轮储能系统具有待机损耗,不适合长期储能。针对飞轮损耗这一经济指标,基于飞轮储能系统运行的小样本数据,提出了一种结合Logistic混沌麻雀优化算法和卷积神经网络的飞轮损耗计算模型。首先,分析了飞轮损耗产生的原因;接下来对宁夏灵... 飞轮储能系统具有待机损耗,不适合长期储能。针对飞轮损耗这一经济指标,基于飞轮储能系统运行的小样本数据,提出了一种结合Logistic混沌麻雀优化算法和卷积神经网络的飞轮损耗计算模型。首先,分析了飞轮损耗产生的原因;接下来对宁夏灵武电厂的飞轮运行数据进行预处理,并使用对抗生成网络进行小样本扩充;然后基于卷积神经网络建立损耗模型,使用改进的麻雀算法对模型超参数进行优化,并通过对比验证了该模型的优越性;最后通过仿真实验证明了该模型能够优化飞轮储能系统的出力,降低飞轮损耗。 展开更多
关键词 飞轮储能系统损耗 小样本学习 卷积神经网络 麻雀搜索算法 LOGISTIC混沌映射
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Biologically Inspired Node Generation Algorithm for Path Planning of Hyper-redundant Manipulators Using Probabilistic Roadmap 被引量:2
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作者 Eric Lanteigne Amor Jnifene 《International Journal of Automation and computing》 EI CSCD 2014年第2期153-161,共9页
This article describes a biologically inspired node generator for the path planning of serially connected hyper-redundant manipulators using probabilistic roadmap planners. The generator searches the configuration spa... This article describes a biologically inspired node generator for the path planning of serially connected hyper-redundant manipulators using probabilistic roadmap planners. The generator searches the configuration space surrounding existing nodes in the roadmap and uses a combination of random and deterministic search methods that emulate the behaviour of octopus limbs. The strategy consists of randomly mutating the states of the links near the end-effector, and mutating the states of the links near the base of the robot toward the states of the goal configuration. When combined with the small tree probabilistic roadmap planner, the method was successfully used to solve the narrow passage motion planning problem of a 17 degree-of-freedom manipulator. 展开更多
关键词 Path planning hyper-redundant manipulators probabilistic road map(PRM) quasi-deterministic node generation bi-directional search algorithm.
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