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Improved simulated annealing algorithm for UAV path planning with uncertain flight time
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作者 LI Xiaoduo LUO He +1 位作者 WANG Guoqiang YIN Youlong 《Journal of Systems Engineering and Electronics》 2026年第1期272-286,共15页
Efficient multiple unmanned aerial vehicles(UAVs)path planning is crucial for improving mission completion efficiency in UAV operations.However,during the actual flight of UAVs,the flight time between nodes is always ... Efficient multiple unmanned aerial vehicles(UAVs)path planning is crucial for improving mission completion efficiency in UAV operations.However,during the actual flight of UAVs,the flight time between nodes is always influenced by external factors,making the original path planning solution ineffective.In this paper,the multi-depot multi-UAV path planning problem with uncertain flight time is modeled as a robust optimization model with a budget uncertainty set.Then,the robust optimization model is transformed into a mixed integer linear programming model by the strong duality theorem,which makes the problem easy to solve.To effectively solve large-scale instances,a simulated annealing algorithm with a robust feasibility check(SA-RFC)is developed.The numerical experiment shows that the SA-RFC can find high-quality solutions within a few seconds.Moreover,the effect of the task location distribution,depot counts,and variations in robustness parameters on the robust optimization solution is analyzed by using Monte Carlo experiments.The results demonstrate that the proposed robust model can effectively reduce the risk of the UAV failing to return to the depot without significantly compromising the profit. 展开更多
关键词 unmanned aerial vehicle(UAV)path planning uncertain flight time robust optimization simulated annealing
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Hybrid genetic simulated annealing algorithm for agile Earth observation satellite scheduling considering cloud cover distribution
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作者 SUN Haiquan WANG Zhilong +1 位作者 HU Xiaoxuan XIA Wei 《Journal of Systems Engineering and Electronics》 2025年第6期1595-1612,共18页
Agile earth observation satellites(AEOSs)represent a new generation of satellites with three degrees of freedom(pitch,roll,and yaw);they possess a long visible time window(VTW)for ground targets and support imaging at... Agile earth observation satellites(AEOSs)represent a new generation of satellites with three degrees of freedom(pitch,roll,and yaw);they possess a long visible time window(VTW)for ground targets and support imaging at any moment within the VTW.However,different observation times demonstrate different cloud cover distributions,which exhibit different effects on the AEOS observation.Previous studies ignored pitch angles,discretized VTWs,or fixed cloud cover for every VTW,which led to the loss of intermediate observation states,thus these studies are not suitable for AEOS scheduling considering cloud cover distribution.In this study,a relationship formula between the cloud cover and observation time is proposed to calculate the cloud cover for every observation time,and a relationship formula between the observation time and pitch angle is designed to calculate the pitch angle for every observation time in the VTW.A refined model including the pitch angle,roll angle,and cloud cover distribution is established,which can make the scheme closer to the actual application of AEOSs.A hybrid genetic simulated annealing(HGSA)algorithm for AEOS scheduling is proposed,which integrates the advantages of genetic and simulated annealing algorithms and can effectively avoid falling into a local optimal solution.The experiments are conducted to compare the proposed algorithm with the traditional algorithms,the results verify that the proposed model and algorithm are efficient and effective for AEOS scheduling considering cloud cover distribution. 展开更多
关键词 agile Earth observation satellite cloud cover distribution hybrid genetic simulated annealing algorithm
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Web services composition with QoS bound based on simulated annealing algorithm 被引量:6
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作者 刘青 张世龙 +1 位作者 杨锐 连祥鉴 《Journal of Southeast University(English Edition)》 EI CAS 2008年第3期308-311,共4页
In order to enable quality-aware web services selection in the process of service composition,this paper first describes the non-functional requirements of service consumers and the quality of elementary service or co... In order to enable quality-aware web services selection in the process of service composition,this paper first describes the non-functional requirements of service consumers and the quality of elementary service or composite service as a quality vector,and then models the QoS(quality of service)-aware composition as a multiple criteria optimization problem in extending directed graph.A novel simulated annealing algorithm for QoS-aware web services composition is presented.A normalizing for composite service QoS values is made,and a secondary iterative optimization is used in the algorithm.Experimental results show that the simulated annealing algorithm can satisfy the multiple criteria and global QoS requirements of service consumers.The algorithm produces near optimum solution with much less computation cost. 展开更多
关键词 web services quality of service(QoS) service composition simulated annealing
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A SIMULATED ANNEALING METHOD FOR FAULT TREE ANALYSIS
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作者 刘子先 何桢 贾湖 《Transactions of Tianjin University》 EI CAS 1997年第2期113-116,共4页
This paper presents an approximate algorithm based on simulated annealing to achieve the maximum probability of the minimal cut sets for a fault tree. Near optimal minimal cut sets and important sequence of the basic ... This paper presents an approximate algorithm based on simulated annealing to achieve the maximum probability of the minimal cut sets for a fault tree. Near optimal minimal cut sets and important sequence of the basic events are also solved by the method. Computer simulations show that the algorithm performs very well. 展开更多
关键词 fault tree analysis minimal cut set simulated annealing probability of the minimal cut set
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A Parallel Genetic Simulated Annealing Hybrid Algorithm for Task Scheduling 被引量:12
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作者 SHU Wanneng ZHENG Shijue 《Wuhan University Journal of Natural Sciences》 CAS 2006年第5期1378-1382,共5页
In this paper combined with the advantages of genetic algorithm and simulated annealing, brings forward a parallel genetic simulated annealing hybrid algorithm (PGSAHA) and applied to solve task scheduling problem i... In this paper combined with the advantages of genetic algorithm and simulated annealing, brings forward a parallel genetic simulated annealing hybrid algorithm (PGSAHA) and applied to solve task scheduling problem in grid computing. It first generates a new group of individuals through genetic operation such as reproduction, crossover, mutation, etc, and than simulated anneals independently all the generated individuals respectively. When the temperature in the process of cooling no longer falls, the result is the optimal solution on the whole. From the analysis and experiment result, it is concluded that this algorithm is superior to genetic algorithm and simulated annealing. 展开更多
关键词 grid computing task scheduling genetic algorithm simulated annealing PGSAHA algorithm
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Simulated annealing algorithm for the optimal translation sequence of the jth agent in rough communication 被引量:5
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作者 Wang Hongkai Guan Yanyong Xue Peijun 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2008年第3期507-512,共6页
In rough communication, because each agent has a different language and cannot provide precise communication to each other, the concept translated among multi-agents will loss some information and this results in a le... In rough communication, because each agent has a different language and cannot provide precise communication to each other, the concept translated among multi-agents will loss some information and this results in a less or rougher concept. With different translation sequences, the problem of information loss is varied. To get the translation sequence, in which the jth agent taking part in rough communication gets maximum information, a simulated annealing algorithm is used. Analysis and simulation of this algorithm demonstrate its effectiveness. 展开更多
关键词 rough sets rough communication translation sequence OPTIMAL simulated annealing algorithm.
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A hybrid genetic-simulated annealing algorithm for optimization of hydraulic manifold blocks 被引量:7
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作者 刘万辉 田树军 +1 位作者 贾春强 曹宇宁 《Journal of Shanghai University(English Edition)》 CAS 2008年第3期261-267,共7页
This paper establishes a mathematical model of multi-objective optimization with behavior constraints in solid space based on the problem of optimal design of hydraulic manifold blocks (HMB). Due to the limitation o... This paper establishes a mathematical model of multi-objective optimization with behavior constraints in solid space based on the problem of optimal design of hydraulic manifold blocks (HMB). Due to the limitation of its local search ability of genetic algorithm (GA) in solving a massive combinatorial optimization problem, simulated annealing (SA) is combined, the multi-parameter concatenated coding is adopted, and the memory function is added. Thus a hybrid genetic-simulated annealing with memory function is formed. Examples show that the modified algorithm can improve the local search ability in the solution space, and the solution quality. 展开更多
关键词 hydraulic manifold blocks (HMB) genetic algorithm (GA) simulated annealing (SA) optimal design
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A hybrid inversion method of damped least squares with simulated annealing used for Rayleigh wave dispersion curve inversion 被引量:4
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作者 Lu Jianqi Li Shanyou +1 位作者 Li Wei Tang Lihua 《Earthquake Engineering and Engineering Vibration》 SCIE EI CSCD 2014年第1期13-21,共9页
Surface wave methods are becoming increasingly popular in many geotechnical applications and in earthquake seismology due to their noninvasive characteristics.Inverse surface wave dispersion curves are a crucial step ... Surface wave methods are becoming increasingly popular in many geotechnical applications and in earthquake seismology due to their noninvasive characteristics.Inverse surface wave dispersion curves are a crucial step in most surface wave methods.Many inversion methods have been applied to surface wave dispersion curve inversion,including linearized inversion and nonlinearized inversion methods.In this study,a hybrid inversion method of Damped Least Squares(DLS) with Very Fast Simulated Annealing(VFSA) is developed for multi-mode Rayleigh wave dispersion curve inversion.Both synthetic and in situ fi eld data were used to verify the validity of the proposed method.The results show that the proposed method is superior to the conventional VFSA method in aiming at global minimum,especially when parameter searching space is adjacent to real values of the parameters.The advantage of the new method is that it retains both the merits of VFSA for global search and DLS for local search.At high temperatures,the global search dominates the runs,while at a low temperatures,the local search dominates the runs.Thus,at low temperatures,the proposed method can almost directly approach the actual model. 展开更多
关键词 damped least squares simulated annealing hybrid inversion dispersion curve Rayleigh wave
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Using genetic/simulated annealing algorithm to solve disassembly sequence planning 被引量:5
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作者 Wu Hao Zuo Hongfu 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2009年第4期906-912,共7页
Disassembly sequence planning (DSP) plays a significant role in maintenance planning of the aircraft. It is used during the design stage for the analysis of maintainability of the aircraft. To solve product disassem... Disassembly sequence planning (DSP) plays a significant role in maintenance planning of the aircraft. It is used during the design stage for the analysis of maintainability of the aircraft. To solve product disassembly sequence planning problems efficiently, a product disassembly hybrid graph model, which describes the connection, non-connection and precedence relationships between the product parts, is established based on the characteristic of disassembly. Farther, the optimization model is provided to optimize disassembly sequence. And the solution methodology based on the genetic/simulated annealing algorithm with binaxy-tree algorithm is given. Finally, an example is analyzed in detail, and the result shows that the model is correct and efficient. 展开更多
关键词 disassembly sequence planning disassembly hybrid graph connection matrix precedence matrix binary-tree algorithms simulated annealing algorithm genetic algorithm.
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Application of Self-Learning to Heating Process Control of Simulated Continuous Annealing 被引量:2
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作者 WANG Wen-le LI Jian-ping HUA Fu-an LIUXiang-hua 《Journal of Iron and Steel Research International》 SCIE EI CAS CSCD 2010年第6期27-31,共5页
On the basis of a simulated bright continuous annealing experimental machine, a process control model for heating system was built. The heating model was simplified and self-learning parameters were normalized to enha... On the basis of a simulated bright continuous annealing experimental machine, a process control model for heating system was built. The heating model was simplified and self-learning parameters were normalized to enhance the precision of temperature control. By means of the division of temperature layers and the exponential smoothing disposal of the annealing experimental data, the self-learning of the heating model was carried out. Through exponentially smoothing the deviation of self-learning parameters of the heated phase in heating process, dynamic modifications of self-learning parameters and heating electric current were carried out, and the precision of temperature control was confirmed. The application indicated that the process control model for the heating system can control temperature with high precision, and the deviation can be controlled within 8 ℃. 展开更多
关键词 annealing simulATION annealing maehine process control SELF-LEARNING
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Simulated Annealing Approach to the Optimal Synthesis of Distillation Column with Intermediate Heat Exchangers 被引量:8
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作者 安维中 于凤娟 +1 位作者 董凤蕾 胡仰栋 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2008年第1期30-35,共6页
This article presents a simulated annealing-based approach to the optimal synthesis of distillation column considering intermediate heat exchangers arrangements. T-he number of intermediate condensers and/or intermedi... This article presents a simulated annealing-based approach to the optimal synthesis of distillation column considering intermediate heat exchangers arrangements. T-he number of intermediate condensers and/or intermediate reboilers, the placement locations, the.operating pressure of column, and the heat duties of intermediate heat exchangers are treated as optimization variables. A novel coding procedure making use of an integer number series is proposed to represent and manipulate the structure of system and a stage-to-stage method is used for column design and cost calculation. With the representation procedure, the synthesis problem is formulated as a mixed integer nonlinear programming (MINLP) problem, which can then be solved with an improved simulated annealing algorithm. Two examples are illustrated to show the effectiveness of the suggested approach. 展开更多
关键词 DISTILLATION intermediate heat exchanger SYNTHESIS mixed integer nonlinear programming simulated annealing
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Design and optimization of solid rocket motor Finocyl grain using simulated annealing 被引量:4
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作者 All Kamran LIANG Guo-zhu 《航空动力学报》 EI CAS CSCD 北大核心 2011年第4期917-923,共7页
The research effort outlined the application of a computer aided design(CAD)-centric technique to the design and optimization of solid rocket motor Finocyl(fin in cylinder) grain using simulated annealing.The proper m... The research effort outlined the application of a computer aided design(CAD)-centric technique to the design and optimization of solid rocket motor Finocyl(fin in cylinder) grain using simulated annealing.The proper method for constructing the grain configuration model,ballistic performance and optimizer integration for analysis was presented.Finocyl is a complex grain configuration,requiring thirteen variables to define the geometry.The large number of variables not only complicates the geometrical construction but also optimization process.CAD representation encapsulates all of the geometric entities pertinent to the grain design in a parametric way,allowing manipulation of grain entity(web),performing regression and automating geometrical data calculations.Robustness to avoid local minima and efficient capacity to explore design space makes simulated annealing an attractive choice as optimizer.It is demonstrated with a constrained optimization of Finocyl grain geometry for homogeneous,isotropic propellant,uniform regression,and a quasi-steady,bulk mode internal ballistics model that maximizes average thrust for required deviations from neutrality. 展开更多
关键词 solid rocket motor Finocyl(fin in cylinder) grain internal ballistics simulated annealing computer aided design
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Simulated annealing algorithm for detecting graph isomorphism 被引量:4
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作者 Geng Xiutang Zhang Kai 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2008年第5期1047-1052,共6页
Evolutionary computation techniques have mostly been used to solve various optimization problems, and it is well known that graph isomorphism problem (GIP) is a nondeterministic polynomial problem. A simulated annea... Evolutionary computation techniques have mostly been used to solve various optimization problems, and it is well known that graph isomorphism problem (GIP) is a nondeterministic polynomial problem. A simulated annealing (SA) algorithm for detecting graph isomorphism is proposed, and the proposed SA algorithm is well suited to deal with random graphs with large size. To verify the validity of the proposed SA algorithm, simulations are performed on three pairs of small graphs and four pairs of large random graphs with edge densities 0.5, 0.1, and 0.01, respectively. The simulation results show that the proposed SA algorithm can detect graph isomorphism with a high probability. 展开更多
关键词 graph isomorphism problem simulated annealing algorithm nondeterministic polynomial problem local search.
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Simulated annealing spectral clustering algorithm for image segmentation 被引量:3
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作者 Yifang Yang Yuping Wang 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2014年第3期514-522,共9页
The similarity measure is crucial to the performance of spectral clustering. The Gaussian kernel function based on the Euclidean distance is usual y adopted as the similarity measure. However, the Euclidean distance m... The similarity measure is crucial to the performance of spectral clustering. The Gaussian kernel function based on the Euclidean distance is usual y adopted as the similarity measure. However, the Euclidean distance measure cannot ful y reveal the complex distribution data, and the result of spectral clustering is very sensitive to the scaling parameter. To solve these problems, a new manifold distance measure and a novel simulated anneal-ing spectral clustering (SASC) algorithm based on the manifold distance measure are proposed. The simulated annealing based on genetic algorithm (SAGA), characterized by its rapid convergence to the global optimum, is used to cluster the sample points in the spectral mapping space. The proposed algorithm can not only reflect local and global consistency better, but also reduce the sensitivity of spectral clustering to the kernel parameter, which improves the algorithm’s clustering performance. To efficiently apply the algorithm to image segmentation, the Nystrom method is used to reduce the computation complexity. Experimental results show that compared with traditional clustering algorithms and those popular spectral clustering algorithms, the proposed algorithm can achieve better clustering performances on several synthetic datasets, texture images and real images. 展开更多
关键词 spectral clustering (SC) simulated annealing (SA) image segmentation Nystr6m method.
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CNOP-P-based parameter sensitivity for double-gyre variation in ROMS with simulated annealing algorithm 被引量:3
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作者 YUAN Shijin ZHANG Huazhen +1 位作者 LI Mi MU Bin 《Journal of Oceanology and Limnology》 SCIE CAS CSCD 2019年第3期957-967,共11页
Reducing the error of sensitive parameters by studying the parameters sensitivity can reduce the uncertainty of the model,while simulating double-gyre variation in Regional Ocean Modeling System(ROMS).Conditional Nonl... Reducing the error of sensitive parameters by studying the parameters sensitivity can reduce the uncertainty of the model,while simulating double-gyre variation in Regional Ocean Modeling System(ROMS).Conditional Nonlinear Optimal Perturbation related to Parameter(CNOP-P)is an effective method of studying the parameters sensitivity,which represents a type of parameter error with maximum nonlinear development at the prediction time.Intelligent algorithms have been widely applied to solving Conditional Nonlinear Optimal Perturbation(CNOP).In the paper,we proposed an improved simulated annealing(SA)algorithm to solve CNOP-P to get the optimal parameters error,studied the sensitivity of the single parameter and the combination of multiple parameters and verified the effect of reducing the error of sensitive parameters on reducing the uncertainty of model simulation.Specifically,we firstly found the non-period oscillation of kinetic energy time series of double gyre variation,then extracted two transition periods,which are respectively from high energy to low energy and from low energy to high energy.For every transition period,three parameters,respectively wind amplitude(WD),viscosity coefficient(VC)and linear bottom drag coefficient(RDRG),were studied by CNOP-P solved with SA algorithm.Finally,for sensitive parameters,their effect on model simulation is verified.Experiments results showed that the sensitivity order is WD>VC>>RDRG,the effect of the combination of multiple sensitive parameters is greater than that of single parameter superposition and the reduction of error of sensitive parameters can effectively reduce model prediction error which confirmed the importance of sensitive parameters analysis. 展开更多
关键词 parameter sensitivity DOUBLE GYRE Regional Ocean Modeling System(ROMS) CONDITIONAL Nonlinear Optimal Perturbation(CNOP-P) simulated annealing(SA)algorithm
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Study on Multi-stream Heat Exchanger Network Synthesis with Parallel Genetic/Simulated Annealing Algorithm 被引量:13
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作者 魏关锋 姚平经 +1 位作者 LUOXing ROETZELWilfried 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2004年第1期66-77,共12页
The multi-stream heat exchanger network synthesis (HENS) problem can be formulated as a mixed integer nonlinear programming model according to Yee et al. Its nonconvexity nature leads to existence of more than one opt... The multi-stream heat exchanger network synthesis (HENS) problem can be formulated as a mixed integer nonlinear programming model according to Yee et al. Its nonconvexity nature leads to existence of more than one optimum and computational difficulty for traditional algorithms to find the global optimum. Compared with deterministic algorithms, evolutionary computation provides a promising approach to tackle this problem. In this paper, a mathematical model of multi-stream heat exchangers network synthesis problem is setup. Different from the assumption of isothermal mixing of stream splits and thus linearity constraints of Yee et al., non-isothermal mixing is supported. As a consequence, nonlinear constraints are resulted and nonconvexity of the objective function is added. To solve the mathematical model, an algorithm named GA/SA (parallel genetic/simulated annealing algorithm) is detailed for application to the multi-stream heat exchanger network synthesis problem. The performance of the proposed approach is demonstrated with three examples and the obtained solutions indicate the presented approach is effective for multi-stream HENS. 展开更多
关键词 multi-stream heat exchanger network synthesis non-isothermal mixing mixed integer nonlinear programming model genetic algorithm simulated annealing algorithm hybrid algorithm
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Novel Adaptive Simulated Annealing Algorithm for Constrained Multi-Objective Optimization 被引量:4
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作者 Chuai Gang Zhao Dan Sun Li 《China Communications》 SCIE CSCD 2012年第9期68-78,共11页
In recent years, sinmlated annealing algo-rithms have been extensively developed and uti-lized to solve nmlti-objective optimization problems. In order to obtain better optimization perfonmnce, this paper proposes a N... In recent years, sinmlated annealing algo-rithms have been extensively developed and uti-lized to solve nmlti-objective optimization problems. In order to obtain better optimization perfonmnce, this paper proposes a Novel Adaptive Simulated Annealing (NASA) algorithm for constrained multi-objective optimization based on Archived Multi-objective Simulated Annealing (AMOSA). For han-dling multi-objective, NASA makes improverrents in three aspects: sub-iteration search, sub-archive and adaptive search, which effectively strengthen the stability and efficiency of the algorithnm For handling constraints, NASA introduces corresponding solution acceptance criterion. Furtherrrore, NASA has also been applied to optimize TD-LTE network perform-ance by adjusting antenna paranleters; it can achieve better extension and convergence than AMOSA, NS-GAII and MOPSO. Analytical studies and simulations indicate that the proposed NASA algorithm can play an important role in improving multi-objective optimi-zation performance. 展开更多
关键词 simulated annealing constrained rmlti-objective optimizaztion adaptive sub-iteration search-ing sub-archive PARETO-OPTIMAL
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Multi-group ant colony algorithm based on simulated annealing method 被引量:2
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作者 朱经纬 芮挺 +1 位作者 廖明 张金林 《Journal of Shanghai University(English Edition)》 CAS 2010年第6期464-468,共5页
To overcome the default of single search tendency, the ants in the colony are divided into several sub-groups. The ants in different subgroups have different trail information and expectation coefficients. The simulat... To overcome the default of single search tendency, the ants in the colony are divided into several sub-groups. The ants in different subgroups have different trail information and expectation coefficients. The simulated annealing method is introduced to the algorithm. Through setting the temperature changing with the iterations, after each turn of tours, the solution set obtained by the ants is taken as the candidate set. The update set is obtained by adding the solutions in the candidate set to the previous update set with the probability determined by the temperature. The solutions in the candidate set are used to update the trail information. In each turn of updating, the current best solution is also used to enhance the trail information on the current best route. The trail information is reset when the algorithm is in stagnation state. The computer experiments demonstrate that the proposed algorithm has higher stability and convergence speed. 展开更多
关键词 ant colony algorithm simulated annealing method MULTI-GROUP candidate set update set
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FPGA PLACEMENT OPTIMIZATION BY TWO-STEP UNIFIED GENETIC ALGORITHM AND SIMULATED ANNEALING ALGORITHM 被引量:6
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作者 Yang Meng A.E.A. Almaini Wang Pengjun 《Journal of Electronics(China)》 2006年第4期632-636,共5页
Genetic Algorithm (GA) is a biologically inspired technique and widely used to solve numerous combinational optimization problems. It works on a population of individuals, not just one single solution. As a result, it... Genetic Algorithm (GA) is a biologically inspired technique and widely used to solve numerous combinational optimization problems. It works on a population of individuals, not just one single solution. As a result, it avoids converging to the local optimum. However, it takes too much CPU time in the late process of GA. On the other hand, in the late process Simulated Annealing (SA) converges faster than GA but it is easily trapped to local optimum. In this letter, a useful method that unifies GA and SA is introduced, which utilizes the advantage of the global search ability of GA and fast convergence of SA. The experimental results show that the proposed algorithm outperforms GA in terms of CPU time without degradation of performance. It also achieves highly comparable placement cost compared to the state-of-the-art results obtained by Versatile Place and Route (VPR) Tool. 展开更多
关键词 Genetic Algorithm (GA) simulated annealing (SA) PLACEMENT FPGA EDA
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Research on simultaneous localization and mapping for AUV by an improved method:Variance reduction FastSLAM with simulated annealing 被引量:5
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作者 Jiashan Cui Dongzhu Feng +1 位作者 Yunhui Li Qichen Tian 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2020年第3期651-661,共11页
At present,simultaneous localization and mapping(SLAM) for an autonomous underwater vehicle(AUV)is a research hotspot.Aiming at the problem of non-linear model and non-Gaussian noise in AUV motion,an improved method o... At present,simultaneous localization and mapping(SLAM) for an autonomous underwater vehicle(AUV)is a research hotspot.Aiming at the problem of non-linear model and non-Gaussian noise in AUV motion,an improved method of variance reduction fast simultaneous localization and mapping(FastSLAM) with simulated annealing is proposed to solve the problems of particle degradation,particle depletion and particle loss in traditional FastSLAM,which lead to the reduction of AUV location estimation accuracy.The adaptive exponential fading factor is generated by the anneal function of simulated annealing algorithm to improve the effective particle number and replace resampling.By increasing the weight of small particles and decreasing the weight of large particles,the variance of particle weight can be reduced,the number of effective particles can be increased,and the accuracy of AUV location and feature location estimation can be improved to some extent by retaining more information carried by particles.The experimental results based on trial data show that the proposed simulated annealing variance reduction FastSLAM method avoids particle degradation,maintains the diversity of particles,weakened the degeneracy and improves the accuracy and stability of AUV navigation and localization system. 展开更多
关键词 Autonomous underwater vehicle(AUV) SONAR simultaneous localization and mapping(SLAM) simulated annealing FASTSLAM
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