针对RRT(Rapidly-exploring Random Tree)算法在机器人路径规划过程存在采样点随机性高、算法效率低、路径规划时间长以及规划路径冗长等问题,文中提出一种结合人工势场法的双向RRT路径规划算法。将传统RRT算法中单向扩展方式改为由起...针对RRT(Rapidly-exploring Random Tree)算法在机器人路径规划过程存在采样点随机性高、算法效率低、路径规划时间长以及规划路径冗长等问题,文中提出一种结合人工势场法的双向RRT路径规划算法。将传统RRT算法中单向扩展方式改为由起点和终点同时进行扩展,在节点扩展时加入人工势场法进行引导,增加节点扩展的目的性。将固定步长改换为可变步长,使随机树可以更快地向目标点扩展。对生成路径进行剪枝处理,删除路径中的冗余节点,进一步缩短路径长度。利用MATLAB仿真平台在相同环境下对比所提改进算法与RRT-Connect算法、DRRT-Connect(Dynamic Rapidly-exploring Random Tree Connect)算法、GB(Goal-Biased)-RRT算法、A^(*)算法、PRM(Probabilistic Road Map)算法的路径规划效果。仿真结果表明,所提改进算法与其他改进算法相比最短路径缩短了7%,最短搜索时间降低了65%,提高了算法的规划效率。将所提算法应用于机器人,结果证明了其具有较强可行性。展开更多
With the increment of the number of Gaussian components, the computation cost increases in the Gaussian mixture probability hypothesis density(GM-PHD) filter. Based on the theory of Chen et al, we propose an improved ...With the increment of the number of Gaussian components, the computation cost increases in the Gaussian mixture probability hypothesis density(GM-PHD) filter. Based on the theory of Chen et al, we propose an improved pruning algorithm for the GM-PHD filter, which utilizes not only the Gaussian components’ means and covariance, but their weights as a new criterion to improve the estimate accuracy of the conventional pruning algorithm for tracking very closely proximity targets. Moreover, it solves the end-less while-loop problem without the need of a second merging step. Simulation results show that this improved algorithm is easier to implement and more robust than the formal ones.展开更多
Forward-backward algorithm, used by watermark decoder for correcting non-binary synchronization errors, requires to traverse a very large scale trellis in order to achieve the proper posterior probability, leading to ...Forward-backward algorithm, used by watermark decoder for correcting non-binary synchronization errors, requires to traverse a very large scale trellis in order to achieve the proper posterior probability, leading to high computational complexity. In order to reduce the number of the states involved in the computation, an adaptive pruning method for the trellis is proposed. In this scheme, we prune the states which have the low forward-backward quantities below a carefully-chosen threshold. Thus, a wandering trellis with much less states is achieved, which contains most of the states with quite high probability. Simulation results reveal that, with the proper scaling factor, significant complexity reduction in the forward-backward algorithm is achieved at the expense of slight performance degradation.展开更多
Expert System （ES） is considered effective and efficient in agricultural production, as agricultural informationization becomes a main trend in agricultural development. ES, however, is applied unsatisfactorily in m...Expert System （ES） is considered effective and efficient in agricultural production, as agricultural informationization becomes a main trend in agricultural development. ES, however, is applied unsatisfactorily in most rural areas of China and it has considerably affected and restricted the development of the agricultural informationization. This paper proposed a solution to voice service system of ES, which was suitable for the information transmission, and it especially could help the peasants in remote regions obtain knowledge from ES through the voice service system. As for the disadvantages of massive knowledge data and slow deduction, in this system the classification method could be adopted based on the decision tree. Designing pruning algorithm to ＂trim off＂ the unrelated knowledge to the users in query course would simplify the structure of the decision tree and accelerate the speed of deduction before the inference engine deduced the knowledge required by users.展开更多
The burgeoning robotics industry has catalyzed significant strides in the development and deployment of industrial and service robotic arms, positioning path planning as a pivotal facet for augmenting their operationa...The burgeoning robotics industry has catalyzed significant strides in the development and deployment of industrial and service robotic arms, positioning path planning as a pivotal facet for augmenting their operational safety and efficiency. Existing path planning algorithms, while capable of delineating feasible trajectories, often fall short of achieving optimality, particularly concerning path length, search duration, and success likelihood. This study introduces an enhanced Rapidly-Exploring Random Tree (RRT) algorithm, meticulously designed to rectify the issues of node redundancy and the compromised path quality endemic to conventional RRT approaches. Through the integration of an adaptive pruning mechanism and a dynamic elliptical search strategy within the Informed RRT* framework, our algorithm efficiently refines the search tree by discarding branches that surpass the cost of the optimal path, thereby refining the search space and significantly boosting efficiency. Extensive comparative analysis across both two-dimensional and three-dimensional simulation settings underscores the algorithm’s proficiency in markedly improving path precision and search velocity, signifying a breakthrough in the domain of robotic arm path planning.展开更多
Overfitting is one of the important problems that restrain the application of neural network. The traditional OBD (Optimal Brain Damage) algorithm can avoid overfitting effectively. But it needs to train the network r...Overfitting is one of the important problems that restrain the application of neural network. The traditional OBD (Optimal Brain Damage) algorithm can avoid overfitting effectively. But it needs to train the network repeatedly with low calculational efficiency. In this paper, the Marquardt algorithm is incorporated into the OBD algorithm and a new method for pruning network-the Dynamic Optimal Brain Damage (DOBD) is introduced. This algorithm simplifies a network and obtains good generalization through dynamically deleting weight parameters with low sensitivity that is defined as the change of error function value with respect to the change of weights. Also a simplified method is presented through which sensitivities can be calculated during training with a little computation. A rule to determine the lower limit of sensitivity for deleting the unnecessary weights and other control methods during pruning and training are introduced. The training course is analyzed theoretically and the reason why DOBD algorithm can obtain a much faster training speed than the OBD algorithm and avoid overfitting effectively is given.展开更多
In the first part of the article, a new algorithm for pruning networkDynamic Optimal Brain Damage(DOBD) is introduced. In this part, two cases and an industrial application are worked out to test the new algorithm. It...In the first part of the article, a new algorithm for pruning networkDynamic Optimal Brain Damage(DOBD) is introduced. In this part, two cases and an industrial application are worked out to test the new algorithm. It is verified that the algorithm can obtain good generalization through deleting weight parameters with low sensitivities dynamically and get better result than the Marquardt algorithm or the cross-validation method. Although the initial construction of network may be different, the finial number of free weights pruned by the DOBD algorithm is similar and the number is just close to the optimal number of free weights. The algorithm is also helpful to design the optimal structure of network.展开更多
As computers have become faster at performing computations over the decades, algorithms to play games have also become more efficient. This research paper seeks to see how the performance of the Minimax search evolves...As computers have become faster at performing computations over the decades, algorithms to play games have also become more efficient. This research paper seeks to see how the performance of the Minimax search evolves on increasing Connect-4 grid sizes. The objective of this study is to evaluate the effectiveness of the Minimax search algorithm in making optimal moves under different circumstances and to understand how well the algorithm scales. To answer this question we tested and analyzed the algorithm several times on different grid sizes with a time limit to see its performance as the complexity increases, we also looked for the average search depth for each grid size. The obtained results show that despite larger grid sizes, the Minimax search algorithm stays relatively consistent in terms of performance.展开更多
Aimed at the great computing complexity of optimal brain surgeon (OBS) process, a pruning algorithm with penalty OBS process is presented. Compared with sensitive and regularized methods, the penalty OBS algorithm not...Aimed at the great computing complexity of optimal brain surgeon (OBS) process, a pruning algorithm with penalty OBS process is presented. Compared with sensitive and regularized methods, the penalty OBS algorithm not only avoids time-consuming defect and low pruning efficiency in OBS process, but also keeps higher generalization and pruning accuracy than Levenberg-Marquardt method.展开更多
文摘针对RRT(Rapidly-exploring Random Tree)算法在机器人路径规划过程存在采样点随机性高、算法效率低、路径规划时间长以及规划路径冗长等问题,文中提出一种结合人工势场法的双向RRT路径规划算法。将传统RRT算法中单向扩展方式改为由起点和终点同时进行扩展,在节点扩展时加入人工势场法进行引导,增加节点扩展的目的性。将固定步长改换为可变步长,使随机树可以更快地向目标点扩展。对生成路径进行剪枝处理,删除路径中的冗余节点,进一步缩短路径长度。利用MATLAB仿真平台在相同环境下对比所提改进算法与RRT-Connect算法、DRRT-Connect(Dynamic Rapidly-exploring Random Tree Connect)算法、GB(Goal-Biased)-RRT算法、A^(*)算法、PRM(Probabilistic Road Map)算法的路径规划效果。仿真结果表明,所提改进算法与其他改进算法相比最短路径缩短了7%,最短搜索时间降低了65%,提高了算法的规划效率。将所提算法应用于机器人,结果证明了其具有较强可行性。
基金supported by the National Natural Science Foundation of China(61703228)
文摘With the increment of the number of Gaussian components, the computation cost increases in the Gaussian mixture probability hypothesis density(GM-PHD) filter. Based on the theory of Chen et al, we propose an improved pruning algorithm for the GM-PHD filter, which utilizes not only the Gaussian components’ means and covariance, but their weights as a new criterion to improve the estimate accuracy of the conventional pruning algorithm for tracking very closely proximity targets. Moreover, it solves the end-less while-loop problem without the need of a second merging step. Simulation results show that this improved algorithm is easier to implement and more robust than the formal ones.
基金supported in part by National Natural Science Foundation of China (61101114, 61671324) the Program for New Century Excellent Talents in University (NCET-12-0401)
文摘Forward-backward algorithm, used by watermark decoder for correcting non-binary synchronization errors, requires to traverse a very large scale trellis in order to achieve the proper posterior probability, leading to high computational complexity. In order to reduce the number of the states involved in the computation, an adaptive pruning method for the trellis is proposed. In this scheme, we prune the states which have the low forward-backward quantities below a carefully-chosen threshold. Thus, a wandering trellis with much less states is achieved, which contains most of the states with quite high probability. Simulation results reveal that, with the proper scaling factor, significant complexity reduction in the forward-backward algorithm is achieved at the expense of slight performance degradation.
基金Supported by Northeast Agricultural University Doctoral Development FoundationChina Postdoctoral Science Foundation
文摘Expert System （ES） is considered effective and efficient in agricultural production, as agricultural informationization becomes a main trend in agricultural development. ES, however, is applied unsatisfactorily in most rural areas of China and it has considerably affected and restricted the development of the agricultural informationization. This paper proposed a solution to voice service system of ES, which was suitable for the information transmission, and it especially could help the peasants in remote regions obtain knowledge from ES through the voice service system. As for the disadvantages of massive knowledge data and slow deduction, in this system the classification method could be adopted based on the decision tree. Designing pruning algorithm to ＂trim off＂ the unrelated knowledge to the users in query course would simplify the structure of the decision tree and accelerate the speed of deduction before the inference engine deduced the knowledge required by users.
文摘The burgeoning robotics industry has catalyzed significant strides in the development and deployment of industrial and service robotic arms, positioning path planning as a pivotal facet for augmenting their operational safety and efficiency. Existing path planning algorithms, while capable of delineating feasible trajectories, often fall short of achieving optimality, particularly concerning path length, search duration, and success likelihood. This study introduces an enhanced Rapidly-Exploring Random Tree (RRT) algorithm, meticulously designed to rectify the issues of node redundancy and the compromised path quality endemic to conventional RRT approaches. Through the integration of an adaptive pruning mechanism and a dynamic elliptical search strategy within the Informed RRT* framework, our algorithm efficiently refines the search tree by discarding branches that surpass the cost of the optimal path, thereby refining the search space and significantly boosting efficiency. Extensive comparative analysis across both two-dimensional and three-dimensional simulation settings underscores the algorithm’s proficiency in markedly improving path precision and search velocity, signifying a breakthrough in the domain of robotic arm path planning.
文摘Overfitting is one of the important problems that restrain the application of neural network. The traditional OBD (Optimal Brain Damage) algorithm can avoid overfitting effectively. But it needs to train the network repeatedly with low calculational efficiency. In this paper, the Marquardt algorithm is incorporated into the OBD algorithm and a new method for pruning network-the Dynamic Optimal Brain Damage (DOBD) is introduced. This algorithm simplifies a network and obtains good generalization through dynamically deleting weight parameters with low sensitivity that is defined as the change of error function value with respect to the change of weights. Also a simplified method is presented through which sensitivities can be calculated during training with a little computation. A rule to determine the lower limit of sensitivity for deleting the unnecessary weights and other control methods during pruning and training are introduced. The training course is analyzed theoretically and the reason why DOBD algorithm can obtain a much faster training speed than the OBD algorithm and avoid overfitting effectively is given.
文摘In the first part of the article, a new algorithm for pruning networkDynamic Optimal Brain Damage(DOBD) is introduced. In this part, two cases and an industrial application are worked out to test the new algorithm. It is verified that the algorithm can obtain good generalization through deleting weight parameters with low sensitivities dynamically and get better result than the Marquardt algorithm or the cross-validation method. Although the initial construction of network may be different, the finial number of free weights pruned by the DOBD algorithm is similar and the number is just close to the optimal number of free weights. The algorithm is also helpful to design the optimal structure of network.
文摘As computers have become faster at performing computations over the decades, algorithms to play games have also become more efficient. This research paper seeks to see how the performance of the Minimax search evolves on increasing Connect-4 grid sizes. The objective of this study is to evaluate the effectiveness of the Minimax search algorithm in making optimal moves under different circumstances and to understand how well the algorithm scales. To answer this question we tested and analyzed the algorithm several times on different grid sizes with a time limit to see its performance as the complexity increases, we also looked for the average search depth for each grid size. The obtained results show that despite larger grid sizes, the Minimax search algorithm stays relatively consistent in terms of performance.
文摘Aimed at the great computing complexity of optimal brain surgeon (OBS) process, a pruning algorithm with penalty OBS process is presented. Compared with sensitive and regularized methods, the penalty OBS algorithm not only avoids time-consuming defect and low pruning efficiency in OBS process, but also keeps higher generalization and pruning accuracy than Levenberg-Marquardt method.
