针对标准快速扩展随机树(RRT)算法采用伪随机序列导致采样点分布不均、不合理,且移动机器人从起始点到目标点路径有冗余路段及冗余节点的问题,提出HDRRT(halton&dijkstra&rapidly exploring random tree)算法,该算法采用采样点...针对标准快速扩展随机树(RRT)算法采用伪随机序列导致采样点分布不均、不合理,且移动机器人从起始点到目标点路径有冗余路段及冗余节点的问题,提出HDRRT(halton&dijkstra&rapidly exploring random tree)算法,该算法采用采样点分布均匀性好的Halton序列进行采样,并利用候选点集策略对节点进行筛选,以剔除冗余节点;同时该算法采用改进的Dijkstra算法提取原始路径关键节点,以减少路径冗余路段;在此基础上采用3次B样条曲线对路径作平滑处理.经Matlab联合ROS系统仿真结果表明,HDRRT算法相对于Bias-RRT和标准RRT算法具有快速性,稳定规划出最短以及平滑路径等优点.展开更多
For any prime power q and any dimension s≥1, a new construction of (t, s)-sequences in base q using global function fields is presented. The construction yields an analog of Halton sequences for global function field...For any prime power q and any dimension s≥1, a new construction of (t, s)-sequences in base q using global function fields is presented. The construction yields an analog of Halton sequences for global function fields. It is the first general construction of (t, s)-sequences that is not directly based on the digital method. The construction can also be put into the framework of the theory of (u, e, s)-sequences that was recently introduced by Tezuka and leads in this way to better discrepancy bounds for the constructed sequences.展开更多
为克服传统白鲸优化算法(Beluga Whale Optimization,BWO)在3-5-3多项式插值机械臂轨迹优化中存在的路径长、时间耗费高及易陷入局部最优的问题,本文提出了一种增强型白鲸-蝠鲼融合优化算法(Enhanced Beluga Whale and manta ray fusion...为克服传统白鲸优化算法(Beluga Whale Optimization,BWO)在3-5-3多项式插值机械臂轨迹优化中存在的路径长、时间耗费高及易陷入局部最优的问题,本文提出了一种增强型白鲸-蝠鲼融合优化算法(Enhanced Beluga Whale and manta ray fusion Optimization algorithm,EBWO).该算法以机械臂最优运动时间为目标,构建约束优化模型,并通过增广拉格朗日乘子法转化为无约束形式.首先,利用改进的对数非线性Halton混沌序列优化种群初始化,提高搜索多样性与质量;其次,设计多方向正余弦白鲸位置更新机制,增强开发阶段搜索能力;再次,在中期迭代阶段引入改进的蝠鲼旋风链式觅食策略,并结合Levy飞行机制构建新觅食因子,以强化局部开发与全局跳跃能力;最后,提出基于资源竞争耦合机制的自适应鲸落策略,并引入量子隧穿效应,以提升算法跳出局部最优的能力与收敛速度.实验结果表明:在3-5-3轨迹优化中,EBWO较于传统BWO将时间优化效果提升了8.69%,并且与未优化的轨迹相比,优化后的时间缩短了42.13%.这一结果验证了其在复杂优化任务时的有效性与实用性.展开更多
文摘针对标准快速扩展随机树(RRT)算法采用伪随机序列导致采样点分布不均、不合理,且移动机器人从起始点到目标点路径有冗余路段及冗余节点的问题,提出HDRRT(halton&dijkstra&rapidly exploring random tree)算法,该算法采用采样点分布均匀性好的Halton序列进行采样,并利用候选点集策略对节点进行筛选,以剔除冗余节点;同时该算法采用改进的Dijkstra算法提取原始路径关键节点,以减少路径冗余路段;在此基础上采用3次B样条曲线对路径作平滑处理.经Matlab联合ROS系统仿真结果表明,HDRRT算法相对于Bias-RRT和标准RRT算法具有快速性,稳定规划出最短以及平滑路径等优点.
文摘For any prime power q and any dimension s≥1, a new construction of (t, s)-sequences in base q using global function fields is presented. The construction yields an analog of Halton sequences for global function fields. It is the first general construction of (t, s)-sequences that is not directly based on the digital method. The construction can also be put into the framework of the theory of (u, e, s)-sequences that was recently introduced by Tezuka and leads in this way to better discrepancy bounds for the constructed sequences.
