This paper investigates the path planning method of unmanned aerial vehicle(UAV)in threedimensional map.Firstly,in order to keep a safe distance between UAV and obstacles,the obstacle grid in the map is expanded.By us...This paper investigates the path planning method of unmanned aerial vehicle(UAV)in threedimensional map.Firstly,in order to keep a safe distance between UAV and obstacles,the obstacle grid in the map is expanded.By using the data structure of octree,the octree map is constructed,and the search nodes is significantly reduced.Then,the lazy theta*algorithm,including neighbor node search,line-of-sight algorithm and heuristics weight adjustment is improved.In the process of node search,UAV constraint conditions are considered to ensure the planned path is actually flyable.The redundant nodes are reduced by the line-of-sight algorithm through judging whether visible between two nodes.Heuristic weight adjustment strategy is employed to control the precision and speed of search.Finally,the simulation results show that the improved lazy theta*algorithm is suitable for path planning of UAV in complex environment with multi-constraints.The effectiveness and flight ability of the algorithm are verified by comparing experiments and real flight.展开更多
The measures of path charge are important considerations in traffic assignment of road networks. Factors, such as travel time, fixed charge and traffic congestion which affect road users＇ choices of trip paths, are a...The measures of path charge are important considerations in traffic assignment of road networks. Factors, such as travel time, fixed charge and traffic congestion which affect road users＇ choices of trip paths, are analyzed. Travelers usually decide their trip paths based on their personal habits, preferences and the information at hand. By considering both deterministic and stochastic factors which affect the value of time （VOT） during the process of path choosing, a variational inequality model is proposed to describe the problem of traffic assignment. A lazy loading algorithm for traffic assignment is designed to solve the proposed model, and the calculation steps are given. Numerical experiment results show that compared with the all-or-nothing assignment, the proposed model and the algorithm can provide more optimal traffic assignments for road networks. The results of this study can be used to optimize traffic planning and management.展开更多
A new parallel expectation-maximization （EM） algorithm is proposed for large databases. The purpose of the algorithm is to accelerate the operation of the EM algorithm. As a well-known algorithm for estimation in ge...A new parallel expectation-maximization （EM） algorithm is proposed for large databases. The purpose of the algorithm is to accelerate the operation of the EM algorithm. As a well-known algorithm for estimation in generic statistical problems, the EM algorithm has been widely used in many domains. But it often requires significant computational resources. So it is needed to develop more elaborate methods to adapt the databases to a large number of records or large dimensionality. The parallel EM algorithm is based on partial Esteps which has the standard convergence guarantee of EM. The algorithm utilizes fully the advantage of parallel computation. It was confirmed that the algorithm obtains about 2.6 speedups in contrast with the standard EM algorithm through its application to large databases. The running time will decrease near linearly when the number of processors increasing.展开更多
基金supported in part by the National Natural Science Foundation of China under Grant U2013201in part by the Key R & D projects (Social Development) in Jiangsu Province of China under Grant BE2020704
文摘This paper investigates the path planning method of unmanned aerial vehicle(UAV)in threedimensional map.Firstly,in order to keep a safe distance between UAV and obstacles,the obstacle grid in the map is expanded.By using the data structure of octree,the octree map is constructed,and the search nodes is significantly reduced.Then,the lazy theta*algorithm,including neighbor node search,line-of-sight algorithm and heuristics weight adjustment is improved.In the process of node search,UAV constraint conditions are considered to ensure the planned path is actually flyable.The redundant nodes are reduced by the line-of-sight algorithm through judging whether visible between two nodes.Heuristic weight adjustment strategy is employed to control the precision and speed of search.Finally,the simulation results show that the improved lazy theta*algorithm is suitable for path planning of UAV in complex environment with multi-constraints.The effectiveness and flight ability of the algorithm are verified by comparing experiments and real flight.
基金The National High Technology Research and Development Program of China(863 Program)(No.2007AA11Z202)the National Key Technology R&D Program of China during the 11th Five-Year Plan Period(No.2006BAJ18B03)
文摘The measures of path charge are important considerations in traffic assignment of road networks. Factors, such as travel time, fixed charge and traffic congestion which affect road users＇ choices of trip paths, are analyzed. Travelers usually decide their trip paths based on their personal habits, preferences and the information at hand. By considering both deterministic and stochastic factors which affect the value of time （VOT） during the process of path choosing, a variational inequality model is proposed to describe the problem of traffic assignment. A lazy loading algorithm for traffic assignment is designed to solve the proposed model, and the calculation steps are given. Numerical experiment results show that compared with the all-or-nothing assignment, the proposed model and the algorithm can provide more optimal traffic assignments for road networks. The results of this study can be used to optimize traffic planning and management.
基金the National Natural Science Foundation of China(79990584)
文摘A new parallel expectation-maximization （EM） algorithm is proposed for large databases. The purpose of the algorithm is to accelerate the operation of the EM algorithm. As a well-known algorithm for estimation in generic statistical problems, the EM algorithm has been widely used in many domains. But it often requires significant computational resources. So it is needed to develop more elaborate methods to adapt the databases to a large number of records or large dimensionality. The parallel EM algorithm is based on partial Esteps which has the standard convergence guarantee of EM. The algorithm utilizes fully the advantage of parallel computation. It was confirmed that the algorithm obtains about 2.6 speedups in contrast with the standard EM algorithm through its application to large databases. The running time will decrease near linearly when the number of processors increasing.
