针对快速扩展随机树(Rapidly-Exploring Random Tree,RRT)算法在结合无人船进行路径规划时存在规划时间长、路径冗余大、路径平滑度不符合欠驱动无人船航行要求等问题,提出一种改进RRT的无人船全局路径规划算法。算法中将贝叶斯优化算...针对快速扩展随机树(Rapidly-Exploring Random Tree,RRT)算法在结合无人船进行路径规划时存在规划时间长、路径冗余大、路径平滑度不符合欠驱动无人船航行要求等问题,提出一种改进RRT的无人船全局路径规划算法。算法中将贝叶斯优化算法融入目标采样过程,增强目标点采样导向性;引入动态步长和双向贪心剪枝策略作为重要辅助,进一步提升算法效率和路径质量;得到初始路径后采用动态权重3次B样条曲线进一步平滑处理。最后在3种类型障碍物环境下进行仿真实验并与RRT、RRT^(*)算法进行对比。结果表明,改进RRT算法在规划时长、路径长度以及路径质量等方面有明显优势。改进后算法效率更高,路径平滑度更高,研究成果可为无人船自主航行提供参考。展开更多
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
The integration of renewable energy sources into modern power systems necessitates efficient and robust control strategies to address challenges such as power quality,stability,and dynamic environmental variations.Thi...The integration of renewable energy sources into modern power systems necessitates efficient and robust control strategies to address challenges such as power quality,stability,and dynamic environmental variations.This paper presents a novel sparrow search algorithm(SSA)-tuned proportional-integral(PI)controller for grid-connected photovoltaic(PV)systems,designed to optimize dynamic perfor-mance,energy extraction,and power quality.Key contributions include the development of a systematic SSA-based optimization frame-work for real-time PI parameter tuning,ensuring precise voltage and current regulation,improved maximum power point tracking(MPPT)efficiency,and minimized total harmonic distortion(THD).The proposed approach is evaluated against conventional PSO-based and P&O controllers through comprehensive simulations,demonstrating its superior performance across key metrics:a 39.47%faster response time compared to PSO,a 12.06%increase in peak active power relative to P&O,and a 52.38%reduction in THD,ensuring compliance with IEEE grid standards.Moreover,the SSA-tuned PI controller exhibits enhanced adaptability to dynamic irradiancefluc-tuations,rapid response time,and robust grid integration under varying conditions,making it highly suitable for real-time smart grid applications.This work establishes the SSA-tuned PI controller as a reliable and efficient solution for improving PV system performance in grid-connected scenarios,while also setting the foundation for future research into multi-objective optimization,experimental valida-tion,and hybrid renewable energy systems.展开更多
By comparing price plans offered by several retail energy firms,end users with smart meters and controllers may optimize their energy use cost portfolios,due to the growth of deregulated retail power markets.To help s...By comparing price plans offered by several retail energy firms,end users with smart meters and controllers may optimize their energy use cost portfolios,due to the growth of deregulated retail power markets.To help smart grid end-users decrease power payment and usage unhappiness,this article suggests a decision system based on reinforcement learning to aid with electricity price plan selection.An enhanced state-based Markov decision process(MDP)without transition probabilities simulates the decision issue.A Kernel approximate-integrated batch Q-learning approach is used to tackle the given issue.Several adjustments to the sampling and data representation are made to increase the computational and prediction performance.Using a continuous high-dimensional state space,the suggested approach can uncover the underlying characteristics of time-varying pricing schemes.Without knowing anything regarding the market environment in advance,the best decision-making policy may be learned via case studies that use data from actual historical price plans.Experiments show that the suggested decision approach may reduce cost and energy usage dissatisfaction by using user data to build an accurate prediction strategy.In this research,we look at how smart city energy planners rely on precise load forecasts.It presents a hybrid method that extracts associated characteristics to improve accuracy in residential power consumption forecasts using machine learning(ML).It is possible to measure the precision of forecasts with the use of loss functions with the RMSE.This research presents a methodology for estimating smart home energy usage in response to the growing interest in explainable artificial intelligence(XAI).Using Shapley Additive explanations(SHAP)approaches,this strategy makes it easy for consumers to comprehend their energy use trends.To predict future energy use,the study employs gradient boosting in conjunction with long short-term memory neural networks.展开更多
In response to the problems of low sampling efficiency,strong randomness of sampling points,and the tortuous shape of the planned path in the traditional rapidly-exploring random tree(RRT)algorithm and bidirectional R...In response to the problems of low sampling efficiency,strong randomness of sampling points,and the tortuous shape of the planned path in the traditional rapidly-exploring random tree(RRT)algorithm and bidirectional RRT algorithm used for unmanned aerial vehicle(UAV)path planning in complex environments,an improved bidirectional RRT algorithm was proposed.The algorithm firstly adopted a goal-oriented strategy to guide the sampling points towards the target point,and then the artificial potential field acted on the random tree nodes to avoid collision with obstacles and reduced the length of the search path,and the random tree node growth also combined the UAV’s own flight constraints,and by combining the triangulation method to remove the redundant node strategy and the third-order B-spline curve for the smoothing of the trajectory,the planned path was better.The planned paths were more optimized.Finally,the simulation experiments in complex and dynamic environments showed that the algorithm effectively improved the speed of trajectory planning and shortened the length of the trajectory,and could generate a safe,smooth and fast trajectory in complex environments,which could be applied to online trajectory planning.展开更多
为了解决快速搜索随机树(Rapid-exploration random tree,RRT)算法在高精度机械臂的路径规划中存在的问题,如采样点随机性强、路径指向性差、路径平滑度低、路径长等,提出了一种融合的人工鱼群算法(RRT-ASFA)来优化RRT生成的路径。首先,...为了解决快速搜索随机树(Rapid-exploration random tree,RRT)算法在高精度机械臂的路径规划中存在的问题,如采样点随机性强、路径指向性差、路径平滑度低、路径长等,提出了一种融合的人工鱼群算法(RRT-ASFA)来优化RRT生成的路径。首先,为RRT提出了一个目标偏置策略,以减少采样点的随机性并优化目标方向;提出了步长自适应和搜索区域限制,以优化路径规划时间。其次,对于人工鱼群算法(Artificial fish swarming algorithm,ASFA),提出了自适应步长和自适应视场范围以使人工鱼群更快收敛;对RRT规划的路径的转折点进行了优化,使路径更短。最后,通过Hermite样条函数对路径进行了平滑处理。通过仿真实验发现,与传统的RRT算法、目标偏置RRT算法和RRT^(*)算法相比,结合算法规划的路径长度更短,路径节点更少,这证明了该组合算法的可行性。展开更多
Managing massive data flows effectively and resolving spectrum shortages are two challenges that smart grid communication networks(SGCN)must overcome.To address these problems,we provide a combined optimization approa...Managing massive data flows effectively and resolving spectrum shortages are two challenges that smart grid communication networks(SGCN)must overcome.To address these problems,we provide a combined optimization approach that makes use of cognitive radio(CR)and non-orthogonal multiple access(NOMA)technologies.Our work focuses on using user pairing(UP)and power allocation(PA)techniques to maximize energy efficiency(EE)in SGCN,particularly within neighbourhood area networks(NANs).We develop a joint optimization problem that takes into account the real-world limitations of a CR-NOMA setting.This problem is NP-hard,nonlinear,and nonconvex by nature.To address the computational complexity of the problem,we use the block coordinate descent(BCD)method,which breaks the problem into UP and PA subproblems.Initially,we proposed the zebra-optimization user pairing(ZOUP)algorithm to tackle the UP problem,which outperforms both orthogonal multiple access(OMA)and non-optimized NOMA(UPWO)by 78.8%and13.6%,respectively,at a SNR of 15 dB.Based on the ZOUP pairs,we subsequently proposed the PA approach,i.e.,ZOUPPA,which significantly outperforms UPWO and ZOUP by 53.2%and 25.4%,respectively,at an SNR of 15 dB.A detailed analysis of key parameters,including varying SNRs,power allocation constants,path loss exponents,user density,channel availability,and coverage radius,underscores the superiority of our approach.By facilitating the effective use of communication resources in SGCN,our research opens the door to more intelligent and energy-efficient grid systems.Our work tackles important issues in SGCN and lays the groundwork for future developments in smart grid communication technologies by combining modern optimization approaches with CR-NOMA.展开更多
文摘针对快速扩展随机树(Rapidly-Exploring Random Tree,RRT)算法在结合无人船进行路径规划时存在规划时间长、路径冗余大、路径平滑度不符合欠驱动无人船航行要求等问题,提出一种改进RRT的无人船全局路径规划算法。算法中将贝叶斯优化算法融入目标采样过程,增强目标点采样导向性;引入动态步长和双向贪心剪枝策略作为重要辅助,进一步提升算法效率和路径质量;得到初始路径后采用动态权重3次B样条曲线进一步平滑处理。最后在3种类型障碍物环境下进行仿真实验并与RRT、RRT^(*)算法进行对比。结果表明,改进RRT算法在规划时长、路径长度以及路径质量等方面有明显优势。改进后算法效率更高,路径平滑度更高,研究成果可为无人船自主航行提供参考。
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。
文摘The integration of renewable energy sources into modern power systems necessitates efficient and robust control strategies to address challenges such as power quality,stability,and dynamic environmental variations.This paper presents a novel sparrow search algorithm(SSA)-tuned proportional-integral(PI)controller for grid-connected photovoltaic(PV)systems,designed to optimize dynamic perfor-mance,energy extraction,and power quality.Key contributions include the development of a systematic SSA-based optimization frame-work for real-time PI parameter tuning,ensuring precise voltage and current regulation,improved maximum power point tracking(MPPT)efficiency,and minimized total harmonic distortion(THD).The proposed approach is evaluated against conventional PSO-based and P&O controllers through comprehensive simulations,demonstrating its superior performance across key metrics:a 39.47%faster response time compared to PSO,a 12.06%increase in peak active power relative to P&O,and a 52.38%reduction in THD,ensuring compliance with IEEE grid standards.Moreover,the SSA-tuned PI controller exhibits enhanced adaptability to dynamic irradiancefluc-tuations,rapid response time,and robust grid integration under varying conditions,making it highly suitable for real-time smart grid applications.This work establishes the SSA-tuned PI controller as a reliable and efficient solution for improving PV system performance in grid-connected scenarios,while also setting the foundation for future research into multi-objective optimization,experimental valida-tion,and hybrid renewable energy systems.
文摘By comparing price plans offered by several retail energy firms,end users with smart meters and controllers may optimize their energy use cost portfolios,due to the growth of deregulated retail power markets.To help smart grid end-users decrease power payment and usage unhappiness,this article suggests a decision system based on reinforcement learning to aid with electricity price plan selection.An enhanced state-based Markov decision process(MDP)without transition probabilities simulates the decision issue.A Kernel approximate-integrated batch Q-learning approach is used to tackle the given issue.Several adjustments to the sampling and data representation are made to increase the computational and prediction performance.Using a continuous high-dimensional state space,the suggested approach can uncover the underlying characteristics of time-varying pricing schemes.Without knowing anything regarding the market environment in advance,the best decision-making policy may be learned via case studies that use data from actual historical price plans.Experiments show that the suggested decision approach may reduce cost and energy usage dissatisfaction by using user data to build an accurate prediction strategy.In this research,we look at how smart city energy planners rely on precise load forecasts.It presents a hybrid method that extracts associated characteristics to improve accuracy in residential power consumption forecasts using machine learning(ML).It is possible to measure the precision of forecasts with the use of loss functions with the RMSE.This research presents a methodology for estimating smart home energy usage in response to the growing interest in explainable artificial intelligence(XAI).Using Shapley Additive explanations(SHAP)approaches,this strategy makes it easy for consumers to comprehend their energy use trends.To predict future energy use,the study employs gradient boosting in conjunction with long short-term memory neural networks.
基金supported by Gansu Provincial Science and Technology Program Project(No.23JRRA868)Lanzhou Municipal Talent Innovation and Entrepreneurship Project(No.2019-RC-103)。
文摘In response to the problems of low sampling efficiency,strong randomness of sampling points,and the tortuous shape of the planned path in the traditional rapidly-exploring random tree(RRT)algorithm and bidirectional RRT algorithm used for unmanned aerial vehicle(UAV)path planning in complex environments,an improved bidirectional RRT algorithm was proposed.The algorithm firstly adopted a goal-oriented strategy to guide the sampling points towards the target point,and then the artificial potential field acted on the random tree nodes to avoid collision with obstacles and reduced the length of the search path,and the random tree node growth also combined the UAV’s own flight constraints,and by combining the triangulation method to remove the redundant node strategy and the third-order B-spline curve for the smoothing of the trajectory,the planned path was better.The planned paths were more optimized.Finally,the simulation experiments in complex and dynamic environments showed that the algorithm effectively improved the speed of trajectory planning and shortened the length of the trajectory,and could generate a safe,smooth and fast trajectory in complex environments,which could be applied to online trajectory planning.
文摘为了解决快速搜索随机树(Rapid-exploration random tree,RRT)算法在高精度机械臂的路径规划中存在的问题,如采样点随机性强、路径指向性差、路径平滑度低、路径长等,提出了一种融合的人工鱼群算法(RRT-ASFA)来优化RRT生成的路径。首先,为RRT提出了一个目标偏置策略,以减少采样点的随机性并优化目标方向;提出了步长自适应和搜索区域限制,以优化路径规划时间。其次,对于人工鱼群算法(Artificial fish swarming algorithm,ASFA),提出了自适应步长和自适应视场范围以使人工鱼群更快收敛;对RRT规划的路径的转折点进行了优化,使路径更短。最后,通过Hermite样条函数对路径进行了平滑处理。通过仿真实验发现,与传统的RRT算法、目标偏置RRT算法和RRT^(*)算法相比,结合算法规划的路径长度更短,路径节点更少,这证明了该组合算法的可行性。
文摘Managing massive data flows effectively and resolving spectrum shortages are two challenges that smart grid communication networks(SGCN)must overcome.To address these problems,we provide a combined optimization approach that makes use of cognitive radio(CR)and non-orthogonal multiple access(NOMA)technologies.Our work focuses on using user pairing(UP)and power allocation(PA)techniques to maximize energy efficiency(EE)in SGCN,particularly within neighbourhood area networks(NANs).We develop a joint optimization problem that takes into account the real-world limitations of a CR-NOMA setting.This problem is NP-hard,nonlinear,and nonconvex by nature.To address the computational complexity of the problem,we use the block coordinate descent(BCD)method,which breaks the problem into UP and PA subproblems.Initially,we proposed the zebra-optimization user pairing(ZOUP)algorithm to tackle the UP problem,which outperforms both orthogonal multiple access(OMA)and non-optimized NOMA(UPWO)by 78.8%and13.6%,respectively,at a SNR of 15 dB.Based on the ZOUP pairs,we subsequently proposed the PA approach,i.e.,ZOUPPA,which significantly outperforms UPWO and ZOUP by 53.2%and 25.4%,respectively,at an SNR of 15 dB.A detailed analysis of key parameters,including varying SNRs,power allocation constants,path loss exponents,user density,channel availability,and coverage radius,underscores the superiority of our approach.By facilitating the effective use of communication resources in SGCN,our research opens the door to more intelligent and energy-efficient grid systems.Our work tackles important issues in SGCN and lays the groundwork for future developments in smart grid communication technologies by combining modern optimization approaches with CR-NOMA.
