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Some new step-size rules for optimization problems 被引量:4
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作者 吴庆军 韦增欣 《Journal of Shanghai University(English Edition)》 CAS 2007年第2期135-141,共7页
The step-size procedure is very important for solving optimization problems. The Armijo step-size rule, the Armijo-Goldstein step-size rule and the Wolfe-Powell step-size rule are three well-known line search methods.... The step-size procedure is very important for solving optimization problems. The Armijo step-size rule, the Armijo-Goldstein step-size rule and the Wolfe-Powell step-size rule are three well-known line search methods. On the basis of the above three types of line search methods and the idea of the proximal point methods, a new class of step-size rules was proposed. Instead of a single objective function f, f +1/2(x - xk)^TBk(x-Xk) was used as the merit function in iteration k, where Sk is a given symmetric positive definite matrix. The existence of the steplength for the new rules was proved. Some convergence properties were also discussed. 展开更多
关键词 unconstrained minimization step-size procedures global convergence
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A new variable step-size LMS method and its application in DOA estimation of OFDMA signals 被引量:4
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作者 Zhao Yan Lin Li +4 位作者 Dong Wen Wang Hao Wu Zhentao Wang Xiaojun Chen Xiaoshu 《Journal of Southeast University(English Edition)》 EI CAS 2020年第2期145-151,共7页
To meet the requirements of quick positioning of mobile terminals from base stations(BSs)or third-party devices,as well as to improve the convergence speed and reduce the steady state maladjustment of the least mean s... To meet the requirements of quick positioning of mobile terminals from base stations(BSs)or third-party devices,as well as to improve the convergence speed and reduce the steady state maladjustment of the least mean square(LMS)method,a new logarithmic-sigmoid variable step-size LMS(LG-SVSLMS)was proposed and applied to estimate the direction of arrival(DOA)of orthogonal frequency division multiple access(OFDMA)signals.Based on the proposed LG-SVSLMS,a non-blind DOA estimation system for OFDMA signals was constructed.The proposed LG-SVSLMS adopts a new multi-parameter step-size update function which combines the sigmoid function and the logarithmic function.It controls the adjustment magnitude of step-size during the initial and steady state phases of the LMS method to achieve both a high convergence speed and low steady state maladjustment.Finally,simulation was conducted to verify the performance of the LG-SVSLMS.The simulation results show that the non-blind DOA estimation system based on the LG-SVSLMS can accurately estimate the DOA of the target signal in the scenario where interference signals from multi-source and multi-path fading signals arrive at the third-party devices asynchronously with the target signal,and the estimation deviation is within±3°.The non-blind DOA estimation for OFDMA signals with the proposed LG-SVSLMS is of great significance for the instant positioning technology of mobile terminals based on the adaptive antenna array. 展开更多
关键词 direction of arrival variable step-size least mean square orthogonal frequency division multiple access third-party devices
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Coupled-generalized nonlinear Schr¨odinger equations solved by adaptive step-size methods in interaction picture
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作者 陈磊 李磐 +3 位作者 刘河山 余锦 柯常军 罗子人 《Chinese Physics B》 SCIE EI CAS CSCD 2023年第2期332-340,共9页
We extend two adaptive step-size methods for solving two-dimensional or multi-dimensional generalized nonlinear Schr ¨odinger equation(GNLSE): one is the conservation quantity error adaptive step-control method(R... We extend two adaptive step-size methods for solving two-dimensional or multi-dimensional generalized nonlinear Schr ¨odinger equation(GNLSE): one is the conservation quantity error adaptive step-control method(RK4IP-CQE), and the other is the local error adaptive step-control method(RK4IP-LEM). The methods are developed in the vector form of fourthorder Runge–Kutta iterative scheme in the interaction picture by converting a vector equation in frequency domain. By simulating the supercontinuum generated from the high birefringence photonic crystal fiber, the calculation accuracies and the efficiencies of the two adaptive step-size methods are discussed. The simulation results show that the two methods have the same global average error, while RK4IP-LEM spends more time than RK4IP-CQE. The decrease of huge calculation time is due to the differences in the convergences of the relative photon number error and the approximated local error between these two adaptive step-size algorithms. 展开更多
关键词 nonlinear optics optical propagation in nonlinear media coupled-generalized nonlinear Schr?dinger equations(C-GNLSE) adaptive step-size methods
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An NLMS algorithm with optimized preparatory step-size parameters for SQUID-based MCG data processing
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作者 李倬 陈赓华 +2 位作者 张利华 杨乾声 冯稷 《Chinese Physics B》 SCIE EI CAS CSCD 2006年第2期310-314,共5页
We present a new least-mean-square algorithm of adaptive filtering to improve the signal to noise ratio for magneto-cardiography data collected with high-temperature SQUID-based magnetometers. By frequently adjusting ... We present a new least-mean-square algorithm of adaptive filtering to improve the signal to noise ratio for magneto-cardiography data collected with high-temperature SQUID-based magnetometers. By frequently adjusting the adaptive parameter a go systematic optimum values in the course of the programmed procedure, the convergence is accelerated with a highest speed and the minimum steady-state error is obtained simultaneously. This algorithm may be applied to eliminate other non-steady relevant noises as well. 展开更多
关键词 MAGNETOCARDIOGRAPHY optimal step size
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Optimal variable step-size LMS model and algorithm with independence assumption 被引量:5
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作者 谷源涛 唐昆 +1 位作者 崔慧娟 杜文 《Science in China(Series F)》 2003年第6期409-419,共11页
To solve the contradiction between convergence rate and steady-state error in least mean square (LMS) algorithm, basing on independence assumption, this paper proposes and proves the optimal step-size theorem from the... To solve the contradiction between convergence rate and steady-state error in least mean square (LMS) algorithm, basing on independence assumption, this paper proposes and proves the optimal step-size theorem from the view of minimizing mean squared error (MSE). The theorem reveals the one-to-one mapping between the optimal step-size and MSE. Following the theorem, optimal variable step-size LMS (OVS-LMS) model, describing the theoretical bound of the convergence rate of LMS algorithm, is constructed. Then we discuss the selection of initial optimal step-size and updating of optimal step-size at the time of unknown system changing. At last an optimal step-size LMS algorithm is proposed and tested in various environments. Simulation results show the proposed algorithm is very close to the theoretical bound. 展开更多
关键词 LMS OVS-LMS variable step-size optimal step-size theorem.
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Superior step-size theorem and its application——Parallel variable step-size LMS filters algorithm
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作者 GUYuantao TANGKun CUIHuijuan 《Science in China(Series F)》 2004年第2期151-160,共10页
With independence assumption, this paper proposes and proves the superior step-size theorem on least mean square (LMS) algorithm, from the view of minimizing mean squared error (MSE). Following the theorem we construc... With independence assumption, this paper proposes and proves the superior step-size theorem on least mean square (LMS) algorithm, from the view of minimizing mean squared error (MSE). Following the theorem we construct a parallel variable step-size LMS filters algorithm. The theoretical model of the proposed algorithm is analyzed in detail. Simulations show the proposed theoretical model is quite close to the optimal variable step-size LMS (OVS-LMS) model. The experimental learning curves of the proposed algorithm also show the fastest convergence and fine tracking performance. The proposed algorithm is therefore a good realization of the OVS-LMS model. 展开更多
关键词 adaptive filtering LMS superior step-size theorem parallel variable step-size LMS filters algorithm.
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A NEW STEP-SIZE SKILL FOR SOLVING A CLASS OF NONLINEAR PROJECTION EQUATIONS 被引量:12
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作者 D. Sun(Institute of Applied Mathematics, Academia Sinica, Beijing, China) 《Journal of Computational Mathematics》 SCIE CSCD 1995年第4期357-368,共12页
In this paper, a new step-size skill for a projection and contraction method([10]) for linear programming is generalized to an iterative method([22]) for solving nonlinear projection equation. For linear programming, ... In this paper, a new step-size skill for a projection and contraction method([10]) for linear programming is generalized to an iterative method([22]) for solving nonlinear projection equation. For linear programming, our scheme is the same as that of([10]). For complementarity problem and related problems, we give an improved algorithm by considering the new step-size skill and ALGORITHM B discussed in [22]. Numerical results are provided. 展开更多
关键词 Math A NEW step-size SKILL FOR SOLVING A CLASS OF NONLINEAR PROJECTION EQUATIONS PX STEP
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VARIABLE STEP-SIZE IMPLICIT-EXPLICIT LINEAR MULTISTEP METHODS FOR TIME-DEPENDENT PARTIAL DIFFERENTIAL EQUATIONS 被引量:2
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作者 DongWang Steven J. Ruuth 《Journal of Computational Mathematics》 SCIE CSCD 2008年第6期838-855,共18页
Implicit-explicit (IMEX) linear multistep methods are popular techniques for solving partial differential equations (PDEs) with terms of different types. While fixed timestep versions of such schemes have been dev... Implicit-explicit (IMEX) linear multistep methods are popular techniques for solving partial differential equations (PDEs) with terms of different types. While fixed timestep versions of such schemes have been developed and studied, implicit-explicit schemes also naturally arise in general situations where the temporal smoothness of the solution changes. In this paper we consider easily implementable variable step-size implicit-explicit (VSIMEX) linear multistep methods for time-dependent PDEs. Families of order-p, pstep VSIMEX schemes are constructed and analyzed, where p ranges from 1 to 4. The corresponding schemes are simple to implement and have the property that they reduce to the classical IMEX schemes whenever constant time step-sizes are imposed. The methods are validated on the Burgers' equation. These results demonstrate that by varying the time step-size, VSIMEX methods can outperform their fixed time step counterparts while still maintaining good numerical behavior. 展开更多
关键词 Implicit-explicit (IMEX) linear multistep methods Variable step-size Zero-stability Burgers' equation.
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Variable step-size adaptive filtering algorithm based on an exponent sin function
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作者 Guan Sihai Cheng Qing +1 位作者 Zhao Yong Liu Fangyao 《The Journal of China Universities of Posts and Telecommunications》 EI CSCD 2023年第1期56-65,共10页
This paper proposes a robust adaptive filter based on the exponent sin cost to improve the capability against Gaussian or multiple types of non-Gaussian noises of the adaptive filtering algorithm when dealing with tim... This paper proposes a robust adaptive filter based on the exponent sin cost to improve the capability against Gaussian or multiple types of non-Gaussian noises of the adaptive filtering algorithm when dealing with time-varying/time-invariant linear systems function exponent sin(ExpSin).Then a variable step-size(VSS)-ExpSin algorithm is extended further.Besides,the stepsize,the convergence,and the steady-state performance of the proposed algorithm are validated experimentally.The Monte Carlo simulation results of linear system identification illustrate the principle and efficiency of this proposed adaptive filtering algorithm.Results suggest that the proposed adaptive filtering algorithm has superior performance when estimating the unknown linear systems under multiple-types measurement noises. 展开更多
关键词 adaptive filter the EXPONENT SIN FUNCTION variable step-size time-varying/ time-invariant multiple types of NOISES
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VARIABLE STEP-SIZE BDF3 METHOD FOR ALLEN-CAHN EQUATION
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作者 Minghua Chen Fan Yu +1 位作者 Qingdong Zhang Zhimin Zhang 《Journal of Computational Mathematics》 SCIE CSCD 2024年第5期1380-1406,共27页
In this work,we analyze the three-step backward differentiation formula(BDF3)method for solving the Allen-Cahn equation on variable grids.For BDF2 method,the discrete orthogonal convolution(DOC)kernels are positive,th... In this work,we analyze the three-step backward differentiation formula(BDF3)method for solving the Allen-Cahn equation on variable grids.For BDF2 method,the discrete orthogonal convolution(DOC)kernels are positive,the stability and convergence analysis are well established in[Liao and Zhang,Math.Comp.,90(2021),1207–1226]and[Chen,Yu,and Zhang,arXiv:2108.02910,2021].However,the numerical analysis for BDF3 method with variable steps seems to be highly nontrivial due to the additional degrees of freedom and the non-positivity of DOC kernels.By developing a novel spectral norm inequality,the unconditional stability and convergence are rigorously proved under the updated step ratio restriction rk:=τk/τk−1≤1.405 for BDF3 method.Finally,numerical experiments are performed to illustrate the theoretical results.To the best of our knowledge,this is the first theoretical analysis of variable steps BDF3 method for the Allen-Cahn equation. 展开更多
关键词 Variable step-size BDF3 method Allen-Cahn equation Spectral norm inequality Stability and convergence analysis
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Step-size selection for split-step based nonlinear compensation with coherent detection in 112-Gb/s 16-QAM transmission
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作者 Chien-Yu Lin Rameez Asif +1 位作者 Michael Holtmannspoetter Bernhard Schmauss 《Chinese Optics Letters》 SCIE EI CAS CSCD 2012年第2期19-21,共3页
Non-uniform step-size distribution is implemented for split-step based nonlinear compensation in singlechannel 112-Gb/s 16 quadrature amplitude modulation (QAM) transmission. Numerical simulations of the system incl... Non-uniform step-size distribution is implemented for split-step based nonlinear compensation in singlechannel 112-Gb/s 16 quadrature amplitude modulation (QAM) transmission. Numerical simulations of the system including a 20 × 80 km uncompensated link are performed using logarithmic step size distribution to compensate signal distortions. 50% of reduction in number of steps with respect to using constant step sizes is observed. The performance is further improved by optimizing nonlinear calculating position (NLCP) in case of using constant step sizes while NLCP optimization becomes unnecessary when using logarithmic step sizes, which reduces the computational effort due to uniformly distributed nonlinear phase for all successive steps. 展开更多
关键词 QAM step-size selection for split-step based nonlinear compensation with coherent detection in 112-Gb/s 16-QAM transmission dBm DBP
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On asymptotic properties of a constant-step-size sign-error algorithm for adaptive filtering
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作者 殷刚 陈翰馥 《Science in China(Series F)》 EI 2002年第5期321-334,共14页
This work is devoted to asymptotic properties of a sign-error adaptive filtering algorithm with constant step size. Under much weaker conditions than those that appear in the literature, we obtain convergence and rate... This work is devoted to asymptotic properties of a sign-error adaptive filtering algorithm with constant step size. Under much weaker conditions than those that appear in the literature, we obtain convergence and rate of convergence by using weak convergence methods. An example is provided to demonstrate the performance of the algorithm. 展开更多
关键词 sign-error algorithm constant step size weak convergence rate of convergence diffusion limit.
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基于空间体素化的动态目标引导边界框的自适应步长BI-RRT^(*)机械臂路径规划
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作者 宋立业 王耀琦 +4 位作者 王怿飞 成泊雨 刘屹江泽 万哲岫 崔昊 《现代制造工程》 北大核心 2026年第2期56-65,共10页
针对机械臂三维路径规划中存在的搜索随机性强、收敛速度慢及计算复杂度高等问题,提出了一种基于空间体素化的动态目标引导边界框的自适应步长双向快速扩展随机树(Spatial Cell-Dynamic Target Guided Bounding box-Adaptive Step-Bidir... 针对机械臂三维路径规划中存在的搜索随机性强、收敛速度慢及计算复杂度高等问题,提出了一种基于空间体素化的动态目标引导边界框的自适应步长双向快速扩展随机树(Spatial Cell-Dynamic Target Guided Bounding box-Adaptive Step-Bidirectional Rapidly-exploring Random Tree star,SC-DTGB-AS-BI-RRT^(*))算法。该算法通过多层次优化策略显著提升了路径规划性能。首先,运用空间体素化将三维空间离散化为自由区域和非自由区域,并约束采样于自由区域,从而降低计算复杂度并提高环境感知精度;其次,针对传统双向快速扩展随机树(Bidirectional Rapidly-exploring Random Tree,BI-RRT^(*))算法的盲目性,提出动态目标引导机制与动态边界框约束机制协同的优化策略,该策略通过调整迭代次数动态适配目标引导区域,即在算法初期进行全局搜索,中期平衡全局搜索与局部收敛,后期加速路径收敛,同时引入动态边界框约束机制,在障碍物密集区域收缩采样范围,障碍物空旷区域扩展搜索空间,从而减少冗余节点,提高采样效率;再次,提出自适应步长机制,根据环境特征动态调整步长,即在自由区域采用大步长加快探索,非自由区域及路径收敛阶段采用小步长提升算法搜索精度,加快两棵树连接;最后,采用三次B样条曲线平滑规划路径,降低机械臂关节运动抖动,减少磨损,实现能耗优化。在三维环境中进行对比实验,以验证算法的优良性能。最终将融入机械臂避障功能后的算法部署到PUMA 560型机械臂,并在MATLAB R2022a仿真平台实现机械臂避障路径精准规划。 展开更多
关键词 路径规划 机械臂 空间体素化 动态目标引导边界框 自适应步长 机械臂避障
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基于改进RRT算法的机械臂路径规划
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作者 李伟达 姜宏 +3 位作者 章翔峰 马奔驰 陈林 张鹏飞 《现代电子技术》 北大核心 2026年第1期157-162,共6页
针对快速扩展随机树(RRT)算法在机械臂路径规划中存在盲目搜索、计算时间长和冗余过程点比较多的问题,文中提出一种改进RRT算法。首先建立了固定采样函数,使得随机树的扩展更具有方向性;其次在自适应步长基础上加入动态目标偏置策略,通... 针对快速扩展随机树(RRT)算法在机械臂路径规划中存在盲目搜索、计算时间长和冗余过程点比较多的问题,文中提出一种改进RRT算法。首先建立了固定采样函数,使得随机树的扩展更具有方向性;其次在自适应步长基础上加入动态目标偏置策略,通过避免对局部区域过度搜索来提高收敛速度;最后利用固定采样点构造两棵随机树进行搜索,解决了算法扩张速度慢、收敛速度慢和盲目性的问题。简单环境下仿真结果表明:改进RRT算法相对于其他三种算法收敛时间分别减少了18.3%、30%、63.5%,路径长度分别缩短了14.1%、3.5%、41.6%;复杂环境下仿真结果表明:改进RRT算法相对于其他三种算法收敛时间分别减少了56.4%、43.3%、67.6%,路径长度分别缩短了16.1%、9.7%、34.2%。证明了改进后的算法在解决收敛速度慢和导向问题上的有效性,同时算法对复杂环境的适应性也更强。 展开更多
关键词 机械臂 路径规划 RRT算法 固定采样点 自适应步长 动态目标偏置
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基于FB-RRT^(*)算法的无人机路径规划
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作者 房铁心 李新凯 +1 位作者 孟月 张宏立 《电子测量技术》 北大核心 2026年第3期87-97,共11页
针对在复杂环境下无人机全局路径规划过程中,双向RRT^(*)算法存在的采样搜索随机性过高、环境适应能力差和规划路径不平滑等问题,本文提出一种融合步长策略的双向快速随机树星路径规划算法(FB-RRT^(*))。首先,针对采样随机性过高的问题... 针对在复杂环境下无人机全局路径规划过程中,双向RRT^(*)算法存在的采样搜索随机性过高、环境适应能力差和规划路径不平滑等问题,本文提出一种融合步长策略的双向快速随机树星路径规划算法(FB-RRT^(*))。首先,针对采样随机性过高的问题,设置一个具有目标偏向的采样策略,减少盲目的随机采样个数;接着利用融合角度和障碍物环境参数的动态随机步长,提高算法的环境适应度;最后针对规划路径过长的问题,结合路径裁剪与B样条优化策略,有效去除多余的转折点,从而得到更优路径。MATLAB实验结果表明,本文改进后的FB-RRT^(*)算法与B-RRT^(*)算法相比,平均规划时间减少了58%,平均路径长度缩短了11.9%,由此得出,改进的FB-RRT^(*)算法具有高效规划能力。 展开更多
关键词 无人机 路径规划 融合步长 三维环境
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基于TR-RRT算法的机械臂路径规划研究 被引量:1
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作者 宋仁捷 葛长青 +1 位作者 张东阳 苗建军 《沈阳理工大学学报》 2026年第1期17-23,共7页
为使机器人在复杂环境中高效执行任务,不仅要求其具备一定的算力基础,还需对路径规划算法进行有效优化。针对传统RRT算法用于复杂环境时存在计算量庞大及路径搜索效率低下等问题,提出一种目标约束RRT(target restraint RRT,TR-RRT)算法... 为使机器人在复杂环境中高效执行任务,不仅要求其具备一定的算力基础,还需对路径规划算法进行有效优化。针对传统RRT算法用于复杂环境时存在计算量庞大及路径搜索效率低下等问题,提出一种目标约束RRT(target restraint RRT,TR-RRT)算法,通过引入目标偏置、约束点引导、冗余点移除、动态步长、三次样条插值等策略,增强搜索能力,提高搜索效率,并对规划的路径进行平滑处理。为验证本文改进算法的性能,分别在二维、三维环境以及Gazebo环境中进行仿真实验,并与RRT、RRT-Connect、Informed-RRT^(*)算法进行比较,结果表明,本文改进算法在不同实验环境下的规划时间和路径长度及节点数量均优于对比算法,显著提高了路径规划的效率与稳定性。 展开更多
关键词 RRT算法 路径规划 目标偏置 动态步长
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基于多态负载均衡算法的网络信息安全网关技术研究
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作者 徐威 罗娟 《信息网络安全》 北大核心 2026年第3期412-419,共8页
传统的网络信息安全网关技术由于缺乏灵活性和智能化,难以应对复杂多变的网络环境与日益增多的网络攻击威胁。鉴于此,文章根据报文类型设计了多态负载均衡算法,并对多模匹配算法采用变步长策略,提出一种基于多态负载均衡算法的网络信息... 传统的网络信息安全网关技术由于缺乏灵活性和智能化,难以应对复杂多变的网络环境与日益增多的网络攻击威胁。鉴于此,文章根据报文类型设计了多态负载均衡算法,并对多模匹配算法采用变步长策略,提出一种基于多态负载均衡算法的网络信息安全网关技术。性能测试结果表明,在不均匀数据测试中,当发包速度为1200 Mbps时,负载均衡模型的丢包率仅为0.11%,且负载均衡度最优。当并发请求数为8000时,融合模型的节点平衡度为1.024,响应时间为2567 ms,吞吐量为799个/s。实验结果表明,该方法在处理效率和吞吐量方面显著优于传统方法,能在高流量和复杂网络环境下显著降低服务器负载,提高系统响应速度,并有效抵御多种网络攻击。 展开更多
关键词 负载均衡 网络信息 网关 变步长模式匹配 吞吐量
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随机延迟容忍的变步长自适应滤波
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作者 赖如欢 杨翼徽 +3 位作者 贠世伟 汪立伟 张传武 管四海 《南京大学学报(自然科学版)》 北大核心 2026年第2期323-334,共12页
在实际的自适应滤波系统中普遍存在随机处理延迟和异质测量噪声(如高斯噪声、脉冲噪声等)的问题,而现有的变步长最小均方误差(Variable Step-Size Least Mean Square,VSSLMS)算法在分析时通常假设系统为无延时系统.为了解决上述问题,提... 在实际的自适应滤波系统中普遍存在随机处理延迟和异质测量噪声(如高斯噪声、脉冲噪声等)的问题,而现有的变步长最小均方误差(Variable Step-Size Least Mean Square,VSSLMS)算法在分析时通常假设系统为无延时系统.为了解决上述问题,提出一种随机延迟容忍的鲁棒VSSLMS算法,利用Squareplus函数的两个优势:(1)在时延条件下对梯度估计稳定性具有固有平滑性;(2)针对多种类型分布的非线性干扰具有抑制能力.在理论上分析该算法的均方误差和稳态均方误差以评估其性能,并设计系统辨识实验仿真来验证该算法的有效性,且结果与理论分析一致,也优于现有的自适应滤波算法.因此提出的算法不仅表现出更好的稳态性能,在对抗随机时延和多类型测量噪声时也具有更好的鲁棒性. 展开更多
关键词 随机时延 变步长 Squareplus函数 各类干扰
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融合改进Bi-RRT和势力场的快速路径规划算法
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作者 王槊 张贞凯 《电光与控制》 北大核心 2026年第4期57-63,共7页
针对现有路径规划算法效率低、速度慢的问题,提出一种基于Bi-RRT的快速路径规划算法。首先,设计新的势力场模型,根据障碍物形状和分布特性以及目标点的位置进行引导,使扩展过程有更强的目标性;其次,根据势力场特征引入步长可变函数,加... 针对现有路径规划算法效率低、速度慢的问题,提出一种基于Bi-RRT的快速路径规划算法。首先,设计新的势力场模型,根据障碍物形状和分布特性以及目标点的位置进行引导,使扩展过程有更强的目标性;其次,根据势力场特征引入步长可变函数,加快宽松情况下的规划效率,保证狭窄情况下寻找有效路径的成功率;最后,调整新节点生成策略,避免了势力场“局部最小”的缺陷,保证新节点的有效性。将改进的算法与Bi-RRT算法相比较,采样次数和规划时间显著下降。 展开更多
关键词 路径规划 势力场 Bi-RRT 可变式步长
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具有符号式正解的新型2-PPaPa并联机器人机构运动学分析与尺度综合
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作者 王娜 于敏 +1 位作者 张永选 李强 《机械设计与研究》 北大核心 2026年第1期172-180,共9页
针对三平移并联机器人机构的耦合度高所引起的控制复杂的问题,基于方位特征方程的并联机构拓扑设计方法,提出一种新型正向位置符号化、部分位置解耦的空间三平移并联机器人机构。分析得到并联机器人机构拓扑特性,通过杆长约束条件建立... 针对三平移并联机器人机构的耦合度高所引起的控制复杂的问题,基于方位特征方程的并联机构拓扑设计方法,提出一种新型正向位置符号化、部分位置解耦的空间三平移并联机器人机构。分析得到并联机器人机构拓扑特性,通过杆长约束条件建立运动学方程并推导出运动学位置解,分析机构的速度、加速度、奇异性,并通过算例分析对速度、加速度进行仿真验证。研究机构的工作空间与灵巧度等性能,并通过改进的变步长球坐标搜索算法得到工作空间三维图。同时,研究了结构尺寸参数对工作空间和灵巧度的影响趋势,建立无空洞情况的工作空间与全局灵巧度目标模型,采用多目标遗传算法(NSGA-Ⅱ)完成工作空间体积和全局灵巧度多目标优化。结果表明:变步长球坐标搜索算法能够根据搜索边界特征因子η自适应调整搜索步长,快速高效得到工作空间,并且能够判断工作空间是否有空洞;该机构工作空间沿着y=0平面对称,具有正解符号解,优化得到无空洞的工作空间和较大的全局灵巧度,运动性能优良,为三平移并联机器人机构分拣工业场景应用提供了理论基础。 展开更多
关键词 并联机器人 拓扑设计 变步长球坐标搜索算法 工作空间 灵巧度 多目标优化
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