The path planning problem of complex wild environment with multiple elements still poses challenges.This paper designs an algorithm that integrates global and local planning to apply to the wild environmental path pla...The path planning problem of complex wild environment with multiple elements still poses challenges.This paper designs an algorithm that integrates global and local planning to apply to the wild environmental path planning.The modeling process of wild environment map is designed.Three optimization strategies are designed to improve the A-Star in overcoming the problems of touching the edge of obstacles,redundant nodes and twisting paths.A new weighted cost function is designed to achieve different planning modes.Furthermore,the improved dynamic window approach(DWA)is designed to avoid local optimality and improve time efficiency compared to traditional DWA.For the necessary path re-planning of wild environment,the improved A-Star is integrated with the improved DWA to solve re-planning problem of unknown and moving obstacles in wild environment with multiple elements.The improved fusion algorithm effectively solves problems and consumes less time,and the simulation results verify the effectiveness of improved algorithms above.展开更多
A fusion algorithm is proposed to enhance the search speed of an ant colony system(ACS)for the global path planning and overcome the challenges of the local path planning in an unmanned aerial vehicle(UAV).The ACS sea...A fusion algorithm is proposed to enhance the search speed of an ant colony system(ACS)for the global path planning and overcome the challenges of the local path planning in an unmanned aerial vehicle(UAV).The ACS search efficiency is enhanced by adopting a 16-direction 24-neighborhood search way,a safety grid search way,and an elite hybrid strategy to accelerate global convergence.Quadratic planning is performed using the moving average(MA)method.The fusion algorithm incorporates a dynamic window approach(DWA)to deal with the local path planning,sets a retracement mechanism,and adjusts the evaluation function accordingly.Experimental results in two environments demonstrate that the improved ant colony system(IACS)achieves superior planning efficiency.Additionally,the optimized dynamic window approach(ODWA)demonstrates its ability to handle multiple dynamic situations.Overall,the fusion optimization algorithm can accomplish the mixed path planning effectively.展开更多
In this paper,a novel,dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with generic path planning techniques through a dual-mode model predictive contr...In this paper,a novel,dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with generic path planning techniques through a dual-mode model predictive control framework.The planned path adds information on the connectivity of the free space to the obstacle avoidance capabilities of the dynamic window approach.This allows for guaranteed convergence to a goal location while navigating through an unknown environment at relatively high speeds.The framework is applied in a combined simulation/hardware implementation to demonstrate the computational feasibility and the ability to cope with the constraints of a dynamic system.展开更多
This paper introduces an Improved Bidirectional Jump Point Search(I-BJPS)algorithm to address the challenges of the traditional Jump Point Search(JPS)in mobile robot path planning.These challenges include excessive no...This paper introduces an Improved Bidirectional Jump Point Search(I-BJPS)algorithm to address the challenges of the traditional Jump Point Search(JPS)in mobile robot path planning.These challenges include excessive node expansions,frequent path inflexion points,slower search times,and a high number of jump points in complex environments with large areas and dense obstacles.Firstly,we improve the heuristic functions in both forward and reverse directions to minimize expansion nodes and search time.We also introduce a node optimization strategy to reduce non-essential nodes so that the path length is optimized.Secondly,we employ a second-order Bezier Curve to smooth turning points,making generated paths more suitable for mobile robot motion requirements.Then,we integrate the Dynamic Window Approach(DWA)to improve path planning safety.Finally,the simulation results demonstrate that the I-BJPS algorithm significantly outperforms both the original unidirectional JPS algorithm and the bidirectional JPS algorithm in terms of search time,the number of path inflexion points,and overall path length,the advantages of the I-BJPS algorithm are particularly pronounced in complex environments.Experimental results from real-world scenarios indicate that the proposed algorithm can efficiently and rapidly generate an optimal path that is safe,collision-free,and well-suited to the robot’s locomotion requirements.展开更多
Combining the advantages of partial matched filter（PMF） and fast Fourier transform（FFT）,an improved fast acquisition method for GPS C/A code is proposed.According to PMF-FFT acquisition architecture,the greater th...Combining the advantages of partial matched filter（PMF） and fast Fourier transform（FFT）,an improved fast acquisition method for GPS C/A code is proposed.According to PMF-FFT acquisition architecture,the greater the number of PMF will bring out the more slowly amplitude decreasing of the amplitude-frequency response,the smaller scale of the corresponding PMF,and the larger computation of the FFT.In order to compensate the frequency spectrum attenuation caused by spectrum leakage and fence effect,adding window function to PMF-FFT is presented.Through comparing the influences to the acquisition performance based on rectangular,Hamming,Blackman and Rife-Vincent（Ⅲ） window functions,an improved Rife-Vincent Ⅲ windowing algorithm is recommended for the fast acquisition based on PMF-FFT.展开更多
The publisher of International Journal of Intelligent Computing and Cybernetics wishes to retract the article by Isiaka,F.,Abdulkarim,S.A.,Mwitondi,K.and Adamu,Z.(2022),“Emotion detection on webpages using biosensors...The publisher of International Journal of Intelligent Computing and Cybernetics wishes to retract the article by Isiaka,F.,Abdulkarim,S.A.,Mwitondi,K.and Adamu,Z.(2022),“Emotion detection on webpages using biosensors integrated to a window-based dynamic control system”,International Journal of Intelligent Computing and Cybernetics,Vol.15 No.2,pp.277-301,https://doi.org/10.1108/IJICC-05-2021-0080.展开更多
As a core technology of Intemet of Things （loT）, Wireless Sensor Network （WSN） has become a research hotspot recently. More and more WSNs are being deployed in highly mobile environments. The fast moving sensor no...As a core technology of Intemet of Things （loT）, Wireless Sensor Network （WSN） has become a research hotspot recently. More and more WSNs are being deployed in highly mobile environments. The fast moving sensor nodes bring significant challenges for the routing decision. In this paper, we propose an efficient logical location method, and designe a mobility estimating metric and derive a novel Green Mobility Estirmtion- based Routing protocol （G-MER） for WSNs. We also set up a full framework to evaluate its per- formance. Simulation results illustrate that G-MER achieves a fairly better perforrmnce in terrm of broadcast times and link failures than AODV. What＇s more, it decreases the mean hops by about 0.25 and reduces energy consumption by about 10% during the whole experiment. All the results show that G-MER can be effectively used in fast- moving and limited resource scenarios.展开更多
基金Industry-University-Research Cooperation Fund Project of the Eighth Research Institute of China Aerospace Science and Technology Corporation(No.USCAST2022-11)。
文摘The path planning problem of complex wild environment with multiple elements still poses challenges.This paper designs an algorithm that integrates global and local planning to apply to the wild environmental path planning.The modeling process of wild environment map is designed.Three optimization strategies are designed to improve the A-Star in overcoming the problems of touching the edge of obstacles,redundant nodes and twisting paths.A new weighted cost function is designed to achieve different planning modes.Furthermore,the improved dynamic window approach(DWA)is designed to avoid local optimality and improve time efficiency compared to traditional DWA.For the necessary path re-planning of wild environment,the improved A-Star is integrated with the improved DWA to solve re-planning problem of unknown and moving obstacles in wild environment with multiple elements.The improved fusion algorithm effectively solves problems and consumes less time,and the simulation results verify the effectiveness of improved algorithms above.
基金National Natural Science Foundation of China(No.62241503)Natural Science Foundation of Shanghai,China(No.22ZR1401400)。
文摘A fusion algorithm is proposed to enhance the search speed of an ant colony system(ACS)for the global path planning and overcome the challenges of the local path planning in an unmanned aerial vehicle(UAV).The ACS search efficiency is enhanced by adopting a 16-direction 24-neighborhood search way,a safety grid search way,and an elite hybrid strategy to accelerate global convergence.Quadratic planning is performed using the moving average(MA)method.The fusion algorithm incorporates a dynamic window approach(DWA)to deal with the local path planning,sets a retracement mechanism,and adjusts the evaluation function accordingly.Experimental results in two environments demonstrate that the improved ant colony system(IACS)achieves superior planning efficiency.Additionally,the optimized dynamic window approach(ODWA)demonstrates its ability to handle multiple dynamic situations.Overall,the fusion optimization algorithm can accomplish the mixed path planning effectively.
文摘In this paper,a novel,dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with generic path planning techniques through a dual-mode model predictive control framework.The planned path adds information on the connectivity of the free space to the obstacle avoidance capabilities of the dynamic window approach.This allows for guaranteed convergence to a goal location while navigating through an unknown environment at relatively high speeds.The framework is applied in a combined simulation/hardware implementation to demonstrate the computational feasibility and the ability to cope with the constraints of a dynamic system.
基金supported by the Xinjiang Uygur Autonomous Region Central Guided Local Science and Technology Development Fund Project(No.ZYYD2025QY17).
文摘This paper introduces an Improved Bidirectional Jump Point Search(I-BJPS)algorithm to address the challenges of the traditional Jump Point Search(JPS)in mobile robot path planning.These challenges include excessive node expansions,frequent path inflexion points,slower search times,and a high number of jump points in complex environments with large areas and dense obstacles.Firstly,we improve the heuristic functions in both forward and reverse directions to minimize expansion nodes and search time.We also introduce a node optimization strategy to reduce non-essential nodes so that the path length is optimized.Secondly,we employ a second-order Bezier Curve to smooth turning points,making generated paths more suitable for mobile robot motion requirements.Then,we integrate the Dynamic Window Approach(DWA)to improve path planning safety.Finally,the simulation results demonstrate that the I-BJPS algorithm significantly outperforms both the original unidirectional JPS algorithm and the bidirectional JPS algorithm in terms of search time,the number of path inflexion points,and overall path length,the advantages of the I-BJPS algorithm are particularly pronounced in complex environments.Experimental results from real-world scenarios indicate that the proposed algorithm can efficiently and rapidly generate an optimal path that is safe,collision-free,and well-suited to the robot’s locomotion requirements.
基金Supported by the Ministerial Level Foundation(B222006060)
文摘Combining the advantages of partial matched filter（PMF） and fast Fourier transform（FFT）,an improved fast acquisition method for GPS C/A code is proposed.According to PMF-FFT acquisition architecture,the greater the number of PMF will bring out the more slowly amplitude decreasing of the amplitude-frequency response,the smaller scale of the corresponding PMF,and the larger computation of the FFT.In order to compensate the frequency spectrum attenuation caused by spectrum leakage and fence effect,adding window function to PMF-FFT is presented.Through comparing the influences to the acquisition performance based on rectangular,Hamming,Blackman and Rife-Vincent（Ⅲ） window functions,an improved Rife-Vincent Ⅲ windowing algorithm is recommended for the fast acquisition based on PMF-FFT.
文摘The publisher of International Journal of Intelligent Computing and Cybernetics wishes to retract the article by Isiaka,F.,Abdulkarim,S.A.,Mwitondi,K.and Adamu,Z.(2022),“Emotion detection on webpages using biosensors integrated to a window-based dynamic control system”,International Journal of Intelligent Computing and Cybernetics,Vol.15 No.2,pp.277-301,https://doi.org/10.1108/IJICC-05-2021-0080.
基金This paper was partially supported by the National Natural Science Foundation of China under Crants No. 61003283, No. 61001122 Beijing Natural Science Foundation of China under Crants No. 4102064+2 种基金 the Natural Science Foundation of Jiangsu Province under Crant No. BK2011171 the National High-Tech Research and Development Program of China under Crant No. 2011 AA010701 the Fundamental Research Funds for the Cen- tral Universities under Ccants No. 2011RC0507, No. 2012RO3603.
文摘As a core technology of Intemet of Things （loT）, Wireless Sensor Network （WSN） has become a research hotspot recently. More and more WSNs are being deployed in highly mobile environments. The fast moving sensor nodes bring significant challenges for the routing decision. In this paper, we propose an efficient logical location method, and designe a mobility estimating metric and derive a novel Green Mobility Estirmtion- based Routing protocol （G-MER） for WSNs. We also set up a full framework to evaluate its per- formance. Simulation results illustrate that G-MER achieves a fairly better perforrmnce in terrm of broadcast times and link failures than AODV. What＇s more, it decreases the mean hops by about 0.25 and reduces energy consumption by about 10% during the whole experiment. All the results show that G-MER can be effectively used in fast- moving and limited resource scenarios.
