We introduce the artificial fish swarm algorithm for heading motion model identification and control parameter optimization problems for the“Ocean Rambler”unmanned wave glider(UWG).First,under certain assumptions,th...We introduce the artificial fish swarm algorithm for heading motion model identification and control parameter optimization problems for the“Ocean Rambler”unmanned wave glider(UWG).First,under certain assumptions,the rigid-flexible multi-body system of the UWG was simplified as a rigid system composed of“thruster+float body”,based on which a planar motion model of the UWG was established.Second,we obtained the model parameters using an empirical method combined with parameter identification,which means that some parameters were estimated by the empirical method.In view of the specificity and importance of the heading control,heading model parameters were identified through the artificial fish swarm algorithm based on tank test data,so that we could take full advantage of the limited trial data to factually describe the dynamic characteristics of the system.Based on the established heading motion model,parameters of the heading S-surface controller were optimized using the artificial fish swarm algorithm.Heading motion comparison and maritime control experiments of the“Ocean Rambler”UWG were completed.Tank test results show high precision of heading motion prediction including heading angle and yawing angular velocity.The UWG shows good control performance in tank tests and sea trials.The efficiency of the proposed method is verified.展开更多
The main objective of the present study is the development of a new algorithm that can adapt to complex and changeable environments.An artificial fish swarm algorithm is developed which relies on a wireless sensor net...The main objective of the present study is the development of a new algorithm that can adapt to complex and changeable environments.An artificial fish swarm algorithm is developed which relies on a wireless sensor network(WSN)in a hydrodynamic background.The nodes of this algorithm are viscous fluids and artificial fish,while related‘events’are directly connected to the food available in the related virtual environment.The results show that the total processing time of the data by the source node is 6.661 ms,of which the processing time of crosstalk data is 3.789 ms,accounting for 56.89%.The total processing time of the data by the relay node is 15.492 ms,of which the system scheduling and the Carrier Sense Multiple Access(CSMA)rollback time of the forwarding is 8.922 ms,accounting for 57.59%.The total time for the data processing of the receiving node is 11.835 ms,of which the processing time of crosstalk data is 3.791 ms,accounting for 32.02%;the serial data processing time is 4.542 ms,accounting for 38.36%.Crosstalk packets occupy a certain amount of system overhead in the internal communication of nodes,which is one of the causes of node-level congestion.We show that optimizing the crosstalk phenomenon can alleviate the internal congestion of nodes to some extent.展开更多
Purpose-Conventional diagnostic techniques,on the other hand,may be prone to subjectivity since they depend on assessment of motions that are often subtle to individual eyes and hence hard to classify,potentially resu...Purpose-Conventional diagnostic techniques,on the other hand,may be prone to subjectivity since they depend on assessment of motions that are often subtle to individual eyes and hence hard to classify,potentially resulting in misdiagnosis.Meanwhile,early nonmotor signs of Parkinson’s disease(PD)can be mild and may be due to variety of other conditions.As a result,these signs are usually ignored,making early PD diagnosis difficult.Machine learning approaches for PD classification and healthy controls or individuals with similar medical symptoms have been introduced to solve these problems and to enhance the diagnostic and assessment processes of PD(like,movement disorders or other Parkinsonian syndromes).Design/methodology/approach-Medical observations and evaluation of medical symptoms,including characterization of a wide range of motor indications,are commonly used to diagnose PD.The quantity of the data being processed has grown in the last five years;feature selection has become a prerequisite before any classification.This study introduces a feature selection method based on the score-based artificial fish swarm algorithm(SAFSA)to overcome this issue.Findings-This study adds to the accuracy of PD identification by reducing the amount of chosen vocal features while to use the most recent and largest publicly accessible database.Feature subset selection in PD detection techniques starts by eliminating features that are not relevant or redundant.According to a few objective functions,features subset chosen should provide the best performance.Research limitations/implications-In many situations,this is an Nondeterministic Polynomial Time(NPHard)issue.This method enhances the PD detection rate by selecting the most essential features from the database.To begin,the data set’s dimensionality is reduced using Singular Value Decomposition dimensionality technique.Next,Biogeography-Based Optimization(BBO)for feature selection;the weight value is a vital parameter for finding the best features in PD classification.Originality/value-PD classification is done by using ensemble learning classification approaches such as hybrid classifier of fuzzy K-nearest neighbor,kernel support vector machines,fuzzy convolutional neural network and random forest.The suggested classifiers are trained using data from UCIMLrepository,and their results are verified using leave-one-person-out cross validation.The measures employed to assess the classifier efficiency include accuracy,F-measure,Matthews correlation coefficient.展开更多
Due to the recent proliferation of cyber-attacks,highly robust wireless sensor networks(WSN)become a critical issue as they survive node failures.Scale-free WSN is essential because they endure random attacks effectiv...Due to the recent proliferation of cyber-attacks,highly robust wireless sensor networks(WSN)become a critical issue as they survive node failures.Scale-free WSN is essential because they endure random attacks effectively.But they are susceptible to malicious attacks,which mainly targets particular significant nodes.Therefore,the robustness of the network becomes important for ensuring the network security.This paper presents a Robust Hybrid Artificial Fish Swarm Simulated Annealing Optimization(RHAFS-SA)Algorithm.It is introduced for improving the robust nature of free scale networks over malicious attacks(MA)with no change in degree distribution.The proposed RHAFS-SA is an enhanced version of the Improved Artificial Fish Swarm algorithm(IAFSA)by the simulated annealing(SA)algorithm.The proposed RHAFS-SA algorithm eliminates the IAFSA from unforeseen vibration and speeds up the convergence rate.For experimentation,free scale networks are produced by the Barabási–Albert(BA)model,and real-world networks are employed for testing the outcome on both synthetic-free scale and real-world networks.The experimental results exhibited that the RHAFS-SA model is superior to other models interms of diverse aspects.展开更多
Sentiment analysis or opinion mining(OM)concepts become familiar due to advances in networking technologies and social media.Recently,massive amount of text has been generated over Internet daily which makes the patte...Sentiment analysis or opinion mining(OM)concepts become familiar due to advances in networking technologies and social media.Recently,massive amount of text has been generated over Internet daily which makes the pattern recognition and decision making process difficult.Since OM find useful in business sectors to improve the quality of the product as well as services,machine learning(ML)and deep learning(DL)models can be considered into account.Besides,the hyperparameters involved in the DL models necessitate proper adjustment process to boost the classification process.Therefore,in this paper,a new Artificial Fish Swarm Optimization with Bidirectional Long Short Term Memory(AFSO-BLSTM)model has been developed for OM process.The major intention of the AFSO-BLSTM model is to effectively mine the opinions present in the textual data.In addition,the AFSO-BLSTM model undergoes pre-processing and TF-IFD based feature extraction process.Besides,BLSTM model is employed for the effectual detection and classification of opinions.Finally,the AFSO algorithm is utilized for effective hyperparameter adjustment process of the BLSTM model,shows the novelty of the work.A complete simulation study of the AFSO-BLSTM model is validated using benchmark dataset and the obtained experimental values revealed the high potential of the AFSO-BLSTM model on mining opinions.展开更多
In this paper, a static weapon target assignment（WTA）problem is studied. As a critical problem in cooperative air combat,outcome of WTA directly influences the battle. Along with the cost of weapons rising rapidly, ...In this paper, a static weapon target assignment（WTA）problem is studied. As a critical problem in cooperative air combat,outcome of WTA directly influences the battle. Along with the cost of weapons rising rapidly, it is indispensable to design a target assignment model that can ensure minimizing targets survivability and weapons consumption simultaneously. Afterwards an algorithm named as improved artificial fish swarm algorithm-improved harmony search algorithm（IAFSA-IHS） is proposed to solve the problem. The effect of the proposed algorithm is demonstrated in numerical simulations, and results show that it performs positively in searching the optimal solution and solving the WTA problem.展开更多
Aiming at the problem of gate allocation of transit flights,a flight first service model is established.Under the constraints of maximizing the utilization rate of gates and minimizing the transit time,the idea of“fi...Aiming at the problem of gate allocation of transit flights,a flight first service model is established.Under the constraints of maximizing the utilization rate of gates and minimizing the transit time,the idea of“first flight serving first”is used to allocate the first time,and then the hybrid algorithm of artificial fish swarm and simulated annealing is used to find the optimal solution.That means the fish swarm algorithm with the swallowing behavior is employed to find the optimal solution quickly,and the simulated annealing algorithm is used to obtain a global optimal allocation scheme for the optimal local region.The experimental data show that the maximum utilization of the gate is 27.81%higher than that of the“first come first serve”method when the apron is not limited,and the hybrid algorithm has fewer iterations than the simulated annealing algorithm alone,with the overall passenger transfer tension reducing by 1.615;the hybrid algorithm has faster convergence and better performance than the artificial fish swarm algorithm alone.The experimental results indicate that the hybrid algorithm of fish swarm and simulated annealing can achieve higher utilization rate of gates and lower passenger transfer tension under the idea of“first flight serving first”.展开更多
针对启发式算法在无人机不规则复杂地形和多重威胁环境下进行三维航迹规划时,存在路径波动大和优化性能不足的问题,提出结合高程数据的凸包策略以及一种改进的樽海鞘群算法(ISSA)。首先,基于ASTER GDEMV3和Open Street Map数据,构建杭...针对启发式算法在无人机不规则复杂地形和多重威胁环境下进行三维航迹规划时,存在路径波动大和优化性能不足的问题,提出结合高程数据的凸包策略以及一种改进的樽海鞘群算法(ISSA)。首先,基于ASTER GDEMV3和Open Street Map数据,构建杭州某处山区和纽约城市区域的高程模型;其次,结合地形高程信息,采用凸包策略编码并通过B样条曲线构建路径;最后,对樽海鞘群算法在个体位置更新公式上加入自适应Alpha稳定分布策略与非线性扰动策略,以平衡算法的全局开发能力与局部探索能力,并引入贪婪策略和鱼类聚集装置策略,提高算法搜索效率和精度。利用CEC2020测试函数对所提算法进行实验对比,验证了改进算法的性能。实验结果表明,凸包策略能有效提升算法规划能力,且与传统算法相比,改进后的算法能够使无人机的寻优精度更高,代价函数更小。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
Scalable video coding(SVC) is a powerful tool to solve the network heterogeneity and terminal diversity in video applications. However, in related works about the optimization of SVC-based video streaming over Softwar...Scalable video coding(SVC) is a powerful tool to solve the network heterogeneity and terminal diversity in video applications. However, in related works about the optimization of SVC-based video streaming over Software Defined Network(SDN), most of the them are focused either on the number of transmission layers or on the optimization of transmission path for specific layer. In this paper, we propose a noval optimization algorithm for SVC to dynamically adjust the number of layers and optimize the transmission paths simultaneously. We establish the problem model based on the 0/1 knapsack model, and then solve it with Artificial Fish Swarm Algorithm. Additionally, the simulations are carried out on the Mininet platform, which show that our approach can dynamically adjust the number of layers and select the optimal paths at the same time. As a result, it can achieve an effective allocation of network resources which mitigates the congestion and reduces the loss of non-SVC stream.展开更多
针对传统人工操控塔式起重机在运输货物时易导致路径拐点多、负载摆动大的问题,提出一种改进的人工鱼群塔式起重机智能路径规划的新算法。根据塔式起重机的工作环境,建立三维的地图环境模型来模拟障碍物较多的复杂建筑环境,并结合起重...针对传统人工操控塔式起重机在运输货物时易导致路径拐点多、负载摆动大的问题,提出一种改进的人工鱼群塔式起重机智能路径规划的新算法。根据塔式起重机的工作环境,建立三维的地图环境模型来模拟障碍物较多的复杂建筑环境,并结合起重机在建筑场所的运行特点,对传统人工鱼群算法(artificial fish swarm algorithm, AFSA)进行改进,采用自适应策略让鱼群在寻优过程中的状态不断变化,及时调整自身的移动步长和视野,并基于生存竞争机制对人工鱼的随机行为进行改进,在一定程度上改善了算法的寻优能力,利用三次方样条数据插值拟合曲线得到更适合塔式起重机的光滑避障路径。仿真结果表明,改进后的算法为塔式起重机在障碍物较多的复杂建筑环境下找到一条最优避障路径。展开更多
基金Project(51779052)supported by the National Natural Science Foundation of ChinaProject(QC2016062)supported by the Natural Science Foundation of Heilongjiang Province,China+2 种基金Project(614221503091701)supported by the Research Fund from Science and Technology on Underwater Vehicle Laboratory,ChinaProject(LBH-Q17046)supported by the Heilongjiang Postdoctoral Funds for Scientific Research Initiation,ChinaProject(HEUCFP201741)supported by the Fundamental Research Funds for the Central Universities,China
文摘We introduce the artificial fish swarm algorithm for heading motion model identification and control parameter optimization problems for the“Ocean Rambler”unmanned wave glider(UWG).First,under certain assumptions,the rigid-flexible multi-body system of the UWG was simplified as a rigid system composed of“thruster+float body”,based on which a planar motion model of the UWG was established.Second,we obtained the model parameters using an empirical method combined with parameter identification,which means that some parameters were estimated by the empirical method.In view of the specificity and importance of the heading control,heading model parameters were identified through the artificial fish swarm algorithm based on tank test data,so that we could take full advantage of the limited trial data to factually describe the dynamic characteristics of the system.Based on the established heading motion model,parameters of the heading S-surface controller were optimized using the artificial fish swarm algorithm.Heading motion comparison and maritime control experiments of the“Ocean Rambler”UWG were completed.Tank test results show high precision of heading motion prediction including heading angle and yawing angular velocity.The UWG shows good control performance in tank tests and sea trials.The efficiency of the proposed method is verified.
基金financially supported by Natural Science Foundation of Heilongjiang Province of China[Grant No.LH2019F042].
文摘The main objective of the present study is the development of a new algorithm that can adapt to complex and changeable environments.An artificial fish swarm algorithm is developed which relies on a wireless sensor network(WSN)in a hydrodynamic background.The nodes of this algorithm are viscous fluids and artificial fish,while related‘events’are directly connected to the food available in the related virtual environment.The results show that the total processing time of the data by the source node is 6.661 ms,of which the processing time of crosstalk data is 3.789 ms,accounting for 56.89%.The total processing time of the data by the relay node is 15.492 ms,of which the system scheduling and the Carrier Sense Multiple Access(CSMA)rollback time of the forwarding is 8.922 ms,accounting for 57.59%.The total time for the data processing of the receiving node is 11.835 ms,of which the processing time of crosstalk data is 3.791 ms,accounting for 32.02%;the serial data processing time is 4.542 ms,accounting for 38.36%.Crosstalk packets occupy a certain amount of system overhead in the internal communication of nodes,which is one of the causes of node-level congestion.We show that optimizing the crosstalk phenomenon can alleviate the internal congestion of nodes to some extent.
文摘Purpose-Conventional diagnostic techniques,on the other hand,may be prone to subjectivity since they depend on assessment of motions that are often subtle to individual eyes and hence hard to classify,potentially resulting in misdiagnosis.Meanwhile,early nonmotor signs of Parkinson’s disease(PD)can be mild and may be due to variety of other conditions.As a result,these signs are usually ignored,making early PD diagnosis difficult.Machine learning approaches for PD classification and healthy controls or individuals with similar medical symptoms have been introduced to solve these problems and to enhance the diagnostic and assessment processes of PD(like,movement disorders or other Parkinsonian syndromes).Design/methodology/approach-Medical observations and evaluation of medical symptoms,including characterization of a wide range of motor indications,are commonly used to diagnose PD.The quantity of the data being processed has grown in the last five years;feature selection has become a prerequisite before any classification.This study introduces a feature selection method based on the score-based artificial fish swarm algorithm(SAFSA)to overcome this issue.Findings-This study adds to the accuracy of PD identification by reducing the amount of chosen vocal features while to use the most recent and largest publicly accessible database.Feature subset selection in PD detection techniques starts by eliminating features that are not relevant or redundant.According to a few objective functions,features subset chosen should provide the best performance.Research limitations/implications-In many situations,this is an Nondeterministic Polynomial Time(NPHard)issue.This method enhances the PD detection rate by selecting the most essential features from the database.To begin,the data set’s dimensionality is reduced using Singular Value Decomposition dimensionality technique.Next,Biogeography-Based Optimization(BBO)for feature selection;the weight value is a vital parameter for finding the best features in PD classification.Originality/value-PD classification is done by using ensemble learning classification approaches such as hybrid classifier of fuzzy K-nearest neighbor,kernel support vector machines,fuzzy convolutional neural network and random forest.The suggested classifiers are trained using data from UCIMLrepository,and their results are verified using leave-one-person-out cross validation.The measures employed to assess the classifier efficiency include accuracy,F-measure,Matthews correlation coefficient.
文摘Due to the recent proliferation of cyber-attacks,highly robust wireless sensor networks(WSN)become a critical issue as they survive node failures.Scale-free WSN is essential because they endure random attacks effectively.But they are susceptible to malicious attacks,which mainly targets particular significant nodes.Therefore,the robustness of the network becomes important for ensuring the network security.This paper presents a Robust Hybrid Artificial Fish Swarm Simulated Annealing Optimization(RHAFS-SA)Algorithm.It is introduced for improving the robust nature of free scale networks over malicious attacks(MA)with no change in degree distribution.The proposed RHAFS-SA is an enhanced version of the Improved Artificial Fish Swarm algorithm(IAFSA)by the simulated annealing(SA)algorithm.The proposed RHAFS-SA algorithm eliminates the IAFSA from unforeseen vibration and speeds up the convergence rate.For experimentation,free scale networks are produced by the Barabási–Albert(BA)model,and real-world networks are employed for testing the outcome on both synthetic-free scale and real-world networks.The experimental results exhibited that the RHAFS-SA model is superior to other models interms of diverse aspects.
基金The authors extend their appreciation to the Deanship of Scientific Research at King Khalid University for funding this work under grant number(RGP 2/142/43).
文摘Sentiment analysis or opinion mining(OM)concepts become familiar due to advances in networking technologies and social media.Recently,massive amount of text has been generated over Internet daily which makes the pattern recognition and decision making process difficult.Since OM find useful in business sectors to improve the quality of the product as well as services,machine learning(ML)and deep learning(DL)models can be considered into account.Besides,the hyperparameters involved in the DL models necessitate proper adjustment process to boost the classification process.Therefore,in this paper,a new Artificial Fish Swarm Optimization with Bidirectional Long Short Term Memory(AFSO-BLSTM)model has been developed for OM process.The major intention of the AFSO-BLSTM model is to effectively mine the opinions present in the textual data.In addition,the AFSO-BLSTM model undergoes pre-processing and TF-IFD based feature extraction process.Besides,BLSTM model is employed for the effectual detection and classification of opinions.Finally,the AFSO algorithm is utilized for effective hyperparameter adjustment process of the BLSTM model,shows the novelty of the work.A complete simulation study of the AFSO-BLSTM model is validated using benchmark dataset and the obtained experimental values revealed the high potential of the AFSO-BLSTM model on mining opinions.
基金supported by the National Natural Science Foundation of China(61472441)
文摘In this paper, a static weapon target assignment（WTA）problem is studied. As a critical problem in cooperative air combat,outcome of WTA directly influences the battle. Along with the cost of weapons rising rapidly, it is indispensable to design a target assignment model that can ensure minimizing targets survivability and weapons consumption simultaneously. Afterwards an algorithm named as improved artificial fish swarm algorithm-improved harmony search algorithm（IAFSA-IHS） is proposed to solve the problem. The effect of the proposed algorithm is demonstrated in numerical simulations, and results show that it performs positively in searching the optimal solution and solving the WTA problem.
基金This paper is supported by The National Nature Science Foundation of China(No.61703426).
文摘Aiming at the problem of gate allocation of transit flights,a flight first service model is established.Under the constraints of maximizing the utilization rate of gates and minimizing the transit time,the idea of“first flight serving first”is used to allocate the first time,and then the hybrid algorithm of artificial fish swarm and simulated annealing is used to find the optimal solution.That means the fish swarm algorithm with the swallowing behavior is employed to find the optimal solution quickly,and the simulated annealing algorithm is used to obtain a global optimal allocation scheme for the optimal local region.The experimental data show that the maximum utilization of the gate is 27.81%higher than that of the“first come first serve”method when the apron is not limited,and the hybrid algorithm has fewer iterations than the simulated annealing algorithm alone,with the overall passenger transfer tension reducing by 1.615;the hybrid algorithm has faster convergence and better performance than the artificial fish swarm algorithm alone.The experimental results indicate that the hybrid algorithm of fish swarm and simulated annealing can achieve higher utilization rate of gates and lower passenger transfer tension under the idea of“first flight serving first”.
文摘针对启发式算法在无人机不规则复杂地形和多重威胁环境下进行三维航迹规划时,存在路径波动大和优化性能不足的问题,提出结合高程数据的凸包策略以及一种改进的樽海鞘群算法(ISSA)。首先,基于ASTER GDEMV3和Open Street Map数据,构建杭州某处山区和纽约城市区域的高程模型;其次,结合地形高程信息,采用凸包策略编码并通过B样条曲线构建路径;最后,对樽海鞘群算法在个体位置更新公式上加入自适应Alpha稳定分布策略与非线性扰动策略,以平衡算法的全局开发能力与局部探索能力,并引入贪婪策略和鱼类聚集装置策略,提高算法搜索效率和精度。利用CEC2020测试函数对所提算法进行实验对比,验证了改进算法的性能。实验结果表明,凸包策略能有效提升算法规划能力,且与传统算法相比,改进后的算法能够使无人机的寻优精度更高,代价函数更小。
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Scalable video coding(SVC) is a powerful tool to solve the network heterogeneity and terminal diversity in video applications. However, in related works about the optimization of SVC-based video streaming over Software Defined Network(SDN), most of the them are focused either on the number of transmission layers or on the optimization of transmission path for specific layer. In this paper, we propose a noval optimization algorithm for SVC to dynamically adjust the number of layers and optimize the transmission paths simultaneously. We establish the problem model based on the 0/1 knapsack model, and then solve it with Artificial Fish Swarm Algorithm. Additionally, the simulations are carried out on the Mininet platform, which show that our approach can dynamically adjust the number of layers and select the optimal paths at the same time. As a result, it can achieve an effective allocation of network resources which mitigates the congestion and reduces the loss of non-SVC stream.
文摘针对传统人工操控塔式起重机在运输货物时易导致路径拐点多、负载摆动大的问题,提出一种改进的人工鱼群塔式起重机智能路径规划的新算法。根据塔式起重机的工作环境,建立三维的地图环境模型来模拟障碍物较多的复杂建筑环境,并结合起重机在建筑场所的运行特点,对传统人工鱼群算法(artificial fish swarm algorithm, AFSA)进行改进,采用自适应策略让鱼群在寻优过程中的状态不断变化,及时调整自身的移动步长和视野,并基于生存竞争机制对人工鱼的随机行为进行改进,在一定程度上改善了算法的寻优能力,利用三次方样条数据插值拟合曲线得到更适合塔式起重机的光滑避障路径。仿真结果表明,改进后的算法为塔式起重机在障碍物较多的复杂建筑环境下找到一条最优避障路径。
