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基于改进人工势场法的路径规划决策一体化算法研究 被引量:22
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作者 袁朝春 翁烁丰 +3 位作者 何友国 SHENJie 陈龙 王桐 《农业机械学报》 EI CAS CSCD 北大核心 2019年第9期394-403,共10页
车辆路径规划与决策算法是无人驾驶汽车的重要研究方向之一。现有的路径规划与路径跟踪决策算法中规划层与决策层存在时滞现象,往往会引起检测信息与真实行驶环境信息的偏差,使得规划的局部路径不能反映当前真实状态,是无人驾驶汽车安... 车辆路径规划与决策算法是无人驾驶汽车的重要研究方向之一。现有的路径规划与路径跟踪决策算法中规划层与决策层存在时滞现象,往往会引起检测信息与真实行驶环境信息的偏差,使得规划的局部路径不能反映当前真实状态,是无人驾驶汽车安全行驶的不稳定因素。本文综合考虑了环境交通参与者与车辆自身运动学特征,建立了横纵向安全模型,对车辆目前行驶环境的风险特征进行了综合评估。在行驶环境特征与车辆动力学特征的基础上对传统人工势场法进行了改进,设计了基于虚拟力的局部路径规划与控制决策一体化算法,提升了算法在复杂动态环境下控制的可靠性。最后,利用Carsim/Simulink建立了联合仿真环境,分别对传统路径规划算法、路径跟踪算法与本文提出的路径决策规划一体化算法在典型工况下进行仿真。仿真结果表明,该算法能减小路径规划决策环节的时滞影响,为复杂动态环境下的无人驾驶车辆提供更加合理的控制方法。 展开更多
关键词 无人驾驶车辆 安全距离模型 改进人工势场法 路径规划决策一体化算法
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Systematic learning-based system approximation using rank-exponent method exploiting GWO algorithm
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作者 Umesh Kumar Yadav Praveen Mande V.P.Singh 《Journal of Control and Decision》 2024年第3期450-459,I0013,共11页
In this proposal,systematic learning-based approximation of higher-order(HO)system is performed utilising rank-exponent(RE)assisted weight determination method incorporating greywolf-optimisation(GWO)algorithm.The tim... In this proposal,systematic learning-based approximation of higher-order(HO)system is performed utilising rank-exponent(RE)assisted weight determination method incorporating greywolf-optimisation(GWO)algorithm.The time-moments(TMs)along with Markov-parameters(MPs)of HO system and desired approximant are ascertained in order to utilise in the approximation process.The errors between TMs as well as MPs of HO system and desired approximant are used to frame weighted objective-function.The weights associated with objectivefunction are derived systematically using RE method.Once,weights are derived using RE method,GWO algorithm is used for minimising the resultant objective-function.The sixthorder system of hydro-power-station is utilised as real-test scenario in this study to demonstrate efficacy and effectiveness of proposed RE-based methodology.The considered sixthorder fixed-coefficient HO system is approximated to reduced-order-model of order three.For better examination and analysis of proposed methodology,responses along with quantitative analysis in tabular form for time-domain-specifications and performance-error-indices are presented. 展开更多
关键词 Approximation decision-making integration of decision-making and control intelligent optimisation algorithm rank-exponent method systematic process
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