The problem of the unmanned surface vessel (USV) path planning in static and dynamic obstacle environments is addressed in this paper. Multi-behavior fusion based potential field method is proposed, which contains thr...The problem of the unmanned surface vessel (USV) path planning in static and dynamic obstacle environments is addressed in this paper. Multi-behavior fusion based potential field method is proposed, which contains three behaviors: goal-seeking, boundary-memory following and dynamic-obstacle avoidance. Then, different activation conditions are designed to determine the current behavior. Meanwhile, information on the positions, velocities and the equation of motion for obstacles are detected and calculated by sensor data. Besides, memory information is introduced into the boundary following behavior to enhance cognition capability for the obstacles, and avoid local minima problem caused by the potential field method. Finally, the results of theoretical analysis and simulation show that the collision-free path can be generated for USV within different obstacle environments, and further validated the performance and effectiveness of the presented strategy.展开更多
基金financially supported by the National Natural Science Foundation of China(Grant No.51879049)DK-I Dynamic Positioning System Console Project
文摘The problem of the unmanned surface vessel (USV) path planning in static and dynamic obstacle environments is addressed in this paper. Multi-behavior fusion based potential field method is proposed, which contains three behaviors: goal-seeking, boundary-memory following and dynamic-obstacle avoidance. Then, different activation conditions are designed to determine the current behavior. Meanwhile, information on the positions, velocities and the equation of motion for obstacles are detected and calculated by sensor data. Besides, memory information is introduced into the boundary following behavior to enhance cognition capability for the obstacles, and avoid local minima problem caused by the potential field method. Finally, the results of theoretical analysis and simulation show that the collision-free path can be generated for USV within different obstacle environments, and further validated the performance and effectiveness of the presented strategy.
文摘多行为推荐(multi-behavior recommendation,MBR)在互联网平台中愈发重要,但现有方法仍面临两大挑战:a)无法刻画用户不同行为下的复杂兴趣偏好;b)难以建模不同行为间的相互关系。基于此,提出一种对比学习增强的多行为超图神经网络模型(multi-behavior hypergraph neural network model enhanced with contrastive lear-ning,MBHCL),在建模用户复杂多类型交互的同时,结合对比学习捕获行为间共性与差异,以获取更优嵌入表示,缓解冷启动与数据稀疏问题。具体地,MBHCL首先构建用户-项目多行为交互超图,以刻画用户对项目不同维度的偏好;其次设计三个对比任务整合单行为表示,通过捕捉行为间的共性与差异获取全面用户兴趣偏好。最终,MBHCL在四个真实场景数据集上进行对比实验。结果表明,在Tmall和BeiBei数据集上,HIT和NDCG指标有至少4.8%的提升,在Kuairand和Yelp数据集上,HIT和NDCG指标至少提升3.6%,并通过消融实验验证了各模块的有效性,同时显著改善了冷启动用户推荐效果。
