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Correlation and path coefficient analysis for phenotypic traits of noble scallop Chlamys nobilis 被引量:2
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作者 李俊辉 杜晓东 +1 位作者 邓岳文 王庆恒 《Marine Science Bulletin》 CAS 2010年第2期55-60,共6页
In April of 2006, a base population of the noble scallop Chlamys nobilis was established by collecting parental breeders from the stocks in Wushi, Zhanjiang. In December of 2006, 200 individuals were randomly sampled ... In April of 2006, a base population of the noble scallop Chlamys nobilis was established by collecting parental breeders from the stocks in Wushi, Zhanjiang. In December of 2006, 200 individuals were randomly sampled from the base population and subjected for correlation and path coefficient analysis. It was found that there were statistically significant phenotypic correlations among the traits (P 〈 0.01). Total weight was significantly and positively correlated with the shell length (r = 0.934 3), shell height (r = 0.895 9), shell width (r = 0.899 1 ), muscle weight (r = 0.882 0) and shell weight (r = 0.937 9), respectively. Shell length, shell width, muscle weight, shell height and shell weight had positive and direct effects on the total weight, with values of 0.397 1, 0.321 9, 0.172 1, 0.089 6 and 0.066 9, respectively. Shell length, shell width and muscle weight had higher direct effects on the total weight than shell height and shell weight. A combined evaluation of correlation, direct effects and indirect effects showed that direct selection for shell length, shell width, muscle weight, shell height and shell weight would be effective to improving the total weight. It was concluded that these traits could be regarded as the selection criteria in breeding programs of the species. 展开更多
关键词 Chlamys nobilis phenotypic traits CORRELATION path coefficient analysis
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Correlation and Path Coefficient and Chi-square Distance Cluster Analysis for Several Characteristics in Tobacco Germplasm Resource 被引量:1
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作者 LI Wenping ZHU Lieshu +3 位作者 ZHAO Songyi LIANG Qizheng WANG Yuchao TAN Xi 《Journal of Northeast Agricultural University(English Edition)》 CAS 2010年第1期10-15,共6页
Correlation and path coefficient analyses were conducted for 10 characteristics of 24 pure lines of flue-cured tobacco such as plant height, knot distance, leaf number, the central leaf length and width, ratio of the ... Correlation and path coefficient analyses were conducted for 10 characteristics of 24 pure lines of flue-cured tobacco such as plant height, knot distance, leaf number, the central leaf length and width, ratio of the length to width, stem girth, dates of budding, leaf yield and ratio of the prime-medium tobacco. The leaf number and the central leaf length showed a positive or a strong positive correlation with the yield per plant. And the leaf number and leaf yield per plant showed a strong positive correlation with the ratio of prime-medium tobacco. The results showed that the leaf yield per plant among these characteristics played a major role in determining the ratio of prime-medium tobacco while the others were less related with the ratio. Square sum of deviation method cluster analyses showed that 24 pure lines of flue-cured tobacco were clustered into two groups. Of the pure lines, Line T1706 and Line T1245 had a far relationship with all other lines, and also had a heterosis when crossed with the other lines. Lines Guangdonghuang 1 and R72(3)B-2-1 were closely related. 展开更多
关键词 flue-cured tobacco correlation analysis path coefficient analysis cluster analysis
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Field system-level calibration method for accelerometer considering nonlinear coefficients
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作者 WU Haotian YU Ruihang +2 位作者 CAO Juliang MA Caixia YANG Bainan 《Journal of Systems Engineering and Electronics》 2025年第3期814-824,共11页
In order to get rid of the dependence on high-precision centrifuges in accelerometer nonlinear coefficients calibration,this paper proposes a system-level calibration method for field condition.Firstly,a 42-dimension ... In order to get rid of the dependence on high-precision centrifuges in accelerometer nonlinear coefficients calibration,this paper proposes a system-level calibration method for field condition.Firstly,a 42-dimension Kalman filter is constructed to reduce impact brought by turntable.Then,a biaxial rotation path is designed based on the accelerometer output model,including orthogonal 22 positions and tilt 12 positions,which enhances gravity excitation on nonlinear coefficients of accelerometer.Finally,sampling is carried out for calibration and further experiments.The results of static inertial navigation experiments lasting 4000 s show that compared with the traditional method,the proposed method reduces the position error by about 390 m. 展开更多
关键词 ACCELEROMETER nonlinear coefficient system-level calibration rotation path
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Correlation and Path Coefficient Analyses of Yield in Cacao(Theobroma cacao L.)
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作者 Omotayo Olalekan Adenuga Abigail Funlayo Adepoju +3 位作者 Ibrahim Olalekan Sobowale Olayinka Olufemi Olaniyi Oluwatobi James Areola Terkula Felix Nyamkyume 《Journal of Botanical Research》 2022年第3期1-8,共8页
Cacao(Theobroma cacao L.)is an important commodity tree crop which produces the cocoa bean,a major source of income for most West African countries and many smallholder farmers.Declining yield of cacao is a major limi... Cacao(Theobroma cacao L.)is an important commodity tree crop which produces the cocoa bean,a major source of income for most West African countries and many smallholder farmers.Declining yield of cacao is a major limitation to cocoa production in Nigeria.This study aimed at determining the correlations of the phenotypic traits that were related in the yield of the cacao genotypes.Nine cacao hybrids produced from some high-yielding parents in the research farm of Cocoa Research Institute of Nigeria,Ibadan,Nigeria were evaluated from 2012 through 2017 in Owena(7°11’N,5°1’E),Ondo state,Nigeria.Character Correlations and Path Coefficient Analysis were used in the description of the performance of the genotypes.The study concluded that significant genotypic and phenotypic correlations existed among many of the pairs of the fruit and bean characters with one another and with pod index,suggesting a complex contribution of these characters either positively or negatively to growth and yield in cacao,and that fruit and bean traits are determinants of yield in cacao. 展开更多
关键词 CACAO YIELD CORRELATION Phenotypic traits path coefficients
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Multiple-stage dynamic responses and failure behaviors of surrounding rocks subjected to development blasting: Exponential and triangular paths
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作者 Siyu Peng Xibing Li +1 位作者 Yasuhiro Mitani Jingyao Gao 《Journal of Rock Mechanics and Geotechnical Engineering》 2025年第6期3773-3789,共17页
During the development blasting of circular tunnels, the detonation of multiple blastholes arranged onconcentric circles induces a complex dynamic response in the surrounding rocks. This process involvesmultiple blast... During the development blasting of circular tunnels, the detonation of multiple blastholes arranged onconcentric circles induces a complex dynamic response in the surrounding rocks. This process involvesmultiple blast loadings, static stress unloadings, and stress redistributions. In this study, the dynamicstresses of the surrounding rocks during development blasting, considering multiple blasting-unloadingstages with exponential paths and triangular paths (linear simplified paths of exponential paths), aresolved based on the dynamic theory and the Fourier transform method. Then, a corresponding discreteelement model is established using particle flow code (PFC). The multiple-stage dynamic stress andfracture distribution under different in situ stress levels and lateral coefficients are investigated. Theoreticalresults indicate that the peak compressive stresses in the surrounding rocks induced by bothtriangular and exponential paths are equal, while the triangular path generates greater additional dynamictensile stresses, particularly in the circumferential direction, compared to the exponential path.Numerical results show that the exponential path causes less dynamic circumferential tensile damageand forms fewer radial fractures than the triangular path in the first few blast stages;conversely, itexacerbates the damage and instability in the final blasting-unloading stage and forms more circumferentialfractures. Furthermore, the in situ stress determines which of the two opposite effects isdominant. Therefore, when using overly simplified triangular paths to evaluate the stability of surroundingrocks, potential overestimation or underestimation caused by different failure mechanismsshould be considered. Specifically, under high horizontal and vertical stresses, the static stress redistributionwith layer-by-layer blasting suppresses dynamic circumferential tensile and radial compressivedamage. The damage evolution of surrounding rocks in multi-stage blasting under different in situstresses is summarized and classified according to the damage mechanism and characteristics, which canguide blasting and support design. 展开更多
关键词 Development blasting Multiple blast stages In situ stress Lateral stress coefficient Blasting-unloading path
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Definition of failure criterion for frozen soil under directional shear-stress path 被引量:1
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作者 Dun Chen Wei Ma +3 位作者 GuoYu Li ZhiWei Zhou YanHu Mu ShiJie Chen 《Research in Cold and Arid Regions》 CSCD 2019年第6期428-434,共7页
A series of directional shear tests on remolded frozen soil was carried out at 10°C by using a hollow cylinder apparatus to study failure criterion under a directional shear-stress path.Directional shear tests we... A series of directional shear tests on remolded frozen soil was carried out at 10°C by using a hollow cylinder apparatus to study failure criterion under a directional shear-stress path.Directional shear tests were conducted at five shear rates(10,20,30,40,and 50 kPa/min)and five intermediate principal stress coefficients(b=0,0.25,0.5,0.75,and 1),with the mean principal stress(p=4.5 MPa)kept constant.The results show that the torsional strength and the generalized strength both increase with the increase of the shear rates.According to the failure modes of frozen soil under different shear rates,the specimens present obvious plastic failure and shear band;and the torsional shear component dominates the failure modes of hollow cylindrical specimens.A shear rate of 30 kPa/min is chosen as the loading rate in the directional shear tests of frozen soil.The shape of the failure curve in theπplane is dependent on the directional anglesαof the major prin cipal stress.It is reasonable to use the strain-hardening curves to define the deviatoric stress value atγg=15%(generalized shear strain)as the failure criterion of frozen soil under a directional shear-stress path. 展开更多
关键词 frozen soil hollow cylinder apparatus intermediate principal stress coefficient failure criterion directional shear-stress path
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THE PATH INTEGRAL APPSOACH FOR SCATTERING OF TRIPLE-BARRIER
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作者 王明泉 张学龙 《Acta Mathematica Scientia》 SCIE CSCD 1999年第S1期564-568,共5页
The path integral approach is used to investigate the scattering of tripe- barrier. Analytical expressions of the reflection coefficient and the transmission coefficient and resonant tunneling condition are strictly d... The path integral approach is used to investigate the scattering of tripe- barrier. Analytical expressions of the reflection coefficient and the transmission coefficient and resonant tunneling condition are strictly derived for triple-barrier quantum-well struc- tures. A new theoretical method studying the scattering of multi-barrier quantum-well structures is provided in this paper. 展开更多
关键词 BARRIER path INTEGRAL transmission coefficient REFLECTION coefficient
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Threat Modeling-Oriented Attack Path Evaluating Algorithm
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作者 李晓红 刘然 +1 位作者 冯志勇 何可 《Transactions of Tianjin University》 EI CAS 2009年第3期162-167,共6页
In order to evaluate all attack paths in a threat tree,based on threat modeling theory,a weight distribution algorithm of the root node in a threat tree is designed,which computes threat coefficients of leaf nodes in ... In order to evaluate all attack paths in a threat tree,based on threat modeling theory,a weight distribution algorithm of the root node in a threat tree is designed,which computes threat coefficients of leaf nodes in two ways including threat occurring possibility and the degree of damage.Besides,an algorithm of searching attack path was also obtained in accordence with its definition.Finally,an attack path evaluation system was implemented which can output the threat coefficients of the leaf nodes in a target threat tree,the weight distribution information,and the attack paths.An example threat tree is given to verify the effectiveness of the algorithms. 展开更多
关键词 attack tree attack path threat modeling threat coefficient attack path evaluation
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Mechanical response and dilatancy characteristics of deep marble under different stress paths:A sight from energy dissipation
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作者 LIU Xiao-hui HAO Qi-jun +2 位作者 ZHENG Yu ZHANG Zhao-peng XUE Yang 《Journal of Central South University》 SCIE EI CAS CSCD 2024年第6期2070-2086,共17页
Dilatancy is a fundamental volumetric growth behavior observed during loading and serves as a key index to comprehending the intricate nonlinear behavior and constitutive equation structure of rock.This study focuses ... Dilatancy is a fundamental volumetric growth behavior observed during loading and serves as a key index to comprehending the intricate nonlinear behavior and constitutive equation structure of rock.This study focuses on Jinping marble obtained from the Jinping Underground Laboratory in China at a depth of 2400 m.Various uniaxial and triaxial tests at different strain rates,along with constant confining pressure tests and reduced confining pressure tests under different confining pressures were conducted to analyze the mechanical response and dilatancy characteristics of the marble under four stress paths.Subsequently,a new empirical dilatancy coefficient is proposed based on the energy dissipation method.The results show that brittle failure characteristics of marble under uniaxial compression are more obvious with the strain rate increasing,and plastic failure characteristics of marble under triaxial compression are gradually strengthened.Furthermore,compared to the constant confining pressure,the volume expansion is relatively lower under unloading condition.The energy dissipation is closely linked to the process of dilatancy,with a rapid increase of dissipated energy coinciding with the beginning of dilatancy.A new empirical dilatancy coefficient is defined according to the change trend of energy dissipation rate curve,of which change trend is consistent with the actual dilatancy response in marble under different stress paths.The existing empirical and theoretical dilatancy models are analyzed,which shows that the empirical dilatancy coefficient based on the energy background is more universal. 展开更多
关键词 deep marble stress paths DILATANCY energy dissipation empirical dilatancy coefficient
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Experimental study on permeability evolution of deep high-stressed coal under major horizontal stress unloading paths
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作者 Chao Liu Jiahao Zhang +3 位作者 Songwei Wu Jinghua Qi Beichen Yu Liang Wang 《International Journal of Mining Science and Technology》 SCIE EI CAS CSCD 2024年第11期1495-1508,共14页
Both bulk stress(σ_(i i))and stress path(SP)significantly affect the transportation characteristics of deep gas during reservoir pressure depletion.Therefore,the experimental study of horizontal stress unloading on s... Both bulk stress(σ_(i i))and stress path(SP)significantly affect the transportation characteristics of deep gas during reservoir pressure depletion.Therefore,the experimental study of horizontal stress unloading on seepage behavior of gas-bearing coal under constantσi i-constraints is performed.The results show that coal permeability is affected by horizontal stress anisotropy(σ_(H)≠σh),and the contribution of minor horizontal stress to permeability is related to the differential response of horizontal strain.The slippage phenomenon is prominent in deep high-stress regime,especially in low reservoir pressure.σ_(i i)and SP jointly determine the manifestation of slippage effect and the strength of stress sensitivity(γ)of permeability.Deep reservoir implies an incremental percentage of slip-based permeability,and SP weakens the slippage effect by changing the elastic–plastic state of coal.However,γis negatively correlated with slippage effect.From the Walsh model,narrow(low aspect-ratio)fractures within the coal under unloading SP became the main channel for gas seepage,and bring the effective stress coefficient of permeability(χ)less than 1 for both low-stress elastic and high-stress damaged coal.With the raise of the effective stress,the effect of pore-lined clay particles on permeability was enhanced,inducing an increase inχfor highstress elastic coal. 展开更多
关键词 True triaxial stress path Constant bulk stress Horizontal stress Effective stress coefficient of permeability Slippage effect
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Emulation of Realistic Multi-Path Propagation Channels inside an Anechoic Chamber for Antenna Diversity Measurements
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作者 Alaa Choumane Ahmad El Sayed Ahmad Khaled Khoder 《Wireless Engineering and Technology》 2020年第1期1-12,共12页
As antennas are inherently included recommended in Over-The-Air (OTA) testing, it is important to also consider realistic channel models for the multiple-input multiple-output (MIMO) device performance evaluation. Thi... As antennas are inherently included recommended in Over-The-Air (OTA) testing, it is important to also consider realistic channel models for the multiple-input multiple-output (MIMO) device performance evaluation. This paper aims to emulate realistic multi-Path propagation channels in terms of angles of arrivals (AoA) and cross-polarization ratio (XPR) with Rayleigh fading, inside an anechoic chamber, for antenna diversity measurements. In this purpose, a practical multi-probe anechoic chamber measurement system (MPAC) with 24 probe antennas (SATIMO SG24) has been used. However, the actual configuration of this system is not able to reproduce realistic channels. Therefore, a new method based on the control of the SG24 probes has been developed. At first time, this method has been validated numerically through the comparison of simulated and analytical AoA probability density distributions. At the second time, the performance of an antenna diversity system inside the SG24 has been performed in terms of the correlation coefficient and diversity gain (DG) using an antenna reference system. Simulated and measurements results have shown a good agreement. 展开更多
关键词 Channel Emulation Multi-path OTA Measurements Antenna Diversity Measurements MIMO Correlation coefficient Diversity Gain
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基于三种群粒子群优化策略的移动机器人路径规划 被引量:1
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作者 王珂 姜春艳 +1 位作者 黄黎 张新海 《深圳大学学报(理工版)》 北大核心 2025年第4期447-454,I0006-I0008,共11页
针对移动机器人在复杂环境路径规划中存在的全局搜索能力不足、易陷入局部最优及路径质量欠佳等问题,提出一种基于三种群粒子群优化(three-population particle swarm optimization,TPPSO)策略的移动机器人路径规划算法.该算法通过探索... 针对移动机器人在复杂环境路径规划中存在的全局搜索能力不足、易陷入局部最优及路径质量欠佳等问题,提出一种基于三种群粒子群优化(three-population particle swarm optimization,TPPSO)策略的移动机器人路径规划算法.该算法通过探索群、开发群和增强群的协同进化机制,增强了全局搜索与局部开发能力.探索群利用粒子质量评估和随机选择策略更新速度;开发群采用线性认知系数动态调整机制;增强群引入较大随机分量以减少局部最优影响.算法引入随机扰动策略,当搜索性能停滞时对粒子群施加扰动,以增强多样性.在单峰函数(F_(1))、带噪声单峰函数(F_(4))和多峰函数(F_(9))3类基准函数测试中,TPPSO算法的平均值和标准差均优于传统PSO算法、SAVPSO算法和RRT*算法,验证了其优异的优化性能和稳定性.在4个10 m×10 m的二维标准环境中生成的路径能有效规避障碍物并减少不必要的迂回,路径质量最优.复杂环境验证实验进一步发现,在动态多障碍物环境中的规划成功率达91.5%;三维环境中的平均爬升率为10.7%.TPPSO算法能有效解决移动机器人在复杂环境下的路径规划问题. 展开更多
关键词 计算机应用 路径规划 粒子群优化 进化算法 线性认知系数 随机扰动
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商业健康保险的收入再分配效应研究——基于中国家庭金融调查数据 被引量:1
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作者 陈明裕 唐金成 《卫生经济研究》 北大核心 2025年第1期23-28,共6页
利用2019年中国家庭金融调查(CHFS)数据,研究不同收入水平群体购买不同类型商业健康保险的保险受益情况,评估商业健康保险的收入再分配效应。结果显示,商业健康保险存在逆向收入再分配现象;不断提高的筹资标准、高昂的医疗费用,是收入... 利用2019年中国家庭金融调查(CHFS)数据,研究不同收入水平群体购买不同类型商业健康保险的保险受益情况,评估商业健康保险的收入再分配效应。结果显示,商业健康保险存在逆向收入再分配现象;不断提高的筹资标准、高昂的医疗费用,是收入差距急剧扩大的重要因素;保险偿付能弥补保险缴费以及医疗支出后扩大的收入差距,但存在正向收入再分配作用不足、受益不公平现象。对此,应创新商业健康保险产品和服务,建立“商业健康保险+健康管理”模式,加大政府支持力度,促进我国商业健康保险的发展。 展开更多
关键词 商业健康保险 收入再分配 MT指数 基尼系数路径曲线
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无线环境知识表示方法研究——工业互联网场景的应用 被引量:1
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作者 张兆灵 于力 +3 位作者 张宇翔 王嘉琳 张建华 姜涛 《移动通信》 2025年第5期63-66,103,共5页
无线环境知识(WEK,Wireless Environment Knowledge)旨在描述环境与信道之间的映射关系,对于动态信道特征预测及优化通信资源配置具有重要意义。工业互联网(IIoT,Industrial Internet of Things)将互联网技术与传统工业相结合,具有场景... 无线环境知识(WEK,Wireless Environment Knowledge)旨在描述环境与信道之间的映射关系,对于动态信道特征预测及优化通信资源配置具有重要意义。工业互联网(IIoT,Industrial Internet of Things)将互联网技术与传统工业相结合,具有场景空间大、设备分布密集、金属设备多、设备材质多样、传输信号的频率依赖性强等特点,通信环境受多种因素影响。对环境特性的准确描述有助于在IIoT等复杂电磁环境中实现更精确的路径损耗(PL,Pass Loss)预测,从而提升通信质量和可靠性。针对上述IIoT场景的多维特性,首先分析了场景中设备材质对于信号传输的影响,基于不同材质的电磁参数和频率特性构建了相应的知识系数;然后,提出了一个面向IIoT场景的WEK表示方法,基于位置信息和知识系数表示无线传播过程中散射体的反射、绕射和遮挡对于接收信号功率的贡献,并构建了一个基于WEK和神经网络(NN,Neural Network)的PL预测框架;最后,搭建了一个简单的室内IIoT场景进行仿真,验证了所提出的知识系数和WEK的有效性。 展开更多
关键词 无线环境知识 工业互联网 知识系数 路损预测
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冻结钙质黏土复杂应力路径下的力学响应及本构模型研究
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作者 曹祎 荣传新 +2 位作者 王衍森 常磊 王彬 《岩土力学》 北大核心 2025年第7期2071-2084,共14页
两淮矿区广泛分布着钙质黏土层,其具有冰点低、冻胀性强、遇水易崩解、强度低等特点,对冻结法施工提出了严峻挑战。为探究冻结钙质黏土在复杂应力路径下的力学响应,通过ZSZ-2000冻土真三轴试验平台,开展了不同围压、温度、含水率和中主... 两淮矿区广泛分布着钙质黏土层,其具有冰点低、冻胀性强、遇水易崩解、强度低等特点,对冻结法施工提出了严峻挑战。为探究冻结钙质黏土在复杂应力路径下的力学响应,通过ZSZ-2000冻土真三轴试验平台,开展了不同围压、温度、含水率和中主应力系数条件下的真三轴压缩试验,分析了冻结钙质黏土在其影响下的强度和变形特性。试验结果表明:冻结钙质黏土强度与中主应力系数b和围压呈现出良好的二次函数关系,与温度呈负相关,与含水率呈正相关。随着含水率的增加,其破坏强度的增长速率逐渐降低。破坏强度受中主应力效应和围压效应的共同控制,均表现出明显的强化-弱化双重作用,并存在临界中主应力系数b_(c)=0.75,临界围压σ_(3c)=3 MPa。随着围压的增大,体应变由先剪缩后剪胀逐渐转变为纯剪缩的特性,且随着b值的增大,试样峰值体应变逐渐变大。基于试验结果,建立了考虑温度、含水率和中主应力系数影响的改进邓肯-张模型,并验证模型的可靠性。研究结果可为冻结壁设计优化和深部冻结法凿井提供理论依据。 展开更多
关键词 冻结黏土 中主应力系数 强度演化规律 真三轴应力路径 邓肯-张模型
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基于模糊LQR的自动驾驶车辆路径跟踪优化
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作者 程广伟 赵小康 +2 位作者 张子扬 卢艳阳 郭占正 《现代制造工程》 北大核心 2025年第10期82-88,147,共8页
为了提高自动驾驶车辆的路径跟踪精度,提出了一种基于模糊线性二次型调节器(Linear Quadratic Regulator,LQR)的自动驾驶车辆路径跟踪控制方法。首先,在建立车辆二自由度动力学模型和路径跟踪误差模型的基础上,设计了LQR路径跟踪控制器... 为了提高自动驾驶车辆的路径跟踪精度,提出了一种基于模糊线性二次型调节器(Linear Quadratic Regulator,LQR)的自动驾驶车辆路径跟踪控制方法。首先,在建立车辆二自由度动力学模型和路径跟踪误差模型的基础上,设计了LQR路径跟踪控制器;然后,针对误差权重系数固定的LQR路径跟踪控制器对多变行驶工况适应性较差的问题,利用模糊控制算法对LQR路径跟踪控制器的误差权重系数进行自适应调节,以达到对路径的精确跟踪;最后,通过CarSim软件和Simulink软件进行联合仿真,结果表明,与LQR路径跟踪控制相比,模糊LQR路径跟踪控制的最大侧向误差减小了53.3%,最大航向角误差减小了46.9%;通过Apollo Advanced试验平台验证了所提方法的有效性,该研究结果可为自动驾驶车辆路径跟踪控制器的设计与优化提供创新思路。 展开更多
关键词 自动驾驶车辆 路径跟踪 线性二次型调节器控制器 模糊控制 误差权重系数
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面向AGV全局路径规划的蚁群算法多策略改进研究 被引量:1
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作者 侯书增 孙巍峰 +2 位作者 罗程远 伍志明 李轩 《制造业自动化》 2025年第3期1-8,共8页
传统蚁群算法在应对大规模复杂场景时,普遍存在收敛效率偏低、全局搜索能力不足以及易陷入局部最优等缺陷。提出了一种多策略改进的蚁群算法。通过增强启发函数的导向性和自适应性,提高算法的寻优能力;利用伪随机转移策略改进状态转移... 传统蚁群算法在应对大规模复杂场景时,普遍存在收敛效率偏低、全局搜索能力不足以及易陷入局部最优等缺陷。提出了一种多策略改进的蚁群算法。通过增强启发函数的导向性和自适应性,提高算法的寻优能力;利用伪随机转移策略改进状态转移规则并对信息素启发因子和期望启发因子进行动态调节,增强全局搜索能力,避免局部最优问题。同时,采用多策略优化信息素更新机制,并结合自适应调节挥发系数,显著提升收敛效率和搜索性能。此外,通过冗余点去除的二次优化,进一步优化路径质量。通过栅格地图的仿真实验表明,蚁群算法经多策略改进后在搜索能力和收敛速度上获得了较大提升,可为AGV解决复杂环境下的路径规划提供理论支持。 展开更多
关键词 蚁群算法 启发函数 信息素挥发系数 路径二次优化
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基于蚁群算法的智能路径规划
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作者 佟云昊 席志红 《电子科技》 2025年第1期23-28,44,共7页
针对移动机器人在完成自身定位和地图构建后难以合理规划路径,造成移动机器人无序运动和资源浪费问题,文中采用蚁群算法实现移动机器人路径规划。蚁群算法是一种求解问题中最佳路径的概率型算法,但在通用蚁群算法中,蚁群算法的所有参数... 针对移动机器人在完成自身定位和地图构建后难以合理规划路径,造成移动机器人无序运动和资源浪费问题,文中采用蚁群算法实现移动机器人路径规划。蚁群算法是一种求解问题中最佳路径的概率型算法,但在通用蚁群算法中,蚁群算法的所有参数均不变,导致蚁群算法的结果依赖算法中设定的信息素参数。针对上述问题,对蚁群算法的参数和信息素的分配进行改进,通过在每次迭代中改变信息素挥发系数和信息素更新标准以及结合启发因素改进信息素更新标准。设置可调节信息素挥发因子增加算法的自适应性,根据有意义的参数空间,通过在不同环境下对比传统蚁群算法和改进蚁群算法的路径规划结果。改进蚁群算法路径长度分别下降4.48%和8.54%,均未产生路径交叉结点,较好地实现了移动机器人合理路径规划的预期效果。 展开更多
关键词 移动机器人 蚁群算法 路径规划 概率型算法 最佳路径 信息素挥发系数 信息素更新标准 参数空间
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考虑路面附着系数的自适应MPC轨迹跟踪算法
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作者 李文礼 李旭 《重庆理工大学学报(自然科学)》 北大核心 2025年第2期19-26,共8页
为提高自动驾驶汽车轨迹跟踪精度与行驶稳定性,提出考虑路面附着系数的自适应MPC轨迹跟踪控制算法。建立三自由度车辆动力学模型和轨迹跟踪模型预测控制器,基于横向跟踪偏差和道路曲率自适应调整模型预测控制器的价值函数;基于递推最小... 为提高自动驾驶汽车轨迹跟踪精度与行驶稳定性,提出考虑路面附着系数的自适应MPC轨迹跟踪控制算法。建立三自由度车辆动力学模型和轨迹跟踪模型预测控制器,基于横向跟踪偏差和道路曲率自适应调整模型预测控制器的价值函数;基于递推最小二乘法实时估算路面附着系数,将估算结果作为轮胎侧偏角以及横向加速度约束相关的变量引入到控制器中,解决车辆在低附着路面下转向时轮胎侧向力易超出轮胎线性区间导致车辆失稳的问题。搭建CarSim与Matlab/Simulink联合仿真平台进行仿真实验。结果表明,在不同附着系数的路面环境下,该算法相较于传统MPC控制算法具有更高的跟踪精度和稳定性。 展开更多
关键词 轨迹跟踪 路面附着系数识别 模型预测控制 模糊控制 权重系数
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基于改进RRT算法的六自由度机械臂路径规划
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作者 李庸 方牧舟 耿海滨 《福州大学学报(自然科学版)》 北大核心 2025年第5期567-573,共7页
针对六自由度机械臂在狭窄通道环境中的路径规划问题,提出一种基于碰撞节点高斯采样的快速随机搜索树(RRT)算法.该算法在采样过程中,利用碰撞节点的局部环境信息,通过高斯采样将采样点集中在障碍物周围.在节点扩展方面,引入引力公式,依... 针对六自由度机械臂在狭窄通道环境中的路径规划问题,提出一种基于碰撞节点高斯采样的快速随机搜索树(RRT)算法.该算法在采样过程中,利用碰撞节点的局部环境信息,通过高斯采样将采样点集中在障碍物周围.在节点扩展方面,引入引力公式,依据环境信息动态调整引力系数,从而优化随机搜索树的生长方式.此外,采用三次样条曲线对机械臂的关节轨迹进行规划,生成连续、光滑且无障碍的运动轨迹.仿真结果表明,该算法具有运行稳定、成功率高的优势,能够有效帮助机械臂快速通过狭窄通道并到达目标点. 展开更多
关键词 机械臂 路径规划 快速扩展随机树算法 高斯采样 自适应引力系数
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