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Effective Hybrid Teaching-learning-based Optimization Algorithm for Balancing Two-sided Assembly Lines with Multiple Constraints 被引量:8
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作者 TANG Qiuhua LI Zixiang +2 位作者 ZHANG Liping FLOUDAS C A CAO Xiaojun 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2015年第5期1067-1079,共13页
Due to the NP-hardness of the two-sided assembly line balancing (TALB) problem, multiple constraints existing in real applications are less studied, especially when one task is involved with several constraints. In ... Due to the NP-hardness of the two-sided assembly line balancing (TALB) problem, multiple constraints existing in real applications are less studied, especially when one task is involved with several constraints. In this paper, an effective hybrid algorithm is proposed to address the TALB problem with multiple constraints (TALB-MC). Considering the discrete attribute of TALB-MC and the continuous attribute of the standard teaching-learning-based optimization (TLBO) algorithm, the random-keys method is hired in task permutation representation, for the purpose of bridging the gap between them. Subsequently, a special mechanism for handling multiple constraints is developed. In the mechanism, the directions constraint of each task is ensured by the direction check and adjustment. The zoning constraints and the synchronism constraints are satisfied by teasing out the hidden correlations among constraints. The positional constraint is allowed to be violated to some extent in decoding and punished in cost fimction. Finally, with the TLBO seeking for the global optimum, the variable neighborhood search (VNS) is further hybridized to extend the local search space. The experimental results show that the proposed hybrid algorithm outperforms the late acceptance hill-climbing algorithm (LAHC) for TALB-MC in most cases, especially for large-size problems with multiple constraints, and demonstrates well balance between the exploration and the exploitation. This research proposes an effective and efficient algorithm for solving TALB-MC problem by hybridizing the TLBO and VNS. 展开更多
关键词 two-sided assembly line balancing teaching-learning-based optimization algorithm variable neighborhood search positional constraints zoning constraints synchronism constraints
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An Effective Non-Commutative Encryption Approach with Optimized Genetic Algorithm for Ensuring Data Protection in Cloud Computing 被引量:2
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作者 S.Jerald Nirmal Kumar S.Ravimaran M.M.Gowthul Alam 《Computer Modeling in Engineering & Sciences》 SCIE EI 2020年第11期671-697,共27页
Nowadays,succeeding safe communication and protection-sensitive data from unauthorized access above public networks are the main worries in cloud servers.Hence,to secure both data and keys ensuring secured data storag... Nowadays,succeeding safe communication and protection-sensitive data from unauthorized access above public networks are the main worries in cloud servers.Hence,to secure both data and keys ensuring secured data storage and access,our proposed work designs a Novel Quantum Key Distribution(QKD)relying upon a non-commutative encryption framework.It makes use of a Novel Quantum Key Distribution approach,which guarantees high level secured data transmission.Along with this,a shared secret is generated using Diffie Hellman(DH)to certify secured key generation at reduced time complexity.Moreover,a non-commutative approach is used,which effectively allows the users to store and access the encrypted data into the cloud server.Also,to prevent data loss or corruption caused by the insiders in the cloud,Optimized Genetic Algorithm(OGA)is utilized,which effectively recovers the data and retrieve it if the missed data without loss.It is then followed with the decryption process as if requested by the user.Thus our proposed framework ensures authentication and paves way for secure data access,with enhanced performance and reduced complexities experienced with the prior works. 展开更多
关键词 Cloud computing quantum key distribution Diffie Hellman non-commutative approach genetic algorithm particle swarm optimization
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Radiological Mimics of Popliteal Cysts: An Algorithmic Approach Using US and MRI to Identify the Potentially Malignant Lesions: Case Series 被引量:1
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作者 Andrae Blanchard Asad A. Naqvi +1 位作者 Zain Badar Hema Choudur 《Open Journal of Clinical Diagnostics》 2016年第2期7-12,共6页
Background: Popliteal cysts are common and present as asymptomatic lumps in the medial popliteal fossa. Some have complex internal characteristics such as septa and loose-bodies. However, not all are popliteal cysts a... Background: Popliteal cysts are common and present as asymptomatic lumps in the medial popliteal fossa. Some have complex internal characteristics such as septa and loose-bodies. However, not all are popliteal cysts and can be aggressive. These lesions need to be differentiated by the absence of the communicating neck with the joint on ultrasound. Presence of Doppler flow of non-communicating cysts requires further evaluation on MRI, prior to performing a biopsy. Using a case series, we propose an algorithmic approach that is simple and will help identify the malignant lesions and institute appropriate management. Case-Presentation: Popliteal Cyst: On ultrasound: characteristic neck communicating with knee joint. Synovial Sarcoma: Gadolinium enhancement, with areas of low-, iso- and hyper-intense signal to fat on T2. Synovial-Osteochondromatosis: Non-mineralized: T1-low/intermediate intensity;T2-high intensity. Mineralized type: low intensity on T1 & T2. Thrombosed Popliteal Aneurysm: Lamellated appearance-high/low signal intensity on T2. Myxoid-Liposarcomas: Inhomogeneous appearance;homogenous with gadolinium. Usually require a biopsy for diagnosis. Conclusion: The cystic lesions in the medial aspect of the popliteal fossa can be misdiagnosed. Our article reiterates the importance of the communicating neck that separates popliteal cysts from other mimics. We have proposed an algorithm to identify these mimics. 展开更多
关键词 Popliteal Cyst Malignant Lesions MIMICS algorithmic approach
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A Review of Image Steganography Based on Multiple Hashing Algorithm
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作者 Abdullah Alenizi Mohammad Sajid Mohammadi +1 位作者 Ahmad A.Al-Hajji Arshiya Sajid Ansari 《Computers, Materials & Continua》 SCIE EI 2024年第8期2463-2494,共32页
Steganography is a technique for hiding secret messages while sending and receiving communications through a cover item.From ancient times to the present,the security of secret or vital information has always been a s... Steganography is a technique for hiding secret messages while sending and receiving communications through a cover item.From ancient times to the present,the security of secret or vital information has always been a significant problem.The development of secure communication methods that keep recipient-only data transmissions secret has always been an area of interest.Therefore,several approaches,including steganography,have been developed by researchers over time to enable safe data transit.In this review,we have discussed image steganography based on Discrete Cosine Transform(DCT)algorithm,etc.We have also discussed image steganography based on multiple hashing algorithms like the Rivest–Shamir–Adleman(RSA)method,the Blowfish technique,and the hash-least significant bit(LSB)approach.In this review,a novel method of hiding information in images has been developed with minimal variance in image bits,making our method secure and effective.A cryptography mechanism was also used in this strategy.Before encoding the data and embedding it into a carry image,this review verifies that it has been encrypted.Usually,embedded text in photos conveys crucial signals about the content.This review employs hash table encryption on the message before hiding it within the picture to provide a more secure method of data transport.If the message is ever intercepted by a third party,there are several ways to stop this operation.A second level of security process implementation involves encrypting and decrypting steganography images using different hashing algorithms. 展开更多
关键词 Image steganography multiple hashing algorithms Hash-LSB approach RSA algorithm discrete cosine transform(DCT)algorithm blowfish algorithm
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Fitness Sharing Chaotic Particle Swarm Optimization (FSCPSO): A Metaheuristic Approach for Allocating Dynamic Virtual Machine (VM) in Fog Computing Architecture
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作者 Prasanna Kumar Kannughatta Ranganna Siddesh Gaddadevara Matt +2 位作者 Chin-Ling Chen Ananda Babu Jayachandra Yong-Yuan Deng 《Computers, Materials & Continua》 SCIE EI 2024年第8期2557-2578,共22页
In recent decades,fog computing has played a vital role in executing parallel computational tasks,specifically,scientific workflow tasks.In cloud data centers,fog computing takes more time to run workflow applications... In recent decades,fog computing has played a vital role in executing parallel computational tasks,specifically,scientific workflow tasks.In cloud data centers,fog computing takes more time to run workflow applications.Therefore,it is essential to develop effective models for Virtual Machine(VM)allocation and task scheduling in fog computing environments.Effective task scheduling,VM migration,and allocation,altogether optimize the use of computational resources across different fog nodes.This process ensures that the tasks are executed with minimal energy consumption,which reduces the chances of resource bottlenecks.In this manuscript,the proposed framework comprises two phases:(i)effective task scheduling using a fractional selectivity approach and(ii)VM allocation by proposing an algorithm by the name of Fitness Sharing Chaotic Particle Swarm Optimization(FSCPSO).The proposed FSCPSO algorithm integrates the concepts of chaos theory and fitness sharing that effectively balance both global exploration and local exploitation.This balance enables the use of a wide range of solutions that leads to minimal total cost and makespan,in comparison to other traditional optimization algorithms.The FSCPSO algorithm’s performance is analyzed using six evaluation measures namely,Load Balancing Level(LBL),Average Resource Utilization(ARU),total cost,makespan,energy consumption,and response time.In relation to the conventional optimization algorithms,the FSCPSO algorithm achieves a higher LBL of 39.12%,ARU of 58.15%,a minimal total cost of 1175,and a makespan of 85.87 ms,particularly when evaluated for 50 tasks. 展开更多
关键词 Fog computing fractional selectivity approach particle swarm optimization algorithm task scheduling virtual machine allocation
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Optimizing a Transportation System Using Metaheuristics Approaches (EGD/GA/ACO): A Forest Vehicle Routing Case Study
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作者 Hossein Havaeji Thien-My Dao Tony Wong 《World Journal of Engineering and Technology》 2024年第1期141-157,共17页
The large-scale optimization problem requires some optimization techniques, and the Metaheuristics approach is highly useful for solving difficult optimization problems in practice. The purpose of the research is to o... The large-scale optimization problem requires some optimization techniques, and the Metaheuristics approach is highly useful for solving difficult optimization problems in practice. The purpose of the research is to optimize the transportation system with the help of this approach. We selected forest vehicle routing data as the case study to minimize the total cost and the distance of the forest transportation system. Matlab software helps us find the best solution for this case by applying three algorithms of Metaheuristics: Genetic Algorithm (GA), Ant Colony Optimization (ACO), and Extended Great Deluge (EGD). The results show that GA, compared to ACO and EGD, provides the best solution for the cost and the length of our case study. EGD is the second preferred approach, and ACO offers the last solution. 展开更多
关键词 Metaheuristics algorithms Transportation Costs Optimization approach Cost Minimisation
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Divide and recombine approach for warranty database: estimating the reliability of an automobile component
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作者 Md Rezaul Karim 《Data Science and Management》 2024年第2期119-128,共10页
The continuously updated database of failures and censored data of numerous products has become large, and on some covariates, information regarding the failure times is missing in the database. As the dataset is larg... The continuously updated database of failures and censored data of numerous products has become large, and on some covariates, information regarding the failure times is missing in the database. As the dataset is large and has missing information, the analysis tasks become complicated and a long time is required to execute the programming codes. In such situations, the divide and recombine (D&R) approach, which has a practical computational performance for big data analysis, can be applied. In this study, the D&R approach was applied to analyze the real field data of an automobile component with incomplete information on covariates using the Weibull regression model. Model parameters were estimated using the expectation maximization algorithm. The results of the data analysis and simulation demonstrated that the D&R approach is applicable for analyzing such datasets. Further, the percentiles and reliability functions of the distribution under different covariate conditions were estimated to evaluate the component performance of these covariates. The findings of this study have managerial implications regarding design decisions, safety, and reliability of automobile components. 展开更多
关键词 Weibull regression model Warranty database RELIABILITY EM algorithm Divide and recombine approach Managerial implications
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基于蚁群-动态窗口法的无人驾驶汽车动态路径规划
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作者 郑琰 席宽 +2 位作者 巴文婷 肖玉杰 余伟 《南京信息工程大学学报》 北大核心 2025年第2期256-264,共9页
针对传统路径规划算法在无人驾驶汽车应用中搜索效率低、距离较长和路径不平滑的问题进行改进,使用改进蚁群算法最优路径的关键节点替代动态窗口法的局部目标点,并在动态窗口法评价函数中加入目标距离评价子函数,提高路径规划的效率和... 针对传统路径规划算法在无人驾驶汽车应用中搜索效率低、距离较长和路径不平滑的问题进行改进,使用改进蚁群算法最优路径的关键节点替代动态窗口法的局部目标点,并在动态窗口法评价函数中加入目标距离评价子函数,提高路径规划的效率和平滑性,同时采用路径决策方法解决全局路径失效问题,使车辆摆脱障碍困境,满足路径规划安全性的要求.改进后的蚁群算法利用起止点的位置信息使初始信息素分布不均匀,减少搜索初期阶段的时间消耗;通过维护全局最优路径和强化优秀局部路径的信息素浓度,优化信息素更新机制,提高路径探索效率;对规划路径进行二次优化,优化节点和冗余转折点,减少路径长度.仿真结果表明,相比传统路径规划算法,利用本文提出的融合算法所得到的路径在距离、平滑度和收敛性方面都具有更好的表现,且符合无人驾驶汽车安全行驶的要求. 展开更多
关键词 路径规划 蚁群算法 动态窗口法 动态避障 融合算法
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支持精密进近引导的北斗空时联合抗干扰技术
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作者 康荣雷 张浩 +1 位作者 常军 熊健 《电讯技术》 北大核心 2025年第4期559-565,共7页
为保证复杂电磁环境下对北斗卫星信号的可靠、准确和连续的接收能力,在分析抗干扰与高精度联合处理的理论模型的基础上,提出一种功率倒置准则与最小均方误差准则结合的空时联合抗干扰技术。该技术能够在北斗信号导向矢量获取失效、阵列... 为保证复杂电磁环境下对北斗卫星信号的可靠、准确和连续的接收能力,在分析抗干扰与高精度联合处理的理论模型的基础上,提出一种功率倒置准则与最小均方误差准则结合的空时联合抗干扰技术。该技术能够在北斗信号导向矢量获取失效、阵列流形特性变化或信号入射角度未知等条件下实现北斗抗干扰处理并兼顾载波测量的相位响应不失真。仿真实验表明,所提出的空时联合抗干扰技术在抗干扰达到干噪比50 dB的同时,载波相位畸变误差小于整周1%,满足抗干扰与高精度测量要求,可以有效支持精密进近引导技术所适配的各类战术应用。 展开更多
关键词 北斗系统(BDS) 精密进近引导 空时联合 抗干扰算法 高精度测量
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适应性引导的花朵授粉算法
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作者 郭肇禄 石涛 +1 位作者 杨火根 张文生 《陕西师范大学学报(自然科学版)》 北大核心 2025年第1期114-130,共17页
针对传统花朵授粉算法在求解一些复杂优化问题时存在着开采能力不足的缺点,提出了一种适应性引导的花朵授粉算法(AGFPA)。所提算法设计了环优策略和向优策略相结合的适应性引导机制,适应性地控制最优个体对种群演化的引导作用,既增强算... 针对传统花朵授粉算法在求解一些复杂优化问题时存在着开采能力不足的缺点,提出了一种适应性引导的花朵授粉算法(AGFPA)。所提算法设计了环优策略和向优策略相结合的适应性引导机制,适应性地控制最优个体对种群演化的引导作用,既增强算法的开采能力,又尽可能维持种群的多样性。适应性引导机制中的环优策略在最优个体的周围执行导向开采,使得种群集中搜索最优个体的邻域;而向优策略利用最优个体的引导进行定向搜索,使得搜索有向地覆盖较广的未知区域。此外,设计了适应性参数控制策略,根据不同演化阶段的需求,调整全局授粉转换概率和最优引导的步长因子,从而维持开采能力和勘探能力的平衡。为检验所提算法的性能,在群智能研究领域中常用的18个基准测试函数上进行了策略有效性分析,并将AGFPA分别与几种改进的FPA和PSO算法进行比较;同时,应用AGFPA估计发酵动力学参数。实验结果表明,在求解大多数单峰、多峰和复杂函数时,AGFPA均具有较为优秀的寻优能力;在发酵动力学参数估计应用中,AGFPA也具有一定的优势。 展开更多
关键词 花朵授粉算法 适应性引导机制 环优策略 向优策略 适应性参数控制策略 发酵动力学参数
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基于零和博弈的终端区飞机进场排序优化
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作者 廖勇 赵世昌 +1 位作者 吴煜昕 张丹 《航空计算技术》 2025年第1期93-97,107,共6页
随着航空需求增长,中国推进多机场终端区的构建,如“一市两场”计划。然而,多机场终端区的扩展带来了进场排序混乱和拥堵问题。为解决该问题,提出了一种多机场终端区飞机进场排序模型。为减少权重确定的主观性,通过零和博弈理论平衡机... 随着航空需求增长,中国推进多机场终端区的构建,如“一市两场”计划。然而,多机场终端区的扩展带来了进场排序混乱和拥堵问题。为解决该问题,提出了一种多机场终端区飞机进场排序模型。为减少权重确定的主观性,通过零和博弈理论平衡机场、航空公司和空中交通管制部门的目标,将零和博弈模型转化为线性规划问题,选择最优目标函数和解,并结合多个目标函数及其权重,实现混合策略Nash均衡,得到客观权重。最终通过精英保留遗传算法求解模型,并在某终端区进行实例验证。结果显示,相比传统多目标优化方法,零和博弈模型有效减少了权重确定的主观性,实现了三方的Nash均衡,优化了排序过程,提高了终端区域的运行效率。 展开更多
关键词 多机场终端区 飞机进场排序 零和博弈 精英保留遗传算法
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基于改进天际线选择方法的大规模目标威胁评估
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作者 刘祥雨 王刚 +2 位作者 郭相科 王思远 何晟 《空军工程大学学报》 北大核心 2025年第2期34-45,共12页
针对大规模复杂作战场景,首先进行聚类方法的设计,提出基于模糊理论的参数自适应密度网格聚类方法,对大规模目标进行处理,便于后续快速进行威胁评估。其次提出多级天际线选择方法,该方法避免了传统威胁评估方法的权值设定等复杂过程,消... 针对大规模复杂作战场景,首先进行聚类方法的设计,提出基于模糊理论的参数自适应密度网格聚类方法,对大规模目标进行处理,便于后续快速进行威胁评估。其次提出多级天际线选择方法,该方法避免了传统威胁评估方法的权值设定等复杂过程,消除权值设定过程中个人喜好等众多干扰因素。最后建立雷达图的多指标表示方法,为指挥员进行针对性决策提供依据。仿真对比实验结果表明,根据的威胁评估方法进行后续的目标分配和火力拦截,最终达到的作战效能更好。 展开更多
关键词 威胁评估 聚类 天际线方法 雷达图
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基于改进蚁群算法的机器人避障路径规划
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作者 金将 王小平 +2 位作者 臧铁钢 姜世阔 赵崟 《计算机工程与设计》 北大核心 2025年第4期950-958,共9页
针对蚁群算法在路径规划中盲目搜索、搜索速度慢和路径平滑性差等问题,提出一种改进的蚁群算法,以提高其搜索效果。基于A^(*)算法快速规划出初始路径,对蚁群初始信息素进行非均匀分配,提高算法收敛速度。在蚁群算法的状态转移概率公式... 针对蚁群算法在路径规划中盲目搜索、搜索速度慢和路径平滑性差等问题,提出一种改进的蚁群算法,以提高其搜索效果。基于A^(*)算法快速规划出初始路径,对蚁群初始信息素进行非均匀分配,提高算法收敛速度。在蚁群算法的状态转移概率公式中引入动态目标导向函数,同时在信息素更新策略中考虑路径转角数和路径匝数,通过优劣质蚂蚁的分层信息素更新来优化路径长度和平滑性。结合动态窗口法使机器人具备良好的局部动态避障功能,通过仿真实验验证了改进蚁群算法在规划和避障方面的良好性能。 展开更多
关键词 机器人 路径规划 蚁群算法 信息素 栅格法 动态窗口法 局部避障
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DIAGNOSTIC CHECKING FOR TIME SERIES MODELS USING NONPARAMETRIC APPROACH
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作者 钟登华 尼伯伦丁 《Transactions of Tianjin University》 EI CAS 1997年第1期45-49,共5页
In time series modeling, the residuals are often checked for white noise and normality. In practice, the useful tests are Ljung Box test. Mcleod Li test and Lin Mudholkar test. In this paper, we present a nonparame... In time series modeling, the residuals are often checked for white noise and normality. In practice, the useful tests are Ljung Box test. Mcleod Li test and Lin Mudholkar test. In this paper, we present a nonparametric approach for checking the residuals of time series models. This approach is based on the maximal correlation coefficient ρ 2 * between the residuals and time t . The basic idea is to use the bootstrap to form the null distribution of the statistic ρ 2 * under the null hypothesis H 0:ρ 2 * =0. For calculating ρ 2 * , we proposes a ρ algorithm, analogous to ACE procedure. Power study shows this approach is more powerful than Ljung Box test. Meanwhile, some numerical results and two examples are reported in this paper. 展开更多
关键词 BOOTSTRAP diagnostic checking nonparametric approach time series white noise ρ algorithm
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融合距离引导式A^(*)算法与动态窗口法的移动机器人路径规划
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作者 黄昱航 李国刚 +1 位作者 焦启 曹冬平 《华侨大学学报(自然科学版)》 2025年第1期87-94,共8页
为解决移动机器人路径规划中效率低下等问题,提出一种距离引导式A^(*)算法与动态窗口法的融合算法。在改进A^(*)算法中,引入双向搜索策略,采用综合距离启发函数,利用全局路径筛选策略对路径进行优化。在得到全局最优路径的基础上,与动... 为解决移动机器人路径规划中效率低下等问题,提出一种距离引导式A^(*)算法与动态窗口法的融合算法。在改进A^(*)算法中,引入双向搜索策略,采用综合距离启发函数,利用全局路径筛选策略对路径进行优化。在得到全局最优路径的基础上,与动态窗口法结合,实现移动机器人的动态避障。结果表明:距离引导式A^(*)算法和文中融合算法在路径长度、遍历节点数目和运行时间方面实现了显著提升,能更好地满足移动机器人对路径规划的要求。 展开更多
关键词 移动机器人 路径规划 A^(*)算法 动态窗口法 动态避障
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融合跳点搜索和动态窗口算法的AGV路径规划
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作者 郭文豪 陈炎 +3 位作者 余任凭 毛亚飞 殷雄 姚道金 《云南大学学报(自然科学版)》 北大核心 2025年第2期233-243,共11页
针对传统跳点搜索(jump point search,JPS)算法在复杂环境下规划的路径存在拓展节点较多、路径不平滑、安全性差以及难以跟随最优路径的问题,提出一种基于改进JPS算法和动态窗口算法(dynamic window approach,DWA)的融合方法.首先,改进... 针对传统跳点搜索(jump point search,JPS)算法在复杂环境下规划的路径存在拓展节点较多、路径不平滑、安全性差以及难以跟随最优路径的问题,提出一种基于改进JPS算法和动态窗口算法(dynamic window approach,DWA)的融合方法.首先,改进JPS算法预处理拓展节点时的跳点搜索策略,从路径的起点和目标点交替式搜索路径,提高自动引导车辆(automated guided vehicle,AGV)路径搜索效率;其次,引入环境障碍率优化启发函数,增强AGV路径搜索的安全性和目的性;然后,使用改进的Floyd算法对所得路径处理,以确保最短路径也是安全路径;接着,采用动态切点调整法对转折点平滑处理,使路径符合AGV的动态特性;最后,在DWA算法的评价函数中,对已知障碍物和未知障碍物分类处理,对方位角评价函数进行改进,使动态路径规划兼顾路径全局最优性和实时避障能力.为验证算法的有效性,在不同复杂度的栅格地图中进行对比仿真实验.实验结果表明,改进JPS算法规划的路径相较于传统JPS算法,拓展节点量平均减少23.3%,转弯角度平均减小45.8%,路径搜索时间平均减少48.1%,路径长度平均缩短5.7%.所提融合算法规划的路径相较于传统融合算法,路径搜索时间平均减少6.1%,路径长度平均缩短0.9%. 展开更多
关键词 跳点搜索算法 DWA算法 融合算法 路径规划
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基于多尺度A^(*)与优化DWA算法融合的移动机器人路径规划
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作者 许建民 宋雷 +2 位作者 邓冬冬 陈尧箬 杨炜 《系统仿真学报》 北大核心 2025年第1期257-270,共14页
为解决传统A^(*)算法与动态窗口法面对大规模复杂环境路径规划时,计算和时间成本的急剧上升以及灵活性较差的问题,提出了一种基于多尺度地图法的A^(*)算法和改进DWA算法的融合算法。建立多尺度地图集并在A^(*)算法的启发函数中增加障碍... 为解决传统A^(*)算法与动态窗口法面对大规模复杂环境路径规划时,计算和时间成本的急剧上升以及灵活性较差的问题,提出了一种基于多尺度地图法的A^(*)算法和改进DWA算法的融合算法。建立多尺度地图集并在A^(*)算法的启发函数中增加障碍物占比因子,在粗尺度地图利用A^(*)算法计算最优路径,将其映射到细尺度地图上进行二次A^(*)算法并通过Floyd算法进行节点优化,删除冗余节点、提高路径的平滑度。增加了航向角自适应调整策略和停车等待状态来优化动态窗口法,提高灵活性。将A^(*)算法的关键点作为动态窗口法的局部目标点,并在轨迹上有障碍物时再次规划,实现两种算法的融合。ROS仿真和实车实验结果表明改进的A^(*)算法计算时间显著减少,在20 m×40 m的地图中减少98%,改进的融合算法大幅提高了机器人在动态环境下的平滑性和灵活性,可以有效解决传统融合算法存在的问题。 展开更多
关键词 移动机器人 路径规划 A^(*)算法 动态窗口法 ROS
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基于模糊动态窗口的无人艇多动态障碍物路径规划
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作者 林泽琼 刘海生 《舰船科学技术》 北大核心 2025年第6期62-68,共7页
针对无人艇在多动态障碍物下避障、快速规划路径进行导航决策的要求,传统的动态窗口算法(DWA)存在运行效率低、容易陷入局部优化、复杂环境下搜索能力差等问题。在具有多个动态障碍物的复杂环境中,引入一种模糊逻辑算法对DWA算法进行改... 针对无人艇在多动态障碍物下避障、快速规划路径进行导航决策的要求,传统的动态窗口算法(DWA)存在运行效率低、容易陷入局部优化、复杂环境下搜索能力差等问题。在具有多个动态障碍物的复杂环境中,引入一种模糊逻辑算法对DWA算法进行改进,提高了路径评估函数的灵活性。模糊控制系统通过输入无人艇、终点和周围障碍物的信息,输出评价函数的相应系数权值。在无人艇搜索路径过程中,实时调整轨迹评价函数的权重,以达到优化路径的目的。仿真实验表明,模糊改进的动态窗口方法可以使规划的路径更平滑,获得更短的路径,同时有效地减少了无人艇的路径搜索时间。在具有多个动态障碍物的环境中,可以有效地实现动态避障。 展开更多
关键词 无人艇 动态窗口法 模糊算法 多动态障碍物 路径规划
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融合改进A^(*)和DWA算法的室内机器人路径规划
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作者 刘志超 李金凤 王海超 《制造业自动化》 2025年第2期51-58,共8页
为了解决室内机器人路径规划中A^(*)算法效率低、冗余点多、无法动态避障的问题,提出了一种结合优化的A^(*)算法和动态窗口法的融合算法。在启发函数中引入父节点到目标点的距离,增强算法启发性;量化障碍物信息,设计障碍率函数动态调整... 为了解决室内机器人路径规划中A^(*)算法效率低、冗余点多、无法动态避障的问题,提出了一种结合优化的A^(*)算法和动态窗口法的融合算法。在启发函数中引入父节点到目标点的距离,增强算法启发性;量化障碍物信息,设计障碍率函数动态调整启发函数权重;增加转弯代价,减少路径中不必要转弯;设计冗余点删除策略,删除冗余点、保证静态路径全局最优。加入越位角度,灵活选择A^(*)算法的关键节点作为动态窗口的局部目标点,避免路径陷入局部最优。实验结果表明,改进融合算法提高了搜索效率,降低了路径长度,解决了动态窗口法陷入局部最优问题,实现了实时避障。 展开更多
关键词 机器人 路径规划 A^(*)算法 动态窗口法
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融合改进A^(*)算法与动态窗口法的无人车路径规划研究
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作者 何洋 余孝楠 《汽车实用技术》 2025年第4期20-26,共7页
针对传统A^(*)算法在无人车路径规划中搜索效率低、冗余节点及避障灵活性差等问题,提出一种融合改进A^(*)与动态窗口法的无人车路径规划方法。仿真结果表明,对比传统A^(*)算法,改进A^(*)算法在搜索时间平均减少了66.81%,转折次数平均减... 针对传统A^(*)算法在无人车路径规划中搜索效率低、冗余节点及避障灵活性差等问题,提出一种融合改进A^(*)与动态窗口法的无人车路径规划方法。仿真结果表明,对比传统A^(*)算法,改进A^(*)算法在搜索时间平均减少了66.81%,转折次数平均减少了43.65%,遍历节点数平均减少了46.73%,路径长度平均减少了2.55%,融合算法能在全局最优路径的基础上,达到随机避障效果。 展开更多
关键词 无人车 路径规划 A^(*)算法 动态窗口法
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