【摘 要】
：
Aiming at the disadvantages of the potential ant colony algorithm that the efficiency of random search path at the initial time is low and is easy to fall into the local optimal,A new optimized hybrid
【机 构】
：
Chongqing University of Posts and Telecommunications Intelligent System and Robotics Laboratory, Cho
论文部分内容阅读
Aiming at the disadvantages of the potential ant colony algorithm that the efficiency of random search path at the initial time is low and is easy to fall into the local optimal,A new optimized hybrid ant colony algorithm is proposed.Firstly,The algorithm uses the target gravitational force generated by the artificial potential field to construct a heuristic factor.The heuristic factor is combined with the initial heuristic factor of the ant colony algorithm to construct the comprehensive heuristic information to improve the search efficiency.Then,The pheromone in the ant colony algorithm is updated by wolves distribution rules to avoid getting into the local optimal;At Last,the planning path is optimized by path optimization algorithm which makes it more suitable for robot execution.Experiments show that the optimized hybrid ant colony algorithm can quickly and efficiently plan the optimal path.
其他文献
本文提出了一种基于改进直方图法的飞行机器人电塔巡检视频的关键帧提取方法.首先,实现了样本的半自动提取和自动提取两种方案,以适应实际需求进行样本选择;其次,针对传统直方图法无法判定巡检目标是否完整、位置是否相近的缺点,本文采用基于改进颜色直方图的方法对候选关键帧进行分区及等级划分,以便于计算巡检目标的局部特征向量;再次,对特征向量进行余弦值计算以得到候选帧与样本的相似度,选取相似度最高的候选关键帧作
针对复杂环境下移动平台如何实时精确的自主定位问题,本文选取了基于特殊图像的人工路标,将双目视觉与人工路标结合,通过逆定位方法,根据路标位置获得搭载双目视觉平台在全局坐标系中的位置.首先使用OTSU算法和角点检测实现路标的检测与识别,并取路标中的三个点作为目标点;然后利用双目视觉算法求取这三个点相对于摄像机的三维坐标;最后根据三边测量定位法确定摄像机在全局坐标系中的位置,继而实现移动平台的定位.实验
近年,人体身材分析在虚拟试衣、定制服饰和VR游戏等领域的研究得到了广泛关注,然而,目前主流方法多采用三维人体测量仪进行身材测量,获取数据的设备成本过高.为此,本文提出了一种基于普通图像的人体身材分析方法,大大降低了测量成本.研究采用局部的人脸几何关系与身材HOG特征进行特征提取,并使用SVM分类器对特征进行分析归类.最后,经实验验证得到该算法的平均识别率为92.24％.
针对柔性电子技术对可拉伸电极的需求,以纬平针织莫代尔为基底,单壁碳纳米管为导电填料,借助染色工艺,采用高温浸渍-干燥、硝酸和酒精固色处理,制备单壁碳纳米管/莫代尔柔性可拉伸织物电极.通过测量电极导电性在制作过程的提升、电极方阻与横纵向应变和重复拉伸关系以及固色处理对水洗过程方阻影响,结果表明该织物电极具有良好的导电性、横向60％纵向25％拉伸方阻稳定性和良好的耐水洗特性.同时该方法制备过程简单、成
针对软件机器人自主自动管理投资数据和策略的问题,受人体免疫系统的智能免疫调节与免疫防御启发,从量化投资软件机器人与生物免疫调控、计算之间的关系入手分析,探究量化投资的数学模型和智能决策模型.归纳免疫计算等从自然机制启发而计算的新方法,为量化投资免疫机器人研究构建新的自然计算机制和架构.量化投资免疫机器人研究是一种新问题,拟用从自然计算的框架出发,构建适用于智能机器人量化投资与免疫计算的免疫数学形式
Magnetic orientation systems have widely been used by measuring earth magnetic field,which provides a pervasive source of directional information.However,to obtain the high precision,we must not only
This paper presents a novel navigation method designed to support a real-time,efficient,accurate indoor localization for mobile robot system.It is applicable for inertial measurement units (IMU) consi
Lane detection is one of the key technologies of unmanned systems.Given the problems of less single-image information and poor anti-interference ability,a lane detection algorithm based on temporal-sp
This paper proposes a new navigation method for mobile robots based on an extended BoW (Bag of Words) model for general object recognition in indoor environments.The SIFT (Scale-invariant Feature Tran
为了提高水面无人船的自主能力以应对复杂环境和棘手任务,本文主要研究了USV如何借助用户的辅助和帮助来提高自身的避碰能力,提出了基于知识积累的提高USV自主避碰能力的方法.该方法根据用户给出的任务规划参数,结合不确定环境信息构造导航任务的知识库,利用该知识库来使得USV的自主避碰能力得到提升.通过仿真试验验证了方法的有效性.