Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were de...Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were designed in algorithms, where the feature of parallel line segments without the problem of data association was used to construct a vaccination operator, and the characters of convex vertices in polygonal obstacle were extended to develop a pulling operator of key point grid. The experimental results of a real mobile robot show that the computational expensiveness of algorithms designed is less than other evolutionary algorithms for simultaneous localization and mapping and the maps obtained are very accurate. Because immune evolutionary algorithms with domain knowledge have some advantages, the convergence rate of designed algorithms is about 44% higher than those of other algorithms.展开更多
Error analysis methods in frequency domain are developed in this paper for determining the characteristic root and transfer function errors when the linear multipass algorithms are used to solve linear differential eq...Error analysis methods in frequency domain are developed in this paper for determining the characteristic root and transfer function errors when the linear multipass algorithms are used to solve linear differential equations. The relation between the local truncation error in time domain and the error in frequency domain is established, which is the basis for developing the error estimation methods. The error estimation methods for the digital simulation model constructed by using the Runge-Kutta algorithms and the linear multistep predictor-corrector algorithms are also given.展开更多
针对传统波达方向(Direction of Arrival,DOA)估计方法在低信噪比、少快拍数条件下表现性能差甚至失效的问题,提出了一种基于重构频域协方差矩阵的波达方位估计方法。该方法根据转化的频域信号进行共轭反向修正实现对噪声的抑制,构造出...针对传统波达方向(Direction of Arrival,DOA)估计方法在低信噪比、少快拍数条件下表现性能差甚至失效的问题,提出了一种基于重构频域协方差矩阵的波达方位估计方法。该方法根据转化的频域信号进行共轭反向修正实现对噪声的抑制,构造出了新的频域协方差矩阵,利用平均噪声子空间建立空间谱估计函数,通过谱峰搜索估计出信源的方位角。经仿真对比分析,所提改进方法可以识别多个相干信号,并且在低信噪比、少快拍数条件下仍然获得较好的方位估计性能,估计误差较传统算法降低2%~25%。展开更多
基金Projects(60234030 60404021) supported by the National Natural Science Foundation of China
文摘Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were designed in algorithms, where the feature of parallel line segments without the problem of data association was used to construct a vaccination operator, and the characters of convex vertices in polygonal obstacle were extended to develop a pulling operator of key point grid. The experimental results of a real mobile robot show that the computational expensiveness of algorithms designed is less than other evolutionary algorithms for simultaneous localization and mapping and the maps obtained are very accurate. Because immune evolutionary algorithms with domain knowledge have some advantages, the convergence rate of designed algorithms is about 44% higher than those of other algorithms.
基金This project was supported by the National Natural Science Foundation of China (No. 19871080).
文摘Error analysis methods in frequency domain are developed in this paper for determining the characteristic root and transfer function errors when the linear multipass algorithms are used to solve linear differential equations. The relation between the local truncation error in time domain and the error in frequency domain is established, which is the basis for developing the error estimation methods. The error estimation methods for the digital simulation model constructed by using the Runge-Kutta algorithms and the linear multistep predictor-corrector algorithms are also given.
文摘针对传统波达方向(Direction of Arrival,DOA)估计方法在低信噪比、少快拍数条件下表现性能差甚至失效的问题,提出了一种基于重构频域协方差矩阵的波达方位估计方法。该方法根据转化的频域信号进行共轭反向修正实现对噪声的抑制,构造出了新的频域协方差矩阵,利用平均噪声子空间建立空间谱估计函数,通过谱峰搜索估计出信源的方位角。经仿真对比分析,所提改进方法可以识别多个相干信号,并且在低信噪比、少快拍数条件下仍然获得较好的方位估计性能,估计误差较传统算法降低2%~25%。
