A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK ...A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK graph theory to establish the free space model of the mobile robot, the second step is adopting the improved Dijkstra algorithm to find out a sub-optimal collision-free path, and the third step is using the ant system algorithm to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path for the mobile robot. The computer simulation experiment was carried out and the results show that this method is correct and effective. The comparison of the results confirms that the proposed method is better than the hybrid genetic algorithm in the global optimal path planning.展开更多
To solve the weapon network system optimization problem against small raid objects with low attitude,the concept of direction probability and a new evaluation index system are proposed.By calculating the whole damagin...To solve the weapon network system optimization problem against small raid objects with low attitude,the concept of direction probability and a new evaluation index system are proposed.By calculating the whole damaging probability that changes with the defending angle,the efficiency of the whole weapon network system can be subtly described.With such method,we can avoid the inconformity of the description obtained from the traditional index systems.Three new indexes are also proposed,i.e.join index,overlap index and cover index,which help manage the relationship among several sub-weapon-networks.By normalizing the computation results with the Sigmoid function,the matching problem between the optimization algorithm and indexes is well settled.Also,the algorithm of improved marriage in honey bees optimization that proposed in our previous work is applied to optimize the embattlement problem.Simulation is carried out to show the efficiency of the proposed indexes and the optimization algorithm.展开更多
为了解决复杂工程优化问题计算量大的问题,提出了基于Kriging代理模型的改进EGO(Efficient Global Optimization)算法.采用小生境微种群遗传算法求解Kriging模型的相关向量,避免了模式搜索算法求解相关向量时对初始值的敏感性问题.采用...为了解决复杂工程优化问题计算量大的问题,提出了基于Kriging代理模型的改进EGO(Efficient Global Optimization)算法.采用小生境微种群遗传算法求解Kriging模型的相关向量,避免了模式搜索算法求解相关向量时对初始值的敏感性问题.采用小生境微种群遗传算法,结合无惩罚因子的惩罚函数法对EI(Expected Improvement)函数寻优,解决了惩罚因子难以选择的问题,增强了算法的鲁棒性.采用2个数值算例和1个工程算例对算法进行测试的结果表明,改进后的EGO算法收敛精度更高,比较适合在工程中应用.展开更多
在函数最优点求解问题中,如果函数表达式很复杂(或黑箱问题),很难利用常用的优化算法求解全局最优点。这时需要先用插值或拟合函数去逼近原函数,然后对新的逼近函数求最优点,进而得到原函数的最优点。基于上述思想,Jones等人于1989提出...在函数最优点求解问题中,如果函数表达式很复杂(或黑箱问题),很难利用常用的优化算法求解全局最优点。这时需要先用插值或拟合函数去逼近原函数,然后对新的逼近函数求最优点,进而得到原函数的最优点。基于上述思想,Jones等人于1989提出了EGO(Efficient Global Optimization)算法。EGO算法不足之处在于:它浪费了一个采样点判断EGO算法是否满足终止条件,寻求EI最大值点的收敛速率不高,算法终止条件选择不佳,不能保证估计值的最小点(即EI最大值点)是原函数的内点。针对EGO算法的不足之处,提出了改进的加速EGO算法。仿真实验表明,SEGO极大地节省了运算时间,并且能获得任意精度的全局最优点。展开更多
文摘A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK graph theory to establish the free space model of the mobile robot, the second step is adopting the improved Dijkstra algorithm to find out a sub-optimal collision-free path, and the third step is using the ant system algorithm to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path for the mobile robot. The computer simulation experiment was carried out and the results show that this method is correct and effective. The comparison of the results confirms that the proposed method is better than the hybrid genetic algorithm in the global optimal path planning.
基金Sponsored by Beijing Priority Laboratory Fund of China(SYS10070522)
文摘To solve the weapon network system optimization problem against small raid objects with low attitude,the concept of direction probability and a new evaluation index system are proposed.By calculating the whole damaging probability that changes with the defending angle,the efficiency of the whole weapon network system can be subtly described.With such method,we can avoid the inconformity of the description obtained from the traditional index systems.Three new indexes are also proposed,i.e.join index,overlap index and cover index,which help manage the relationship among several sub-weapon-networks.By normalizing the computation results with the Sigmoid function,the matching problem between the optimization algorithm and indexes is well settled.Also,the algorithm of improved marriage in honey bees optimization that proposed in our previous work is applied to optimize the embattlement problem.Simulation is carried out to show the efficiency of the proposed indexes and the optimization algorithm.
文摘为了解决复杂工程优化问题计算量大的问题,提出了基于Kriging代理模型的改进EGO(Efficient Global Optimization)算法.采用小生境微种群遗传算法求解Kriging模型的相关向量,避免了模式搜索算法求解相关向量时对初始值的敏感性问题.采用小生境微种群遗传算法,结合无惩罚因子的惩罚函数法对EI(Expected Improvement)函数寻优,解决了惩罚因子难以选择的问题,增强了算法的鲁棒性.采用2个数值算例和1个工程算例对算法进行测试的结果表明,改进后的EGO算法收敛精度更高,比较适合在工程中应用.
文摘在函数最优点求解问题中,如果函数表达式很复杂(或黑箱问题),很难利用常用的优化算法求解全局最优点。这时需要先用插值或拟合函数去逼近原函数,然后对新的逼近函数求最优点,进而得到原函数的最优点。基于上述思想,Jones等人于1989提出了EGO(Efficient Global Optimization)算法。EGO算法不足之处在于:它浪费了一个采样点判断EGO算法是否满足终止条件,寻求EI最大值点的收敛速率不高,算法终止条件选择不佳,不能保证估计值的最小点(即EI最大值点)是原函数的内点。针对EGO算法的不足之处,提出了改进的加速EGO算法。仿真实验表明,SEGO极大地节省了运算时间,并且能获得任意精度的全局最优点。
