Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which...Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which several algorithms were developed for the complex underwater environment.Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes.Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles.Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation.The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated.Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness,even with a concave obstacle.It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle.展开更多
Based on the deficiency of time convergence and variability of Web services selection for services composition supporting cross-enterprises collaboration,an algorithm QCDSS(QoS constraints of dynamic Web services sele...Based on the deficiency of time convergence and variability of Web services selection for services composition supporting cross-enterprises collaboration,an algorithm QCDSS(QoS constraints of dynamic Web services selection)to resolve dynamic Web services selection with QoS global optimal path,was proposed.The essence of the algorithm was that the problem of dynamic Web services selection with QoS global optimal path was transformed into a multi-objective services composition optimization problem with QoS constraints.The operations of the cross and mutation in genetic algorithm were brought into PSOA(particle swarm optimization algorithm),forming an improved algorithm(IPSOA)to solve the QoS global optimal problem.Theoretical analysis and experimental results indicate that the algorithm can better satisfy the time convergence requirement for Web services composition supporting cross-enterprises collaboration than the traditional algorithms.展开更多
基金Project(NS2013091)supported by the Basis Research Fund of Nanjing University of Aeronautics and Astronautics,China
文摘Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which several algorithms were developed for the complex underwater environment.Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes.Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles.Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation.The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated.Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness,even with a concave obstacle.It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle.
基金Project(70631004)supported by the Key Project of the National Natural Science Foundation of ChinaProject(20080440988)supported by the Postdoctoral Science Foundation of China+1 种基金Project(09JJ4030)supported by the Natural Science Foundation of Hunan Province,ChinaProject supported by the Postdoctoral Science Foundation of Central South University,China
文摘Based on the deficiency of time convergence and variability of Web services selection for services composition supporting cross-enterprises collaboration,an algorithm QCDSS(QoS constraints of dynamic Web services selection)to resolve dynamic Web services selection with QoS global optimal path,was proposed.The essence of the algorithm was that the problem of dynamic Web services selection with QoS global optimal path was transformed into a multi-objective services composition optimization problem with QoS constraints.The operations of the cross and mutation in genetic algorithm were brought into PSOA(particle swarm optimization algorithm),forming an improved algorithm(IPSOA)to solve the QoS global optimal problem.Theoretical analysis and experimental results indicate that the algorithm can better satisfy the time convergence requirement for Web services composition supporting cross-enterprises collaboration than the traditional algorithms.
