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未知环境下的蚁群-聚类自适应动态路径规划 被引量:36
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作者 刘新宇 谭力铭 +1 位作者 杨春曦 翟持 《计算机科学与探索》 CSCD 北大核心 2019年第5期846-857,共12页
针对用于动态环境中的机器人路径规划的蚁群算法存在收敛速度慢,路径累计转折角大,对环境变化适应性低等问题,提出了一种未知环境下的蚁群-聚类自适应动态路径规划方法。依据聚类算法对环境复杂程度的准确判别自动改变寻优半径,达到充... 针对用于动态环境中的机器人路径规划的蚁群算法存在收敛速度慢,路径累计转折角大,对环境变化适应性低等问题,提出了一种未知环境下的蚁群-聚类自适应动态路径规划方法。依据聚类算法对环境复杂程度的准确判别自动改变寻优半径,达到充分利用机器人有限的计算能力,提高收敛速度的目的;通过识别对角障碍,生成虚拟障碍,确保规划的路径不穿过对角障碍;通过平滑机制对搜索的动态路径做平滑优化处理,有效降低了路径长度,减少了累计转折角。仿真结果表明,提出的算法能够根据障碍的复杂程度自动选择合适的搜索半径,完成路径的动态规划,体现出良好的环境适应能力和较好的综合路径优化性能。 展开更多
关键词 蚁群-聚类算法 动态路径规划 自适应半径 对角障碍 平滑机制
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Spatial quality evaluation for drinking water based on GIS and ant colony clustering algorithm 被引量:4
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作者 侯景伟 米文宝 李陇堂 《Journal of Central South University》 SCIE EI CAS 2014年第3期1051-1057,共7页
To develop a better approach for spatial evaluation of drinking water quality, an intelligent evaluation method integrating a geographical information system(GIS) and an ant colony clustering algorithm(ACCA) was used.... To develop a better approach for spatial evaluation of drinking water quality, an intelligent evaluation method integrating a geographical information system(GIS) and an ant colony clustering algorithm(ACCA) was used. Drinking water samples from 29 wells in Zhenping County, China, were collected and analyzed. 35 parameters on water quality were selected, such as chloride concentration, sulphate concentration, total hardness, nitrate concentration, fluoride concentration, turbidity, pH, chromium concentration, COD, bacterium amount, total coliforms and color. The best spatial interpolation methods for the 35 parameters were found and selected from all types of interpolation methods in GIS environment according to the minimum cross-validation errors. The ACCA was improved through three strategies, namely mixed distance function, average similitude degree and probability conversion functions. Then, the ACCA was carried out to obtain different water quality grades in the GIS environment. In the end, the result from the ACCA was compared with those from the competitive Hopfield neural network(CHNN) to validate the feasibility and effectiveness of the ACCA according to three evaluation indexes, which are stochastic sampling method, pixel amount and convergence speed. It is shown that the spatial water quality grades obtained from the ACCA were more effective, accurate and intelligent than those obtained from the CHNN. 展开更多
关键词 geographical information system (GIS) ant colony clustering algorithm (ACCA) quality evaluation drinking water spatial analysis
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Color image segmentation using mean shift and improved ant clustering 被引量:3
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作者 刘玲星 谭冠政 M.Sami Soliman 《Journal of Central South University》 SCIE EI CAS 2012年第4期1040-1048,共9页
To improve the segmentation quality and efficiency of color image,a novel approach which combines the advantages of the mean shift(MS) segmentation and improved ant clustering method is proposed.The regions which can ... To improve the segmentation quality and efficiency of color image,a novel approach which combines the advantages of the mean shift(MS) segmentation and improved ant clustering method is proposed.The regions which can preserve the discontinuity characteristics of an image are segmented by MS algorithm,and then they are represented by a graph in which every region is represented by a node.In order to solve the graph partition problem,an improved ant clustering algorithm,called similarity carrying ant model(SCAM-ant),is proposed,in which a new similarity calculation method is given.Using SCAM-ant,the maximum number of items that each ant can carry will increase,the clustering time will be effectively reduced,and globally optimized clustering can also be realized.Because the graph is not based on the pixels of original image but on the segmentation result of MS algorithm,the computational complexity is greatly reduced.Experiments show that the proposed method can realize color image segmentation efficiently,and compared with the conventional methods based on the image pixels,it improves the image segmentation quality and the anti-interference ability. 展开更多
关键词 color image segmentation improved ant clustering graph partition mean shift
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