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
In order to form an algorithm for distribution network routing,an automatic routing method of distribution network planning was proposed based on the shortest path.The problem of automatic routing was divided into two...In order to form an algorithm for distribution network routing,an automatic routing method of distribution network planning was proposed based on the shortest path.The problem of automatic routing was divided into two steps in the method:the first step was that the shortest paths along streets between substation and load points were found by the basic ant colony algorithm to form a preliminary radial distribution network,and the second step was that the result of the shortest path was used to initialize pheromone concentration and pheromone updating rules to generate globally optimal distribution network.Cases studies show that the proposed method is effective and can meet the planning requirements.It is verified that the proposed method has better solution and utility than planning method based on the ant colony algorithm.展开更多
电力路由器融合了信息技术和电力电子变换技术,为分布式能源大范围地接入能源互联网提供了条件,但也给能源互联网的优化运行提出了新的要求。以图论为手段,以能源互联网的结构为基础构成单源点单汇点的电能路由拓扑;以Dijkstra为基础,...电力路由器融合了信息技术和电力电子变换技术,为分布式能源大范围地接入能源互联网提供了条件,但也给能源互联网的优化运行提出了新的要求。以图论为手段,以能源互联网的结构为基础构成单源点单汇点的电能路由拓扑;以Dijkstra为基础,节点仅根据其相邻节点的状态调节其自身状态,搜寻最短路径,完成电能路由,实现电能的分布式管理和协调控制,使系统运行在优化状态。多代理系统(multi-agent system,MAS)技术为实现分布式电能路由策略提供了技术支撑。最后,在Matlab/Simulink平台下搭建了分布式电网,结合基于JADE(Java Agent DEvelopment framework)平台的多代理系统对分布式电能路由策略进行仿真实现。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Project(2009CB219703) supported by the National Basic Research Program of ChinaProject(2011AA05A117) supported by the National High Technology Research and Development Program of China
文摘In order to form an algorithm for distribution network routing,an automatic routing method of distribution network planning was proposed based on the shortest path.The problem of automatic routing was divided into two steps in the method:the first step was that the shortest paths along streets between substation and load points were found by the basic ant colony algorithm to form a preliminary radial distribution network,and the second step was that the result of the shortest path was used to initialize pheromone concentration and pheromone updating rules to generate globally optimal distribution network.Cases studies show that the proposed method is effective and can meet the planning requirements.It is verified that the proposed method has better solution and utility than planning method based on the ant colony algorithm.
基金Supported by National Natural Science Foundation of P.R.China(50275150)National Research Foundation for the Doctoral Program of Higher Education of P.R.China(20040533035)
文摘电力路由器融合了信息技术和电力电子变换技术,为分布式能源大范围地接入能源互联网提供了条件,但也给能源互联网的优化运行提出了新的要求。以图论为手段,以能源互联网的结构为基础构成单源点单汇点的电能路由拓扑;以Dijkstra为基础,节点仅根据其相邻节点的状态调节其自身状态,搜寻最短路径,完成电能路由,实现电能的分布式管理和协调控制,使系统运行在优化状态。多代理系统(multi-agent system,MAS)技术为实现分布式电能路由策略提供了技术支撑。最后,在Matlab/Simulink平台下搭建了分布式电网,结合基于JADE(Java Agent DEvelopment framework)平台的多代理系统对分布式电能路由策略进行仿真实现。
