To solve dynamic obstacle avoidance problems, a novel algorithm was put forward with the advantages of wireless sensor network (WSN). In view of moving velocity and direction of both the obstacles and robots, a mathem...To solve dynamic obstacle avoidance problems, a novel algorithm was put forward with the advantages of wireless sensor network (WSN). In view of moving velocity and direction of both the obstacles and robots, a mathematic model was built based on the exposure model, exposure direction and critical speeds of sensors. Ant colony optimization (ACO) algorithm based on bionic swarm intelligence was used for solution of the multi-objective optimization. Energy consumption and topology of the WSN were also discussed. A practical implementation with real WSN and real mobile robots were carried out. In environment with multiple obstacles, the convergence curve of the shortest path length shows that as iterative generation grows, the length of the shortest path decreases and finally reaches a stable and optimal value. Comparisons show that using sensor information fusion can greatly improve the accuracy in comparison with single sensor. The successful path of robots without collision validates the efficiency, stability and accuracy of the proposed algorithm, which is proved to be better than tradition genetic algorithm (GA) for dynamic obstacle avoidance in real time.展开更多
多媒体消息业务(MMS, multimedia messaging service)作为一种新的移动数据业务已经得到了大规模的应用,在移动智能网上也可以支持这种业务。ITU-T、ETSI对移动智能网支持MMS并无相应的规范,目前国内计划采用的是SCP(service control po...多媒体消息业务(MMS, multimedia messaging service)作为一种新的移动数据业务已经得到了大规模的应用,在移动智能网上也可以支持这种业务。ITU-T、ETSI对移动智能网支持MMS并无相应的规范,目前国内计划采用的是SCP(service control point)与MMSC(multimedia messaging service center)互联的解决方案。本文在对此方案做详细分析的同时,提出了基于CAMEL(customized application for mobile enhanced logic)的MMS体系结构,并对此进行了深入的探讨。在此基础上,分析计算了智能多媒体消息业务对SCP及信令链路造成的影响。展开更多
基金Project(60475035) supported by the National Natural Science Foundation of China
文摘To solve dynamic obstacle avoidance problems, a novel algorithm was put forward with the advantages of wireless sensor network (WSN). In view of moving velocity and direction of both the obstacles and robots, a mathematic model was built based on the exposure model, exposure direction and critical speeds of sensors. Ant colony optimization (ACO) algorithm based on bionic swarm intelligence was used for solution of the multi-objective optimization. Energy consumption and topology of the WSN were also discussed. A practical implementation with real WSN and real mobile robots were carried out. In environment with multiple obstacles, the convergence curve of the shortest path length shows that as iterative generation grows, the length of the shortest path decreases and finally reaches a stable and optimal value. Comparisons show that using sensor information fusion can greatly improve the accuracy in comparison with single sensor. The successful path of robots without collision validates the efficiency, stability and accuracy of the proposed algorithm, which is proved to be better than tradition genetic algorithm (GA) for dynamic obstacle avoidance in real time.
文摘多媒体消息业务(MMS, multimedia messaging service)作为一种新的移动数据业务已经得到了大规模的应用,在移动智能网上也可以支持这种业务。ITU-T、ETSI对移动智能网支持MMS并无相应的规范,目前国内计划采用的是SCP(service control point)与MMSC(multimedia messaging service center)互联的解决方案。本文在对此方案做详细分析的同时,提出了基于CAMEL(customized application for mobile enhanced logic)的MMS体系结构,并对此进行了深入的探讨。在此基础上,分析计算了智能多媒体消息业务对SCP及信令链路造成的影响。
