This paper proposes an optimal deployment method of heterogeneous multistatic radars to construct arc barrier coverage with location restrictions.This method analyzes and proves the properties of different deployment ...This paper proposes an optimal deployment method of heterogeneous multistatic radars to construct arc barrier coverage with location restrictions.This method analyzes and proves the properties of different deployment patterns in the optimal deployment sequence.Based on these properties and considering location restrictions,it introduces an optimization model of arc barrier coverage and aims to minimize the total deployment cost of heterogeneous multistatic radars.To overcome the non-convexity of the model and the non-analytical nature of the objective function,an algorithm combining integer line programming and the cuckoo search algorithm(CSA)is proposed.The proposed algorithm can determine the number of receivers and transmitters in each optimal deployment squence to minimize the total placement cost.Simulations are conducted in different conditions to verify the effectiveness of the proposed method.展开更多
为满足配用电场景差异化业务需求,综合考虑网络的覆盖率和连通性,构建无线与电力线通信(power line communication,PLC)融合通信覆盖模型,提出基于混合策略的改进多目标麻雀覆盖优化算法。首先,建立无线与电力线融合通信多目标覆盖优化...为满足配用电场景差异化业务需求,综合考虑网络的覆盖率和连通性,构建无线与电力线通信(power line communication,PLC)融合通信覆盖模型,提出基于混合策略的改进多目标麻雀覆盖优化算法。首先,建立无线与电力线融合通信多目标覆盖优化问题。其次,利用Tent映射与透镜成像反向学习相结合的种群初始化方法增加种群的多样性。同时,提出双阶段的自适应收敛因子调整麻雀算法运行过程中探索者和追随者的比例,改进现有越界处理策略,引入交叉变异策略,提高算法全局搜索能力以及搜索精度。最后,引入快速非支配排序、拥挤度策略和最优外部存档,将单目标麻雀算法改为多目标算法。仿真结果表明,相较于多目标遗传算法、多目标粒子群算法、多目标进化算法,所提改进的多目标麻雀算法对目标区域覆盖率分别提升了5.2%、3.17%和5.93%。此外,所提算法求得的Pareto最优解集为无线与电力线融合通信网络节点部署提供了多种方案,对配用电通信网规划和建设具有重要指导意义。展开更多
An innovative multi-robot simultaneous localization and mapping(SLAM)is proposed based on a mobile Ad hoc local wireless sensor network(Ad-WSN).Multiple followed-robots equipped with the wireless link RS232/485module ...An innovative multi-robot simultaneous localization and mapping(SLAM)is proposed based on a mobile Ad hoc local wireless sensor network(Ad-WSN).Multiple followed-robots equipped with the wireless link RS232/485module act as mobile nodes,with various on-board sensors,Tp-link wireless local area network cards,and Tp-link wireless routers.The master robot with embedded industrial PC and a complete robot control system autonomously performs the SLAM task by exchanging information with multiple followed-robots by using this self-organizing mobile wireless network.The PC on the remote console can monitor multi-robot SLAM on-site and provide direct motion control of the robots.This mobile Ad-WSN complements an environment devoid of usual GPS signals for the robots performing SLAM task in search and rescue environments.In post-disaster areas,the network is usually absent or variable and the site scene is cluttered with obstacles.To adapt to such harsh situations,the proposed self-organizing mobile Ad-WSN enables robots to complete the SLAM process while improving the performances of object of interest identification and exploration area coverage.The information of localization and mapping can communicate freely among multiple robots and remote PC control center via this mobile Ad-WSN.Therefore,the autonomous master robot runs SLAM algorithms while exchanging information with multiple followed-robots and with the remote PC control center via this local WSN environment.Simulations and experiments validate the improved performances of the exploration area coverage,object marked,and loop closure,which are adapted to search and rescue post-disaster cluttered environments.展开更多
基金supported by the National Natural Science Foundation of China(61971470).
文摘This paper proposes an optimal deployment method of heterogeneous multistatic radars to construct arc barrier coverage with location restrictions.This method analyzes and proves the properties of different deployment patterns in the optimal deployment sequence.Based on these properties and considering location restrictions,it introduces an optimization model of arc barrier coverage and aims to minimize the total deployment cost of heterogeneous multistatic radars.To overcome the non-convexity of the model and the non-analytical nature of the objective function,an algorithm combining integer line programming and the cuckoo search algorithm(CSA)is proposed.The proposed algorithm can determine the number of receivers and transmitters in each optimal deployment squence to minimize the total placement cost.Simulations are conducted in different conditions to verify the effectiveness of the proposed method.
文摘为满足配用电场景差异化业务需求,综合考虑网络的覆盖率和连通性,构建无线与电力线通信(power line communication,PLC)融合通信覆盖模型,提出基于混合策略的改进多目标麻雀覆盖优化算法。首先,建立无线与电力线融合通信多目标覆盖优化问题。其次,利用Tent映射与透镜成像反向学习相结合的种群初始化方法增加种群的多样性。同时,提出双阶段的自适应收敛因子调整麻雀算法运行过程中探索者和追随者的比例,改进现有越界处理策略,引入交叉变异策略,提高算法全局搜索能力以及搜索精度。最后,引入快速非支配排序、拥挤度策略和最优外部存档,将单目标麻雀算法改为多目标算法。仿真结果表明,相较于多目标遗传算法、多目标粒子群算法、多目标进化算法,所提改进的多目标麻雀算法对目标区域覆盖率分别提升了5.2%、3.17%和5.93%。此外,所提算法求得的Pareto最优解集为无线与电力线融合通信网络节点部署提供了多种方案,对配用电通信网规划和建设具有重要指导意义。
基金Projects(61573213,61473174,61473179)supported by the National Natural Science Foundation of ChinaProjects(ZR2015PF009,ZR2014FM007)supported by the Natural Science Foundation of Shandong Province,China+1 种基金Project(2014GGX103038)supported by the Shandong Province Science and Technology Development Program,ChinaProject(2014ZZCX04302)supported by the Special Technological Program of Transformation of Initiatively Innovative Achievements in Shandong Province,China
文摘An innovative multi-robot simultaneous localization and mapping(SLAM)is proposed based on a mobile Ad hoc local wireless sensor network(Ad-WSN).Multiple followed-robots equipped with the wireless link RS232/485module act as mobile nodes,with various on-board sensors,Tp-link wireless local area network cards,and Tp-link wireless routers.The master robot with embedded industrial PC and a complete robot control system autonomously performs the SLAM task by exchanging information with multiple followed-robots by using this self-organizing mobile wireless network.The PC on the remote console can monitor multi-robot SLAM on-site and provide direct motion control of the robots.This mobile Ad-WSN complements an environment devoid of usual GPS signals for the robots performing SLAM task in search and rescue environments.In post-disaster areas,the network is usually absent or variable and the site scene is cluttered with obstacles.To adapt to such harsh situations,the proposed self-organizing mobile Ad-WSN enables robots to complete the SLAM process while improving the performances of object of interest identification and exploration area coverage.The information of localization and mapping can communicate freely among multiple robots and remote PC control center via this mobile Ad-WSN.Therefore,the autonomous master robot runs SLAM algorithms while exchanging information with multiple followed-robots and with the remote PC control center via this local WSN environment.Simulations and experiments validate the improved performances of the exploration area coverage,object marked,and loop closure,which are adapted to search and rescue post-disaster cluttered environments.
