We introduce the artificial fish swarm algorithm for heading motion model identification and control parameter optimization problems for the“Ocean Rambler”unmanned wave glider(UWG).First,under certain assumptions,th...We introduce the artificial fish swarm algorithm for heading motion model identification and control parameter optimization problems for the“Ocean Rambler”unmanned wave glider(UWG).First,under certain assumptions,the rigid-flexible multi-body system of the UWG was simplified as a rigid system composed of“thruster+float body”,based on which a planar motion model of the UWG was established.Second,we obtained the model parameters using an empirical method combined with parameter identification,which means that some parameters were estimated by the empirical method.In view of the specificity and importance of the heading control,heading model parameters were identified through the artificial fish swarm algorithm based on tank test data,so that we could take full advantage of the limited trial data to factually describe the dynamic characteristics of the system.Based on the established heading motion model,parameters of the heading S-surface controller were optimized using the artificial fish swarm algorithm.Heading motion comparison and maritime control experiments of the“Ocean Rambler”UWG were completed.Tank test results show high precision of heading motion prediction including heading angle and yawing angular velocity.The UWG shows good control performance in tank tests and sea trials.The efficiency of the proposed method is verified.展开更多
To solve the weapon network system optimization problem against small raid objects with low attitude,the concept of direction probability and a new evaluation index system are proposed.By calculating the whole damagin...To solve the weapon network system optimization problem against small raid objects with low attitude,the concept of direction probability and a new evaluation index system are proposed.By calculating the whole damaging probability that changes with the defending angle,the efficiency of the whole weapon network system can be subtly described.With such method,we can avoid the inconformity of the description obtained from the traditional index systems.Three new indexes are also proposed,i.e.join index,overlap index and cover index,which help manage the relationship among several sub-weapon-networks.By normalizing the computation results with the Sigmoid function,the matching problem between the optimization algorithm and indexes is well settled.Also,the algorithm of improved marriage in honey bees optimization that proposed in our previous work is applied to optimize the embattlement problem.Simulation is carried out to show the efficiency of the proposed indexes and the optimization algorithm.展开更多
In this paper, a static weapon target assignment（WTA）problem is studied. As a critical problem in cooperative air combat,outcome of WTA directly influences the battle. Along with the cost of weapons rising rapidly, ...In this paper, a static weapon target assignment（WTA）problem is studied. As a critical problem in cooperative air combat,outcome of WTA directly influences the battle. Along with the cost of weapons rising rapidly, it is indispensable to design a target assignment model that can ensure minimizing targets survivability and weapons consumption simultaneously. Afterwards an algorithm named as improved artificial fish swarm algorithm-improved harmony search algorithm（IAFSA-IHS） is proposed to solve the problem. The effect of the proposed algorithm is demonstrated in numerical simulations, and results show that it performs positively in searching the optimal solution and solving the WTA problem.展开更多
为了提高人工鱼群算法AFSA(artificial fish swarm algorithm)的全局搜索能力及加快其收敛速度,提出一种将其与免疫算法IA(immune algorithm)进行结合的新方法,形成了免疫人工鱼群算法IAFSA(immuneartificial fish swarm algorithm),并...为了提高人工鱼群算法AFSA(artificial fish swarm algorithm)的全局搜索能力及加快其收敛速度,提出一种将其与免疫算法IA(immune algorithm)进行结合的新方法,形成了免疫人工鱼群算法IAFSA(immuneartificial fish swarm algorithm),并且利用该算法自动选取径向基函数RBF(radial basis function)神经网络中的输入变量,以及对网络中隐含层到输出层之间的权值进行训练,从而减少了RBF神经网络的工作量,提高了训练速度。用优化后的RBF神经网络进行短期负荷预测,结果表明,该方法具有较高的预测精度。展开更多
针对传统人工操控塔式起重机在运输货物时易导致路径拐点多、负载摆动大的问题,提出一种改进的人工鱼群塔式起重机智能路径规划的新算法。根据塔式起重机的工作环境,建立三维的地图环境模型来模拟障碍物较多的复杂建筑环境,并结合起重...针对传统人工操控塔式起重机在运输货物时易导致路径拐点多、负载摆动大的问题,提出一种改进的人工鱼群塔式起重机智能路径规划的新算法。根据塔式起重机的工作环境,建立三维的地图环境模型来模拟障碍物较多的复杂建筑环境,并结合起重机在建筑场所的运行特点,对传统人工鱼群算法(artificial fish swarm algorithm, AFSA)进行改进,采用自适应策略让鱼群在寻优过程中的状态不断变化,及时调整自身的移动步长和视野,并基于生存竞争机制对人工鱼的随机行为进行改进,在一定程度上改善了算法的寻优能力,利用三次方样条数据插值拟合曲线得到更适合塔式起重机的光滑避障路径。仿真结果表明,改进后的算法为塔式起重机在障碍物较多的复杂建筑环境下找到一条最优避障路径。展开更多
基金Project(51779052)supported by the National Natural Science Foundation of ChinaProject(QC2016062)supported by the Natural Science Foundation of Heilongjiang Province,China+2 种基金Project(614221503091701)supported by the Research Fund from Science and Technology on Underwater Vehicle Laboratory,ChinaProject(LBH-Q17046)supported by the Heilongjiang Postdoctoral Funds for Scientific Research Initiation,ChinaProject(HEUCFP201741)supported by the Fundamental Research Funds for the Central Universities,China
文摘We introduce the artificial fish swarm algorithm for heading motion model identification and control parameter optimization problems for the“Ocean Rambler”unmanned wave glider(UWG).First,under certain assumptions,the rigid-flexible multi-body system of the UWG was simplified as a rigid system composed of“thruster+float body”,based on which a planar motion model of the UWG was established.Second,we obtained the model parameters using an empirical method combined with parameter identification,which means that some parameters were estimated by the empirical method.In view of the specificity and importance of the heading control,heading model parameters were identified through the artificial fish swarm algorithm based on tank test data,so that we could take full advantage of the limited trial data to factually describe the dynamic characteristics of the system.Based on the established heading motion model,parameters of the heading S-surface controller were optimized using the artificial fish swarm algorithm.Heading motion comparison and maritime control experiments of the“Ocean Rambler”UWG were completed.Tank test results show high precision of heading motion prediction including heading angle and yawing angular velocity.The UWG shows good control performance in tank tests and sea trials.The efficiency of the proposed method is verified.
基金Sponsored by Beijing Priority Laboratory Fund of China(SYS10070522)
文摘To solve the weapon network system optimization problem against small raid objects with low attitude,the concept of direction probability and a new evaluation index system are proposed.By calculating the whole damaging probability that changes with the defending angle,the efficiency of the whole weapon network system can be subtly described.With such method,we can avoid the inconformity of the description obtained from the traditional index systems.Three new indexes are also proposed,i.e.join index,overlap index and cover index,which help manage the relationship among several sub-weapon-networks.By normalizing the computation results with the Sigmoid function,the matching problem between the optimization algorithm and indexes is well settled.Also,the algorithm of improved marriage in honey bees optimization that proposed in our previous work is applied to optimize the embattlement problem.Simulation is carried out to show the efficiency of the proposed indexes and the optimization algorithm.
基金supported by the National Natural Science Foundation of China(61472441)
文摘In this paper, a static weapon target assignment（WTA）problem is studied. As a critical problem in cooperative air combat,outcome of WTA directly influences the battle. Along with the cost of weapons rising rapidly, it is indispensable to design a target assignment model that can ensure minimizing targets survivability and weapons consumption simultaneously. Afterwards an algorithm named as improved artificial fish swarm algorithm-improved harmony search algorithm（IAFSA-IHS） is proposed to solve the problem. The effect of the proposed algorithm is demonstrated in numerical simulations, and results show that it performs positively in searching the optimal solution and solving the WTA problem.
文摘为了提高人工鱼群算法AFSA(artificial fish swarm algorithm)的全局搜索能力及加快其收敛速度,提出一种将其与免疫算法IA(immune algorithm)进行结合的新方法,形成了免疫人工鱼群算法IAFSA(immuneartificial fish swarm algorithm),并且利用该算法自动选取径向基函数RBF(radial basis function)神经网络中的输入变量,以及对网络中隐含层到输出层之间的权值进行训练,从而减少了RBF神经网络的工作量,提高了训练速度。用优化后的RBF神经网络进行短期负荷预测,结果表明,该方法具有较高的预测精度。
文摘针对传统人工操控塔式起重机在运输货物时易导致路径拐点多、负载摆动大的问题,提出一种改进的人工鱼群塔式起重机智能路径规划的新算法。根据塔式起重机的工作环境,建立三维的地图环境模型来模拟障碍物较多的复杂建筑环境,并结合起重机在建筑场所的运行特点,对传统人工鱼群算法(artificial fish swarm algorithm, AFSA)进行改进,采用自适应策略让鱼群在寻优过程中的状态不断变化,及时调整自身的移动步长和视野,并基于生存竞争机制对人工鱼的随机行为进行改进,在一定程度上改善了算法的寻优能力,利用三次方样条数据插值拟合曲线得到更适合塔式起重机的光滑避障路径。仿真结果表明,改进后的算法为塔式起重机在障碍物较多的复杂建筑环境下找到一条最优避障路径。
