Cooperative path planning is an important area in fixed-wing UAV swarm.However,avoiding multiple timevarying obstacles and avoiding local optimum are two challenges for existing approaches in a dynamic environment.Fir...Cooperative path planning is an important area in fixed-wing UAV swarm.However,avoiding multiple timevarying obstacles and avoiding local optimum are two challenges for existing approaches in a dynamic environment.Firstly,a normalized artificial potential field optimization is proposed by reconstructing a novel function with anisotropy in each dimension,which can make the flight speed of a fixed UAV swarm independent of the repulsive/attractive gain coefficient and avoid trapping into local optimization and local oscillation.Then,taking into account minimum velocity and turning angular velocity of fixed-wing UAV swarm,a strategy of decomposing target vector to avoid moving obstacles and pop-up threats is proposed.Finally,several simulations are carried out to illustrate superiority and effectiveness.展开更多
Finding out reasonable structures from bulky data is one of the difficulties in modeling of Bayesian network （BN）, which is also necessary in promoting the application of BN. This pa- per proposes an immune algorith...Finding out reasonable structures from bulky data is one of the difficulties in modeling of Bayesian network （BN）, which is also necessary in promoting the application of BN. This pa- per proposes an immune algorithm based method （BN-IA） for the learning of the BN structure with the idea of vaccination. Further- more, the methods on how to extract the effective vaccines from local optimal structure and root nodes are also described in details. Finally, the simulation studies are implemented with the helicopter convertor BN model and the car start BN model. The comparison results show that the proposed vaccines and the BN-IA can learn the BN structure effectively and efficiently.展开更多
文摘Cooperative path planning is an important area in fixed-wing UAV swarm.However,avoiding multiple timevarying obstacles and avoiding local optimum are two challenges for existing approaches in a dynamic environment.Firstly,a normalized artificial potential field optimization is proposed by reconstructing a novel function with anisotropy in each dimension,which can make the flight speed of a fixed UAV swarm independent of the repulsive/attractive gain coefficient and avoid trapping into local optimization and local oscillation.Then,taking into account minimum velocity and turning angular velocity of fixed-wing UAV swarm,a strategy of decomposing target vector to avoid moving obstacles and pop-up threats is proposed.Finally,several simulations are carried out to illustrate superiority and effectiveness.
基金supported by the National Natural Science Foundation of China(7110111671271170)+1 种基金the Program for New Century Excellent Talents in University(NCET-13-0475)the Basic Research Foundation of NPU(JC20120228)
文摘Finding out reasonable structures from bulky data is one of the difficulties in modeling of Bayesian network （BN）, which is also necessary in promoting the application of BN. This pa- per proposes an immune algorithm based method （BN-IA） for the learning of the BN structure with the idea of vaccination. Further- more, the methods on how to extract the effective vaccines from local optimal structure and root nodes are also described in details. Finally, the simulation studies are implemented with the helicopter convertor BN model and the car start BN model. The comparison results show that the proposed vaccines and the BN-IA can learn the BN structure effectively and efficiently.
