智能机械全覆盖路径规划算法综述

全覆盖路径规划算法是智能移动机械的核心内容之一,涉及军事、农业、生产制造和民用等多个应用领域,而应用环境包含了空中、地面和水下,因此关于全覆盖路径规划算法的研究具有很高的科研价值。从全覆盖路径规划算法的基本概念、工作条件、应用背景、国内外研究现状等方面对目前主流的规划算法进行了综述。根据工作环境信息是否已知,将其归类为“离线式”和“在线式”两种工作方式,并从覆盖完整程度、工作效率、能耗成本和实现难易程度等方面分析讨论了各种算法的优势与不足之处,并对全覆盖路径规划算法的研究趋势进行了展望。     

Robust modeling of acoustic paths using a sparse adaptive algorithm

Acoustic impulse response functions are generally sparse in nature and traditionally these are modeled by adaptive finite impulse response (FIR) filters trained using a least mean square (LMS) algorithm. The conventional LMS algorithm is not effective in modeling sparse systems and sparse LMS algorithms have been recently developed to improve the modeling in such scenarios. However, the traditional sparse LMS algorithms are not robust to disturbances at the error sensor and may diverge in some scenarios. With an objective to overcome this limitation of conventional sparse adaptive algorithm, this paper presents a robust sparse adaptive algorithm. The new algorithm has been shown to effectively model sparse systems in a robust manner. In addition, the algorithm has been successfully applied in modeling the acoustic feedback path in a behind the ear digital hearing aid.     

基于改进蚁群算法的交通最优路径方法研究

本文提出一种基于改进蚁群算法的交通路径最优方法,首先根据图论的思想构建了城市交通网络模型,结合层次分析法考虑了道路长度、交叉口停滞、交通拥挤、道路容量、天气状况等五个主要因素。然后在MATLAB平台下,采用改进的蚁群算法对静态交通网络和动态交通网络分别进行最短路径的求解,最后进行了对比分析。研究结果表明,在综合考虑以上五种因素的情况下,动态交通网络下的路径最优算法能为出行者找到更准确更便捷的路线。     

基于改进遗传算法的移动机器人路径规划

针对传统遗传算法存在的搜索效率低、易于陷入局部最优解的问题,提出了一种改进的遗传算法。采用简单的一维编码替代复杂的二维编码,节约了存储空间。在遗传算子的设计中,重新定义了交叉算子和变异算子,避免了陷入局部最优。最后将最短路径和免碰撞相结合作为适应度函数进行遗传优化。实验结果表明,改进的算法能够快速、有效的规划出最优路径。     

基于摄像头的直立自平衡智能车设计

设计直立行走式循迹智能车的机械及控制系统;系统选用微控制器MK60为控制核心,利用陀螺仪和加速度传感器,采用互补滤波的方法计算车体的角度和角速度,通过比例微分算法控制智能车车轮的加速度来抵消车模运动倾向,实现智能车直立;单片机通过模拟摄像头进行赛道图像捕捉,采用边沿检测算法识别赛道中心线,计算与设定值的偏差,进而控制左右两个电机产生速度差,完成智能车的转向。经测试,智能车能够在保持直立同时,完成赛道识别,且运行平稳快速。     

Exact convergence rate of the Wong–Zakai approximation to RDEs driven by Gaussian rough paths

We consider a solution to a stochastic differential equation driven by a Gaussian process in the rough differential equation sense and the Wong–Zakai approximation to the solution. We give an upper bound of the error of the Wong–Zakai approximation. We also show that the upper bound is optimal in a particular case.     

容许性余代数的必要条件

通过从余代数的角度构造Hop玳数的块系统,给出了非余半单余代数和纯非余半单余代数具有容许性的必要条件.其应用简化了45维和105维Hop玳数的分类,为有限维Hopf代数的分类提供了新的方法.     

基于全局可达点的中国教育网平均最短路径近似算法

平均最短路径长度是复杂网络的一个重要特性,但由于计算时间的限制,求解大规模网络的平均最短路径长度很困难.以中国教育网数据为例,分析了中国教育网的拓扑结构,提出了全局可达点和局部可达点的概念,发现整个网络的平均最短路径长度由全局可达点决定.通过分析全局可达点的平均单源最短路径长度分布,发现整个网络的平均最短路径长度可由少数随机选取的点的平均最短路径长度来近似.通过三个网络验证了近似计算方法的有效性,并通过随机选取的数百个点,计算得到了含49041472个点的中国教育网的平均最短路径长度在14-15之间.     

Riordan paths and derangements

Riordan paths are Motzkin paths without horizontal steps on the x-axis. We establish a correspondence between Riordan paths and -avoiding derangements. We also present a combinatorial proof of a recurrence relation for the Riordan numbers in the spirit of the Foata-Zeilberger proof of a recurrence relation on the Schröder numbers.     

Polynomial algorithms for guillotine cutting of a rectangle into small rectangles of two kinds

In this paper the problem of optimally guillotine cutting a rectangle (A, B  ) into small rectangles of two kinds is considered. Rectangles of the first kind (c,_ai),i∈I$(c\text{,}{a}_i)\text{,}i\in I$ have the same width, and their heights can be various. Rectangles of the second kind (_bj,d),j∈J$(b_j\text{,}d)\text{,}j\in J$ have the same height, and their widths can be various. The number of occurrences of each small rectangle in a cutting pattern is not restricted. Similar problems often appear in the furniture industry. This cutting problem is reduced to the shortest path problem in a special rectangular grid, for which a linear time algorithm is suggested. This approach generalizes the approach of [E. Girlich, A.G. Tarnowski, On polynomial solvability of two multiprocessor scheduling problems, Mathematical Methods of Operations Research 50 (1999) 27–51; A.G. Tarnowski, Advanced polynomial time algorithm for guillotine generalized pallet loading problem, in: The International Scientific Collection: Decision Making Under Conditions of Uncertainty (Cutting-Packing Problems), Ufa State Aviation Technical University, 1997, pp. 93–124] and allows us to construct polynomial algorithms for the guillotine cutting problem considered with a fixed number of small rectangles of two kinds.