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检索条件"主题词=fusion algorithm"

共 216 条记录，以下是151-160 订阅

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Path Planning of Mobile Robot Based on Improved Particle Swarm

Path Planning of Mobile Robot Based on Improved Particle Swa...

引用

Chinese Automation Congress (CAC)

作者： Qi, Yuming Xie, Bing Huang, Xiaochen Yuan, Miao Zhu, Chen Tianjin Univ Technol & Educ Inst Robot & Intelligent Equipment Tianjin 300222 Peoples R China Tianjin Artificial Intelligence Innovat Ctr Tianjin 300222 Peoples R China

ISBN: (纸本)9781728176871

Path planning is one of the key technologies of robot navigation and control, in path planning, there are some problems in the application of ant colony algorithm, such as slow convergence speed, poor optimization results and incomplete search. In order to improve the mobile robot's ability to search the optimal path to the target point in the global static environment. In this paper, a double improved fusion algorithm of particle swarm optimization and ant colony algorithm is proposed to solve the path planning problem. Firstly, the occupied grid map is constructed based on visual slam technology of depth camera in static environment;Secondly, the improved particle swarm optimization -ant colony algorithm is used for path planning in the grid map: The sub optimal solution is obtained by using the advantages of global search ability and search speed of improved particle swarm optimization, which is transformed into the increment of initial pheromone distribution in the improved ant colony algorithm, and the exact solution of the path problem is solved by using the positive feedback mechanism of the improved ant colony algorithm;Finally, a robot experimental platform is built to verify the effectiveness and practicability of the improved particle swarm optimization and ant colony fusion algorithm. The experimental results show that the fusion algorithm has a certain guiding role for mobile robot path planning.

关键词： Path planning Particle swarm optimization Ant colony algorithm fusion algorithm Mobile robot

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Limited memory fusion of multi-sensor based on support degree

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26th Chinese Control Conference

作者： Zhang Peng Zhang Jian ye Sun Yong Li Xue ren Zhang Zonglin Air Force Engn Univ Engn Inst Xian 710038 Shaanxi Peoples R China Northwestern Polytech Univ Dept Automat Control Xian 710072 Peoples R China

ISBN: (纸本)9787811240559

In the case of any prior knowledge is unknown, consistent data fusion algorithm is widely studied. Based on the existing methods, a novel limited memory fusion of multi-sensor based on support degree is proposed to avoid data saturation when the old measurement information increasing. The algorithm takes use of the exponential function to build the support degree matrix, and each sensor's consistency value of different time can be obtained. In the progress of iterative estimation, the limited memory method is used to just make full use of the last measurement information and so the weight coefficient for sensor can be determined dynamically. Compare with the mean and support degree based data fusion techniques, the fusion weight assignment is more reasonable and the fusion precision can be improved further by the proposed method.

关键词： fusion algorithm support degree limited memory data saturation

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Cooperative Localization with Velocity-Assisted for Mobile Wireless Sensor Networks 18

Cooperative Localization with Velocity-Assisted for Mobile W...

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18th International Symposium on Communications and Information Technologies (ISCIT)

作者： Yu, Sijia Su, Xin Zeng, Jie Univ Elect Sci & Technol China Chengdu Sichuan Peoples R China Tsinghua Univ Beijing Peoples R China

ISBN: (纸本)9781538684580

Location awareness is a critical part of wireless sensor network, especially for location-based services which network activities require the exact position of sensors. Compared with non-cooperative localization, the cooperation among sensors facilitates localization accuracy as well as coverage in adverse environments. This paper proposes a cooperative localization algorithm for mobile nodes by exploiting the velocity information of the mobile nodes. We first d erive a non-convex localization problem based on the distance and velocity measurements and then formulate it into a convex optimization problem by the second-order cone program (SOCP) relaxation technology. Furthermore, to take full advantage of the node's mobility, we propose an adaptive fusion method to fuse the location estimation result of mobility model and SOCP estimator. Simulation results show that localization accuracy could be improved significantly with the assistance of velocity information in the localization process. Moreover, velocity-assisted cooperative localization is beneficial to solve the localization problems which are sensitive to ranging errors.

关键词： cooperative localization second-order cone program (SOCP) fusion algorithm mobile node wireless sensor network

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Research on the Practical algorithms of Image Mosaic

Research on the Practical Algorithms of Image Mosaic

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International Symposium on Photonics and Optoelectronics

作者： Wen, Hongyuan Fei, Xiang Zhang, Peng Nanjing Univ Sci & Technol Taizhou Inst Sci & Technol Taizhou 225300 Peoples R China

ISBN: (纸本)9781628412871

Currently fast image mosaic method is less efficient, and most of these methods have low efficiency, poor adaptability, it can not meet the user's requirements. In this paper, a stitching algorithm is presented based on image features. In the method, firstly, the images which are to be spliced using Haar wavelet transform for image de-noising processing;secondly, Haar operator is used to extract image feature points and then uses the template to match the phase correlation method;finally, using a weighted fusion algorithm is proposed for image fusion, the smooth and seamless large completed image will be obtained after the completion of splicing. The experimental results indicate that the effect of the algorithm is better, and has a promotional value.

关键词： Image mosaic Haar corner detection feature matching fusion algorithm

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A Novel Three-Dimensional Indoor Localization algorithm Based on Multi-Sensors

A Novel Three-Dimensional Indoor Localization Algorithm Base...

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4th China Satellite Navigation Conference (CSNC)

作者： Li, Zhifeng Deng, Zhongliang Liu, Wenlong Xu, Lianming Beijing Univ Post & Telecommun Xitucheng Rd 10 Beijing 100876 Peoples R China Beijing Univ Post & Telecommun Inst EE Beijing Peoples R China

ISBN: (纸本)9783642374074;9783642374067

With the wildly application of the mobile internet, the market of location- based services is growing rapidly. At present, the main current method of indoor location is based on the finger point position technology of wireless local area network (WLAN), and combined with a fusion algorithm of pedestrian dead reckoning (PDR). Furthermore, due to the spread characteristics of Wi-Fi signal, there are some weak signal zones and even blind zones. This paper proposes a novel indoor localization algorithm. The algorithm combines the multi-finger point technology, geomagnetic navigation and inertial navigation, and uses the advantages of each technology to complement each other, to achieve the series, seamless, and three dimensions indoor location. Through the algorithm simulation and contrast analysis of experiment, the algorithm given in this paper has showed that the average positioning accuracy has improved nearly 37 %, the average positioning error can reach 2.72 m and the new algorithm has a 100 % coverage area rates in comparison with KNN\W-KNN\PDR and their fusion algorithm, which has proved the feasibility and effectiveness of this new fusion algorithm.

关键词： Multi-sensors fusion algorithm High-precision

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Distributed Attack Prevention Using Dempster-Shafer Theory of Evidence 13th

Distributed Attack Prevention Using Dempster-Shafer Theory o...

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13th International Conference on Intelligent Computing (ICIC)

作者： MacDermott, Aine Shi, Qi Kifayat, Kashif Liverpool John Moores Univ Sch Comp Sci Liverpool L3 3AF Merseyside England

ISBN: (纸本)9783319633152;9783319633145

This paper details a robust collaborative intrusion detection methodology for detecting attacks within a Cloud federation. It is a proactive model and the responsibility for managing the elements of the Cloud is distributed among several monitoring nodes. Since there are a wide range of elements to manage, complexity grows proportionally with the size of the Cloud, so a suitable communication and monitoring hierarchy is adopted. Our architecture consists of four major entities: the Cloud Broker, the monitoring nodes, the local coordinator (Super Nodes), and the global coordinator (Command and Control server - C2). Utilising monitoring nodes into our architecture enhances the performance and response time, yet achieves higher accuracy and a broader spectrum of protection. For collaborative intrusion detection, we use the Dempster Shafer theory of evidence via the role of the Cloud Broker. Dempster Shafer executes as a main fusion node, with the role to collect and fuse the information provided by the monitors, taking the final decision regarding a possible attack.

关键词： Intrusion detection Cloud computing Security Collaboration Dempster Shafer fusion algorithm Autonomous systems

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DECODING EMOTIONAL EXPERIENCES THROUGH PHYSIOLOGICAL SIGNAL PROCESSING

DECODING EMOTIONAL EXPERIENCES THROUGH PHYSIOLOGICAL SIGNAL ...

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IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Perez-Rosero, Maria S. Rezaei, Behnaz Akcakaya, Murat Ostadabbas, Sarah Northeastern Univ Elect & Comp Engn Dept Boston MA 02115 USA Univ Pittsburgh Elect & Comp Engn Dept Pittsburgh PA 15260 USA

ISBN: (纸本)9781509041176

All modern emotion theoretical views assume a role for peripheral physiological changes during emotional experiences. In this paper, we explored the correlation between autonomically-mediated changes in multimodal bodily signals and discrete emotional states. In order to fully exploit the information in each modality, week learners based on individual signal modalities are built and then fused to formed a robust inference model. To validate our model, three specific physiological signals including Electromyogram (EMG), Blood Volume Pressure (BVP) and Galvanic Skin Response (GSR) recorded during eight emotional states were analyzed. Our approach showed 88.1% emotion recognition accuracy, which outperformed the conventional Support Vector Machine (SVM) classifier with 17% accuracy improvement. Furthermore, in order to avoid information redundancy and the resultant over-fitting, a feature reduction method is proposed based on a correlation analysis to optimize the number of features required for training and validating each weak learner. Despite the feature space dimensionality reduction from 27 to 18 features, our methodology preserved the recognition accuracy of about 85.0%.

关键词： Correlation analysis emotional experience fusion algorithm physiological signals weak learners

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A calibrated-RSSI/PDR/Map intergrated system based on a novel particle filter for indoor navigation

A calibrated-RSSI/PDR/Map intergrated system based on a nove...

引用

10th International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： Liu, Wen Li, Jing Deng, Zhongliang Fu, Xiao Cheng, Qianqian Beijing Univ Posts & Telecommun Sch Elect Engn Beijing Peoples R China

ISBN: (纸本)9781728117881

A novel positioning system integrating Fingerprinting/PDR/map is proposed for indoor location-based service (LBS). The proposed system is used to achieve a superior indoor localization accuracy. The particle filter with multi-directions and adaptive weights, also named MDAW-PF, is proposed to fuse the fingerprinting, PDR and map. In the MDAW-PF method, the particle weights fully consider the noise of fingerprinting, the direction of the particles is to uniformly sample the direction of PDR estimation into multiple directions to ensure particle diversity, and the map information provides constrains for the particles. It is well known that the positioning accuracy of fingerprinting using RSSI is rather susceptible to the changing environment. Thus, the improved fingerprinting, also named MCRT, which calibrates online-RSSI by the matching model between offline-RSSI and online-TDOA, is proposed to mitigate the effect of RSSI variation. All measurements are conducted in indoor public areas, and the results show that the proposed system is featured with better localization performance, with the average error 0.68 m.

关键词： fusion algorithm particle filter fingerprinting RSSI TDOA

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Research on Robot Path Planning Technology by Integrating Particle Swarm Optimization algorithm and DWA algorithm 10

Research on Robot Path Planning Technology by Integrating Pa...

引用

10th International Conference on Control, Automation and Robotic (ICCAR)

作者： Fu, Sanli Huang, Hengyi Wang, Shifeng Univ Sanya Hainai 572000 Peoples R China

ISBN: (纸本)9798350373172;9798350373189

Path planning technology is one of the key technologies for robots to achieve autonomous navigation and complete transportation tasks. This article mainly analyzes and studies two commonly used intelligent bio-inspired path planning algorithms: Particle Swarm Optimization (PSO) algorithm and Dynamic Window Approach (DWA) algorithm. We have made improvements and optimizations to both algorithms, and designed a fusion algorithm that combines their advantages. The paper focuses on studying the global path of the PSO algorithm, followed by research on the local path using the DWA algorithm. Finally, we tested the improved PSO-DWA fusion algorithm using MATLAB. The test results show that this fusion algorithm can obtain the global optimal path by utilizing known global information while effectively avoiding unknown dynamic obstacles. It can better accomplish path planning tasks in practical situations with superior performance, improve robot safety during task execution, and ensure subsequent execution efficiency.

关键词： Path planning Particle swarm algorithm DWA fusion algorithm Intelligent biomimetic path

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Service Area Sewage Quality Monitoring System Based on Wireless Sensor Network 20

Service Area Sewage Quality Monitoring System Based on Wirel...

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20th IEEE International Conference on Computational Science and Engineering (CSE) / 15th IEEE/IFIP International Conference on Embedded and Ubiquitous Computing (EUC)

作者： Li, Bo Chen, Geng Wang, Le East China Jiaotong Univ Informat Engn Sch Nanchang Jiangxi Peoples R China East China Jiaotong Univ Sch Elect & Automat Engn Nanchang Jiangxi Peoples R China

ISBN: (纸本)9781538632215

Aiming at the real-time monitoring of Sewage in the service area. This paper presents a sewage quality monitoring system based on ZigBee wireless sensor network. Wireless sensor networks adopt star structure, the system consists of data acquisition terminal node, the coordinator node and the monitoring center. The terminal node sends the collected data to the coordinator node, Coordinator node sends data to the remote monitoring center through GPRS network, in order to achieve supervision and management. Secondly, this paper proposes a weighted average fusion algorithm, which can obtain accurate fusion of air parameters.

关键词： Service area Sewage monitoring fusion algorithm

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