Watermarking is one of the techniques for improving the authenticity, integrity, and safety of data. A frequency domain approach is more robust against different attacks compared to a spatial domain approach. However,...
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Watermarking is one of the techniques for improving the authenticity, integrity, and safety of data. A frequency domain approach is more robust against different attacks compared to a spatial domain approach. However, watermarking approaches are characterized by imperceptibility, robustness, and capacity. The problem of finding the optimal location for embedding the watermark can be challenging and affect the performance of the techniques, but it can also be seen as a path planning problem. Our main aim is to determine the optimal region for embedding the watermark in the Discrete Cosine Transform (DCT) based watermarking approach. We employ a modified pigeon algorithm to determine the optimal embedding path, in which two objectives are considered to determine the optimal embedding place, as well as the behavior of the algorithm is enhanced to handle the nature of the problem. Our analysis indicates that our approach is highly resistant to different attacks, highly imperceptible after embedding the watermark, and consumes less complexity in embedding and extracting.
The path planning of mobile robot is to find an optimal collision-free path in time distance or space from the starting point to the target point in a given environment. With the popularization and application of mobi...
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The path planning of mobile robot is to find an optimal collision-free path in time distance or space from the starting point to the target point in a given environment. With the popularization and application of mobile robots, if the efficiency of mobile robots path is not high, the working quality will be seriously affected. How to quickly plan an effective safe path is of great research significance and practical application value. Therefore, we propose a novel A* algorithm based on Bio-inspired algorithm for mobile robot path planning. Firstly, the synchronous bidirectional A* algorithm is used to optimize the pheromone of ant colony algorithm, and the transition probability and pheromone update mechanism of ant colony algorithm are improved, so that the global optimization speed of the algorithm is faster and the path length of mobile robot is shortened. Furthermore, the static path is used to initialize the pigeon algorithm. Then, the improved pigeon algorithm is utilized to plan the local path of the mobile robot, and the simulated annealing criterion is introduced to solve the local optimal problem. The logarithmic S-type transfer function is adopted to optimize the step size of the pigeon number, so that the collision with the dynamic obstacles can be better avoided. Finally, a modified B-spline curve is used to smooth and re-plan the path. The simulation results show that the proposed method can realize path planning more effectively in complex dynamic environment.
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