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2020 IEEE International Conference on Information Technology, Big Data and Artificial Intelligence, ICIBA 2020

作者： Qi, Xianzhi Fu, Wenxing An, Pei Wu, Bingli Ma, Jie National Key Laboratory of Science and Technology on Multispectral Information Processing School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100071 China

ISBN: (纸本)9781728152240

Point cloud preprocessing is still a challenging task in the marine environment, for it is difficult to filter out non-obstacle points while avoiding damage to the obstacle completeness. In this paper, we propose a novel data preprocessing method on 3D LiDAR data for the unmanned surface vehicle in the marine environment. It consists of two tasks: outlier removal and wake filtering. As the spatial resolution of LiDAR changes with distance, we exploit distance normalization on statistical outlier filter for robust outlier removal. Considering the gradient difference between wave wake and obstacle surface near the water, we define and calculate the vertical state of point cloud on the range image to obtain the pre-filtering point set, and then use the RANSAC method to filter out the wake points. Experiments on real data has demonstrated the effectiveness of the proposed algorithm both in terms of feasibility and accuracy. © 2020 IEEE.

关键词： Wakes

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A Many-Objective Evolutionary Algorithm Assisted by Ideal Hyperplane

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SSRN 2022年

作者： Zhang, Zhixia Wen, Jie Wang, Hui Cai, Xingjuan Cui, Zhihua Zhang, Wensheng School of Computer Science and Technology Taiyuan University of Science and Technology China School of Information Engineering Nanchang Institute of Technology Nanchang330099 China State Key Laboratory of Intelligent Control and Management of Complex System Institute of Automation Chinese Academy of Sciences China State Key Lab. for Novel Software Technology Nanjing University China

In many-objective optimization problems (MaOPs), it is a difficult task for evolutionary algorithms to balance convergence and diversity while rapidly converging to the Pareto front. As the number of objectives increases, the difficulty of evolutionary algorithms increases with individual selection pressure. To address above problems, we propose a many-objective evolution algorithm assisted by an ideal hyperplane (MaOEA-IH). Firstly, the ideal hyperplane as a reference surface to guide the individual to search the Pareto front, which is established from the extremum of each dimension of the objective space. Secondly, a parallel p -norm mating selection strategy is proposed to improve convergence. In addition, two factors are considered in this strategy: 1) different p -norm are used to measure different spatial scales;2) individual selection uncertainty is defined by incorporating a probabilistic perturbation mechanism. Thirdly, the improved shift-based density estimation strategy is used as the evaluation criterion for environmental selection to improve the convergence and diversity of solution sets and enhance selection pressure. To verify the effectiveness of the proposed algorithm, MAOEA-IH is compared with seven excellent algorithms in three benchmark sets (DTLZ, WFG and MaF). The results show that the proposed MAOEA-IH is highly competitive in solving MaOPs. © 2022, The Authors. All rights reserved.

关键词： Geometry

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A review of cooperative path planning of an unmanned aerial vehicle group

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Frontiers of Information Technology & Electronic Engineering 2020年第12期21卷 1671-1694页

作者： Hao ZHANG Bin XIN Li-hua DOU Jie CHEN Kaoru HIROTA School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081China Department of Computational Intelligence and Systems Science Tokyo Institute of TechnologyTokyo 1528550Japan

As a cutting-edge branch of unmanned aerial vehicle(UAV)technology,the cooperation of a group of UAVs has attracted increasing attention from both civil and military sectors,due to its remarkable merits in functionality and flexibility for accomplishing complex extensive tasks,e.g.,search and rescue,fire-fighting,reconnaissance,and *** path planning(CPP)is a key problem for a UAV group in executing tasks *** this paper,an attempt is made to perform a comprehensive review of the research on CPP for UAV ***,a generalized optimization framework of CPP problems is proposed from the viewpoint of three key elements,i.e.,task,UAV group,and environment,as a basis for a comprehensive classification of different types of CPP *** following the proposed framework,a taxonomy for the classification of existing CPP problems is proposed to describe different kinds of CPPs in a unified ***,a review and a statistical analysis are presented based on the taxonomy,emphasizing the coordinative elements in the existing CPP *** addition,a collection of challenging CPP problems are provided to highlight future research directions.

关键词： Unmanned aerial vehicle group Cooperation Path planning Optimization problem

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A comparative study on evolutionary algorithms for the agent routing problem in multi-point dynamic task

A comparative study on evolutionary algorithms for the agent...

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作者： Lu, Sai Xin, Bin Dou, Lihua Wang, Ling School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China Department of Automation Tsinghua University Beijing China

The agent routing problem in multi-point dynamic task (ARP-MPDT) proposed recently is a novel permutation optimisation problem. In ARP-MPDT, a number of task points are located at different places and their states change over time. The agent must go to the task points in turn to execute the tasks, and the execution time of each task depends on the task state. The optimisation objective is to minimise the time for the agent to complete all the tasks. In this paper, five evolutionary algorithms are redesigned and tried to solve this problem, including a permutation genetic algorithm (GA), a variant of the particle swarm optimisation (PSO) and three variants of the estimation of distribution algorithm (EDA). In particular, a dual-model EDA (DM-EDA) employing two probability models was proposed. Finally, comparative tests confirm that the DM-EDA has a stronger adaptability than the other algorithms though GA performs better for the large-scale instances. Copyright © 2020 Inderscience Enterprises Ltd.

关键词： Genetic algorithms

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Local Path Planning Algorithm for UGV Based on Improved Covariance Matrix Adaptive Evolution Strategy

Local Path Planning Algorithm for UGV Based on Improved Cova...

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第33届中国控制与决策会议

作者： Jiangbo Zhao Jiaquan Zhang Junzheng Wang Xin Zhang Yanlong Wang Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology Technical center Xinxing Cathay International Group Co.Ltd. Techenology Center of Special Vehicle Manufacture and Evaluation Engineering of Beijing Beijing North Vehicle Group Co.Ltd.

Local path planning algorithm is one of the key technologies for unmanned ground vehicle(UGV).In order to reduce the computational complexity of the local path planning algorithm and ensure the real-time performance of the algorithm,a non-uniform column grid lines modeling method is introduced,and on this basis,a modeling method for planning paths is *** at the path planning problem in a multi-obstacle environment,the evaluation function of the path is constructed from four aspects,and the covariance matrix adaptive evolution strategy(CMA-ES)is used to solve the nonlinear optimization *** order to further reduce the amount of calculation,the CMA-ES algorithm is improved by the dynamic adjustment strategy of population *** results show that the path planning algorithm can effectively realize the local path planning in complex environment.

关键词： Local path planning CMA-ES Unmanned ground vehicle

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Attitude stability control for Multi-Agent Six Wheel-Legged Robot

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IFAC-PapersOnLine 2020年第2期53卷 9636-9641页

作者： Zhihua Chen Shoukun Wang Junzheng Wang Kang Xu Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CO 100081.P.R.China Beijing Institute of Technology Beijing CO 100081.P.R.China

Multi wheeled-legged robot systems are MIMO complex systems with multi information fusion. In this paper, a multi-sensor information fusion based wheeled-legged cooperative control strategy is proposed to solve the problem of attitude stability control for the six wheeled-legged robot-BIT-NAZA-II. First, when the robot is wheel motion, the overall attitude of the robot is adjusted by controlling the vertical degree of freedom(DOF) for the Stewart platform. Second, when the wheel movement is on uneven road, the foot end is easy to be suspended or raised. The impedance control method based on the position inner loop is used to solve the problem of leg suspension or raised. Third, in order to ensure the maximum motion space of single leg, the central height controller is designed. Moreover, the control strategy is mainly completed by the central CPU and six bottom CPUs. Six bottom CPUs receive the force information of each leg, and calculate the position of each leg by combining the impedance controller. Meanwhile, the central CPU receives the attitude angle information, calculates the position of each leg by using the attitude controller, takes two different position commands as the input of the central height controller, outputs the calculated position of the central height controller to six bottom CPUs through UPD communication, and the bottom CPU is used to calculate the variation of Stewart platform DOF. Finally, the experimental results of the control strategy in the six wheeled-legged robot system are given, and the feasibility and effectiveness of the control strategy are verified.

关键词： wheeled-legged robot cooperative control attitude stability control CPU controller design

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Path Planning and Evaluation for Obstacle Avoidance of Manipulator Based on Improved Artificial Potential Field and Danger Field

Path Planning and Evaluation for Obstacle Avoidance of Manip...

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第33届中国控制与决策会议

作者： Jiangbo Zhao Qiang Zhao Junzheng Wang Xin Zhang Yanlong Wang Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology Technical center Xinxing Cathay International Group Co.Ltd. Technology Center of Special Vehicle Manufacture and Evaluation Enginneering of Beijing Beijing North Vehicle Group Co.Ltd.

This paper takes 6-DOF manipulator as the research object,proposes the improved Artificial Potential Field(APF) method to plan the obstacle avoidance path of the manipulator,and combines the Danger Field(DF) method to evaluate the safety of the path planned using *** to the characteristics of the manipulator,the kinematics model of the manipulator is analyzed,and the ball envelope algorithm is applied to simplify the physical model of the *** with the traditional APF method,the improved APF searches in the joint space and introduces the joint attraction potential to improve the search speed and *** problem of local minimum is dealt with by the combination of adding virtual obstacles and increasing joint attraction *** improved APF not only has the advantages of good real-time performance and smooth path,but also solves the problem of the traditional APF falling into a local minimum,and combines the danger field method to judge the path rationality to ensure no collision with *** simulation verification,the proposed method realizes the obstacle avoidance path planning of the manipulator and the safety evaluation of the planned path.

关键词： Artificial potential field Danger field Obstacle avoidance Path planning Collision detection

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Effect of Annealing Process Parameters on N-Gaas Ohmic Contacts

SSRN

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SSRN 2021年

作者： Lin, Tao Xie, Jianan Ning, Shaohuan Ma, Zekun Mu, Yan Sun, WanJun Yang, Sha Department of Electronic Engineering Xi'an University of Technology Xi'an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Shaanxi Xi’an710048 China

Ni/Ge/Ni/Au multi-layer metal electrodes were prepared on N-GaAs substrate by electron-beam evaporation to investigate the effect of annealing process parameters on N-GaAs ohmic contacts. In the annealing temperature range of 370 °C to 430 °C, the metal-semiconductor contact was found changing from Schottky contact to ohmic contact as the annealing temperature was above 380 °C. Specific contact resistivity of n-GaAs samples firstly decreased and then increased with the increasing of annealing temperature, and the minimum specific contact resistivity of 3.3×10 -5 Ω·cm 2 was formed at 420 °C annealing for 80 s. Although the specific contact resistivity of the metal-semiconductor contact performed satisfactorily, the surface morphology of the n-GaAs metal electrode was found having metal shrinkage after annealing. The formation mechanism of ohmic contact was qualitatively explained by the elements diffusion under different annealing parameters, which were confirmed by the comparative analysis of SEM and EDX results. © 2021, The Authors. All rights reserved.

关键词： Gallium arsenide

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Event-Triggered Extended Kalman Filter for UAV Monitoring system

Event-Triggered Extended Kalman Filter for UAV Monitoring Sy...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Yanmin Liu Xiaozhong Liao Zihao Wang Xi Chen Xiangdong Liu Zhen Li School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing 100081 China

ISBN: (数字)9781728133201

ISBN: (纸本)9781728133218

The unmanned aerial vehicles (UAVs) formation needs the frequent data-exchanging of individual's state between units for monitoring and instruction uploading from the ground station, which inevitably occupies huge communication bandwidth. This paper presents the extended Kalman filter (EKF) design based on the event-triggered strategy to get UAVs greatly relieved of the communication burden with guaranteed accuracy. The event-triggered strategy firstly selects only the state measurements containing innovational information for the purpose of filtering. Due to the nonlinearity of UAV system, the EKF is further applied to make full use of the information from the prior event-trigger strategy so as to enhance the performance of estimation. The proposed algorithm is verified on the physical UAVs regarding the estimation quality and communication rate, demonstrating the robust dynamic performance with effectively reduced communication rate.

关键词： Estimation Quaternions Unmanned aerial vehicles Monitoring Kalman filters Accelerometers Data models

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Sequence impedance modeling of droop-controlled inverter 8

Sequence impedance modeling of droop-controlled inverter

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8th Renewable Power Generation Conference, RPG 2019

作者： Hu, You Wang, Jiajun Liu, Bin Li, Zhen Liu, Xiangdong School of Automation and Key Laboratory for Intelligent Control and Decision on Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781839531255

The grid-connected three-phase inverter is an indispensable part of the microgrid. The droop control is widely used in parallel inverters for high reliability and flexibility. The output impedance of droop controlled inverters plays an vital role in its stability. However, the sequence impedance model of grid-connected inverter is currently based on the grid side converter with a single current loop control exdluding the low-frequency dynamics similar in doubly fed induction generators. Both the droop control and voltage loop control greatly affect the stability of inverter, specifically in the low frequency response. This paper proposes a sequence impedance model of inverter, which considers the droop control and voltage and current dual closed-loop control using the harmonic linearization method in the frequency domain. The accuracy of the model is verified through comparing the measurement impedance value in simulation with the impedance value calculated in the sequence impedance model. The influence of control method on system impedance is verified by showing the difference between the single loop controlled inverter and droop control inverter. © 2019 Institution of Engineering and Technology. All rights reserved.

关键词： Electric inverters

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