This paper proposes an iterative evolutionary algorithm with emulating nodes' local movement for searching the best localization accuracy in range-free scenario. All localization methods face a trade-off between t...
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ISBN:
(纸本)9781467374439
This paper proposes an iterative evolutionary algorithm with emulating nodes' local movement for searching the best localization accuracy in range-free scenario. All localization methods face a trade-off between the solution quality and computation cost. When sensor network localization in range-free scenario is considered as a constraint satisfaction problem, localization will reach the highest accuracy but with huge computation complexity. To solve the constraint satisfaction, some characteristics that only exist in range-free localization problem are utilized as heuristics in the search of nodes' positions. They are summarized as simple and complex movement to emulate nodes' local movement, and proved to be effective to find a suitable searching direction and jump out of local-minimums existing in the localization. Those emulations are then included in each iteration of a two-objective evolutionary algorithm minimizing the number of node-pairs with violated connectivity, as well as the value quantitating how worse of the violations. Simulation results show that the proposed algorithm can greatly decrease the reach high-accurate positions within limited iterations.
In order to realize the flexible automatic design of controllers, this paper proposes a library-based controller design method with bi-level optimization of structure and parameters. The controller with optimized stru...
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ISBN:
(纸本)9781538629185
In order to realize the flexible automatic design of controllers, this paper proposes a library-based controller design method with bi-level optimization of structure and parameters. The controller with optimized structure is composed by components which are selected from a component library. A binary string is used to express a controller structure, where each bit represents the connection relationship between two links. The controller structure and parameters are optimized in a hierarchical manner by the binary Geometric Differential Evolution Algorithm in the outer layer and an advanced Differential Evolution algorithm variant named JADE in the inner layer, respectively. Simulation and experiment of a magnetic levitation ball control system have been done to verify the performance of the presented controller. Results demonstrate the feasibility and superiority of the proposed method.
A nonlinear robust trajectory tracking strategy for a gliding hypersonic vehicle with an aileron stuck at an unknown position is presented in this paper. First, the components of translational motion dynamics perpendi...
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A nonlinear robust trajectory tracking strategy for a gliding hypersonic vehicle with an aileron stuck at an unknown position is presented in this paper. First, the components of translational motion dynamics perpendicular to the velocity are derived, and then a guidance law based on a time-varying sliding mode method is used to realize trajectory tracking. Furthermore, the rotational equations of motion are separated into an actuated subsystem and an unactuated subsystem. And an adaptive time-varying sliding mode attitude controller is proposed based on the actuated subsystem to track the command attitude and the tracking performance and robustness are therefore enhanced. The proposed guidance law and attitude controller make the hypersonic vehicle fly along the reference trajectory even when the aileron is stuck at an unknown angle. Finally, a hypersonic benchmark platform is used to demonstrate the effectiveness of the proposed strategy.
This paper addresses an unmanned aerial vehicle (UAV) path planning problem for a team of cooperating heterogeneous vehicles composed of one UAV and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobil...
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This paper addresses an unmanned aerial vehicle (UAV) path planning problem for a team of cooperating heterogeneous vehicles composed of one UAV and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators and scattered in a large area. To achieve multi-UGV communication and collaboration, the UAV serves as a messenger to fly over all task points to collect the task information and then flies all UGVs to transmit the information about tasks and UGVs. The path planning of messenger UAV is formulated as a precedence-constrained dynamic Dubins traveling salesman problem with neighborhood (PDDTSPN). The goal of this problem is to find the shortest route enabling the UAV to fly over all task points and deliver information to all requested UGVs. When solving this path planning problem, a decoupling strategy is proposed to sequentially and rapidly determine the access sequence in which the UAV visits task points and UGVs as well as the access location of UAV in the com mu nication n eighborhood of each task point and each UGV. The effectiveness of the proposed approach is corroborated through computational experiments on randomly generated instances. The computational results on both small and large in stances dem on strate that the proposed approach can generate high-quality solutions in a reasonable time as compared with two other heuristic algorithms.
Central pattern generator (CPG) model can form stable periodic signal through self-excited oscillation without high-level central control. Hopf oscillator is an implementation of CPG model, which has the characteristi...
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This paper deals with the problem of 4D pose estimation for large unmanned aerial vehicles (UAVs) in close range. A sensor system consisting of one single point laser range-finder and two cameras is designed and a nov...
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A Linear Quadratic robust control algorithm is proposed for the system with non-stochastic *** this paper,the uncertainties are the noises which lie in a bounded ellipsoid *** assumption weakens the requirements of th...
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ISBN:
(纸本)9781509046584
A Linear Quadratic robust control algorithm is proposed for the system with non-stochastic *** this paper,the uncertainties are the noises which lie in a bounded ellipsoid *** assumption weakens the requirements of the known Gaussian distribution in the traditional Linear Quadratic Gaussian(LQG) *** on the linear characteristic of the system and robust optimization theory,the linear quadratic robust controller is *** simulation results show the effectiveness of the algorithm.
The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a clo...
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The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel *** proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.
Thermoelectric generators(TEGs) directly convert heat energy into electricity for power-supplying sensors and other portable electronic *** this paper,a maximum power point tracking(MPPT) controller in the modifie...
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ISBN:
(纸本)9781538629185
Thermoelectric generators(TEGs) directly convert heat energy into electricity for power-supplying sensors and other portable electronic *** this paper,a maximum power point tracking(MPPT) controller in the modified perturb and observe(P&O) algorithm was designed on the basis of analyzing the output characteristics of the TEG *** MPPT controller consists of a voltage sensor,a current sensor,a microcontroller and a SEPIC converter,which keeps the operating point of the thermoelectric generator tracking the maximum power point(MPP).The thermoelectric generator was heated to generate electricity,and a supercapacitor accumulated that *** results using the MPPT controller present that the thermoelectric generator’s output voltage achieves around 5V,the output power achieves upward of 2W when the temperature difference △T=75℃,and the operating point of the thermoelectric generator accurately tracks the MPP with a tracking efficiency of 99.8%;the charging power can be improved 89.65%.
Because of their wide detection range and rich functions,autonomous underwater vehicles(AUVs)are widely used for observing the marine environment,for exploring natural resources,for security and defense purposes,and i...
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Because of their wide detection range and rich functions,autonomous underwater vehicles(AUVs)are widely used for observing the marine environment,for exploring natural resources,for security and defense purposes,and in many other fields of *** with a single AUV,a multi-AUV formation can better perform various tasks and adapt to complex underwater *** changes in the mission or environment,a change in the UAV formation may also be *** the last decade,much progress has been made in the transformation of multi-AUV *** this paper,we aim to analyze the core concepts of multi-AUV formation transformation;summarize the effects of the AUV model,underwater environment,and communication between AUVs within formations on formation transformation;and elaborate on basic theories and implementation approaches for multi-AUV formation ***,this overview includes a bibliometric analysis of the related literature from multiple ***,some challenging issues and future research directions for multi-AUV formation transformation are highlighted.
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