An improved differential evolution algorithm was proposed for solving the online path planning problem of unmanned aerial vehicle (UAV) low-altitude penetration in partially known hostile environments. The algorithm a...
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An improved differential evolution algorithm was proposed for solving the online path planning problem of unmanned aerial vehicle (UAV) low-altitude penetration in partially known hostile environments. The algorithm adopts von Neumann topology and improves its structure to maintain the diversity of the population, prevent the population from falling into local optima in the early evolution and speed up the convergence rate in the later evolution as well. The mutation operator of differential evolution is improved to speed up the convergence rate of the algorithm, so that the optimal solution of the multi-objective optimization problem can be found quickly;the coding method combined the absolute Cartesian coordinates with the relative polar coordinates is used to improve the searching efficiency. The simulation experiment of online path planning for UAV low-altitude penetration shows that the proposed algorithm has a better performance than the unimproved differential evolution algorithm.
In this paper, task allocation of multi-Unmanned Aerial Vehicles (UAVs) is studied, that is, multi-UAVs from different bases should be allocated to attack multiple targets. Based on the existing task allocation model,...
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This paper is concerned with the finite-horizon recursive filtering problem for a class of nonlinear time-varying systems with missing measurements. The missing measurements are modeled by a series of mutually indepen...
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ISBN:
(纸本)9781467315593
This paper is concerned with the finite-horizon recursive filtering problem for a class of nonlinear time-varying systems with missing measurements. The missing measurements are modeled by a series of mutually independent random variables obeying Bernoulli distributions with possibly different occurrence probabilities. Attention is focused on the design of a recursive filter such that, for the missing measurements, an upper bound for the filtering error covariance is guaranteed and such an upper bound is subsequently minimized by properly designing the filter parameters at each sampling instant. The desired filter parameters are obtained by solving two Riccati-like difference equations that are of a recursive form suitable for online applications. A simulation example is exploited to demonstrate the effectiveness of the proposed filter design scheme.
Problems of uncertain chaotic systems with fast terminal sliding mode control are discoursed. Aim at the uncertainty parameters of chaotic systems, proposed a fast terminal sliding mode control method, and the corresp...
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ISBN:
(纸本)9781467325813
Problems of uncertain chaotic systems with fast terminal sliding mode control are discoursed. Aim at the uncertainty parameters of chaotic systems, proposed a fast terminal sliding mode control method, and the corresponding sliding surface and controller are designed, which make the state variables of the system fast convergence to the equilibrium point in the limited time. And the examples are given to verify the feasibility of the system.
In multiple moving object detection, the connection between objects and shadow always leads to the failure of object detection. To solve this problem, a new object extraction algorithm using level set is proposed and ...
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This paper addresses the problem of distributed connectivity constrained motion coordination of multiple autonomous mobile agents. Different from traditional flat network structure which lacks flexibility and scalabil...
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The dynamics of a symmetric network of oscillators that are mutually coupled via multiple dynamical components with mismatched delays is studied. We find that networked oscillators experience oscillation death (OD) ov...
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The dynamics of a symmetric network of oscillators that are mutually coupled via multiple dynamical components with mismatched delays is studied. We find that networked oscillators experience oscillation death (OD) over a much larger domain of parameters when their different dynamical components are linked with mismatched delays than with only one delay. In particular, if the delays are mismatched by retaining a certain bias, OD is proved to be linearly stable even for very large delays for an arbitrary symmetric network. Further, we show that the minimal value of the intrinsic frequency necessary to induce OD decreases as the degree of mismatch in the coupling delays increases. The stabilizing effect of multicomponent coupling with mismatched delays is shown to be valid in networked chaotic oscillators also. The proposed coupling strategy can possibly be applied in controlling several pathological activities in neuronal systems and in engineering applications.
In this paper, stochastic resonance of an ensemble of coupled bistable systems driven by noise having an α-stable distribution and nonhomogeneous coupling is investigated. The α-stable distribution considered here i...
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In this paper, stochastic resonance of an ensemble of coupled bistable systems driven by noise having an α-stable distribution and nonhomogeneous coupling is investigated. The α-stable distribution considered here is characterized by four intrinsic parameters: α∈(0,2] is called the stability parameter for describing the asymptotic behavior of stable densities; β∈[−1,1] is a skewness parameter for measuring asymmetry; γ∈(0,∞) is a scale parameter for measuring the width of the distribution; and δ∈(−∞,∞) is a location parameter for representing the mean value. It is demonstrated that the resonant behavior is optimized by an intermediate value of the diversity in coupling strengths. We show that the stability parameter α and the scale parameter γ can be well selected to generate resonant effects in response to external signals. In addition, the interplay between the skewness parameter β and the location parameter δ on the resonance effects is also studied. We further show that the asymmetry of a Lévy α-stable distribution resulting from the skewness parameter β and the location parameter δ can enhance the resonance effects. Both theoretical analysis and simulation are presented to verify the results of this paper.
作者：
Kun, GongFang, DengTao, Ma
Beijing 100083 China School of Automation
Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing 100081 China
In order to improve the precision of the azimuth measured by mobile robot's electronic compass, this paper proposes a new calibration method based on Fourier Neural Network trained by Modified Particle Swarm Optim...
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