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Online Path Planning for UAV Using an Improved Differential Evolution Algorithm

IFAC Proceedings Volumes 2011年第1期44卷 6349-6354页

作者： Xing Zhang Jie Chen Bin Xin Hao Fang School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China Tel: 86-10-68912464-22

Abstract This paper presents a 3D online path planning algorithm for unmanned aerial vehicle (UAV) flying in partially known hostile environment. In order to provide a smooth fight route for UAV, the algorithm adopts B-Spline curve to describe UAV's path whose control points are optimized by an improved differential evolution algorithm. The planner gradually produces a smooth path for UAV from starting location to its target. Regarding path planning performance, the proposed improved diferential evolution based planner is compared with its three competitors which are based on classical differential evolution, genetic algorithm and particle swarm optimization, respectively. Numerical simulation demonstrates that the proposed UAV path planner not only produces high-quality feasible flight routes for UAV, but also obviously outperforms its competitors.

关键词： UAV online path planning differential evolution B-Spline

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Cooperative Pollution Supervising and Neutralization with Multi-actuator-sensor Network

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Acta Automatica Sinica 2011年第1期37卷 107-113页

作者： Wei SUN Li-Hua DOU Hao FANG School of Automation Beijing Institute of Technology Beijing 100081 P.R. China Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education Beijing 100081 P.R. China

The present work considers a scenario that a multi-actuator-sensor network neutralizes poisonous gas and tracks the pollution sources in a bounded area. A novel algorithm is proposed to minimize the system information uncertainty while reaching balance on the workload of actuators. The method combines the centroidal Voronoi tessellations (CVT) with a consensus strategy. The CVT of the region insures a local optimal position configuration of the actuators, thus the sensing uncertainty can be minimized. The consensus algorithm utilizes the connection information among actuators, and helps them to reach a common workload. The consensus component will be terminated or suppressed when the workload is averaged. The consensus component may postpone the realization of CVT configuration. But it could be viewed as a perturbation that helps the actuators jump out of the local optimal CVT configuration. As a result, the information uncertainty may be further reduced. Comparison is drawn between the pure CVT algorithm and the method with consensus strategy. Simulations validated the proposed approach.

关键词： Voronoi tessellation position configuration workload assignment multi-agent system

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Differential evolution with adaptive population size combining lifetime and extinction mechanisms

Differential evolution with adaptive population size combini...

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Asian control Conference

作者： Chunmei Zhang Jie Chen Bin Xin Tao Cai Chen Chen School of Electronic Information Engineering Taiyuan University of Science and Technology Shanxi China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China School of Automation Beijing Institute of Technology Beijing China

ISBN: (纸本)9781612844879

Differential Evolution (DE) is a simple and efficient numerical optimization method. Most DE variants in the literature adopt fixed population size. This paper incorporates into DE the mechanisms of lifetime and extinction which regulate DE's population size in an adaptive manner. The population size is adjusted according to the online progress of fitness improvement. Two schemes of inserting new individuals are proposed to match different mechanisms respectively. The performance of these innovations is examined through the optimization of benchmark problems. The results show that the proposed adaptive population sizing strategy is efficient for improving the convergence and efficiency of the DE.

关键词： Convergence Optimization Benchmark testing Cloning Automation Evolutionary computation Algorithm design and analysis

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Reliability assessments of Chinese high speed railway network

Reliability assessments of Chinese high speed railway networ...

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IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI

作者： Jianhua Zhang Liu Hong Shuliang Wang Xiaoming Xu Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Department of Control Science and Engineering Key Laboratory for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China Shanghai Academy of System Science University of Shanghai for Science and Technology Shanghai China

With the economic developments, high speed railway has been paid many attentions in China and medium- short term planning of Chinese high speed railway network has been formed and most of the railways have been started into operations. In this paper, graph theory and complex network theory are adopted to assess the reliability of Chinese high speed railway network. The topological characteristics and real distances between pairs of stations are discussed to investigate the reliability of Chinese high-speed rail network. Several parameters are presented to investigate the topological characteristics and the reliability and robustness of the network subject to failures. The parameter called unit degree betweenness is proposed to assess the transport capacity of lines connecting with the nodes. The largest degree node-based attacks and the highest betweenness node-based attacks are involved into Chinese high speed railway network to assess the topological reliability and robustness. The results show that the highest betweenness node-based attacks are more effective to destroy the network than the largest degree node-based attacks. Moreover, the cumulative degree distribution and the real mileages of railways between pairs of stations can be fitted by Gauss functions, and the distribution of real shortest distances over all pairs of stations of the network is fitted by a normal distribution function. By the simulations, the critical stations, Guangzhou Station, Zhengzhou Station and Jinan Station for the largest degree node-based attacks, and Wuhan Station, Xuzhou Station and Shijiazhuang Station for the highest betweenness node-based attacks, can be obtained in this paper.

关键词： Artificial neural networks Robustness Rail transportation

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Electronic compass calibration based on Adaptive Differential Evolution Algorithm-Fourier Neural Network

Electronic compass calibration based on Adaptive Differentia...

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作者： Gong, Kun Deng, Fang Chen, Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

ISBN: (纸本)9789881725592

Based on the comparison of several common methods of electronic compass error compensation, this paper presents a new error compensation method based on Adaptive Differential Evolution-Fourier Neural Networks (ADE-FNN) to improve the measurement accuracy of electronic compass. This method uses Fourier neural network to model electronic compass error, and adopts Adaptive Differential Evolution to optimize the weights of neural network, and get more exact error model to compensate measured values. The compensation object is the common electronic compass composed by two-dimensional magnetic resistance sensor. Compared with the compensation effect of Least-square method, BP neural network and Fourier neural networks, It proves that the mode of this method can realize the high precision in the sample space mapping and high non-linear approximation ability, and this method has faster convergence rate, can avoid falling into local minima, reduces the training error, and improves error compensation accuracy. This method decreases the error range from 3.4° ∼ 25.2° before compensation to -0.20° ∼ 0.72°, and the average of the absolute error is 0.30°. Repeatability tests also proved the compensation plan have a good consistency. © 2011 Chinese Assoc of Automati.

关键词： Error compensation

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Path planning of multiple UAVs low-altitude penetration based on improved Multi-agent Coevolutionary Algorithm

Path planning of multiple UAVs low-altitude penetration base...

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作者： Peng, Zhi-Hong Sun, Lin Chen, Jie Wu, Jin-Ping School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9789881725592

In order to solve the multi-UAV cooperative path planning problem of low-altitude penetration, the paper proposes an improved Multi-agent Coevolutionary Algorithm (IMACEA), which introduces co-evolution mechanism based on Multi-agent Genetic Algorithm(MAGA) to find the optimal solution of multi-objective optimization problem by combing the agents' perception and response capabilities of environment, information sharing capacity among multi-agent systems and heuristic search ability of heuristic search. At the same time, we use absolute Cartesian coordinates and relative polar coordinates coding method to reduce the search space and speed up the convergence rate. To adapt to multi-path planning problems of UAVs, new multi-agent co-evolution operators are designed. Finally, the proposed algorithm is used for multiple UAVs offline and online route planning, simulation results show the effectiveness of the algorithm. © 2011 Chinese Assoc of Automati.

关键词： Motion planning

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Skill-based vibration suppression in manipulation of deformable linear objects

Skill-based vibration suppression in manipulation of deforma...

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International Symposium on Micromechatronics and Human science (MHS)

作者： Feng Ding Jian Huang Takayuki Matsuno Toshio Fukuda Department Control Science and Engineering Huazhong University of Science and Technology Wuhan China Department of Intelligent System Design Engineering Toyama Prefectural University Imizu Toyama Japan Department of Micro System Engineering University of Nagoya Nagoya Japan

Researches on robotic manipulation mainly focus on rigid objects. Whereas, manipulating deformable linear objects (DLOs) such as hoses, wires, cables is common in daily life and many domains such as manufacture, medical surgery and so on. The DLOs are more challengeable to handle, as the uncertainty results from oscillation at the end of DLOs may cause failure in the operation. During manipulating DLOs, especially moving them rapidly, the dynamic characteristics can not be neglected. In this paper, based on the dynamic model of DLOs, we illustrate a skill-based manipulating strategy for eliminating the vibration at the end of DLOs. The method is position-based and inspired from human manipulation skills. From our life experience, when people manipulate DLOs by hand, the oscillation will be significantly reduced if we suddenly lift it up with a certain acceleration. Based on the idea and dynamic model of DLOs, the control strategy by using fuzzy and PI controller is illustrated. The effectiveness of the proposed strategy is confirmed by numerical simulation results. The simulation results show that the proposed method can damp the vibration effectively.

关键词： Vibrations Mathematical model Symmetric matrices Manipulator dynamics Acceleration Oscillators

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Decentralized Loading Coordinations for Large-population Plug-in Electric Vehicles and a few controllable Bulk Loads

Decentralized Loading Coordinations for Large-population Plu...

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IEEE Conference on Decision and control

作者： Xiaokun Yin Zhongjing Ma Lei Dong School of Automation Beijing Institute of Technology (BIT) Beijing China School of Automation BIT and the Key Laboratory of Complex System Intelligent Control and Decision (BIT) Ministry of Education Beijing China School of Automation BIT

ISBN: (纸本)9781612848006

This paper studies the loading coordinations for large-population autonomous individual (plug-in) electric vehicles (EVs) and a few controllable bulk loads, e.g. EV fleets, pumped storage hydro units, and so on. Due to the computational infeasibility of the centralized coordination methods to the underlying large-population systems, in this paper we develop a novel game-based decentralized coordination strategy. Following the proposed decentralized strategy update mechanism and under some mild conditions, the system may quickly converge to a nearly valley-fill Nash equilibrium. The results are illustrated with numerical examples.

关键词： (Plug-in) electric vehicles Loading coordination Nash equilibrium (NE) Valley-fill

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Optimal Tuning of Plant-Friendly PID controllers

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Journal of Beijing Institute of technology 2010年第3期19卷 331-336页

作者：史大威王军政马立玲 Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology

A plant-friendly proportional-integral-derivative （PID） controller optimization framework is proposed to make tradeoffs among set-point response,controller output variations and *** objective function is chosen as the weighted sum of the integral of squared time-weighted error and the integral of squared timeweighted derivative of the control variable with respect to set-point response,while the robustness of the system is guaranteed by constraints on gain and phase *** to the complex structure of the constraints,the problem is solved by genetic *** analysis show the proposed method could efficiently reduce the controller output variations while maintaining a short settling *** on the simulation results,iterative tuning rules for the weighting factor in the objective function are obtained,which allows efficient simple proportional-integral（PI） tuning formulae to be derived.

关键词： PID control plant-friendliness genetic algorithm constrained optimization

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Simulation scenario design method and its application based on conceptual models of mission space

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (science and technology) 2011年第SUPPL. 1期42卷 1096-1100页

作者： Gao, Bing-Zhi Wu, Di Ge, Xiong Ban, Xiao-Juan School of Computer Science and Electronics University of Science and Technology Beijing Beijing 100083 China Key Laboratory of Complex System Intelligent Control and Decision of Education Ministry Beijing Institute of Technology Beijing 100081 China

A simulation system scenario design method was proposed for the space-based information simulation system supporting anti-earthquake rescue. This method is based on the conceptual models of the mission space method including the formal description of simulation aim, scale, static data, dynamic data set and simulation play. A simulation scenario creator was developed to realize these functions and prove the usability of these models.

关键词： Earthquakes

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