Multi-UAV cooperative formation flying has significant advantages in broadening the scope of UAV operations and improving combat effectiveness. How to realize the cooperative path planning of multi-UAV is an open issu...
详细信息
ISBN:
(纸本)9781728137933
Multi-UAV cooperative formation flying has significant advantages in broadening the scope of UAV operations and improving combat effectiveness. How to realize the cooperative path planning of multi-UAV is an open issue. In order to solve the search performance degradation as dimension increases, a strategy of multi-UAV cooperative path planning based on Cooperative Coevolution Particle Swarm Optimization (CCPSO) is proposed in this paper. Firstly, the initial Dubins path is generated for each UAV in the formation, of which the longest one is selected as the reference path. Intermediate waypoints are designed to modify the initial paths to avoid collisions with obstacles. Then, CCPSO algorithm is applied to optimize path parameters and adjust the path length to be equal to the reference path to ensure time coordination. Collision avoidance between UAVs is achieved in the collaborative evaluation phase. Finally, an formation rendezvous example and comparison with CCGA are given to explain the validity and excellent search ability of the proposed method.
Based on the coupling scattering mechanism between the ship and sea surface, a scattering signature modeling method of sea-surface target for bi-static imaging radar is proposed, considering the modulation effects of ...
详细信息
Given a maneuvering control strategy for air-breathing hypersonic vehicle, which adopt the compound integrated flight/propulsion guidance and control method, further excavation the capability of scramjet to run stable...
详细信息
This paper studies the distributed cooperative guidance for maneuvering targets with directed communication topologies. First, a guidance system model is established based on the geometric relationship between the air...
详细信息
Dear editor,Swarm intelligence optimization algorithms are inspired by the behaviour of biological groups in nature. Such algorithms have the advantages of a clear structure, simple operation, comprehensible principle...
详细信息
Dear editor,Swarm intelligence optimization algorithms are inspired by the behaviour of biological groups in nature. Such algorithms have the advantages of a clear structure, simple operation, comprehensible principles, strong parallelism, effective search abilities, and strong robustness. They can effectively solve difficult problems that traditional methods cannot. Pigeon-inspired optimization (PIO), a novel biomimetic swarm intelligence optimization algorithm, was proposed by Duan and Qiao in
The accuracy of autonomous motion is the main challenge for mobile medical robots, especially running in narrow space conditions to transport the casualties in the hospital. This article mainly centers on the human-ro...
详细信息
ISBN:
(数字)9781728164793
ISBN:
(纸本)9781728164809
The accuracy of autonomous motion is the main challenge for mobile medical robots, especially running in narrow space conditions to transport the casualties in the hospital. This article mainly centers on the human-robot transmission of the mobile medical robot for narrow space autonomous motion. In order to enable mobile medical robots to autonomously and smoothly transport hospital casualties through narrow aisles, in this paper, we present a robot skill transfer technology, namely a human-robot skill transfer framework of mobile medical robots for autonomous motion with teaching by demonstration, which is that a smooth optimal path is planned through the human motion, and then the Kinect sensor is used to detect human bone movement to learn its motion trajectory so as to achieve trajectory tracking control. Meanwhile, using the Remote Center of Motion (RCM) constraint to minimize the error between the actual trajectory of the medical robot and the tracking reference path to control the motion trajectory accurately, human-computer interactive mobile medical robots can smoothly pass through narrow channels. Through research and analysis, it is demonstrated that the mobile medical robot proposed in this paper has great feasibility, which is of great reference value in the field of medical rescue.
Facing the complex electromagnetic environment on the battlefield, how to effectively identify important radar signals by jammers and how to implement strong and effective electromagnetic interference to the enemy'...
详细信息
ISBN:
(纸本)9781728137933
Facing the complex electromagnetic environment on the battlefield, how to effectively identify important radar signals by jammers and how to implement strong and effective electromagnetic interference to the enemy's huge radar detection system under the condition of limited jamming resources will be the difficult problems that need to be solved continuously in the electronic warfare field. The solution of these problems will be the premise of effective interference for wartime jammers. In this paper, the technical gap of traditional jammers is analyzed. For radar signal perception, a refined perception and recognition method is proposed, forming the algorithm idea of multi-scale feature extraction and recognition based on radar fingerprint and multi-channel integrated multi-label recognition and classification based on radar radiation source. For interference implementation, the idea of smart interference based on deep GAN is put forward, laying the ground for further research on cognitive electronic warfare.
Traditional programming method can achieve certain manipulation tasks with the assumption that robot environment is known and ***,with robots gradually applied in more domains,robots often encounter working scenes whi...
详细信息
Traditional programming method can achieve certain manipulation tasks with the assumption that robot environment is known and ***,with robots gradually applied in more domains,robots often encounter working scenes which are complicated,unpredictable,and *** overcome the limitation of traditional programming method,in this paper,we apply deep reinforcement learning(DRL) method to train robot agent to obtain skill *** policy trained with DRL on real-world robot is time-consuming and costly,we propose a novel and simple learning paradigm with the aim of training physical robot ***,our method train a virtual agent in an simulated environment to reach random target position from random initial ***,virtual agent trajectory sequence obtained with the trained policy,is transformed to real-world robot command with coordinate transformation to control robot performing reaching *** show that the proposed method can obtain self-adaptive reaching policy with low training cost,which is of great benefits for developing intelligent and robust robot manipulation skill system.
Recent object detection models have achieved satisfactory performance by deep learning with large-scale annotated datasets. However, these models often perform poorly when the training examples are not sufficient enou...
详细信息
ISBN:
(纸本)9781728137933
Recent object detection models have achieved satisfactory performance by deep learning with large-scale annotated datasets. However, these models often perform poorly when the training examples are not sufficient enough, especially for one-shot object detection where there is only one training example of each target class. In this paper, we propose a network parameter generation framework for effective one-shot object detection. By leveraging the semantic relationship between the source-domain and the target-domain (new classes), our framework can generate network parameters for the new classes directly. Furthermore, we develop two implementation schemes for this framework: weighting-based parameter generation and regression-based parameter generation. These two schemes use different information to construct the relationship and transfer knowledge from the source-domain to the target-domain. Experiments on the PASCAL-OSCD benchmark show that our methods can significantly boost the performance of one-shot object detection.
Because of the increasing mobility of air targets and the trend of heavy using of UAV in the future, the paper analyzes the parameters and ballistic characteristics of the proportional guidance method based on the rev...
ISBN:
(数字)9781728158594
ISBN:
(纸本)9781728158600
Because of the increasing mobility of air targets and the trend of heavy using of UAV in the future, the paper analyzes the parameters and ballistic characteristics of the proportional guidance method based on the revised idea of proportional guidance. The method has certain defects in the face of high maneuvering targets, so we have derived a kind of modified proportional guidance law, and designed a new modified proportional guidance law which can effectively overcome the target maneuvering interference. The digital simulation results show that the modified guidance law can effectively overcome the interference factors such as target maneuvering, and it is easy to implement in engineering.
暂无评论