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IEEE Transactions on Intelligent Vehicles 2024年 1-15页

作者： Ye, Bao-Lin Zhang, Jiajie Li, Lingxi Wu, Weimin Jiaxing Key Laboratory of Smart Transportations the School of Information Science and Engineering Jiaxing University China Elmore Family School of Electrical and Computer Engineering Purdue University Indianapolis USA State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

Trajectory planning method is a research hotspot in autonomous driving. Existing reinforcement learning-based trajectory planning methods suffer from unstable performance due to the strong randomness of network weight parameter updates during the training process. Therefore, this paper proposes a novel trajectory planning method based on deep reinforcement learning trust region policy optimization (TRPO). Firstly, in order to enhance the robustness of the trajectory planning method based on deep reinforcement learning TRPO, a TRPO-LSTM based decision model was proposed. More specifically, a long short term memory (LSTM) based state feature extraction network was designed and embeded into a TRPO-based decision model to enhance the ability of TRPO to extract information from the environmental state space. Secondly, in order to make the planned trajectory adaptive to the dynamic changes of traffic environment, we presented a novel TRPO-LSTM trajectory fitting algorithm. To the best of our knowledge, this is the first work aiming at applying the TRPO-LSTM based decision model in the trajectory fitting process to search the optimal longitudinal trajectory speed. Finally, the proposed trajectory planning method was implemented and simulated on the CARLA simulator. The experimental results show that, compared with existing trajectory planning methods based on deep reinforcement learning algorithms, our proposed method achieves a cumulative reward improvement of over 28.9% in the scenario of four lane highway, and has better robustness. Meanwhile, the proposed method can achieve a lower collision rate of 0.93% while improving the average speed and comfort of vehicle driving. IEEE

关键词： Heuristic algorithms

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Enhanced Seagull Optimization Algorithm for Photovoltaic Cell Parameter Estimating 41

Enhanced Seagull Optimization Algorithm for Photovoltaic Cel...

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第41届中国控制会议

作者： Hongyin Wei Kailin Xu Jianming Zhang Institute of Cyber-Systems and Control State Key Laboratory of Industrial Control TechnologyZhejiang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,an enhanced seagull optimization algorithm based on a double group evolutionary mechanism(DSOA) is proposed for photovoltaic(PV) cell parameter *** the DSOA,a double group search strategy and time-based mutation strategy are added to the population renewal mechanism of the conventional *** performance of DSOA on standard benchmark functions is surprising;it was good at accuracy and exploitation,also convergence *** with SOA and the other two classical intelligent optimization algorithms,the performance of DSOA is comprehensively *** is adopted to estimate PV cell *** simulation results demonstrate that estimated currents of circuit model based on DSOA have high similarity to the measured value of the photovoltaic cell.

关键词： Photovoltaic(PV) parameter estimating seagull optimization algorithm intelligent optimization algorithms

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A novel motion coordination method for variable-sized multi-mobile robots

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Frontiers of Information technology & Electronic Engineering 2023年第4期24卷 521-535页

作者： Zichao XING Xingkai WANG Shuo WANG Weimin WU Ruifen HU State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027China

Multi-mobile robot systems(MMRSs)are widely used for transportation in industrial scenes such as manufacturing and *** an MMRS,motion coordination is important as collisions and deadlocks may lead to losses or system ***,in some scenarios,robot sizes are different when loaded and unloaded,which means that the robots are variable-sized,making motion coordination more *** methods based on zone control need to first divide the environment into disjoint zones,and then allocate the zones statically or dynamically for motion *** zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reduce the efficiency of the *** paper describes a motion coordination method based on glued nodes,which can dynamically avoid collisions and deadlocks according to the roadmap structure and the real-time paths of *** features make this method directly applicable to various scenarios,instead of dividing a roadmap into disjoint *** proposed method has been applied to many industrial projects,and this study is based on some manufacturing projects for *** analysis and experimental results show that the proposed algorithm is effective and efficient.

关键词： Multi-mobile robot system Collision avoidance Deadlock avoidance Glued nodes Motion coordination

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ER‐Mapping: An extrinsic robust coloured mapping system using residual evaluation and selection

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IET cyber-systems and Robotics 2024年第2期6卷 97-108页

作者： Changjian Jiang Zeyu Wan Ruilan Gao Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhouChina Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province HangzhouChina

The colour-enhanced point cloud map is increasingly being employed in fields such as robotics,3D reconstruction and virtual *** authors propose ER-Mapping(Extrinsic Robust coloured Mapping system using residual evaluation and selection).ER-Mapping consists of two components:the simultaneous localisation and mapping(SLAM)subsystem and the colouring *** SLAM subsystem reconstructs the geometric structure,where it employs a dynamic threshold-based residual selection in LiDAR-inertial odometry to improve mapping *** the other hand,the col-ouring subsystem focuses on recovering texture information from input images and innovatively utilises 3D–2D feature selection and optimisation methods,eliminating the need for strict hardware time synchronisation and highly accurate extrinsic *** were conducted in both indoor and outdoor *** results demonstrate that our system can enhance accuracy,reduce computational costs and achieve extrinsic robustness.

关键词： robot vision sensor fusion simultaneous localisation and mapping(robots)

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Review of Clustering technology and Its Application in Coordinating Vehicle Subsystems

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Automotive Innovation 2023年第1期6卷 89-115页

作者： Caizhi Zhang Weifeng Huang Tong Niu Zhitao Liu Guofa Li Dongpu Cao Chongqing Automotive Collaborative Innovation Centre The State Key Laboratory of Mechanical TransmissionsChongqing UniversityChongqing 400044China State Key Laboratory of Industrial Control Technology Institute of Cyber‑Systems and ControlZhejiang UniversityHangzhou 310027China School of Vehicle and Mobility Tsinghua UniversityBeijingChina

Clustering is an unsupervised learning technology,and it groups information(observations or datasets)according to similarity *** clustering algorithms is a hot topic in recent years,and this area develops rapidly with the increasing complexity of data and the volume of *** this paper,the concept of clustering is introduced,and the clustering technologies are analyzed from traditional and modern ***,this paper summarizes the principles,advantages,and disadvantages of 20 traditional clustering algorithms and 4 modern ***,the core elements of clustering are presented,such as similarity measures and evaluation *** that data processing is often applied in vehicle engineering,finally,some specific applications of clustering algorithms in vehicles are listed and the future development of clustering in the era of big data is *** purpose of this review is to make a comprehensive survey that helps readers learn various clustering algorithms and choose the appropriate methods to use,especially in vehicles.

关键词： Unsupervised learning Clustering Similarity measures Vehicle

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Aerial target threat assessment based on gated recurrent unit and self-attention mechanism

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Journal of systems Engineering and Electronics 2024年第2期35卷 361-373页

作者： CHEN Chen QUAN Wei SHAO Zhuang School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081China

Aerial threat assessment is a crucial link in modern air combat, whose result counts a great deal for commanders to make decisions. With the consideration that the existing threat assessment methods have difficulties in dealing with high dimensional time series target data, a threat assessment method based on self-attention mechanism and gated recurrent unit(SAGRU) is proposed. Firstly, a threat feature system including air combat situations and capability features is established. Moreover, a data augmentation process based on fractional Fourier transform(FRFT) is applied to extract more valuable information from time series situation features. Furthermore, aiming to capture key characteristics of battlefield evolution, a bidirectional GRU and SA mechanisms are designed for enhanced ***, after the concatenation of the processed air combat situation and capability features, the target threat level will be predicted by fully connected neural layers and the softmax classifier. Finally, in order to validate this model, an air combat dataset generated by a combat simulation system is introduced for model training and testing. The comparison experiments show the proposed model has structural rationality and can perform threat assessment faster and more accurately than the other existing models based on deep learning.

关键词： target threat assessment gated recurrent unit(GRU) self-attention(SA) fractional Fourier transform(FRFT)

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A general Boolean semantic modelling approach for complex and intelligent industrial systems in the framework of DES

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Journal of systems Engineering and Electronics 2024年第5期35卷 1219-1230页

作者： XU Changyi WANG Yun DUAN Yiman ZHANG Chao Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and EngineeringDalian University of TechnologyDalian 116024China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China

Discrete event system(DES)models promote system engineering,including system design,verification,and *** advancement in manufacturing technology has endowed us to fabricate complex industrial ***,the adoption of advanced modeling methodologies adept at handling complexity and scalability is ***,industrial systems are no longer quiescent,thus the intelligent operations of the systems should be dynamically specified in the *** this paper,the composition of the subsystem behaviors is studied to generate the complexity and scalability of the global system model,and a Boolean semantic specifying algorithm is proposed for generating dynamic intelligent operations in the *** traditional modeling approaches,the change or addition of specifications always necessitates the complete resubmission of the system model,a resource-consuming and error-prone *** with traditional approaches,our approach has three remarkable advantages:(i)an established Boolean semantic can be fitful for all kinds of systems;(ii)there is no need to resubmit the system model whenever there is a change or addition of the operations;(iii)multiple specifying tasks can be easily achieved by continuously adding a new ***,this general modeling approach has wide potential for future complex and intelligent industrial systems.

关键词： industrial complex system operation specifying Boolean semantic discrete event system(DES)theory intelligent operation

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Distributed event-triggered adaptive control for second-order nonlinear uncertain multi-agent systems

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Chinese Journal of Aeronautics 2021年第10期34卷 237-247页

作者： Ming XIAO Zhitao LIU Hongye SU The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027China

In this paper,the event-triggered consensus control problem for nonlinear uncertain multi-agent systems subject to unknown parameters and external disturbances is *** dynamics of subsystems are second-order with similar structures,and the nodes are connected by undirected *** event-triggered mechanisms are not only utilized in the transmission of information from the controllers to the actuators,and from the sensors to the controllers within each agent,but also in the communication between *** on the adaptive backstepping method,extra estimators are introduced to handle the unknown parameters,and the measurement errors that occur during the event-triggered communication are well handled by designing compensating terms for the control *** presented distributed event-triggered adaptive control laws can guarantee the boundness of the consensus tracking errors and the Zeno behavior is ***,the update frequency of the controllers and the load of communication burden are vastly *** obtained control protocol is further applied to a multi-input multi-output second-order nonlinear multi-agent system,and the simulation results show the effectiveness and advantages of our proposed method.

关键词： Adaptive distributed control structure Event-triggered control Multi-agent systems Second-order nonlinear models

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QTFN:A General End-to-End Time-Frequency Network to Reveal the Time-Varying Signatures of the Time Series

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Big Data Mining and Analytics 2024年第3期7卷 905-919页

作者： Tao Chen Yang Jiao Lei Xie Hongye Su State Key Laboratory of Industrial Control Technology Zhejiang UniversityHangzhou 310027China Shenzhen Key Laboratory of Intelligent Bioinformatics and College of Computer Science and Control EngineeringShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China

Nonstationary time series are ubiquitous in almost all natural and engineering *** the time-varying signatures from nonstationary time series is still a challenging problem for data *** Time-Frequency Distribution(TFD)provides a powerful tool to analyze these ***,they suffer from Cross-Term(CT)issues that impair the readability of ***,to achieve high-resolution and CT-free TFDs,an end-to-end architecture termed Quadratic TF-Net(QTFN)is proposed in this *** by classic TFD theory,the design of this deep learning architecture is heuristic,which firstly generates various basis functions through ***,more comprehensive TF features can be extracted by these basis ***,to balance the results of various basis functions adaptively,the Efficient Channel Attention(ECA)block is also embedded into ***,a new structure called Muti-scale Residual Encoder-Decoder(MRED)is also proposed to improve the learning ability of the model by highly integrating the multi-scale learning and encoder-decoder ***,although the model is only trained by synthetic signals,both synthetic and real-world signals are tested to validate the generalization capability and superiority of the proposed QTFN.

关键词： Time-Frequency Analysis(TFA) Multi-scale Residual Encoder-Decoder(MRED) quadratic Time-Frequency Distribution(TFD)

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Obstacle Avoidance for Unicycle-Modelled Mobile Robots with Time-Varying control Barrier Functions 49

Obstacle Avoidance for Unicycle-Modelled Mobile Robots with ...

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49th Annual Conference of the IEEE industrial Electronics Society, IECON 2023

作者： Huang, Jihao Liu, Zhitao Zeng, Jun Chi, Xuemin Su, Hongye Institute of Cyber-Systems and Control Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou China Cruise Llc United States

ISBN: (纸本)9798350331820

In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike previous works, our proposed approach can control both linear and angular velocity to avoid collision with obstacles, overcoming the limitation of confined control performance due to the lack of control variable. To ensure that the robot reaches its destination, we also design a control Lyapunov function (CLF). Our safety-critical controller is formulated as a quadratic program (QP) optimization problem that incorporates CLF and CBFs as constraints, enabling real-time application for navigation and dynamic collision avoidance. Numerical simulations are conducted to verify the effectiveness of our proposed approach. © 2023 IEEE.

关键词： Lyapunov functions

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