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Rectangle expansion A* pathfinding for grid maps

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Chinese Journal of Aeronautics 2016年第5期29卷 1385-1396页

作者： Zhang An Li Chong bi wenhao School of Aeronautics Northwestern Polytechnical University School of Electronics and Information Northwestern Polytechnical University

Search speed, quality of resulting paths and the cost of pre-processing are the principle evaluation metrics of a pathfinding algorithm. In this paper, a new algorithm for grid-based maps, rectangle expansion A＊（REA＊）, is presented that improves the performance of A＊ significantly. REA＊ explores maps in units of unblocked rectangles. All unnecessary points inside the rectangles are pruned and boundaries of the rectangles （instead of individual points within those boundaries） are used as search nodes. This makes the algorithm plot fewer points and have a much shorter open list than A＊. REA＊ returns jump and grid-optimal path points, but since the line of sight between jump points is protected by the unblocked rectangles, the resulting path of REA＂ is usually better than grid-optimal. The algorithm is entirely online and requires no offline pre-processing. Experimental results for typical benchmark problem sets show that REA＊ can speed up a highly optimized A＊ by an order of magnitude and more while preserving completeness and optimality. This new algorithm is competitive with other highly successful variants of A＊.

关键词： Breaking path symmetries Grid Heuristic algorithms Path search Variant of A*

Low-cost adaptive square-root cubature Kalman filter forsystems with process model uncertainty

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Journal of Systems Engineering and Electronics 2016年第5期27卷 945-953页

作者： an zhang shuida bao wenhao bi yuan yuan School of Eelectronics and Information Northwestern Polytechnical University Xi’an 710072 China

A novel low-cost adaptive square-root cubature Kalmanfilter （LCASCKF） is proposed to enhance the robustness of processmodels while only increasing the computational load *** is well-known that the Kalman filter cannot handle uncertainties ina process model, such as initial state estimation errors, parametermismatch and abrupt state changes. These uncertainties severelyaffect filter performance and may even provoke divergence. Astrong tracking filter （STF）, which utilizes a suboptimal fading factor,is an adaptive approach that is commonly adopted to solvethis problem. However, if the strong tracking SCKF （STSCKF）uses the same method as the extended Kalman filter （EKF） tointroduce the suboptimal fading factor, it greatly increases thecomputational load. To avoid this problem, a low-cost introductorymethod is proposed and a hypothesis testing theory is applied todetect uncertainties. The computational load analysis is performedby counting the total number of floating-point operations and it isfound that the computational load of LCASCKF is close to that ofSCKF. Experimental results prove that the LCASCKF performs aswell as STSCKF, while the increase in computational load is muchlower than STSCKF.

关键词： square-root cubature Kalman filter strong tracking filter,robustness computational load.

Human-machine function allocation method for aircraft cockpit based on interval 2-tuple linguistic information

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Journal of Systems Engineering and Electronics 2016年第6期27卷 1291-1302页

作者： An Zhang wenhao bi Zhili Tang Chao Zhang School of Aeronautics Northwestern Polytechnical University

Appropriate human-machine function allocation benefits the complement between pilots and automation, and makes the whole system more effective and reliable. Thus, the humanmachine function allocation method for aircraft cockpit based on interval 2-tuple linguistic information is proposed. The uncertain expanded weighted arithmetic averaging (UEWAA) operator and uncertain linguistic hybrid aggregation (ULHA) operator are extended into the interval 2-tuple linguistic environment based on uncertain linguistic multiple attribute decision making (ULMADM). And some new aggregation operators are developed, including the interval 2-tuple weighted average aggregation (IT-WAA) operator and the interval 2-tuple weighted hybrid aggregation (IT-WHA) operator. Uniformization of the multiple-granularity linguistic evaluation information is introduced to solve the problem of ULMADM not being able to deal with the multiple-granularity linguistic information from different decision-makers. Then the detailed steps of the proposed method are described. Finally, an illustrative example of the ground proximity warning system (GPWS) is provided to demonstrate the practicality, feasibility and superiority based on the comparison between the proposed method and ULMADM. © 2016 Beijing Institute of Aerospace Information.

关键词： Decision making Linguistics Mathematical operators

A novel strong tracking cubature Kalman filter and its application in maneuvering target tracking

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Chinese Journal of Aeronautics 2019年第11期32卷 2489-2502页

作者： An ZHANG Shuida BAO Fei GAO wenhao bi School of Aeronautics Northwestern Poly technical UniversityXi’an 710072China School of Electronics and Information Northwestern Poly technical UniversityXi’an 710129China

The fading factor exerts a significant role in the strong tracking idea. However, traditional fading factor introduction method hinders the accuracy and robustness advantages of current strong-tracking-based nonlinear filtering algorithms such as Cubature Kalman Filter(CKF) since traditional fading factor introduction method only considers the first-order Taylor expansion. To this end, a new fading factor idea is suggested and introduced into the strong tracking CKF *** new fading factor introduction method expanded the number of fading factors from one to two with reselected introduction positions. The relationship between the two fading factors as well as the general calculation method can be derived based on Taylor expansion. Obvious superiority of the newly suggested fading factor introduction method is demonstrated according to different nonlinearity of the measurement function. Equivalent calculation method can also be established while applied to CKF. Theoretical analysis shows that the strong tracking CKF can extract the thirdorder term information from the residual and thus realize second-order accuracy. After optimizing the strong tracking algorithm process, a Fast Strong Tracking CKF(FSTCKF) is finally established. Two simulation examples show that the novel FSTCKF improves the robustness of traditional CKF while minimizing the algorithm time complexity under various conditions.

关键词： Algorithm time complexity Cubature Kalman filter Nonlinear filtering Robustness Strong tracking filter

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单边矩形扩展A~*算法

机器人 2017年第1期39卷 46-56页

作者：李冲张安毕文豪西北工业大学陕西西安710129

提出了一种新的单边矩形扩展A*(REA*)算法.新算法采用受迫扩展规则,在以矩形单元探索地图的过程中,用单条公共边取代相邻矩形的2条冗余独立边,从而提高了算法效率,简化了终止条件,优化了路径质量.在无需对地图进行预处理的情况下,算法... 详细信息

提出了一种新的单边矩形扩展A*(REA*)算法.新算法采用受迫扩展规则,在以矩形单元探索地图的过程中,用单条公共边取代相邻矩形的2条冗余独立边,从而提高了算法效率,简化了终止条件,优化了路径质量.在无需对地图进行预处理的情况下,算法速度比传统A*算法提高1个数量级以上.算法能够保证得到栅格最优的路径点序列,且最终路径(由路径点间直线组成)总是比栅格最优路径更短.典型地图集上的实验结果表明,相比于现有REA*算法,新算法提高了对复杂地图的处理能力和算法效率上限.新算法路径长度更短,路径转折次数更少,因此路径质量更优.除了在低复杂且不开阔的地图上外,新算法平均效率也高于REA*算法.

关键词：路径搜索启发式算法栅格图 A*算法路径平衡性

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基于MBSE的民机系统功能建模方法

系统工程与电子技术 2021年第10期43卷 2884-2892页

作者：王文浩毕文豪张安范秋岑西北工业大学航空学院陕西西安710072

针对传统系统工程存在的迭代周期长、开发效率低、模型二义性等问题,结合基于模型的系统工程理念,将敏捷系统工程概念引入到民机研制过程中,并利用系统建模语言定义了基于场景的功能建模方法,详细分析了民机自动飞行控制系统高度控制用... 详细信息

针对传统系统工程存在的迭代周期长、开发效率低、模型二义性等问题,结合基于模型的系统工程理念,将敏捷系统工程概念引入到民机研制过程中,并利用系统建模语言定义了基于场景的功能建模方法,详细分析了民机自动飞行控制系统高度控制用例的顶层功能愿景,建立了对应的功能模型和接口描述视图。该方法以迭代的形式展开系统功能建模,能够充分保证需求和功能模型紧密结合,正向构建满足民机系统以需求为导向的功能建模方法,为民机系统的架构设计工作提供基础。

关键词：基于模型的系统工程功能建模民用飞机系统建模语言

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民用飞机高度控制系统MBSE建模方法

系统工程与电子技术 2022年第1期44卷 164-171页

作者：范秋岑毕文豪张安王文浩西北工业大学航空学院陕西西安710072

针对传统基于文本的系统工程方法中存在设计文档变更难度大、工程模型可读性差、模型复用性不强等问题,提出了基于美国国防部体系架构(department of defense architecture framework, DoDAF)的基于模型的系统工程(model-based systems ... 详细信息

针对传统基于文本的系统工程方法中存在设计文档变更难度大、工程模型可读性差、模型复用性不强等问题,提出了基于美国国防部体系架构(department of defense architecture framework, DoDAF)的基于模型的系统工程(model-based systems engineering, MBSE)建模方法,从两个维度共计10个模块,对设计建模过程进行了划分,结合DoDAF的多视图对复杂系统进行全面立体的描述,形成了一套逻辑性强、建模完备的MBSE建模方法。以民用飞机高度控制系统为例进行建模,使用系统建模语言SysML(systems modeling language)描述在不同的DoDAF视图下的模型并对该系统进行建模分析,验证了本建模方法能够很好地契合复杂系统设计要求,适合民机系统的研制。

关键词：基于模型的系统工程民用飞机美国国防部体系架构高度控制系统

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杂波环境下基于最大熵模糊聚类的JPDA算法

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系统工程与电子技术 2023年第7期45卷 1920-1927页

作者：毕文豪周杰张安刘力西北工业大学航空学院陕西西安710072 南京电子技术研究所江苏南京210039

针对杂波环境下的多目标跟踪数据关联存在跟踪精度低、实时性差的问题,提出了一种基于最大熵模糊聚类的联合概率数据关联算法(joint probabilistic data association algorithm based on maximum entropy fuzzy clustering,MEFC-JPDA)... 详细信息

针对杂波环境下的多目标跟踪数据关联存在跟踪精度低、实时性差的问题,提出了一种基于最大熵模糊聚类的联合概率数据关联算法(joint probabilistic data association algorithm based on maximum entropy fuzzy clustering,MEFC-JPDA)。首先,采用最大熵模糊聚类求得的隶属度初步表征目标与有效量测之间的关联概率。其次,采用基于目标距离的量测修正因子对关联概率进行调整,并建立关联概率矩阵。最后,结合卡尔曼滤波算法,对目标的状态进行加权更新。仿真结果表明,所提算法在杂波环境下的跟踪性能相比现有的两种关联算法有较大提升,是一种有效的多目标跟踪数据关联算法。

关键词：多目标跟踪联合概率数据关联最大熵模糊聚类量测修正因子

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基于公共品博弈的无人机集群自主协同机制

兵工学报 2023年第11期44卷 3407-3421页

作者：毕文豪王炤晰吴伟张安西北工业大学航空学院陕西西安710072

无人机集群自主协同作战是未来战争的重要作战样式,自主协同机制研究有利于揭示无人机集群协同形成与演化规律,为无人机集群作战应用提供理论支撑。首先构建无人机集群信息交互网络,定义基于拓扑势的无人机交互等级。通过分析无人机集... 详细信息

无人机集群自主协同作战是未来战争的重要作战样式,自主协同机制研究有利于揭示无人机集群协同形成与演化规律,为无人机集群作战应用提供理论支撑。首先构建无人机集群信息交互网络,定义基于拓扑势的无人机交互等级。通过分析无人机集群自主协同与演化博弈的映射关系,建立基于公共品博弈的无人机集群演化博弈模型,设计基于交互等级的无人机集群总体期望收益函数、平均期望收益函数和愿景更新动态策略更新机制。利用马尔可夫链定量描述无人机集群演化过程,并理论推导了表征无人机集群演化博弈平稳分布的平均丰度函数。通过仿真验证基于公共品博弈的无人机集群自主协同机制的可行性和有效性,并分析选择强度、交互收益系数、增益因子与愿景水平等参数变化对无人机集群协同行为的影响,为无人机集群自主协同参数调控设计提供理论支持。研究结果表明:所提自主协同机制相较于提供点机制、惩罚机制能更大程度促进无人机集群合作涌现,为无人机集群自主协同理论向作战应用提供技术支持。

关键词：无人机集群自主协同演化博弈公共品博弈

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