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第43届中国控制会议

作者： Guoyu Zuo Haishan Guan Banggui Zheng Faculty of Information Technology Beijing University of Technology Beijing Key Laboratory of Computing Intelligence and Intelligent Systems

Manipulator path planning refers to planning the movement trajectory of a manipulator through algorithms and techniques to realize accurate and efficient *** is widely used in industrial production lines,medical surgeries,and other *** sampling-based rapid exploration random tree(RRT) algorithm has been widely used in high-dimensional manipulators due to its probabilistic completeness and outstanding ***,the algorithm is purely random in the sampling session,which leads to the existing RRT planning algorithms still having low planning efficiency and poor path *** solve these problems,this paper proposes a new and improved method,which assigns a cost value to the sampling points and bases the selection of sampling points on the cost value,so that the growth of the path tree can be oriented to the goal point more quickly.A new evaluation metric,i.e.,the average angle of each node in the path,is also designed to evaluate the quality of the path,and the smoother the path is,the more the metric converges to 180°.By comparing our improved RRT algorithm with the original algorithm in several different scenarios,the results show that our improvement possesses shorter running time,shorter path length,and larger average angle of path.

关键词： Path planning RRT algorithm heuristic function

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Application and Improvement of heuristic function in A* Algorithm

Application and Improvement of Heuristic Function in A* Algo...

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第37届中国控制会议

作者： Xurui Jing Xiaojun Yang Xi 'an Institute of Optics and Precision Mechanics of CAS University of Chinese Academy of Sciences

The A algorithm is widely used in path planning due to its simplicity and effectiveness. In this paper, firstly, aiming at the difficulty in determining the heuristic function in the A algorithm, performance comparison is made between the four heuristic functions such as Manhattan distance, Euclidean distance, Chebyshev distance and Diagonal distance. In the path planning, through these, we obtain the degree of influence of different heuristic functions on A algorithm efficiency. At the same time, an improved heuristic function is proposed to select the cost coefficient of the Manhattan distance with a weighted measure. By comparing simulation results, the improved A algorithm has some optimization in path planning with respect to search time, search range, path length and so on, and it’s certain reference to the heuristic function design of A algorithm.

关键词： path planning heuristic function search time optimal path

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Fishery Web Service Composition Method Based on Ontology

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Journal of Integrative Agriculture 2012年第5期11卷 792-799页

作者： YU Qing-mei WANG Lan HUANG Dong-mei School of Information Technology Shanghai Ocean UniversityShanghai 201306P.R.China

Various fishery information systems have been developed in different times and on different platforms. Wet） service application composition is crucial in the sharing and integration of fishery data and information. In the present paper, a heuristic web service composition method based on fishery ontology is presented, and the proposed web services are described. Ontology reasoning capability was applied to generate a service composition graph. The heuristic function was introduced to reduce the searching space. The experimental results show that the algorithm used considers the services semantic similarity and adiusts web service composition plan by dynamically relying on the empirical data.

关键词： web services composition semantic similarity fishery ontology heuristic function

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PROLOG WITH BEST FIRST SEARCH

PROLOG WITH BEST FIRST SEARCH

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第25届中国控制与决策会议

作者： Benjie Lu Zhingging Liu Computer Go Research Institute School of Software Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781467355339

Prolog is a logic programming language with an engine that can search a knowledge base with respect to a query automatically. To satisfy a query of a knowledge base, the Prolog engine always try to use the top-most clause and search the left-most sub query, which is fundamentally a depth first search （DFS）. While generally usable, DES is less effective in many circumstances, and may even fail to discover solutions in some extreme cases. This paper presents an alternative best first search （BFS） for the Prolog engine. Our BFD search strategy employes a heuristics function based on an extended measurement of UCB1, which is a machine learning algorithm for a Markovian Decision Process （MDP）. This heuristics function can balance exploitation and exploration during the search process of the Prolog engine, adjust its search path dynamically for the best chance to satisfy its query based on its accumulated knowledge of the knowledge *** with DES Prolog, BFD Prolog not only improves its search efficiency, but also guarantees theoretically to discover its solutions if they exist. Unlike DES Prolog, BFS Prolog is completely declarative as knowledge orders are irrelevant.

关键词： Best-First Search heuristic function algorithm convergence UCB and-or tree

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The analysis of the convergence of ant colony optimization algorithm

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Frontiers of Electrical and Electronic Engineering in China 2007年第3期2卷 268-272页

作者： ZHU Qingbao WANG Lingling Department of Computer Science Nanjing Normal UniversityNanjing 210097China

The ant colony optimization algorithm has been widely studied and many important results have been *** this algorithm has been applied to many fields,the analysis about its convergence is much less,which will influence the improvement of this ***,the convergence of this algorithm applied to the traveling salesman problem(TSP)was analyzed in *** conclusion that this algorithm will definitely converge to the optimal solution under the condition of 0heuristic functions,the pheromone and q_(0) was *** on the above-mentioned,some conclusions about how to improve the speed of its convergence are obtained.

关键词： ant colony optimization algorithm convergence analysis heuristic function TSP

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A Global Path Planning Method for Mobile Robots Based on Multiple Improvements of A*

A Global Path Planning Method for Mobile Robots Based on Mul...

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第43届中国控制会议

作者： Liu Chengyu Li Xun Wei Yiming Wang Jinsuo Zhou Jinguo School of Electronics and Information Xi'an Polytechnic University Xi'an Polytechinic University Branch of Shaanxi Artificial Intelligence Joint Laboratory

Traditional A algorithm faces challenges in the context of complex environments,optimal solution selection,and non-smooth paths when dealing with the path planning problem for mobile *** address these issues,several improvements have been made to the classical A algorithm,incorporating dynamic weighting coefficients,optimizing heuristic functions,and employing Bayesian curve-smoothed *** modifications enable the algorithm to achieve favorable search results while considering time *** results demonstrate a significant advantage of the improved algorithm in terms of path length,with a reduction of 1.6 seconds in robot runtime compared to the classical A algorithm under equivalent conditions,representing a 5% decrease in ***,in local areas with frequent sharp turns and large angles,the robot experiences noticeable speed reduction,effectively avoiding oscillations and potential collisions with walls.

关键词： Mobile Robot Path Planning A~* Algorithm heuristic function Bayesian Curve

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Implementation of Path Planning Method of Intelligent Vehicle based on MapX

Implementation of Path Planning Method of Intelligent Vehicl...

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第26届中国控制与决策会议

作者： Jianmin Duan Huiqin Ge Junqin Yao Beijing University of Technology

ISBN: (纸本)9781479937097

This paper introduces the implementation process of intelligent vehicle path planning, including the establishment of environmental models, path search algorithm, as well as the visualization of digital map. Firstly, the article introduces the path planning and several algorithms;secondly, the A * algorithm is described, as well as the representation of environment model;thirdly, the article introduces the MapX component and gives the implementation steps of visualization based on MapX;finally, the experiment results are presented, the experimental results show that the A * algorithm could easily find the optimal path, reduce the searching space of the algorithm and make the planning result more reasonable. Besides, the digital map based on MapX could perfectly display vehicle location and the planned route in real time.

关键词： Intelligent vehicle Path planning A* algorithm heuristic function MapX

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THREE-DIMENSIONAL PATH PLANNING OF MANIPULATOR BASED ON IMPROVED RRT ALGORITHM

THREE-DIMENSIONAL PATH PLANNING OF MANIPULATOR BASED ON IMPR...

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第32届中国控制与决策会议

作者： QiQing XIANG Mei CHEN MingXia HONG HaoYu ZHU WenDing YUAN School of Electrical Engingeering and Automation Hefei University of Technology

This paper provides an improved algorithm which is proposed for the deviating optimal solution,non-target and path non-smooth problem of the original Rapidly-exploring Random Trees（RRT）.The improved algorithm is based on the new parent node selection method to ensure that the random tree extends the asymptotic optimality of the new *** this basis,the heuristic value function is introduced according to the Euclidean shortest distance thought,which improves the planning efficiency of the *** addition,the method of regression analysis is adopted to improve the search ability of the algorithm and solve the local minimum problem caused by the heuristic value *** Bézier curve fitting method is then used to generate a smooth path,which further reduces the jitter during the 6-DOF manipulator *** simulation experiment of improved RRT algorithm is established in MATLAB platform,and the effectiveness and rationality of the algorithm are verified.

关键词： Path planning heuristic function Regression analysis Curve Fitting 6-DOF manipulator

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一种基于动态规划算法的分布式实时数据库并发控制模型

一种基于动态规划算法的分布式实时数据库并发控制模型

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第二十二届中国数据库学术会议

作者：林小静薛永生任仲晟陈华昌厦门大学计算机系

1引言近几年来,随着移动电话网络,电子商务交易网络。证券交易系统等大规模实时数据库系统(RTDBS)和分布式实时数据库系统(DRTDBS)应用的推广,对RTDBS以及DRTDBS的研究引起了越来越多的关注,其中对DRTDBS的研究尤为突出。

关键词： Distributed real-time database system Real-time transaction DHP-2PL Concurrency control heuristic function Dynamic programming

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