Closed-loop randomized kinodynamic path planning for an autonomous underwater vehicle     

《Applied Ocean Research》2019

A randomized kinodynamic path planning algorithm based on the incremental sampling-based method is proposed here as the state-of-the-art in this field applicable in an autonomous underwater vehicle. Designing a feasible path for this vehicle from an initial position and velocity to a target position and velocity in three-dimensional spaces by considering the kinematic constraints such as obstacles avoidance and dynamic constraints such as hard bounds and non-holonomic characteristic of AUV are the main motivation of this research. For this purpose, a closed-loop rapidly-exploring random tree (CL-RRT) algorithm is presented. This CL-RRT consists of three tightly coupled components: a RRT algorithm, three fuzzy proportional-derivative controllers for heading and diving control and a six degree-of-freedom nonlinear AUV model. The branches of CL-RRT are expanded in the configuration space by considering the kinodynamic constraints of AUV. The feasibility of each branch and random offspring vertex in the CL-RRT is checked against the mentioned constraints of AUV. Next, if the planned branch is feasible by the AUV, then the control signals and related vertex are recorded through the path planner to design the final path. This proposed algorithm is implemented on a single board computer (SBC) through the xPC Target and then four test-cases are designed in 3D space. The results of the processor-in-the-loop tests are compared by the conventional RRT and indicate that the proposed CL-RRT not only in a rapid manner plans an initial path, but also the planned path is feasible by the AUV.  相似文献   

一种顾及有色噪声的四星座GNSS动态导航滤波算法     

孙清峰  蔡昌盛  崔先强  易重海 《大地测量与地球动力学》2019,39(6):625-628

经典Kalman滤波要求噪声是高斯白噪声，而动态GNSS定位的观测误差和状态预测误差往往是有色噪声。本文提出一种简便的有色噪声函数模型拟合滤波算法，采用前面历元的观测残差和状态残差建立有色噪声模型，削弱有色噪声对动态导航解算的影响。采用四星座GNSS接收机观测数据进行动态导航实验，结果表明，顾及有色噪声的动态导航滤波算法比未顾及有色噪声的经典Kalman滤波算法定位精度更高，三维位置精度提升9%以上。  相似文献   

A 3D discrete FEM iterative algorithm for solving the water pipe cooling problems of massive concrete structures          下载免费PDF全文

Jing Cheng  T. C. Li  Xiaoqing Liu  L. H. Zhao 《国际地质力学数值与分析法杂志》2016,40(4):487-508

Water pipe cooling has been widely used for the temperature control and crack prevention of massive concrete structures such as high dams. Because both under‐cooling and over‐cooling may reduce the efficiency of crack prevention, or even lead to great harm to structures, we need an accurate and robust numerical tool for the prediction of cooling effect. Here, a 3D discrete FEM Iterative Algorithm is introduced, which can simulate the concrete temperature gradient near the pipes, as well as the water temperature rising along the pipes. On the basis of the heat balance between water and concrete, the whole temperature field of the problem can be computed exactly within a few iteration steps. Providing the pipe meshing tool for building the FE model, this algorithm can take account of the water pipe distribution, the variation of water flow, water temperature, and other factors, while the traditional equivalent algorithm based on semi‐theoretical solutions can only solve problems with constant water flow and water temperature. The validation and convergence are proved by comparing the simulated results and analytical solutions of two standard second‐stage cooling problems. Then, a practical concrete block with different cooling schemes is analyzed and the influences of cooling factors are investigated. In the end, detailed guidance for pipe system optimization is provided. Copyright © 2015 John Wiley & Sons, Ltd.  相似文献   

Selection of sand models and identification of parameters using an enhanced genetic algorithm          下载免费PDF全文

Yin‐Fu Jin  Zhen‐Yu Yin  Shui‐Long Shen  Pierre‐Yves Hicher 《国际地质力学数值与分析法杂志》2016,40(8):1219-1240

Numerous constitutive models of granular soils have been developed during the last few decades. As a consequence, how to select an appropriate model with the necessary features based on conventional tests and with an easy way of identifying parameters for geotechnical applications has become a major issue. This paper aims to discuss the selection of sand models and parameters identification by using genetic algorithm. A real‐coded genetic algorithm is enhanced for the optimization with high efficiency. Models with gradually varying features (elastic‐perfectly plastic modelling, nonlinear stress–strain hardening, critical state concept and two‐surface concept) are selected from numerous sand models as examples for optimization. Conventional triaxial tests on Hostun sand are selected as the objectives in the optimization. Four key points are then discussed in turn: (i) which features are necessary to be accounted for in constitutive modelling of sand; (ii) which type of tests (drained and/or undrained) should be selected for an optimal identification of parameters; (iii) what is the minimum number of tests that should be selected for parameter identification; and (iv) what is the suitable and least strain level of objective tests to obtain reliable and reasonable parameters. Finally, a useful guide, based on all comparisons, is provided at the end of the discussion. Copyright © 2015 John Wiley & Sons, Ltd.  相似文献   

近20年京津唐地区不透水面变化的遥感监测     

向超  朱翔  胡德勇  乔琨  陈姗姗 《地球信息科学学报》2018,20(5):684-693

不透水面是衡量城市化程度的重要指标之一,对京津唐城市群的不透水面进行深入研究,可以量化城市群扩张过程及其影响,对该区域多城市协调发展及规划布局具有重要意义。本文结合高分辨遥感影像、生长季及落叶季的Landsat TM遥感影像和夜间灯光数据等,采用分类和回归树（Classification and rRegression Tree, CART）算法,构建了适于京津唐地区不透水面盖度提取的技术方案,获取了京津唐地区1995-2016年共5期地表不透水面盖度专题信息,并分析了地表不透水面的时空演变规律,结论为：① 适于京津唐地区不透水面盖度提取的CART算法的最佳输入变量组合为：生长季和落叶季的Landsat TM图像以及对应的夜间灯光数据;其次为生长季Landsat TM遥感图像和夜间灯光数据组合方案。利用该组合方案,ISP估算输出结果的交叉验证精度R值可以达到约0.85,可以满足地表不透水面纵向对比分析的需要。② 从地表不透水面总面积数量值来看,1995-2016年京津唐主体城市区域整体上呈增长趋势,其中2011-2016年地表不透水面积增加愈加明显;③ 从地表不透水面盖度值的高低来看,1995-2016年京津唐中、高盖度不透水面的占比都是在不断增长的,低盖度不透水面占比存在少量下降现象,且京、津、唐3城市的主体城区各阶段变化差异较大,反映出了各城市扩张具有各自不同的时空演变特征。  相似文献   

基于非因果滤波器的多次波匹配相减方法(英文)   总被引：1，自引：0，他引：1  

刘华锋  陈小宏  宋家文  刘国昌 《应用地球物理》2011,8(1):27-35

在常规多道匹配滤波方法中的滤波器是物理可实现的因果滤波器,只能实现地震信号序列延迟的滤波。本文提出了最小二乘意义下的非因果多道输入多道输出维纳滤波方法,通过比较多道匹配相减中因果和非因果滤波方法之间的差别,验证了方法的有效性,解决了模型数据滞后于实际数据的情况。而且,通过定义长度随偏移距和层速度变化的滑动时窗,解决了匹配时窗内同相轴数量随偏移距增大而增加的问题。并将上述方法应用到改进的扩展多道匹配相减去除多次波的方法中,利用Pluto1.5理论模拟数据,对非因果滤波器和变长度时窗的匹配相减方法进行测试,取得了很好的去除多次波后的地震数据。  相似文献   

基于INPGA的地下水污染治理多目标优化管理模型:Ⅰ——理论方法与算例验证   总被引：1，自引：0，他引：1       下载免费PDF全文

吴剑锋  彭伟  钱家忠  吴吉春 《地质论评》2011,57(2):278-284

基于小生境技术的Pareto遗传算法(NPGA)是一种求解多目标问题的智能搜索方法,适用于优化多种非线性、不连续等复杂多目标问题.但该算法存在局部早熟收敛和收敛速度慢两个不足,在求解Pareto前沿上效果不佳.本文在NPGA的基础上,提出了改进NPGA方法(INPGA),通过Pareto解集过滤器、精英个体保留策略、邻...  相似文献   

雪粒径遥感反演研究进展     

郭忠明  王宁练 《冰川冻土》2011,33(3):539-545

介绍了雪粒径遥感反演的研究历史,阐述了球形或非球形假设下基于雪在可见光波段高反射,在红外区雪面反射率显著下降且对雪粒径变化敏感原理的遥感反演基础,其中包括诸如温度、波长、颗粒形状等,并总结了目前研究中所应用的模型和算法,指出其优点和不足之处.此外,为了得到反演粒径的准确性,讨论了诸如温度、波长、颗粒形状等因素对粒径反演...  相似文献   

基于主成分和模糊C-均值聚类算法的农业水资源高效利用综合分区   总被引：1，自引：1，他引：0  

刘玉邦  梁川 《水文》2011,31(5):57-63

基于农业生态系统环境要素、水的资源属性、水资源的高效利用内涵、生产力水平、土地利用方式、种植结构及种植模式等因子,选取构建农业水资源高效利用综合分区的指标体系(16个定量指标、4个定性指标),采用主成分分析和模糊C-均值聚类算法为区划方法,对川中丘陵区进行量化分区。研究结果将川中丘陵区16个地级市和一个县级市(简阳)分为农业水资源较低利用区、农业水资源低效利用区、农业水资源中等利用区、农业水资源高效利用区和农业水资源较高效利用区5个区,这对南方季节性干旱区水资源利用规划有较强的借鉴作用。  相似文献   

遗传算法反演龙门山断裂带断层三维滑动参数研究     

张秀霞  张永志 《西安地质学院学报》2011,(2):217-220

利用位错理论模型将遗传算法运用于断层三维滑动参数反演问题的求解,采用川西地区2004—2007年GPS观测数据对龙门山断裂带主要断层的三维滑动速率进行计算分析。结果表明：反演结果在量值上整体较小,与地质结果具有较好的一致性,走滑分量︱U1︱〈3.2 mm/a,倾滑分量︱U2︱〈1.54 mm/a,张开分量︱U3︱〈2.5mm/a,低滑动速率反映断层的闭锁及应力的积累及大地震发生的危险性;局部分量较地质结果偏大,反映实测GPS数据反演结果体现的是断层实时活动状态;遗传算法的全局收敛、不依赖初值等优点使结果更加稳定,而张开分量显示局部不规律性,表现出各子断层空间活动不均匀性。  相似文献