兵棋推演中地形量化算法研究与实现

传统手工兵棋推演计算机化的一个重要方面是实现兵棋棋盘的计算机化.需要借助于计算机实现兵棋棋盘的数字化并对兵棋地图进行地形量化.兵棋推演系统采用不同大小的六角网格量化地形,将兵棋推演系统与地理信息系统组件MapX结合.在MapX中显示兵棋推演区域的Maplnfo格式地图数据,并提出了一种基于MapX的六角网格绘制算法,算法充分利用MapX中图元与组合图元的思想,可以根据推演需求实时生成不同比例尺的六角网格覆盖整个或部分作战区域,降低了手工兵棋地形量化的工作量,对提高兵棋推演效率有一定的意义.     

室内动态环境下基于网格分割与双地图耦合的RGB-D SLAM算法

为解决室内动态环境下现有RGB-D SLAM（同步定位与地图创建）系统定位精度低、建图效果差的问题,提出一种基于网格分割与双地图耦合的RGB-D SLAM算法。基于单应运动补偿与双向补偿光流法,根据几何连通性与深度图像聚类结果实现网格化运动分割,同时保证算法的快速性。利用静态区域内的特征点最小化重投影误差对相机进行位置估计。结合相机位姿、RGB-D图像、网格化运动分割图像,同时构建场景的稀疏点云地图和静态八叉树地图并进行耦合,在关键帧上使用基于网格分割和八叉树地图光线遍历的方法筛选静态地图点,更新稀疏点云地图,保障定位精度。公开数据集和实际动态场景中的实验结果都表明,本文算法能够有效提升室内动态场景中的相机位姿估计精度,实现场景静态八叉树地图的实时构建和更新。此外,本文算法能够实时运行在标准CPU硬件平台上,无需GPU等额外计算资源。     

等值线绘制中的多重网格剖分快速搜索算法*

搜索散乱采样数据的网格化过程是等值线生成中的重要步骤,现有矩形网格剖分的网格化方法,对分布不均匀的采样数据搜索效率低,大大影响了网格化的效率。本文提出一种多重网格剖分快速搜索算法,该算法首先将采样数据进行多重网格剖分,建立网格索引;然后通过索引搜索多重网格,合并采样数据;最后利用快速搜索算法得到的采样数据计算出待插值点。实际数据的网格化测试结果表明,该算法有效地提高了散乱采样数据的搜索效率,具有实际应用价值。     

嵌入式GIS中矢量地图快速显示方法研究

为提高嵌入式GIS中矢量地图的显示速度,建立了要素分级的多层网格索引模型.该模型算法简单,耗用内存小,便于实现.显示地图时,直接依据当前的显示比例,读取对应网格索引中相应级别的地图数据,避免了大量非屏幕区域的冗余地图数据读取,极大地提高了显示速度,同时设计了折线与矩形求交的算法来提高地图数据显示处理的效率.实验结果表明,该方法能显著提高嵌入式平台矢量地图的显示速度,并且已成功应用于手持GPS定位终端软件.     

六角格网的弧线矢量数据量化拟合方法

兵棋地图矢量化是指将地理信息因子以属性形式映射到以六角网格为组织结构的兵棋地图中的过程.由于地理信息连通结构复杂,其中包含大量的有向弧段数据,如何在保持原有拓扑连接的前提下快速准确地量化到六角网格一直是一个困难的问题.对此,提出一种串序匹配拟合方法.首先依据有向弧段生成所穿越的匹配单元序列;然后对每个匹配单元依据离散Fréchet距离确定最佳的拟合六角格边;最后寻找并连接各条有向格边序列的连通端点,形成连通图.实验结果表明,文中方法可以在线性时间内完成大量弧段的量化拟合计算;同时,由于在量化中弧段间的连接节点被调整到格点,各弧段间的连接关系可在拟合过程中得以保持;串序匹配拟合方法具有很好的适应性和很高的效率.     

网格化曲面的固定角度铺丝轨迹规划算法

研究适用于网格化曲面的自动铺丝固定角度算法,对现有固定角度算法及其优缺点进行归纳,阐述了铺放曲面网格化的优势和应用STL文件进行网格划分的原因.提出了2类网格化曲面固定角度自动铺丝轨迹规划算法.针对算法在网格化曲面轨迹规划过程中可能出现的顶点情况和无解情况,分析了它们产生的原因,并提出了相应的解决方案.通过采用基于VC++编程实现了文中算法,并由计算结果绘制轨迹线,验证了其正确性和合理性.将固定算法引入网格化曲面,增大了算法适用范围,降低了规划难度,提高了规划效率.     

一种基于格网划分的高效Delaunay三角网格化算法

对于任意给定的平面散点数据,可以通过Delaunay三角剖分进行网格化处理。但是当数据量较大时,一般的Delaunay三角网格化算法建模过程非常复杂,且内存消耗大,执行效率低。本文在传统的分割-合并算法基础上,对已经进行块分割的格网数据进行排序、再分割,然后按照分割的逆序合并Delaunay子三角网,高效快速地生成Delaunay三角网格,有效地提高了建模效率,其时间复杂度接近于Ο(n)。     

兵棋推演在登陆作战任务中的应用研究

传统兵棋是模拟战争对抗的各方人员,使用代表战场及其军事力量的棋盘和棋子,依据从战争经验中总结的规则,对战争过程进行逻辑推演研究和评估的军事科学工具.兵棋推演带来的比较适合作战分析的推演方式,如何在新的信息化系统中加以体现是计算机作战模拟所要研究和解决的问题.首先从兵棋概念的角度分析了兵棋推演的本质和作用,接着分析了传统兵棋与计算机兵棋推演系统,最后结合研讨型兵棋和综合集成的思想,探讨了兵棋推演在海军海上军事任务中应用的可能性及一般应用方式方法,设计了一个研讨型兵棋推演系统.     

一种基于格网划分的高Delaunay三角网格化算法

对于任意给定的平面散点数据,可以通过Delaunay三角剖分进行网格化处理.但是当数据量较大时,一般的Delaunay三角网格化算法建模过程非常复杂,且内存消耗大,执行效率低.本文在传统的分割-合并算法基础上,对已经进行块分割的格网数据进行排序、再分割,然后按照分割的逆序合并Delaunay子三角网,高效快速地生成Delaunay三角网格,有效地提高了建模效率,其时间复杂度接近于O(n).     

多分辨率网格的数据压缩

在对三角形网格多分辨率分析中,为了避免重新网格化的过程,基于小波变换,扩展了Lounsbery的方法。该算法直接对不规则网格进行渐进压缩,得到了不同分辨率的网格。在此过程中还可以基于三角形网格的连接信息,对三角形网格进行优化,使之更加规则,从而使本文算法得到了改善。实验结果表明,算法速度快,效果良好,有一定的实用性。     

一种低功耗程控滤波器的设计

针对目前移动机器人同时定位与地图创建(SLAM)研究中多采用激光雷达或超声环作为测距传感器导致系统复杂、成本高的问题,提出了一种利用舵机带动单超声传感器扫描的低成本设计方案。在高斯超声模型基础上,利用贝叶斯公式对栅格地图进行概率更新,并结合Sobel边缘检测算法提取特征点,实现了由不确定的移动机器人坐标系向固定的以环境特征点为原点的全局环境坐标系的转换及全局定位,为在相同环境下通过重复实验进行多地图融合研究奠定了基础。该低成本移动机器人设计的有效性通过实验得以验证。     

Generating Tile Maps

Tile maps are an important tool in thematic cartography with distinct qualities (and limitations) that distinguish them from better‐known techniques such as choropleths, cartograms and symbol maps. Specifically, tile maps display geographic regions as a grid of identical tiles so large regions do not dominate the viewer's attention and small regions are easily seen. Furthermore, complex data such as time series can be shown on each tile in a consistent format, and the grid layout facilitates comparisons across tiles. Whilst a small number of handcrafted tile maps have become popular, the time‐consuming process of creating new tile maps limits their wider use. To address this issue, we present an algorithm that generates a tile map of the specified type (e.g. square, hexagon, triangle) from raw shape data. Since the ‘best’ tile map depends on the specific geography visualized and the task to be performed, the algorithm generates and ranks multiple tile maps and allows the user to choose the most appropriate. The approach is demonstrated on a range of examples using a prototype browser‐based application.     

Robust outdoor visual localization using a three‐dimensional‐edge map

Visual localization systems that are practical for autonomous vehicles in outdoor industrial applications must perform reliably in a wide range of conditions. Changing outdoor conditions cause difficulty by drastically altering the information available in the camera images. To confront the problem, we have developed a visual localization system that uses a surveyed three‐dimensional (3D)‐edge map of permanent structures in the environment. The map has the invariant properties necessary to achieve long‐term robust operation. Previous 3D‐edge map localization systems usually maintain a single pose hypothesis, making it difficult to initialize without an accurate prior pose estimate and also making them susceptible to misalignment with unmapped edges detected in the camera image. A multihypothesis particle filter is employed here to perform the initialization procedure with significant uncertainty in the vehicle's initial pose. A novel observation function for the particle filter is developed and evaluated against two existing functions. The new function is shown to further improve the abilities of the particle filter to converge given a very coarse estimate of the vehicle's initial pose. An intelligent exposure control algorithm is also developed that improves the quality of the pertinent information in the image. Results gathered over an entire sunny day and also during rainy weather illustrate that the localization system can operate in a wide range of outdoor conditions. The conclusion is that an invariant map, a robust multihypothesis localization algorithm, and an intelligent exposure control algorithm all combine to enable reliable visual localization through challenging outdoor conditions. © 2009 Wiley Periodicals, Inc.     

基于A*改进算法的四向移动机器人路径搜索研究

在由栅格法构建的环境地图中,利用A*算法进行路径搜索时存在搜索范围广、搜索速度慢、路径曲折等问题.针对栅格地图及具有四向移动机器人的特点,从搜索方向、启发函数构建、机器人加减速以及转向成本等几个方面对A*算法进行研究和改进,提出一种基于启发信息的扩展节点算法,降低偏离最佳路径节点的扩展数量.改进后的A*算法平均可降低67.1%的搜索面积、49.2%的计算时长、24.9%的路径成本及减少51.1%的转向次数,提高了路径的搜索速度和平滑度.     

激光—相机系统语义栅格建图和路径规划

目的 SLAM（simultaneous localization and mapping）是移动机器人在未知环境进行探索、感知和导航的关键技术。激光SLAM测量精确，便于机器人导航和路径规划，但缺乏语义信息。而视觉SLAM的图像能提供丰富的语义信息，特征区分度更高，但其构建的地图不能直接用于路径规划和导航。为了实现移动机器人构建语义地图并在地图上进行路径规划，本文提出一种语义栅格建图方法。方法 建立可同步获取激光和语义数据的激光-相机系统，将采集的激光分割数据与目标检测算法获得的物体包围盒进行匹配，得到各物体对应的语义激光分割数据。将连续多帧语义激光分割数据同步融入占据栅格地图。对具有不同语义类别的栅格进行聚类，得到标注物体类别和轮廓的语义栅格地图。此外，针对语义栅格地图发布导航任务，利用路径搜索算法进行路径规划，并对其进行改进。结果 在实验室走廊和办公室分别进行了语义栅格建图的实验，并与原始栅格地图进行了比较。在语义栅格地图的基础上进行了路径规划，并采用了语义赋权算法对易移动物体的路径进行对比。结论 多种环境下的实验表明本文方法能获得与真实环境一致性较高、标注环境中物体类别和轮廓的语义栅格地图，且实验硬件结构简单、成本低、性能良好，适用于智能化机器人的导航和路径规划。     

一种基于密度和网格的簇心可确定聚类算法

以网格化数据集来减少聚类过程中的计算复杂度,提出一种基于密度和网格的簇心可确定聚类算法.首先网格化数据集空间,以落在单位网格对象里的数据点数表示该网格对象的密度值,以该网格到更高密度网格对象的最近距离作为该网格的距离值;然后根据簇心网格对象同时拥有较高的密度和较大的距离值的特征,确定簇心网格对象,再通过一种基于密度的划分方式完成聚类;最后,在多个数据集上对所提出算法与一些现有聚类算法进行聚类准确性与执行时间的对比实验,验证了所提出算法具有较高的聚类准确性和较快的执行速度.     

Artificial life techniques for load balancing in computational grids

Load balancing is a very important and complex problem in computational grids. A computational grid differs from traditional high performance computing systems in the heterogeneity of the computing nodes and communication links, as well as background workloads that may be present in the computing nodes. There is a need to develop algorithms that could capture this complexity yet can be easily implemented and used to solve a wide range of load balancing scenarios. Artificial life techniques have been used to solve a wide range of complex problems in recent times. The power of these techniques stems from their capability in searching large search spaces, which arise in many combinatorial optimization problems, very efficiently. This paper studies several well-known artificial life techniques to gauge their suitability for solving grid load balancing problems. Due to their popularity and robustness, a genetic algorithm (GA) and tabu search (TS) are used to solve the grid load balancing problem. The effectiveness of each algorithm is shown for a number of test problems, especially when prediction information is not fully accurate. Performance comparisons with Min-min, Max-min, and Sufferage are also discussed.     

The Effects of Stitching Orders in Patch-and-Stitch WSN Localization Algorithms

A "patch-and-stitch” localization algorithm divides the network into small overlapping subregions. Typically, each subregion consists of a node and all or some of its neighbors. For each subregion, the algorithm builds a local map, called a patch, which is actually an embedding of the nodes it spans in a relative coordinate system. Finally, the algorithm stitches those patches to form a single global map. In a patch-and-stitch algorithm, the stitching order makes an influence on both the performance and the complexity of the algorithm. In this paper, we present a formal framework to deal with stitching orders in patch-and-stitch localization algorithms. In our framework, the stitching order is determined by a stitching scheme and the stitching scheme consists of a stitching policy and a potential function. The potential function is to predict how well a patch will be stitched if patches are stitched according to a given partial order. The stitching policy is a mechanism that determines the stitching order based on the predictions by the potential function. We present various stitching schemes and evaluate them through simulations. In addition, we apply the patch-and-stitch strategy into the anchor-based localization and propose a clustering-based localization algorithm. A potential function is used to partition the network into clusters each of which is centered at an anchor node. For each cluster, a cluster map is constructed via the anchor-free localization algorithm. Then, those cluster maps are combined to form a single global map. We propose a stitching technique for combining those cluster maps and analyze the performance of the algorithm by simulations.