渐进式约束扩展的机械臂运动规划算法

为了保证冗余机械臂带约束运动规划时的路径连续性,针对目前的直接插值和连续插值方法潜在的约束失效和路径失效问题,提出渐进式约束扩展的快速搜索随机树算法（PCE-RRT）。该算法在进行搜索树扩展时引入了一种渐进式约束扩展方法,该方法使用带有最近点信息的逆运动学计算策略,可以在保证任务约束的情况下迭代缩短最近点和扩展点的距离,让每一次扩展都能够保证搜索树的约束性和连续性。PCE-RRT可以使最终生成的搜索树很好地贴合于约束流形子空间,且树上任意两个相连节点都能满足连续条件。通过仿真实验对算法进行验证,实验结果表明该算法能够为机械臂带约束运动规划问题提供同时满足约束性和连续性条件的路径解。     

基于循环寻优RRT算法的无人机航迹规划

针对快速扩展随机树（RRT）算法在无人机在线自主航迹规划中的寻优性问题,提出基于循环寻优RRT算法。将航迹长度代价约束作为启发条件引入RRT算法,可以有效地剪除搜索空间的无用节点,获得较优航迹。通过引入已规划可行航迹的航迹长度代价约束作为下一次算法运行的启发条件,采用循环迭代策略有效地剪除搜索空间的无用节点,使得算法每次运行后的航迹长度代价减小,多次运行后最终得到的航迹接近最优航迹,充分利用航迹长度代价的启发性,克服了RRT算法的缺点,同时获得了一系列不同航迹代价的可行备选航迹,在协同任务中可以根据协同到达时间进行快速选择。仿真结果表明该算法能够快速生成安全并且满足无人机动力学约束的较优航迹。     

基于hp自适应伪谱法的空间机器人路径规划

针对空间机器人运动过程中基座姿态产生较大扰动的问题,基于hp自适应高斯伪谱法提出了一种以基座所受反作用力矩最小为目标函数的空间机器人路径规划方法.首先,综合考虑空间机器人运动过程中存在的关节角度约束、关节角速度约束、控制力矩约束及初始状态和终端状态约束等约束条件,将空间机器人路径规划问题看成满足一系列约束条件和边界条件并实现特定性能指标最优的最优控制问题.其次,结合hp自适应高斯伪谱法（hp-AGPM）与非线性规划技术,求解带有边界约束和路径约束的优化控制问题,得到满足约束且性能指标最优的空间机器人运动轨迹.最后,以平面2自由度空间机械臂为例对所设计方法进行仿真验证,并与其他伪谱法进行对比分析.仿真结果表明：本文算法能在10.6 s的时间内规划出满足各约束条件且容许偏差低于10^-6的最优运动轨迹,并且在计算速度和配点数量上都优于其他伪谱法.     

QoS-driven multicast tree generation using Tabu search

Many multimedia communication applications require a source to transmit messages to multiple destinations subject to Quality-of-Service (QoS) delay constraint. The problem to be solved is to find a minimum cost multicast tree where each source to destination path is constrained by a delay bound. This problem has been proven to be NP-complete. In this paper, we present a Tabu Search (TS) algorithm to construct a minimum cost delay bounded multicast tree. The proposed algorithm is then compared with many existing multicast algorithms. Results show that on almost all test cases, TS algorithm exhibits more intelligent search of the solution subspace and is able to find better solutions than other reported multicast algorithms.     

Newton-conjugate gradient （CG） augmented Lagrangian method for path constrained dynamic process optimization

In this paper, a Newton-conjugate gradient (CG) augmented Lagrangian method is proposed for solving the path constrained dynamic process optimization problems. The path constraints are simplified as a single final time constraint by using a novel constraint aggregation function. Then, a control vector parameterization (CVP) approach is applied to convert the constraints simplified dynamic optimization problem into a nonlinear programming (NLP) problem with inequality constraints. By constructing an augmented Lagrangian function, the inequality constraints are introduced into the augmented objective function, and a box constrained NLP problem is generated. Then, a linear search Newton-CG approach, also known as truncated Newton (TN) approach, is applied to solve the problem. By constructing the Hamiltonian functions of objective and constraint functions, two adjoint systems are generated to calculate the gradients which are needed in the process of NLP solution. Simulation examples demonstrate the effectiveness of the algorithm.     

QoS路由中一种有效的多受限优化路径选择算法

1 引言目前,人们正期待着宽带集成服务网来支持各种各样的满足不同QoS要求的多媒体应用。在宽带体系结构的设计中的一个关键问题就是如何提供资源来满足每次连接的需求。毫无疑问,有效的QoS路由方案的建立是这种体系结构中的一个重要组成部分。的确,QoS路由已经成为许多研究的主题。人们已经认识到一个有效的QoS路由方案的建立给我们带来了许多挑战。在算法上,QoS路由带来的一个的挑战就是需要迅速地找到一条可行路径使它满足一组限制条件同时获得较高的网络资源利用率。一般而言,QoS路由是一个复杂的问题。首先,网络电话和分布式游戏等分布式应用在延迟、延迟抖动、丢失率和带宽等方面有许多不同的QoS限制。多个限制经常使得路由问题更加复杂。例如,寻找一条具有两个独立路径限制的可行路径是NP难的。其次,将来的集成服务网很可能既要传输QoS数据流又要传输尽力而为的数据,     

A novel hybrid immune-based GA for dynamic routing to multiple destinations for overlay networks

Overlay networks play an important role in group communication applications in Internet. These applications require better efficiency in terms of delay, cost and load balancing. This paper presents an artificial immune system (AIS)-based hybrid genetic algorithm for the construction of Quality of Service (QoS) multicast tree among multicast service nodes in overlay network which optimizes path delivery, load-balancing variance and cost under bounded delay–degree constraint. This paper proposes an alternative AIS-based approach to handle the constraints instead of penalty function in overlay multicast routing problem. The clonal selection method of AIS is incorporated into the genetic algorithm (GA) to improve the diversity–convergence relationship which leads to optimized results. Proposed algorithm has the following features: (1) embedded problem specific local search function along with random point crossover to fine tune the search; (2) AIS principle is used to solve the constraints in GA; (3) clonal selection method to get the optimized results. Adaptable procedure is embedded into algorithm to handle the end user join/end user drop. Non-parametric statistical analysis has performed to show the significant difference among the proposed and existing algorithms. Simulation results reveal that our proposed algorithm produces better results in terms of cost, average path length, user rejection rate and convergence. Statistical analysis is also performed to assure the significance of the differences among the tested algorithms.     

最大受限路径相容约束传播算法的研究进展

约束传播技术对于约束满足问题的求解性能至关重要。约束传播技术在一个预处理过程中能彻底地移除一些局部不相容值,或者在搜索期间高效地剪枝搜索树。最大受限路径相容算法(max Restricted Path Consistency,maxRPC)是最近提出的一种强相容性约束传播算法,它能够删除更多不相容值,在解决复杂问题中取得了很好的效果。文中对弧相容算法AC和最大受限路径相容算法maxRPC的相关算法AC3,AC3rm,maxRPC1,maxRPC2,maxRPCrm,maxRPC3等及其相关变体分别进行介绍和比较。在Mistral求解器上的实验测试结果验证了各种算法的性能。     

结合成对约束的近邻稀疏保留投影算法

稀疏保持投影算法是一种无监督的全局线性降维方法,无法应对训练样本不足及类内样本间差异过大的情况。针对该问题,提出一种结合成对约束机制的近邻稀疏保留投影算法。利用近邻样本求取稀疏系数以保留局部结构信息,引入成对约束监督的思想,利用样本类别指导稀疏重构过程,最后定义能最大限度保留稀疏系数中蕴含的类别信息的低维子空间。将该算法用于人脸识别,实验结果证明了算法在识别率以及运行时间上的有效性和可行性。     

改进RRT-人工势场法的机械臂堆垛运动方法

快速拓展随机树算法(RRT)在机械臂路径规划中存在随机性强、搜索效率低、规划路径长等问题,不能在货柜堆垛场景中取得相对最优的光滑路径.对此,该文提出了一种改进RRT-人工势场法混合算法进行货柜堆垛机械臂运动规划.首先,对传统快速拓展随机树算法进行改进,在传统快速拓展随机树算法的全局搜索的基础上引入目标搜索,增强了随机树...     

基于双向随机树改进的智能车辆路径规划研究

针对快速扩展随机树算法随机性大、收敛速度慢和偏差性的问题,基于基本快速扩展随机树算法,通过采用循环交替迭代的搜索方式生成新节点,双向随机树同时搜索,改进优化了基本快速扩展随机树算法,解决了基本快速扩展随机树算法随机性大、收敛速度慢和偏差性的问题。建立车辆转向模型,确定车辆转向角度约束范围,在算法中增加车辆的转弯角度约束,减少生成路径的偏差性,改善了生成路径的质量。对生成的路径进行节点优化,去除多余的节点,缩短了路径的长度,提高了路径的可行性。采用B样条曲线改善路径的平滑度,在路径折点处插入局部端点,对路径进行平滑度处理,使生成的路径更加符合车辆的行驶条件。用Matlab进行虚拟仿真,验证了该算法的正确性。     

An efficient memetic algorithm for solving the job shop scheduling problem

The job shop scheduling problem (JSP) is well known as one of the most complicated combinatorial optimization problems, and it is a NP-hard problem. Memetic algorithm (MA) which combines the global search and local search is a hybrid evolutionary algorithm. In this paper, an efficient MA with a novel local search is proposed to solve the JSP. Within the local search, a systematic change of the neighborhood is carried out to avoid trapping into local optimal. And two neighborhood structures are designed by exchanging and inserting based on the critical path. The objective of minimizing makespan is considered while satisfying a number of hard constraints. The computational results obtained in experiments demonstrate that the efficiency of the proposed MA is significantly superior to the other reported approaches in the literature.     

Placement of a manipulator for minimum cycle time

Productivity of a manipulator depends, largely, on the time it takes to traverse a path, which is a function of the capacity of the actuators to produce torque. Increasing the torque capacity of the actuators to reduce path traversal time may be unrealistic in many cases. Therefore, this article studies the effects of the manipulator location, within a workcell, on the path traversal time. The article defines the boundaries of the manipulator base locus when the end‐effector path is prescribed. Effects of joint mechanical limits and obstacles on this locus are also considered. The proposed algorithm uses nonlinear programming to search the manipulator base locus for the base location that yields the minimum time to traverse a path, subject to the actuator torque constraints of the manipulator. Detailed examples are included. ©1999 John Wiley & Sons, Inc.     

具有树和路约束的平行机排序问题

考虑具有树和路约束的平行机排序问题,其工件集对应于无向图(有向图)的边(弧)集。目标是选取工件集的一个子集使其满足树或路的约束,将其放在平行机上处理,使得机器的最大完工时间(makespan)尽可能地小。通过分析此类问题的组合性质,得到如下结论：在K-树约束下,利用最小支撑K-树的性质可得一个有效多项式时间近似方案;在两固定点间路的约束下,通过构造辅助实例以控制边的权重,分析辅助实例的输出值与目标实例最优值之间的关系,利用最短路的性质可以得到一个2-近似算法;在单源点最短路径树的约束下,根据最短路径树的性质可以得到一个有效多项式时间近似方案;在两固定点间最短路的约束下,在所有的两点间最短路构成的子图基础上,通过构造新的辅助图以控制弧的权重,再利用最短路的性质可以得到一个1.618-近似算法。     

多约束条件下无人机航迹规划

针对多约束条件下的无人机航迹快速规划问题,建立了导航精度约束下无人机航迹规划模型,并设计了“基于Dijkstra算法的航迹规划法”求解模型。通过校正策略优选、校正方案优选和O-D邻接矩阵处理方式,简化搜索路径,降低计算量,提高执行效率,从而实现对传统Dijkstra算法的改进。在满足导航精度约束条件的前提下,以航迹长度最短和经过校正点数量最少为研究目标进行仿真实验,并将所得结果与传统Dijkstra算法和遗传算法所得结果分别进行对比,发现此算法在精度与复杂度方面均优于传统算法和遗传算法。此结果表明,导航精度约束下无人机航迹规划模型和“基于Dijkstra算法的航迹规划法”在解决多约束下无人机航迹规划问题方面具有一定的正确性、有效性和先进性。     

一种多目标不等面积设施布局问题的启发式算法

多目标不等面积设施布局问题（UA-FLP）是将一些不等面积设施放置在车间内进行布局,要求优化多个目标并满足一定的限制条件。以物料搬运成本最小和非物流关系强度最大来建立生产车间的多目标优化模型,并提出一种启发式算法进行求解。算法采用启发式布局更新策略更新构型,通过结合基于自适应步长梯度法的局部搜索机制和启发式设施变形策略来处理设施之间的干涉性约束。为了得到问题的Pareto最优解集,提出了基于Pareto优化的局部搜索和基于小生境技术的全局优化方法。通过两个典型算例对算法性能进行测试,实验结果表明,所提出的启发式算法是求解多目标UA-FLP的有效方法。     

Global and local scatter based semi-supervised dimensionality reduction with active constraints selection in ensemble subspaces

Semi-supervised dimensionality reduction has attracted an increasing amount of attention in this big-data era. Many algorithms have been developed with a small number of pairwise constraints to achieve performances comparable to those of fully supervised methods. However, one challenging problem with semi-supervised approaches is the appropriate choice of the constraint set, including the cardinality and the composition of the constraint set which, to a large extent, affects the performance of the resulting algorithm. In this work, we address the problem by incorporating ensemble subspaces and active learning into dimensionality reduction and propose a new global and local scatter based semi-supervised dimensionality reduction method with active constraints selection. Unlike traditional methods that select the supervised information in one subspace, we pick up pairwise constraints in ensemble subspaces, where a novel active learning algorithm is designed with both exploration and filtering to generate informative pairwise constraints. The automatic constraint selection approach proposed in this paper can be generalized to be used with all constraint-based semi-supervised learning algorithms. Comparative experiments are conducted on four face database and the results validate the effectiveness of the proposed method.     

结构约束的对称低秩表示子空间聚类算法

通过子空间聚类可获得高维数据的潜在子空间结构,但现有算法不能同时揭示数据全局低秩结构和局部稀疏结构特性,致使聚类性能受限.提出一种结构约束的对称低秩表示算法用于子空间聚类.在目标函数中添加结构约束和对称约束来限制低秩表示解的结构,构造一个加权稀疏和对称低秩的亲和度图,在此基础上,结合谱聚类方法实现高效的子空间聚类.实验...     

具有未知参数的非线性系统动态优化

针对具有未知参数和不等式路径约束的非线性系统动态优化问题,提出一种新颖有效的数值求解方法.首先,将未知参数视为一个动态优化问题的决策变量;其次,利用多重打靶法将无限维的含未知参数动态优化问题转化为有限维的非线性规划问题,进而在不等式路径约束违反的时间段内,用有限多个内点约束替代原不等式路径约束;然后,用内点法求解转化后的非线性规划问题,在路径约束违反的一定容许度下,经过有限多次步数迭代后得到未知参数值的同时得到控制策略,并在理论上对所提出算法的收敛性进行相应证明;最后,对两个经典的含未知参数非线性系统的动态优化问题进行数值仿真以验证所提出算法的有效性.     

基于成对约束的SubKMeans聚类数确定算法

随着数据维度的增加,传统聚类算法会出现聚类性能差的现象.SubKMeans是一种功能强大的子空间聚类算法,旨在为K-Means类算法搜索出一个最佳子空间,降低高维度影响,但是该算法需要用户事先指定聚类数目K值,而在实际使用中有时无法给出准确的K值.针对这一问题,引入成对约束,将成对约束与轮廓系数进行结合,提出了一种基于成对约束的SubKMeans聚类数确定算法.改进后的轮廓系数能够更加准确的评价聚类性能,从而实现K值确定,实验结果证明该方法的有效性.