基于集成式因子图优化的煤矿巷道移动机器人三维地图构建

煤矿井下移动机器人作业精度严重依赖于同步定位与建图(SLAM)技术的准确性。井下长直巷道存在特征缺失、光照条件差等问题,导致激光里程计和视觉里程计易失效,因而限制了传统SLAM方法在煤矿巷道的有效应用,且目前SLAM方法的研究主要聚焦于多传感融合建图方法,较少关注激光SLAM方法建图精度的提升。针对上述问题,面向移动机器人在煤矿巷道的建图需求,提出了一种基于集成式因子图优化的煤矿巷道移动机器人三维地图构建方法,采用前端构建和后端优化的策略,设计了前端点云配准模块和基于滤波、图优化的后端构建方法,使建图结果更准确、适应性更强。针对煤矿长直巷道环境退化导致三维激光点云配准精度低的问题,融合迭代最近点(ICP)和正态分布变换(NDT)算法,兼顾点云几何特征和概率分布特征,设计了集成式前端点云配准模块,实现了点云的精确配准。针对三维激光SLAM后端优化问题,研究了基于位姿图和因子图优化的后端构建方法,构建了集成ICP和NDT相对位姿因子的因子图优化模型,以准确估计移动机器人位姿。分别利用公开数据集KITTI和模拟巷道点云数据集对三维地图构建方法在不同工况下的性能进行了实验验证。公开数据集KIT...     

基于图优化的同时定位与地图创建综述

基于图优化的同时定位与地图创建(SLAM)是当前机器人领域的研究热点.从帧间配准、环形闭合检测以及优化技术3个主要方面对基于图优化的同时定位与地图创建进行综述.对每一个方面,阐述其关键技术,介绍最新研究进展,并探讨相关难点问题及解决思路.最后,对基于图优化的同时定位与地图创建的发展作出展望.     

基于激光雷达的同时定位与地图构建方法综述

首先分解激光SLAM的基本框架,分别对前端扫描匹配、后端优化、闭环检测与验证、地图构建四个模块近年来的主流算法进行总结;然后对基于滤波器和基于图优化两种激光SLAM框架下的代表性方案进行深入分析和比较;最后对激光SLAM的发展趋势进行展望。     

基于嵌套剖分的位姿图分层优化算法

位姿图优化 （pose graph optimization,PGO）是一种在同时定位与地图构建（simultaneous localization and mapping,SLAM）后端优化中常用的高维非凸优化算法,通常建模成极大似然估计。由于目前的PGO算法优化大规模大噪声数据集时很难在保证精度的同时提升速度。所以提出了一种基于嵌套剖分的位姿图分层优化算法。该算法首先建立不同距离度量的χ2检验模型,进而剔除异常值点。然后利用嵌套剖分算法将位姿图分割成一组子图,再从这些子图中提取出一个表示原SLAM问题的抽象拓扑的骨架图,从而优化该骨架图,完成初始化。最后在模拟和真实的位姿图数据集上进行实验评估,结果表明该算法在不影响精度的情况下,可以提高算法的计算速度,具有可伸缩性。     

面向室内退化环境的多传感器建图方法

在室内同时定位与建图(SLAM)的实际应用中,对称单一结构环境易造成激光SLAM错误建图,低质量光照或低纹理环境易造成视觉SLAM失效.针对上述室内退化环境,提出一种将激光、视觉、惯性测量单元(IMU)进行紧耦合的LVI-SLAM方法.在该方法前端,设计视觉评价环节对视觉信息置信度进行自适应调整;在该方法后端,进行位姿图优化以及多传感器回环抑制累积误差.视觉评价实验、单走廊实验以及大场景建图实验的结果证明了该方法的鲁棒性和精确性.在面积为1050 m2的复杂室内环境下,采用该方法建图误差为0.9％.     

无人机视觉SLAM环境感知发展研究

无人机在进行搜索救援等高级任务的时候,往往需要确定自己的位置和环境信息;仿照于人类通过视觉感知环境信息,视觉SLAM是计算机视觉领域里面通过视觉传感器感知环境的信息并快速跟踪自身的位置和建立环境地图的一种前沿技术;文章首先阐述了 VSLAM的重要组成部分:前端处理(特征点法和直接法)、数据关联、后端优化算法(滤波方法和优化方法)和建图;然后总结了一些在无人机上成功应用的典型VSLAM算法,以及在VSLAM发展的30多年的时间里涌现出许多出色的方案和研究机构;接着论述了当前用于无人机VSLAM发展的几个重点问题,多无人机协同的C—SLAM、深度学习和语义分割在SLAM中的应用、以视觉惯导为代表的多传感器融合SLAM;最后,对VSLAM方法进行总结,给出了未来的发展方向,希望对后续研究提供指导和帮助.     

基于2D激光雷达的SLAM算法研究综述

移动机器人导航功能的实现需要同时定位与建图(simultaneous localization and mapping,SLAM)和路径规划这两方面的技术,其中由SLAM技术生成的栅格地图是移动机器人运用路径规划算法的前提。2D激光SLAM由于其建图精度较高、性能稳定且价格便宜,在室内移动机器人中应用十分广泛。2D激光SLAM是指移动机器人在自身所处环境及位置先验信息未知的情况下,以2D激光雷达为主要传感器,感知周围环境信息,从而实现自身位姿的估计和地图的构建。将2D激光SLAM分为两部分,第一部分从激光测距原理入手,对三角法和飞行时间法进行了详细介绍和优缺点比较。第二部分从前端扫描匹配、后端优化、回环检测和地图构建这四个方面分别详细阐述了2D激光SLAM系统框架。同时对主流2D激光SLAM算法进行了深入分析和优缺点比较,并对激光SLAM未来的发展进行了展望。     

基于图优化的移动机器人视觉SLAM

针对目前移动机器人视觉SLAM（simultaneous localization and mapping）研究中存在的实时性差、精确度不高、无法稠密化建图等问题,提出了一种基于RGB-D数据的实时 SLAM算法。在本算法前端处理中,采用了鲁棒性与实时性更好的ORB特征检测。利用 RANSAC 算法对可能存在的误匹配点进行剔除完成初始匹配,对所得内点进行PNP求解,用于机器人相邻位姿的增量估计。在后端优化中,设计了一种遵循图优化思想的非线性优化方法对移动机器人位姿进行优化。同时结合闭环检测机制,提出了一种点云优化算法,用于抑制系统的累积误差,进一步提升位姿与点云的精确性。实验验证了本文所提方法能够迅速、准确地重构出稠密化的三维环境模型。     

采用双视觉里程计的SLAM位姿图优化方法

后端轨迹优化是视觉同步定位与建图系统的重要组成部分,可以显著地提高定位精度.然而,现有的基于捆集约束法的优化方法在大场景中计算量大,并且无法应用于端到端视觉里程计.针对这个问题,提出了一种在前端采用2个视觉里程计的后端通用位姿图优化方法,可以应用于端到端视觉里程计.该方法采用一个高速低精度的端到端视觉里程计以高频率运行,同时一个低速高精度的视觉里程计以低频率运行,局部优化通过2个里程计提供的约束条件使用高斯-牛顿法迭代优化;在全局优化中基于关键帧进行场景匹配与局部优化同时进行.实验证明,应用该优化方法的同步定位与建图系统可以在KITTI数据集上实时运行,相较于2个视觉里程计都取得了精度上的较大提升,并且对比现今开源的几种应用后端轨迹优化的著名同步定位与建图方法,在轨迹误差、绝对轨迹误差、旋转误差和相对位姿误差上均取得了较低的误差,兼顾了传统方法精度的优势和端到端方法速度上的优点.除此以外,该优化方法还可以适用于其他更多的视觉里程计.     

深度学习下的视觉SLAM回环检测及其算法

作为机器人技术领域的研究重点之一,SLAM在无人驾驶、增强现实、虚拟现实等方面有重要应用.视觉SLAM利用连续的相机帧获取信息,完成环境环境感知,而长时间运行视觉SLAM系统会不断累积邻近帧间误差,影响后端优化收敛.针对此问题,提出一种基于深度学习的回环检测方法,使用回环检测模块以减少邻近帧间的误差积累,克服以人工标记...     

Blended biogeography-based optimization for constrained optimization

Biogeography-based optimization (BBO) is a new evolutionary optimization method that is based on the science of biogeography. We propose two extensions to BBO. First, we propose a blended migration operator. Benchmark results show that blended BBO outperforms standard BBO. Second, we employ blended BBO to solve constrained optimization problems. Constraints are handled by modifying the BBO immigration and emigration procedures. The approach that we use does not require any additional tuning parameters beyond those that are required for unconstrained problems. The constrained blended BBO algorithm is compared with solutions based on a stud genetic algorithm (SGA) and standard particle swarm optimization 2007 (SPSO 07). The numerical results demonstrate that constrained blended BBO outperforms SGA and performs similarly to SPSO 07 for constrained single-objective optimization problems.     

Biogeography-based optimization for constrained optimization problems

Biogeography-based optimization (BBO) has been recently proposed as a viable stochastic optimization algorithm and it has so far been successfully applied in a variety of fields, especially for unconstrained optimization problems. The present paper shows how BBO can be applied for constrained optimization problems, where the objective is to find a solution for a given objective function, subject to both inequality and equality constraints.     

The particle swarm optimization algorithm in size and shape optimization

Shape and size optimization problems instructural design are addressed using the particle swarm optimization algorithm (PSOA). In our implementation of the PSOA, the social behaviour of birds is mimicked. Individual birds exchange information about their position, velocity and fitness, and the behaviour of the flock is then influenced to increase the probability of migration to regions of high fitness. New operators in the PSOA, namely the elite velocity and the elite particle, are introduced. Standard size and shape design problems selected from literature are used to evaluate the performance of the PSOA. The performance of the PSOA is compared with that of three gradient based methods, as well as the genetic algorithm (GA). In attaining the approximate region of the optimum, our implementation suggests that the PSOA is superior to the GA, and comparable to gradient based algorithms. Received December 18, 2000     

Multiobjective optimization using population-based extremal optimization

In recent years, a general-purpose local-search heuristic method called Extremal Optimization (EO) has been successfully applied in some NP-hard combinatorial optimization problems. In this paper, we present a novel Pareto-based algorithm, which can be regarded as an extension of EO, to solve multiobjective optimization problems. The proposed method, called Multiobjective Population-based Extremal Optimization (MOPEO), is validated by using five benchmark functions and metrics taken from the standard literature on multiobjective evolutionary optimization. The experimental results demonstrate that MOPEO is competitive with the state-of-the-art multiobjective evolutionary algorithms. Thus MOPEO can be considered as a viable alternative to solve multiobjective optimization problems.     

改进的r支配高维多目标粒子群优化算法

高维多目标优化问题是广泛存在于实际应用中的复杂优化问题,目前的研究方法大都限于进化算法.本文利用粒子群优化算法求解高维多目标优化问题,提出了一种基于r支配的多目标粒子群优化算法.采用r支配关系进行粒子的比较与选择,并结合粒子群优化算法收敛速度快的优势,使得算法在目标个数增加时仍保持较强的搜索能力;为了弥补由此造成的群体多样性的丢失,优化非r支配阈值的取值策略;此外,引入决策空间的拥挤距离测度,并给出新的外部存储器更新方法,从而进一步防止算法陷入局部最优.对多个基准测试函数的仿真结果表明所得解集在收敛性、多样性以及围绕参考点的分布性上均优于其他两种算法.     

A hybrid multi-objective tour route optimization algorithm based on particle swarm optimization and artificial bee colony optimization

Computational intelligence techniques have widespread applications in the field of engineering process optimization, which typically comprises of multiple conflicting objectives. An efficient hybrid algorithm for solving multi-objective optimization, based on particle swarm optimization (PSO) and artificial bee colony optimization (ABCO) has been proposed in this paper. The novelty of this algorithm lies in allocating random initial solutions to the scout bees in the ABCO phase which are subsequently optimized in the PSO phase with respect to the velocity vector. The last phase involves loyalty decision-making for the uncommitted bees based on the waggle dance phase of ABCO. This procedure continues for multiple generations yielding optimum results. The algorithm is applied to a real life problem of intercity route optimization comprising of conflicting objectives like minimization of travel cost, maximization of the number of tourist spots visited and minimization of the deviation from desired tour duration. Solutions have been obtained using both pareto optimality and the classical weighted sum technique. The proposed algorithm, when compared analytically and graphically with the existing ABCO algorithm, has displayed consistently better performance for fitness values as well as for standard benchmark functions and performance metrics for convergence and coverage.     

Plantwide optimization via real-time optimization with persistent parameter adaptation

Determining the optimization scope is a major issue whenever implementing Real-time Optimization (RTO). Ideally, the optimization problem should encompass the whole plant and not a single unit, which represents only a local subset of the problem. However, if the standard RTO method, the two-step approach (TS), is applied to the entire plant, the whole system needs to be at steady-state (SS) in order to initiate the optimization cycle. This condition is rarely found in practice. One alternative is to apply Real-time Optimization with Persistent Parameter Adaptation (ROPA). ROPA is an RTO variant that integrates online estimators to the standard TS framework and avoids the need of waiting for steady-state to trigger the optimization cycle. However, the problem shifts to obtaining a dynamic model of the entire plant, which can be challenging and time consuming. This paper proposes a variant of ROPA, named asynchronous ROPA (asROPA), where the plant-wide model is partitioned into submodels and, depending on their characteristics, their parameters are updated using either online or steady-state estimators. Consequently, it is not necessary to obtain a dynamic model for the whole process. This asynchronous updating strategy allows the plant-wide model to be up-to-date to the process and the plant-wide optimization can be scheduled at any arbitrary time. The new strategy is applied to a case study consisting of a system whose model can be partitioned into a separation and a reaction submodel. The plant-wide results indicate that asROPA reacts much faster to the disturbances in comparison to the TS approach, improving the overall economic performance and is able to drive the system to the plant-wide optimum. Additionally, a strategy for partitioning the process and choosing the estimation strategy for each partition is proposed.     

一种新型的全局优化算法——细胞膜优化算法*

通过研究细胞膜的特性及其物质转运方式,从中进行提取优化模型,并结合全局优化算法的基本思想,提出了一种新型的全局优化算法——细胞膜优化算法（CMO）。通过数值实验,验证了细胞膜优化算法具有很好的全局寻优能力、快速的收敛能力和获取高精度解的能力,并与标准粒子群算法（PSO）和人口迁移算法（PMA）进行比较,结果表明,细胞膜优化算法在解决高维优化问题时具有更好的收敛性能。     

Multi-objective ordinal optimization for simulation optimization problems

Ordinal optimization (OO) has been successfully applied to accelerate the simulation optimization process with single objective by quickly narrowing down the search space. In this paper, we extend the OO techniques to address multi-objective simulation optimization problems by using the concept of Pareto optimality. We call this technique the multi-objective OO (MOO). To define the good enough set and the selected set, we introduce two performance indices based on the non-dominance relationship among the designs. Then we derive several lower bounds for the alignment probability under various scenarios by using a Bayesian approach. Numerical experiments show that the lower bounds of the alignment probability are valid when they are used to estimate the size of the selected set as well as the expected alignment level. Though the lower bounds are conservative, they have great practical value in terms of narrowing down the search space.     

多策略的郊狼优化算法

郊狼优化算法（coyote optimization algorithm,COA）是最近提出的一种群智能优化算法,具有独特的搜索结构和较好的优化性能。为了进一步提高COA的优化性能,提出了一种多策略的郊狼优化算法（multi-strategy COA,MSCOA）。首先,对于组内最优郊狼,采用一种全局最优郊狼引导的成长策略提高其社会适应能力,对于组内最差郊狼,采用一种最优郊狼引导强化策略强化最差郊狼的能力;其次,对于组内其他郊狼采用一种动态调整信息交流的组内成长策略提升组内郊狼之间的信息共享程度,并将这种组内成长策略与一种改进的迁移策略融合,更进一步提升搜索能力;最后采用动态分组策略减少参数手动设置,提高算法的可操作性。以上多种策略的使用更好地平衡了探索与开采,使算法的性能最大化。大量来自CEC2014测试集的复杂函数实验结果表明,与COA相比,MSCOA具有更强搜索能力、更快的运行速度和更高的搜索效率,与其他优秀优化算法相比,具有更明显的优势。