Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

基于改进D?Lite遗传算法路径规划研究

针对遗传算法在移动机器人路径规划中易产生早熟现象和收敛速度慢的问题,提出了改进的D~* Lite遗传算法。该算法将D~* Lite算法和遗传算法相结合,通过引入碰撞系数和可视检测技术以提高路径安全性,寻找最短路径。在遗传算法设计中加入动态调整交叉与变异概率,以解决算法在路径规划中因陷入局部最优值而不能到达目标点的问题。最后,通过实验仿真可知:与蚁群算法和免疫遗传算法相比,改进的D~* Lite遗传算法执行效率高,可以快速规划出全局最优路径。     

无线传感器网络中移动sink节点的路径规划

在无线传感器网络中,大量感知数据汇集到sink节点的采集方法会导致sink节点附近的节点能量耗尽,造成能量空洞。针对该问题,利用移动的sink节点进行数据收集是一种解决方法,其中移动sink的路径规划成为一个重要的问题。提出了一个移动sink路径规划算法,将无线传感器中随机分布的节点划分为不同的子区域,寻找sink节点移动的最佳转向点,最终得到最优的移动路径,以实现无线传感器网络生命周期最大化。仿真实验表明,与现有方案相比,该算法能显著延长网络的生命周期。     

Research on Circular Area Search algorithm of multi-robot service based on SOA cloud platform

Considering autonomous mobile robots with a variety of specific functions as a kind of service, when there are many types and quantities of services and the density of regional services is large, proposing an algorithm of Circular Area Search (CAS) because of the problem of multi-robot service scheduling in various areas. Firstly, Django is used as the web framework to build the Service-Oriented Architecture (SOA) multi-robot service cloud platform, which is the basic platform for multi-service combination. Then, the service type, the latitude and longitude and the scoring parameters of the service are selected as the service search metrics to design the CAS algorithm that based on the existing service information registered in MySQL and the Gaode Map for screening optimal service, and then providing the service applicant with the best service. Finally, the service applicant applies for the self-driving tour service as an example to perform performance simulation test on the proposed CAS algorithm. The results show that the CAS algorithm of the multi-robot service cloud platform proposed in this paper is practical compared to the global search. And compared with the Greedy Algorithm experiment, the service search time is reduced about 58% compared with the Greedy Algorithm, which verifies the efficiency of CAS algorithm.     

Internet中文信息搜索引擎评析

介绍搜索引擎的分类、对比和查询技巧。     

国内电子商务门户网站的现状研究

从电子商务在我国迅速发展的角度出发，系统地介绍了我国电子商务网站的典范：阿里巴巴、淘宝。从电子商务的模式出发分析了其经营理念，成功因素及其不足，对中国的电子商务目前状况作了分析，并提出展望。     

Parallel path consistency

Filtering algorithms are well accepted as a means of speeding up the solution of the consistent labeling problem (CLP). Despite the fact that path consistency does a better job of filtering than arc consistency, AC is still the preferred technique because it has a much lower time complexity. We are implementing parallel path consistency algorithms on multiprocessors and comparing their performance to the best sequential and parallel arc consistency algorithms.^(1,2) (See also work by Kerethoet al. ⁽³⁾ and Kasif⁽⁴⁾) Preliminary work has shown linear performance increases for parallelized path consistency and also shown that in many cases performance is significantly better than the theoretical worst case. These two results lead us to believe that parallel path consistency may be a superior filtering technique. Finally, we have implemented path consistency as an outer product computation and have obtained good results (e.g., linear speedup on a 64K-node Connection Machine 2).     

Breaking the search space symmetry in partitioning problems: An application to the graph coloring problem

Many problems consist in splitting a set of objects into different groups so that each group verifies some properties. In practice, a partitioning is often encoded by an array mapping each object to its group numbering. In fact, the group number of an object does not really matter, and one can simply rename each group to obtain a new encoding. That is what we call the symmetry of the search space in a partitioning problem. This property may be prejudicial for optimization methods such as evolutionary algorithms (EA) which require some diversity during the search.     

Simple algorithms for searching a polygon with flashlights

The k-searcher is a mobile guard whose visibility is limited to k rays emanating from her position, where the direction of each ray can be changed continuously with bounded angular rotation speed. Given a polygonal region P, is it possible for the k-searcher to eventually see a mobile intruder that is arbitrarily faster than the searcher within P? We present O(n²)-time algorithms for constructing a search schedule of the 1-searcher and the 2-searcher, respectively. Our framework for the 1-searcher can be viewed as a modification of that of LaValle et al. [Proc. 16th ACM Symp. on Computational Geometry, 2000, pp. 260-269] and is naturally extended for the 2-searcher.