A fusion algorithm is proposed to enhance the search speed of an ant colony system(ACS)for the global path planning and overcome the challenges of the local path planning in an unmanned aerial vehicle(UAV).The ACS sea...A fusion algorithm is proposed to enhance the search speed of an ant colony system(ACS)for the global path planning and overcome the challenges of the local path planning in an unmanned aerial vehicle(UAV).The ACS search efficiency is enhanced by adopting a 16-direction 24-neighborhood search way,a safety grid search way,and an elite hybrid strategy to accelerate global convergence.Quadratic planning is performed using the moving average(MA)method.The fusion algorithm incorporates a dynamic window approach(DWA)to deal with the local path planning,sets a retracement mechanism,and adjusts the evaluation function accordingly.Experimental results in two environments demonstrate that the improved ant colony system(IACS)achieves superior planning efficiency.Additionally,the optimized dynamic window approach(ODWA)demonstrates its ability to handle multiple dynamic situations.Overall,the fusion optimization algorithm can accomplish the mixed path planning effectively.展开更多
In this paper,we consider the B?hmer–Vandersloot(BV)model of loop quantum black holes obtained from the improved dynamics approach.We adopt the Saini–Singh gauge,in which it was found analytically that the BV spacet...In this paper,we consider the B?hmer–Vandersloot(BV)model of loop quantum black holes obtained from the improved dynamics approach.We adopt the Saini–Singh gauge,in which it was found analytically that the BV spacetime is geodesically complete.We show that black/white hole horizons do not exist in this geodesically complete spacetime.Instead,there exists only an infinite number of transition surfaces,which always separate trapped regions from anti-trapped ones.Comments on the improved dynamics approach adopted in other models of loop quantum black holes are also given.展开更多
In this paper,a novel,dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with generic path planning techniques through a dual-mode model predictive contr...In this paper,a novel,dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with generic path planning techniques through a dual-mode model predictive control framework.The planned path adds information on the connectivity of the free space to the obstacle avoidance capabilities of the dynamic window approach.This allows for guaranteed convergence to a goal location while navigating through an unknown environment at relatively high speeds.The framework is applied in a combined simulation/hardware implementation to demonstrate the computational feasibility and the ability to cope with the constraints of a dynamic system.展开更多
In this paper,the approximate analytical oscillatory solutions to the generalized KolmogorovPetrovsky-Piskunov equation(gKPPE for short)are discussed by employing the theory of dynamical system and hypothesis undeterm...In this paper,the approximate analytical oscillatory solutions to the generalized KolmogorovPetrovsky-Piskunov equation(gKPPE for short)are discussed by employing the theory of dynamical system and hypothesis undetermined method.According to the corresponding dynamical system of the bounded traveling wave solutions to the gKPPE,the number and qualitative properties of these bounded solutions are received.Furthermore,pulses(bell-shaped)and waves fronts(kink-shaped)of the gKPPE are given.In particular,two types of approximate analytical oscillatory solutions are constructed.Besides,the error estimations between the approximate analytical oscillatory solutions and the exact solutions of the gKPPE are obtained by the homogeneity principle.Finally,the approximate analytical oscillatory solutions are compared with the numerical solutions,which shows the two types of solutions are similar.展开更多
基金National Natural Science Foundation of China(No.62241503)Natural Science Foundation of Shanghai,China(No.22ZR1401400)。
文摘A fusion algorithm is proposed to enhance the search speed of an ant colony system(ACS)for the global path planning and overcome the challenges of the local path planning in an unmanned aerial vehicle(UAV).The ACS search efficiency is enhanced by adopting a 16-direction 24-neighborhood search way,a safety grid search way,and an elite hybrid strategy to accelerate global convergence.Quadratic planning is performed using the moving average(MA)method.The fusion algorithm incorporates a dynamic window approach(DWA)to deal with the local path planning,sets a retracement mechanism,and adjusts the evaluation function accordingly.Experimental results in two environments demonstrate that the improved ant colony system(IACS)achieves superior planning efficiency.Additionally,the optimized dynamic window approach(ODWA)demonstrates its ability to handle multiple dynamic situations.Overall,the fusion optimization algorithm can accomplish the mixed path planning effectively.
基金partially supported by the National Key Research and Development Program of China under Grant No.2020YFC2201504partially supported by a NSF grant with the grant number:PHY2308845。
文摘In this paper,we consider the B?hmer–Vandersloot(BV)model of loop quantum black holes obtained from the improved dynamics approach.We adopt the Saini–Singh gauge,in which it was found analytically that the BV spacetime is geodesically complete.We show that black/white hole horizons do not exist in this geodesically complete spacetime.Instead,there exists only an infinite number of transition surfaces,which always separate trapped regions from anti-trapped ones.Comments on the improved dynamics approach adopted in other models of loop quantum black holes are also given.
文摘In this paper,a novel,dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with generic path planning techniques through a dual-mode model predictive control framework.The planned path adds information on the connectivity of the free space to the obstacle avoidance capabilities of the dynamic window approach.This allows for guaranteed convergence to a goal location while navigating through an unknown environment at relatively high speeds.The framework is applied in a combined simulation/hardware implementation to demonstrate the computational feasibility and the ability to cope with the constraints of a dynamic system.
基金supported by the National Natural Science Foundation of China (No.11471215)。
文摘In this paper,the approximate analytical oscillatory solutions to the generalized KolmogorovPetrovsky-Piskunov equation(gKPPE for short)are discussed by employing the theory of dynamical system and hypothesis undetermined method.According to the corresponding dynamical system of the bounded traveling wave solutions to the gKPPE,the number and qualitative properties of these bounded solutions are received.Furthermore,pulses(bell-shaped)and waves fronts(kink-shaped)of the gKPPE are given.In particular,two types of approximate analytical oscillatory solutions are constructed.Besides,the error estimations between the approximate analytical oscillatory solutions and the exact solutions of the gKPPE are obtained by the homogeneity principle.Finally,the approximate analytical oscillatory solutions are compared with the numerical solutions,which shows the two types of solutions are similar.
