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基于改进分布估计算法的能耗最优AUV路径规划算法与仿真研究
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作者 戴晓强 许赫威 +2 位作者 王莹 孙啸天 尚乐 《江苏科技大学学报(自然科学版)》 CAS 2024年第4期58-64,共7页
针对经典基于等宽度直方图的分布估计算法(FWH)在解决自主水下机器人(AUV)路径规划问题中易陷入局部极值、计算精度不高等问题,提出一种受粒子群优化算法启发的改进分布估计算法.通过将FWH与粒子群优化算法中优势个体的部分筛选机制相... 针对经典基于等宽度直方图的分布估计算法(FWH)在解决自主水下机器人(AUV)路径规划问题中易陷入局部极值、计算精度不高等问题,提出一种受粒子群优化算法启发的改进分布估计算法.通过将FWH与粒子群优化算法中优势个体的部分筛选机制相结合的方法,组成双重优势个体产生方法,提高AUV路径规划最优路径的精度,增加收敛速度.在水下数字高程模型环境中对经典分布估计算法、PSO算法、A*算法以及改进后的算法进行性能评估.仿真结果表明,相比于改进前的算法,新的算法计算出的能耗值减少24.9%,有效增加计算精度,避免陷入局部极值,提高效率. 展开更多
关键词 分布估计算法 路径规划 能耗最优 粒子群优化算法 水下数字高程模型
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改进分布估计算法的AUV全局路径规划 被引量:1
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作者 许赫威 戴晓强 +2 位作者 王莹 杨淦华 黄鑫 《传感器与微系统》 CSCD 北大核心 2024年第7期47-50,共4页
为解决基于固定宽度直方图(FWH)的分布估计算法在解决自主水下机器人(AUV)路径规划问题时易陷入局部最优的问题,提出一种个体更新方法融合策略。将狼群优化算法(WPA)中的部分个体更新方法,以及三次样条函数融合到算法当中,增加算法个体... 为解决基于固定宽度直方图(FWH)的分布估计算法在解决自主水下机器人(AUV)路径规划问题时易陷入局部最优的问题,提出一种个体更新方法融合策略。将狼群优化算法(WPA)中的部分个体更新方法,以及三次样条函数融合到算法当中,增加算法个体更新方法的多样性。提高AUV路径规划的精度,增加收敛速度。在水下数字高程模型环境中,对原始算法以及改进后的算法进行性能评估。仿真结果验证了算法改进的可行性和有效性。 展开更多
关键词 分布估计算法 狼群优化算法 三次样条插值曲线 路径规划 水下数字高程模型
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The Development of a Geographic Information System (GIS) to Document Research in an Everglades Physical Model
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作者 S. Aich T.W. Dreschel +1 位作者 E.A. Cline F.H. Sklar 《Journal of Environmental Science and Engineering》 2011年第3期289-302,共14页
The Loxahatchee Impoundment Landscape Assessment (LILA) facility is a unique physical model of the Everglades ecosystem. LILA has a closed-loop water delivery system and consists of four 0.08 square kilometer (-8 h... The Loxahatchee Impoundment Landscape Assessment (LILA) facility is a unique physical model of the Everglades ecosystem. LILA has a closed-loop water delivery system and consists of four 0.08 square kilometer (-8 ha) macrocosms, created to be replicates of one another and of the Everglades landscape. Built in 2003, LILA's purpose is to provide scientists with an opportunity to design and implement research concerning Everglades restoration techniques in an accessible, controlled and replicated Everglades environment. Key Everglades habitats were sculpted within LILA: tree islands, ridges, sloughs and alligator holes. Water levels and flows in each macrocosm are controlled independently, so that researchers can study the effects of hydrology on Everglades landscape and ecology. Studies have focused upon measuring survival and growth of native trees planted on the tree islands; measuring surface water and ground water movement and chemistry; studying wading bird feeding and the movement of prey species (crayfish); and measuring erosion and accretion on tree islands and ridges. We developed a Geographic Information System (GIS) data set to identify, characterize, and spatially reference the features of LILA and document research activities. This development included mapping the boundaries of the landscape features, creating a theoretical Digital Elevation Model (DEM) and describing the research projects being carried out. The creation of this GIS data set enhances the ability to schedule and coordinate research, assist scientists in the visualization and spatial representation of their research, and provide a resource for the storage, analysis and synthesis of valuable scientific information. 展开更多
关键词 CERP EVERGLADES everglades forever act GIS LILA ridge and slough tree island.
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