A novel framework of hyper-heuristic algorithm was proposed to improve the adaption of evolutionary algorithms( EAs)in optimization. The algorithm could be changed during the evolutionary progress according to their p...A novel framework of hyper-heuristic algorithm was proposed to improve the adaption of evolutionary algorithms( EAs)in optimization. The algorithm could be changed during the evolutionary progress according to their performances. In addition,a large number of elite individuals were employed in the algorithm and the elite individuals helped algorithm achieve a better performance,while such number of elite individuals stagnated the global convergence in conventional single algorithm. The time complexity was analyzed to demonstrate the novel framework did not increase the time complexity. The simulation results indicate that the proposed framework outperforms any single algorithm that composes the framework.展开更多
The solution strategy of the heuristic algorithm is pre-set and has good performance in the conventional cloud resource scheduling process.However,for complex and dynamic cloud service scheduling tasks,due to the diff...The solution strategy of the heuristic algorithm is pre-set and has good performance in the conventional cloud resource scheduling process.However,for complex and dynamic cloud service scheduling tasks,due to the difference in service attributes,the solution efficiency of a single strategy is low for such problems.In this paper,we presents a hyper-heuristic algorithm based on reinforcement learning(HHRL)to optimize the completion time of the task sequence.Firstly,In the reward table setting stage of HHRL,we introduce population diversity and integrate maximum time to comprehensively deter-mine the task scheduling and the selection of low-level heuristic strategies.Secondly,a task computational complexity estimation method integrated with linear regression is proposed to influence task scheduling priorities.Besides,we propose a high-quality candidate solution migration method to ensure the continuity and diversity of the solving process.Compared with HHSA,ACO,GA,F-PSO,etc,HHRL can quickly obtain task complexity,select appropriate heuristic strategies for task scheduling,search for the the best makspan and have stronger disturbance detection ability for population diversity.展开更多
Travelling Salesman Problem(TSP)is a discrete hybrid optimization problem considered NP-hard.TSP aims to discover the shortest Hamilton route that visits each city precisely once and then returns to the starting point...Travelling Salesman Problem(TSP)is a discrete hybrid optimization problem considered NP-hard.TSP aims to discover the shortest Hamilton route that visits each city precisely once and then returns to the starting point,making it the shortest route feasible.This paper employed a Farmland Fertility Algorithm(FFA)inspired by agricultural land fertility and a hyper-heuristic technique based on the Modified Choice Function(MCF).The neighborhood search operator can use this strategy to automatically select the best heuristic method formaking the best decision.Lin-Kernighan(LK)local search has been incorporated to increase the efficiency and performance of this suggested approach.71 TSPLIB datasets have been compared with different algorithms to prove the proposed algorithm’s performance and efficiency.Simulation results indicated that the proposed algorithm outperforms comparable methods of average mean computation time,average percentage deviation(PDav),and tour length.展开更多
Cloud computing provides a diverse and adaptable resource pool over the internet,allowing users to tap into various resources as needed.It has been seen as a robust solution to relevant challenges.A significant delay ...Cloud computing provides a diverse and adaptable resource pool over the internet,allowing users to tap into various resources as needed.It has been seen as a robust solution to relevant challenges.A significant delay can hamper the performance of IoT-enabled cloud platforms.However,efficient task scheduling can lower the cloud infrastructure’s energy consumption,thus maximizing the service provider’s revenue by decreasing user job processing times.The proposed Modified Chimp-Whale Optimization Algorithm called Modified Chimp-Whale Optimization Algorithm(MCWOA),combines elements of the Chimp Optimization Algorithm(COA)and the Whale Optimization Algorithm(WOA).To enhance MCWOA’s identification precision,the Sobol sequence is used in the population initialization phase,ensuring an even distribution of the population across the solution space.Moreover,the traditional MCWOA’s local search capabilities are augmented by incorporating the whale optimization algorithm’s bubble-net hunting and random search mechanisms into MCWOA’s position-updating process.This study demonstrates the effectiveness of the proposed approach using a two-story rigid frame and a simply supported beam model.Simulated outcomes reveal that the new method outperforms the original MCWOA,especially in multi-damage detection scenarios.MCWOA excels in avoiding false positives and enhancing computational speed,making it an optimal choice for structural damage detection.The efficiency of the proposed MCWOA is assessed against metrics such as energy usage,computational expense,task duration,and delay.The simulated data indicates that the new MCWOA outpaces other methods across all metrics.The study also references the Whale Optimization Algorithm(WOA),Chimp Algorithm(CA),Ant Lion Optimizer(ALO),Genetic Algorithm(GA)and Grey Wolf Optimizer(GWO).展开更多
The phenomenon of a target echo peak overlapping with the backscattered echo peak significantly undermines the detection range and precision of underwater laser fuzes.To overcome this issue,we propose a four-quadrant ...The phenomenon of a target echo peak overlapping with the backscattered echo peak significantly undermines the detection range and precision of underwater laser fuzes.To overcome this issue,we propose a four-quadrant dual-beam circumferential scanning laser fuze to distinguish various interference signals and provide more real-time data for the backscatter filtering algorithm.This enhances the algorithm loading capability of the fuze.In order to address the problem of insufficient filtering capacity in existing linear backscatter filtering algorithms,we develop a nonlinear backscattering adaptive filter based on the spline adaptive filter least mean square(SAF-LMS)algorithm.We also designed an algorithm pause module to retain the original trend of the target echo peak,improving the time discrimination accuracy and anti-interference capability of the fuze.Finally,experiments are conducted with varying signal-to-noise ratios of the original underwater target echo signals.The experimental results show that the average signal-to-noise ratio before and after filtering can be improved by more than31 d B,with an increase of up to 76%in extreme detection distance.展开更多
In this study,our aim is to address the problem of gene selection by proposing a hybrid bio-inspired evolutionary algorithm that combines Grey Wolf Optimization(GWO)with Harris Hawks Optimization(HHO)for feature selec...In this study,our aim is to address the problem of gene selection by proposing a hybrid bio-inspired evolutionary algorithm that combines Grey Wolf Optimization(GWO)with Harris Hawks Optimization(HHO)for feature selection.Themotivation for utilizingGWOandHHOstems fromtheir bio-inspired nature and their demonstrated success in optimization problems.We aimto leverage the strengths of these algorithms to enhance the effectiveness of feature selection in microarray-based cancer classification.We selected leave-one-out cross-validation(LOOCV)to evaluate the performance of both two widely used classifiers,k-nearest neighbors(KNN)and support vector machine(SVM),on high-dimensional cancer microarray data.The proposed method is extensively tested on six publicly available cancer microarray datasets,and a comprehensive comparison with recently published methods is conducted.Our hybrid algorithm demonstrates its effectiveness in improving classification performance,Surpassing alternative approaches in terms of precision.The outcomes confirm the capability of our method to substantially improve both the precision and efficiency of cancer classification,thereby advancing the development ofmore efficient treatment strategies.The proposed hybridmethod offers a promising solution to the gene selection problem in microarray-based cancer classification.It improves the accuracy and efficiency of cancer diagnosis and treatment,and its superior performance compared to other methods highlights its potential applicability in realworld cancer classification tasks.By harnessing the complementary search mechanisms of GWO and HHO,we leverage their bio-inspired behavior to identify informative genes relevant to cancer diagnosis and treatment.展开更多
The structural optimization of wireless sensor networks is a critical issue because it impacts energy consumption and hence the network’s lifetime.Many studies have been conducted for homogeneous networks,but few hav...The structural optimization of wireless sensor networks is a critical issue because it impacts energy consumption and hence the network’s lifetime.Many studies have been conducted for homogeneous networks,but few have been performed for heterogeneouswireless sensor networks.This paper utilizes Rao algorithms to optimize the structure of heterogeneous wireless sensor networks according to node locations and their initial energies.The proposed algorithms lack algorithm-specific parameters and metaphorical connotations.The proposed algorithms examine the search space based on the relations of the population with the best,worst,and randomly assigned solutions.The proposed algorithms can be evaluated using any routing protocol,however,we have chosen the well-known routing protocols in the literature:Low Energy Adaptive Clustering Hierarchy(LEACH),Power-Efficient Gathering in Sensor Information Systems(PEAGSIS),Partitioned-based Energy-efficient LEACH(PE-LEACH),and the Power-Efficient Gathering in Sensor Information Systems Neural Network(PEAGSIS-NN)recent routing protocol.We compare our optimized method with the Jaya,the Particle Swarm Optimization-based Energy Efficient Clustering(PSO-EEC)protocol,and the hybrid Harmony Search Algorithm and PSO(HSA-PSO)algorithms.The efficiencies of our proposed algorithms are evaluated by conducting experiments in terms of the network lifetime(first dead node,half dead nodes,and last dead node),energy consumption,packets to cluster head,and packets to the base station.The experimental results were compared with those obtained using the Jaya optimization algorithm.The proposed algorithms exhibited the best performance.The proposed approach successfully prolongs the network lifetime by 71% for the PEAGSIS protocol,51% for the LEACH protocol,10% for the PE-LEACH protocol,and 73% for the PEGSIS-NN protocol;Moreover,it enhances other criteria such as energy conservation,fitness convergence,packets to cluster head,and packets to the base station.展开更多
In classification problems,datasets often contain a large amount of features,but not all of them are relevant for accurate classification.In fact,irrelevant features may even hinder classification accuracy.Feature sel...In classification problems,datasets often contain a large amount of features,but not all of them are relevant for accurate classification.In fact,irrelevant features may even hinder classification accuracy.Feature selection aims to alleviate this issue by minimizing the number of features in the subset while simultaneously minimizing the classification error rate.Single-objective optimization approaches employ an evaluation function designed as an aggregate function with a parameter,but the results obtained depend on the value of the parameter.To eliminate this parameter’s influence,the problem can be reformulated as a multi-objective optimization problem.The Whale Optimization Algorithm(WOA)is widely used in optimization problems because of its simplicity and easy implementation.In this paper,we propose a multi-strategy assisted multi-objective WOA(MSMOWOA)to address feature selection.To enhance the algorithm’s search ability,we integrate multiple strategies such as Levy flight,Grey Wolf Optimizer,and adaptive mutation into it.Additionally,we utilize an external repository to store non-dominant solution sets and grid technology is used to maintain diversity.Results on fourteen University of California Irvine(UCI)datasets demonstrate that our proposed method effectively removes redundant features and improves classification performance.The source code can be accessed from the website:https://github.com/zc0315/MSMOWOA.展开更多
Rapid development in Information Technology(IT)has allowed several novel application regions like large outdoor vehicular networks for Vehicle-to-Vehicle(V2V)transmission.Vehicular networks give a safe and more effect...Rapid development in Information Technology(IT)has allowed several novel application regions like large outdoor vehicular networks for Vehicle-to-Vehicle(V2V)transmission.Vehicular networks give a safe and more effective driving experience by presenting time-sensitive and location-aware data.The communication occurs directly between V2V and Base Station(BS)units such as the Road Side Unit(RSU),named as a Vehicle to Infrastructure(V2I).However,the frequent topology alterations in VANETs generate several problems with data transmission as the vehicle velocity differs with time.Therefore,the scheme of an effectual routing protocol for reliable and stable communications is significant.Current research demonstrates that clustering is an intelligent method for effectual routing in a mobile environment.Therefore,this article presents a Falcon Optimization Algorithm-based Energy Efficient Communication Protocol for Cluster-based Routing(FOA-EECPCR)technique in VANETS.The FOA-EECPCR technique intends to group the vehicles and determine the shortest route in the VANET.To accomplish this,the FOA-EECPCR technique initially clusters the vehicles using FOA with fitness functions comprising energy,distance,and trust level.For the routing process,the Sparrow Search Algorithm(SSA)is derived with a fitness function that encompasses two variables,namely,energy and distance.A series of experiments have been conducted to exhibit the enhanced performance of the FOA-EECPCR method.The experimental outcomes demonstrate the enhanced performance of the FOA-EECPCR approach over other current methods.展开更多
The influences of biological,chemical,and flow processes on soil structure through microbially induced carbonate precipitation(MICP)are not yet fully understood.In this study,we use a multi-level thresholding segmenta...The influences of biological,chemical,and flow processes on soil structure through microbially induced carbonate precipitation(MICP)are not yet fully understood.In this study,we use a multi-level thresholding segmentation algorithm,genetic algorithm(GA)enhanced Kapur entropy(KE)(GAE-KE),to accomplish quantitative characterization of sandy soil structure altered by MICP cementation.A sandy soil sample was treated using MICP method and scanned by the synchrotron radiation(SR)micro-CT with a resolution of 6.5 mm.After validation,tri-level thresholding segmentation using GAE-KE successfully separated the precipitated calcium carbonate crystals from sand particles and pores.The spatial distributions of porosity,pore structure parameters,and flow characteristics were calculated for quantitative characterization.The results offer pore-scale insights into the MICP treatment effect,and the quantitative understanding confirms the feasibility of the GAE-KE multi-level thresholding segmentation algorithm.展开更多
Metasurfaces,composed of planar arrays of intricately designed meta-atom structures,possess remarkable capabilities in controlling electromagnetic waves in various ways.A critical aspect of metasurface design involves...Metasurfaces,composed of planar arrays of intricately designed meta-atom structures,possess remarkable capabilities in controlling electromagnetic waves in various ways.A critical aspect of metasurface design involves selecting suitable meta-atoms to achieve target functionalities such as phase retardation,amplitude modulation,and polarization conversion.Conventional design processes often involve extensive parameter sweeping,a laborious and computationally intensive task heavily reliant on designer expertise and judgement.Here,we present an efficient genetic algorithm assisted meta-atom optimization method for high-performance metasurface optics,which is compatible to both single-and multiobjective device design tasks.We first employ the method for a single-objective design task and implement a high-efficiency Pancharatnam-Berry phase based metalens with an average focusing efficiency exceeding 80%in the visible spectrum.We then employ the method for a dual-objective metasurface design task and construct an efficient spin-multiplexed structural beam generator.The device is capable of generating zeroth-order and first-order Bessel beams respectively under right-handed and left-handed circular polarized illumination,with associated generation efficiencies surpassing 88%.Finally,we implement a wavelength and spin co-multiplexed four-channel metahologram capable of projecting two spin-multiplexed holographic images under each operational wavelength,with efficiencies over 50%.Our work offers a streamlined and easy-to-implement approach to meta-atom design and optimization,empowering designers to create diverse high-performance and multifunctional metasurface optics.展开更多
With the development of information technology,a large number of product quality data in the entire manufacturing process is accumulated,but it is not explored and used effectively.The traditional product quality pred...With the development of information technology,a large number of product quality data in the entire manufacturing process is accumulated,but it is not explored and used effectively.The traditional product quality prediction models have many disadvantages,such as high complexity and low accuracy.To overcome the above problems,we propose an optimized data equalization method to pre-process dataset and design a simple but effective product quality prediction model:radial basis function model optimized by the firefly algorithm with Levy flight mechanism(RBFFALM).First,the new data equalization method is introduced to pre-process the dataset,which reduces the dimension of the data,removes redundant features,and improves the data distribution.Then the RBFFALFM is used to predict product quality.Comprehensive expe riments conducted on real-world product quality datasets validate that the new model RBFFALFM combining with the new data pre-processing method outperforms other previous me thods on predicting product quality.展开更多
With the increase in ocean exploration activities and underwater development,the autonomous underwater vehicle(AUV)has been widely used as a type of underwater automation equipment in the detection of underwater envir...With the increase in ocean exploration activities and underwater development,the autonomous underwater vehicle(AUV)has been widely used as a type of underwater automation equipment in the detection of underwater environments.However,nowadays AUVs generally have drawbacks such as weak endurance,low intelligence,and poor detection ability.The research and implementation of path-planning methods are the premise of AUVs to achieve actual tasks.To improve the underwater operation ability of the AUV,this paper studies the typical problems of path-planning for the ant colony algorithm and the artificial potential field algorithm.In response to the limitations of a single algorithm,an optimization scheme is proposed to improve the artificial potential field ant colony(APF-AC)algorithm.Compared with traditional ant colony and comparative algorithms,the APF-AC reduced the path length by 1.57%and 0.63%(in the simple environment),8.92%and 3.46%(in the complex environment).The iteration time has been reduced by approximately 28.48%and 18.05%(in the simple environment),18.53%and 9.24%(in the complex environment).Finally,the improved APF-AC algorithm has been validated on the AUV platform,and the experiment is consistent with the simulation.Improved APF-AC algorithm can effectively reduce the underwater operation time and overall power consumption of the AUV,and shows a higher safety.展开更多
In this study, we propose an algorithm selection method based on coupling strength for the partitioned analysis ofstructure-piezoelectric-circuit coupling, which includes two types of coupling or inverse and direct pi...In this study, we propose an algorithm selection method based on coupling strength for the partitioned analysis ofstructure-piezoelectric-circuit coupling, which includes two types of coupling or inverse and direct piezoelectriccoupling and direct piezoelectric and circuit coupling. In the proposed method, implicit and explicit formulationsare used for strong and weak coupling, respectively. Three feasible partitioned algorithms are generated, namely(1) a strongly coupled algorithm that uses a fully implicit formulation for both types of coupling, (2) a weaklycoupled algorithm that uses a fully explicit formulation for both types of coupling, and (3) a partially stronglycoupled and partially weakly coupled algorithm that uses an implicit formulation and an explicit formulation forthe two types of coupling, respectively.Numerical examples using a piezoelectric energy harvester,which is a typicalstructure-piezoelectric-circuit coupling problem, demonstrate that the proposed method selects the most costeffectivealgorithm.展开更多
Steganography is a technique for hiding secret messages while sending and receiving communications through a cover item.From ancient times to the present,the security of secret or vital information has always been a s...Steganography is a technique for hiding secret messages while sending and receiving communications through a cover item.From ancient times to the present,the security of secret or vital information has always been a significant problem.The development of secure communication methods that keep recipient-only data transmissions secret has always been an area of interest.Therefore,several approaches,including steganography,have been developed by researchers over time to enable safe data transit.In this review,we have discussed image steganography based on Discrete Cosine Transform(DCT)algorithm,etc.We have also discussed image steganography based on multiple hashing algorithms like the Rivest–Shamir–Adleman(RSA)method,the Blowfish technique,and the hash-least significant bit(LSB)approach.In this review,a novel method of hiding information in images has been developed with minimal variance in image bits,making our method secure and effective.A cryptography mechanism was also used in this strategy.Before encoding the data and embedding it into a carry image,this review verifies that it has been encrypted.Usually,embedded text in photos conveys crucial signals about the content.This review employs hash table encryption on the message before hiding it within the picture to provide a more secure method of data transport.If the message is ever intercepted by a third party,there are several ways to stop this operation.A second level of security process implementation involves encrypting and decrypting steganography images using different hashing algorithms.展开更多
The Gannet Optimization Algorithm (GOA) and the Whale Optimization Algorithm (WOA) demonstrate strong performance;however, there remains room for improvement in convergence and practical applications. This study intro...The Gannet Optimization Algorithm (GOA) and the Whale Optimization Algorithm (WOA) demonstrate strong performance;however, there remains room for improvement in convergence and practical applications. This study introduces a hybrid optimization algorithm, named the adaptive inertia weight whale optimization algorithm and gannet optimization algorithm (AIWGOA), which addresses challenges in enhancing handwritten documents. The hybrid strategy integrates the strengths of both algorithms, significantly enhancing their capabilities, whereas the adaptive parameter strategy mitigates the need for manual parameter setting. By amalgamating the hybrid strategy and parameter-adaptive approach, the Gannet Optimization Algorithm was refined to yield the AIWGOA. Through a performance analysis of the CEC2013 benchmark, the AIWGOA demonstrates notable advantages across various metrics. Subsequently, an evaluation index was employed to assess the enhanced handwritten documents and images, affirming the superior practical application of the AIWGOA compared with other algorithms.展开更多
Cornachia’s algorithm can be adapted to the case of the equation x2+dy2=nand even to the case of ax2+bxy+cy2=n. For the sake of completeness, we have given modalities without proofs (the proof in the case of the equa...Cornachia’s algorithm can be adapted to the case of the equation x2+dy2=nand even to the case of ax2+bxy+cy2=n. For the sake of completeness, we have given modalities without proofs (the proof in the case of the equation x2+y2=n). Starting from a quadratic form with two variables f(x,y)=ax2+bxy+cy2and n an integer. We have shown that a primitive positive solution (u,v)of the equation f(x,y)=nis admissible if it is obtained in the following way: we take α modulo n such that f(α,1)≡0modn, u is the first of the remainders of Euclid’s algorithm associated with n and α that is less than 4cn/| D |) (possibly α itself) and the equation f(x,y)=n. has an integer solution u in y. At the end of our work, it also appears that the Cornacchia algorithm is good for the form n=ax2+bxy+cy2if all the primitive positive integer solutions of the equation f(x,y)=nare admissible, i.e. computable by the algorithmic process.展开更多
In the generalized continuum mechanics(GCM)theory framework,asymmetric wave equations encompass the characteristic scale parameters of the medium,accounting for microstructure interactions.This study integrates two th...In the generalized continuum mechanics(GCM)theory framework,asymmetric wave equations encompass the characteristic scale parameters of the medium,accounting for microstructure interactions.This study integrates two theoretical branches of the GCM,the modified couple stress theory(M-CST)and the one-parameter second-strain-gradient theory,to form a novel asymmetric wave equation in a unified framework.Numerical modeling of the asymmetric wave equation in a unified framework accurately describes subsurface structures with vital implications for subsequent seismic wave inversion and imaging endeavors.However,employing finite-difference(FD)methods for numerical modeling may introduce numerical dispersion,adversely affecting the accuracy of numerical modeling.The design of an optimal FD operator is crucial for enhancing the accuracy of numerical modeling and emphasizing the scale effects.Therefore,this study devises a hybrid scheme called the dung beetle optimization(DBO)algorithm with a simulated annealing(SA)algorithm,denoted as the SA-based hybrid DBO(SDBO)algorithm.An FD operator optimization method under the SDBO algorithm was developed and applied to the numerical modeling of asymmetric wave equations in a unified framework.Integrating the DBO and SA algorithms mitigates the risk of convergence to a local extreme.The numerical dispersion outcomes underscore that the proposed SDBO algorithm yields FD operators with precision errors constrained to 0.5‱while encompassing a broader spectrum coverage.This result confirms the efficacy of the SDBO algorithm.Ultimately,the numerical modeling results demonstrate that the new FD method based on the SDBO algorithm effectively suppresses numerical dispersion and enhances the accuracy of elastic wave numerical modeling,thereby accentuating scale effects.This result is significant for extracting wavefield perturbations induced by complex microstructures in the medium and the analysis of scale effects.展开更多
Blank holder force(BHF)is a crucial parameter in deep drawing,having close relation with the forming quality of sheet metal.However,there are different BHFs maintaining the best forming effect in different stages of d...Blank holder force(BHF)is a crucial parameter in deep drawing,having close relation with the forming quality of sheet metal.However,there are different BHFs maintaining the best forming effect in different stages of deep drawing.The variable blank holder force(VBHF)varying with the drawing stage can overcome this problem at an extent.The optimization of VBHF is to determine the optimal BHF in every deep drawing stage.In this paper,a new heuristic optimization algorithm named Jaya is introduced to solve the optimization efficiently.An improved“Quasi-oppositional”strategy is added to Jaya algorithm for improving population diversity.Meanwhile,an innovated stop criterion is added for better convergence.Firstly,the quality evaluation criteria for wrinkling and tearing are built.Secondly,the Kriging models are developed to approximate and quantify the relation between VBHF and forming defects under random sampling.Finally,the optimization models are established and solved by the improved QO-Jaya algorithm.A VBHF optimization example of component with complicated shape and thin wall is studied to prove the effectiveness of the improved Jaya algorithm.The optimization results are compared with that obtained by other algorithms based on the TOPSIS method.展开更多
A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of...A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile robot.Firstly,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random probability.After that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT algorithm.The algorithm simulation platform based on the Gazebo platform was built.The simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more efficiently.Finally,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different obstacles.The experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.展开更多
基金National Natural Science Foundations of China(Nos.70871091,61075064,61034004,61005090)Program for New Century Excellent Talents in University of Ministry of Education of ChinaPh.D.Programs Foundation of Ministry of Education of China(No.20100072110038)
文摘A novel framework of hyper-heuristic algorithm was proposed to improve the adaption of evolutionary algorithms( EAs)in optimization. The algorithm could be changed during the evolutionary progress according to their performances. In addition,a large number of elite individuals were employed in the algorithm and the elite individuals helped algorithm achieve a better performance,while such number of elite individuals stagnated the global convergence in conventional single algorithm. The time complexity was analyzed to demonstrate the novel framework did not increase the time complexity. The simulation results indicate that the proposed framework outperforms any single algorithm that composes the framework.
基金supported in part by the National Key R&D Program of China under Grant 2017YFB1302400the Jinan“20 New Colleges and Universities”Funded Scientific Research Leader Studio under Grant 2021GXRC079+2 种基金the Major Agricultural Applied Technological Innovation Projects of Shandong Province underGrant SD2019NJ014the Shandong Natural Science Foundation under Grant ZR2019MF064the Beijing Advanced Innovation Center for Intelligent Robots and Systems under Grant 2019IRS19.
文摘The solution strategy of the heuristic algorithm is pre-set and has good performance in the conventional cloud resource scheduling process.However,for complex and dynamic cloud service scheduling tasks,due to the difference in service attributes,the solution efficiency of a single strategy is low for such problems.In this paper,we presents a hyper-heuristic algorithm based on reinforcement learning(HHRL)to optimize the completion time of the task sequence.Firstly,In the reward table setting stage of HHRL,we introduce population diversity and integrate maximum time to comprehensively deter-mine the task scheduling and the selection of low-level heuristic strategies.Secondly,a task computational complexity estimation method integrated with linear regression is proposed to influence task scheduling priorities.Besides,we propose a high-quality candidate solution migration method to ensure the continuity and diversity of the solving process.Compared with HHSA,ACO,GA,F-PSO,etc,HHRL can quickly obtain task complexity,select appropriate heuristic strategies for task scheduling,search for the the best makspan and have stronger disturbance detection ability for population diversity.
文摘Travelling Salesman Problem(TSP)is a discrete hybrid optimization problem considered NP-hard.TSP aims to discover the shortest Hamilton route that visits each city precisely once and then returns to the starting point,making it the shortest route feasible.This paper employed a Farmland Fertility Algorithm(FFA)inspired by agricultural land fertility and a hyper-heuristic technique based on the Modified Choice Function(MCF).The neighborhood search operator can use this strategy to automatically select the best heuristic method formaking the best decision.Lin-Kernighan(LK)local search has been incorporated to increase the efficiency and performance of this suggested approach.71 TSPLIB datasets have been compared with different algorithms to prove the proposed algorithm’s performance and efficiency.Simulation results indicated that the proposed algorithm outperforms comparable methods of average mean computation time,average percentage deviation(PDav),and tour length.
文摘Cloud computing provides a diverse and adaptable resource pool over the internet,allowing users to tap into various resources as needed.It has been seen as a robust solution to relevant challenges.A significant delay can hamper the performance of IoT-enabled cloud platforms.However,efficient task scheduling can lower the cloud infrastructure’s energy consumption,thus maximizing the service provider’s revenue by decreasing user job processing times.The proposed Modified Chimp-Whale Optimization Algorithm called Modified Chimp-Whale Optimization Algorithm(MCWOA),combines elements of the Chimp Optimization Algorithm(COA)and the Whale Optimization Algorithm(WOA).To enhance MCWOA’s identification precision,the Sobol sequence is used in the population initialization phase,ensuring an even distribution of the population across the solution space.Moreover,the traditional MCWOA’s local search capabilities are augmented by incorporating the whale optimization algorithm’s bubble-net hunting and random search mechanisms into MCWOA’s position-updating process.This study demonstrates the effectiveness of the proposed approach using a two-story rigid frame and a simply supported beam model.Simulated outcomes reveal that the new method outperforms the original MCWOA,especially in multi-damage detection scenarios.MCWOA excels in avoiding false positives and enhancing computational speed,making it an optimal choice for structural damage detection.The efficiency of the proposed MCWOA is assessed against metrics such as energy usage,computational expense,task duration,and delay.The simulated data indicates that the new MCWOA outpaces other methods across all metrics.The study also references the Whale Optimization Algorithm(WOA),Chimp Algorithm(CA),Ant Lion Optimizer(ALO),Genetic Algorithm(GA)and Grey Wolf Optimizer(GWO).
基金supported by the 2021 Open Project Fund of Science and Technology on Electromechanical Dynamic Control Laboratory,grant number 212-C-J-F-QT-2022-0020China Postdoctoral Science Foundation,grant number 2021M701713+1 种基金Postgraduate Research&Practice Innovation Program of Jiangsu Province,grant number KYCX23_0511the Jiangsu Funding Program for Excellent Postdoctoral Talent,grant number 20220ZB245。
文摘The phenomenon of a target echo peak overlapping with the backscattered echo peak significantly undermines the detection range and precision of underwater laser fuzes.To overcome this issue,we propose a four-quadrant dual-beam circumferential scanning laser fuze to distinguish various interference signals and provide more real-time data for the backscatter filtering algorithm.This enhances the algorithm loading capability of the fuze.In order to address the problem of insufficient filtering capacity in existing linear backscatter filtering algorithms,we develop a nonlinear backscattering adaptive filter based on the spline adaptive filter least mean square(SAF-LMS)algorithm.We also designed an algorithm pause module to retain the original trend of the target echo peak,improving the time discrimination accuracy and anti-interference capability of the fuze.Finally,experiments are conducted with varying signal-to-noise ratios of the original underwater target echo signals.The experimental results show that the average signal-to-noise ratio before and after filtering can be improved by more than31 d B,with an increase of up to 76%in extreme detection distance.
基金the Deputyship for Research and Innovation,“Ministry of Education”in Saudi Arabia for funding this research(IFKSUOR3-014-3).
文摘In this study,our aim is to address the problem of gene selection by proposing a hybrid bio-inspired evolutionary algorithm that combines Grey Wolf Optimization(GWO)with Harris Hawks Optimization(HHO)for feature selection.Themotivation for utilizingGWOandHHOstems fromtheir bio-inspired nature and their demonstrated success in optimization problems.We aimto leverage the strengths of these algorithms to enhance the effectiveness of feature selection in microarray-based cancer classification.We selected leave-one-out cross-validation(LOOCV)to evaluate the performance of both two widely used classifiers,k-nearest neighbors(KNN)and support vector machine(SVM),on high-dimensional cancer microarray data.The proposed method is extensively tested on six publicly available cancer microarray datasets,and a comprehensive comparison with recently published methods is conducted.Our hybrid algorithm demonstrates its effectiveness in improving classification performance,Surpassing alternative approaches in terms of precision.The outcomes confirm the capability of our method to substantially improve both the precision and efficiency of cancer classification,thereby advancing the development ofmore efficient treatment strategies.The proposed hybridmethod offers a promising solution to the gene selection problem in microarray-based cancer classification.It improves the accuracy and efficiency of cancer diagnosis and treatment,and its superior performance compared to other methods highlights its potential applicability in realworld cancer classification tasks.By harnessing the complementary search mechanisms of GWO and HHO,we leverage their bio-inspired behavior to identify informative genes relevant to cancer diagnosis and treatment.
文摘The structural optimization of wireless sensor networks is a critical issue because it impacts energy consumption and hence the network’s lifetime.Many studies have been conducted for homogeneous networks,but few have been performed for heterogeneouswireless sensor networks.This paper utilizes Rao algorithms to optimize the structure of heterogeneous wireless sensor networks according to node locations and their initial energies.The proposed algorithms lack algorithm-specific parameters and metaphorical connotations.The proposed algorithms examine the search space based on the relations of the population with the best,worst,and randomly assigned solutions.The proposed algorithms can be evaluated using any routing protocol,however,we have chosen the well-known routing protocols in the literature:Low Energy Adaptive Clustering Hierarchy(LEACH),Power-Efficient Gathering in Sensor Information Systems(PEAGSIS),Partitioned-based Energy-efficient LEACH(PE-LEACH),and the Power-Efficient Gathering in Sensor Information Systems Neural Network(PEAGSIS-NN)recent routing protocol.We compare our optimized method with the Jaya,the Particle Swarm Optimization-based Energy Efficient Clustering(PSO-EEC)protocol,and the hybrid Harmony Search Algorithm and PSO(HSA-PSO)algorithms.The efficiencies of our proposed algorithms are evaluated by conducting experiments in terms of the network lifetime(first dead node,half dead nodes,and last dead node),energy consumption,packets to cluster head,and packets to the base station.The experimental results were compared with those obtained using the Jaya optimization algorithm.The proposed algorithms exhibited the best performance.The proposed approach successfully prolongs the network lifetime by 71% for the PEAGSIS protocol,51% for the LEACH protocol,10% for the PE-LEACH protocol,and 73% for the PEGSIS-NN protocol;Moreover,it enhances other criteria such as energy conservation,fitness convergence,packets to cluster head,and packets to the base station.
基金supported in part by the Natural Science Youth Foundation of Hebei Province under Grant F2019403207in part by the PhD Research Startup Foundation of Hebei GEO University under Grant BQ2019055+3 种基金in part by the Open Research Project of the Hubei Key Laboratory of Intelligent Geo-Information Processing under Grant KLIGIP-2021A06in part by the Fundamental Research Funds for the Universities in Hebei Province under Grant QN202220in part by the Science and Technology Research Project for Universities of Hebei under Grant ZD2020344in part by the Guangxi Natural Science Fund General Project under Grant 2021GXNSFAA075029.
文摘In classification problems,datasets often contain a large amount of features,but not all of them are relevant for accurate classification.In fact,irrelevant features may even hinder classification accuracy.Feature selection aims to alleviate this issue by minimizing the number of features in the subset while simultaneously minimizing the classification error rate.Single-objective optimization approaches employ an evaluation function designed as an aggregate function with a parameter,but the results obtained depend on the value of the parameter.To eliminate this parameter’s influence,the problem can be reformulated as a multi-objective optimization problem.The Whale Optimization Algorithm(WOA)is widely used in optimization problems because of its simplicity and easy implementation.In this paper,we propose a multi-strategy assisted multi-objective WOA(MSMOWOA)to address feature selection.To enhance the algorithm’s search ability,we integrate multiple strategies such as Levy flight,Grey Wolf Optimizer,and adaptive mutation into it.Additionally,we utilize an external repository to store non-dominant solution sets and grid technology is used to maintain diversity.Results on fourteen University of California Irvine(UCI)datasets demonstrate that our proposed method effectively removes redundant features and improves classification performance.The source code can be accessed from the website:https://github.com/zc0315/MSMOWOA.
文摘Rapid development in Information Technology(IT)has allowed several novel application regions like large outdoor vehicular networks for Vehicle-to-Vehicle(V2V)transmission.Vehicular networks give a safe and more effective driving experience by presenting time-sensitive and location-aware data.The communication occurs directly between V2V and Base Station(BS)units such as the Road Side Unit(RSU),named as a Vehicle to Infrastructure(V2I).However,the frequent topology alterations in VANETs generate several problems with data transmission as the vehicle velocity differs with time.Therefore,the scheme of an effectual routing protocol for reliable and stable communications is significant.Current research demonstrates that clustering is an intelligent method for effectual routing in a mobile environment.Therefore,this article presents a Falcon Optimization Algorithm-based Energy Efficient Communication Protocol for Cluster-based Routing(FOA-EECPCR)technique in VANETS.The FOA-EECPCR technique intends to group the vehicles and determine the shortest route in the VANET.To accomplish this,the FOA-EECPCR technique initially clusters the vehicles using FOA with fitness functions comprising energy,distance,and trust level.For the routing process,the Sparrow Search Algorithm(SSA)is derived with a fitness function that encompasses two variables,namely,energy and distance.A series of experiments have been conducted to exhibit the enhanced performance of the FOA-EECPCR method.The experimental outcomes demonstrate the enhanced performance of the FOA-EECPCR approach over other current methods.
基金supported by the National Natural Science Foundation of China(Grant Nos.42077232 and 42077235)the Key Research and Development Plan of Jiangsu Province(Grant No.BE2022156).
文摘The influences of biological,chemical,and flow processes on soil structure through microbially induced carbonate precipitation(MICP)are not yet fully understood.In this study,we use a multi-level thresholding segmentation algorithm,genetic algorithm(GA)enhanced Kapur entropy(KE)(GAE-KE),to accomplish quantitative characterization of sandy soil structure altered by MICP cementation.A sandy soil sample was treated using MICP method and scanned by the synchrotron radiation(SR)micro-CT with a resolution of 6.5 mm.After validation,tri-level thresholding segmentation using GAE-KE successfully separated the precipitated calcium carbonate crystals from sand particles and pores.The spatial distributions of porosity,pore structure parameters,and flow characteristics were calculated for quantitative characterization.The results offer pore-scale insights into the MICP treatment effect,and the quantitative understanding confirms the feasibility of the GAE-KE multi-level thresholding segmentation algorithm.
基金support from the National Science Foundation of China(Grant Nos.62075078 and 62135004)the Knowledge Innovation Program of Wuhan-Shuguang Project(Grant No.2022010801020095).
文摘Metasurfaces,composed of planar arrays of intricately designed meta-atom structures,possess remarkable capabilities in controlling electromagnetic waves in various ways.A critical aspect of metasurface design involves selecting suitable meta-atoms to achieve target functionalities such as phase retardation,amplitude modulation,and polarization conversion.Conventional design processes often involve extensive parameter sweeping,a laborious and computationally intensive task heavily reliant on designer expertise and judgement.Here,we present an efficient genetic algorithm assisted meta-atom optimization method for high-performance metasurface optics,which is compatible to both single-and multiobjective device design tasks.We first employ the method for a single-objective design task and implement a high-efficiency Pancharatnam-Berry phase based metalens with an average focusing efficiency exceeding 80%in the visible spectrum.We then employ the method for a dual-objective metasurface design task and construct an efficient spin-multiplexed structural beam generator.The device is capable of generating zeroth-order and first-order Bessel beams respectively under right-handed and left-handed circular polarized illumination,with associated generation efficiencies surpassing 88%.Finally,we implement a wavelength and spin co-multiplexed four-channel metahologram capable of projecting two spin-multiplexed holographic images under each operational wavelength,with efficiencies over 50%.Our work offers a streamlined and easy-to-implement approach to meta-atom design and optimization,empowering designers to create diverse high-performance and multifunctional metasurface optics.
基金supported by the National Science and Technology Innovation 2030 Next-Generation Artifical Intelligence Major Project(2018AAA0101801)the National Natural Science Foundation of China(72271188)。
文摘With the development of information technology,a large number of product quality data in the entire manufacturing process is accumulated,but it is not explored and used effectively.The traditional product quality prediction models have many disadvantages,such as high complexity and low accuracy.To overcome the above problems,we propose an optimized data equalization method to pre-process dataset and design a simple but effective product quality prediction model:radial basis function model optimized by the firefly algorithm with Levy flight mechanism(RBFFALM).First,the new data equalization method is introduced to pre-process the dataset,which reduces the dimension of the data,removes redundant features,and improves the data distribution.Then the RBFFALFM is used to predict product quality.Comprehensive expe riments conducted on real-world product quality datasets validate that the new model RBFFALFM combining with the new data pre-processing method outperforms other previous me thods on predicting product quality.
基金supported by Research Program supported by the National Natural Science Foundation of China(No.62201249)the Jiangsu Agricultural Science and Technology Innovation Fund(No.CX(21)1007)+2 种基金the Open Project of the Zhejiang Provincial Key Laboratory of Crop Harvesting Equipment and Technology(Nos.2021KY03,2021KY04)University-Industry Collaborative Education Program(No.201801166003)the Postgraduate Research&Practice Innovation Program of Jiangsu Province(No.SJCX22_1042).
文摘With the increase in ocean exploration activities and underwater development,the autonomous underwater vehicle(AUV)has been widely used as a type of underwater automation equipment in the detection of underwater environments.However,nowadays AUVs generally have drawbacks such as weak endurance,low intelligence,and poor detection ability.The research and implementation of path-planning methods are the premise of AUVs to achieve actual tasks.To improve the underwater operation ability of the AUV,this paper studies the typical problems of path-planning for the ant colony algorithm and the artificial potential field algorithm.In response to the limitations of a single algorithm,an optimization scheme is proposed to improve the artificial potential field ant colony(APF-AC)algorithm.Compared with traditional ant colony and comparative algorithms,the APF-AC reduced the path length by 1.57%and 0.63%(in the simple environment),8.92%and 3.46%(in the complex environment).The iteration time has been reduced by approximately 28.48%and 18.05%(in the simple environment),18.53%and 9.24%(in the complex environment).Finally,the improved APF-AC algorithm has been validated on the AUV platform,and the experiment is consistent with the simulation.Improved APF-AC algorithm can effectively reduce the underwater operation time and overall power consumption of the AUV,and shows a higher safety.
基金the Japan Society for the Promotion of Science,KAKENHI Grant Nos.20H04199 and 23H00475.
文摘In this study, we propose an algorithm selection method based on coupling strength for the partitioned analysis ofstructure-piezoelectric-circuit coupling, which includes two types of coupling or inverse and direct piezoelectriccoupling and direct piezoelectric and circuit coupling. In the proposed method, implicit and explicit formulationsare used for strong and weak coupling, respectively. Three feasible partitioned algorithms are generated, namely(1) a strongly coupled algorithm that uses a fully implicit formulation for both types of coupling, (2) a weaklycoupled algorithm that uses a fully explicit formulation for both types of coupling, and (3) a partially stronglycoupled and partially weakly coupled algorithm that uses an implicit formulation and an explicit formulation forthe two types of coupling, respectively.Numerical examples using a piezoelectric energy harvester,which is a typicalstructure-piezoelectric-circuit coupling problem, demonstrate that the proposed method selects the most costeffectivealgorithm.
文摘Steganography is a technique for hiding secret messages while sending and receiving communications through a cover item.From ancient times to the present,the security of secret or vital information has always been a significant problem.The development of secure communication methods that keep recipient-only data transmissions secret has always been an area of interest.Therefore,several approaches,including steganography,have been developed by researchers over time to enable safe data transit.In this review,we have discussed image steganography based on Discrete Cosine Transform(DCT)algorithm,etc.We have also discussed image steganography based on multiple hashing algorithms like the Rivest–Shamir–Adleman(RSA)method,the Blowfish technique,and the hash-least significant bit(LSB)approach.In this review,a novel method of hiding information in images has been developed with minimal variance in image bits,making our method secure and effective.A cryptography mechanism was also used in this strategy.Before encoding the data and embedding it into a carry image,this review verifies that it has been encrypted.Usually,embedded text in photos conveys crucial signals about the content.This review employs hash table encryption on the message before hiding it within the picture to provide a more secure method of data transport.If the message is ever intercepted by a third party,there are several ways to stop this operation.A second level of security process implementation involves encrypting and decrypting steganography images using different hashing algorithms.
文摘The Gannet Optimization Algorithm (GOA) and the Whale Optimization Algorithm (WOA) demonstrate strong performance;however, there remains room for improvement in convergence and practical applications. This study introduces a hybrid optimization algorithm, named the adaptive inertia weight whale optimization algorithm and gannet optimization algorithm (AIWGOA), which addresses challenges in enhancing handwritten documents. The hybrid strategy integrates the strengths of both algorithms, significantly enhancing their capabilities, whereas the adaptive parameter strategy mitigates the need for manual parameter setting. By amalgamating the hybrid strategy and parameter-adaptive approach, the Gannet Optimization Algorithm was refined to yield the AIWGOA. Through a performance analysis of the CEC2013 benchmark, the AIWGOA demonstrates notable advantages across various metrics. Subsequently, an evaluation index was employed to assess the enhanced handwritten documents and images, affirming the superior practical application of the AIWGOA compared with other algorithms.
文摘Cornachia’s algorithm can be adapted to the case of the equation x2+dy2=nand even to the case of ax2+bxy+cy2=n. For the sake of completeness, we have given modalities without proofs (the proof in the case of the equation x2+y2=n). Starting from a quadratic form with two variables f(x,y)=ax2+bxy+cy2and n an integer. We have shown that a primitive positive solution (u,v)of the equation f(x,y)=nis admissible if it is obtained in the following way: we take α modulo n such that f(α,1)≡0modn, u is the first of the remainders of Euclid’s algorithm associated with n and α that is less than 4cn/| D |) (possibly α itself) and the equation f(x,y)=n. has an integer solution u in y. At the end of our work, it also appears that the Cornacchia algorithm is good for the form n=ax2+bxy+cy2if all the primitive positive integer solutions of the equation f(x,y)=nare admissible, i.e. computable by the algorithmic process.
基金supported by project XJZ2023050044,A2309002 and XJZ2023070052.
文摘In the generalized continuum mechanics(GCM)theory framework,asymmetric wave equations encompass the characteristic scale parameters of the medium,accounting for microstructure interactions.This study integrates two theoretical branches of the GCM,the modified couple stress theory(M-CST)and the one-parameter second-strain-gradient theory,to form a novel asymmetric wave equation in a unified framework.Numerical modeling of the asymmetric wave equation in a unified framework accurately describes subsurface structures with vital implications for subsequent seismic wave inversion and imaging endeavors.However,employing finite-difference(FD)methods for numerical modeling may introduce numerical dispersion,adversely affecting the accuracy of numerical modeling.The design of an optimal FD operator is crucial for enhancing the accuracy of numerical modeling and emphasizing the scale effects.Therefore,this study devises a hybrid scheme called the dung beetle optimization(DBO)algorithm with a simulated annealing(SA)algorithm,denoted as the SA-based hybrid DBO(SDBO)algorithm.An FD operator optimization method under the SDBO algorithm was developed and applied to the numerical modeling of asymmetric wave equations in a unified framework.Integrating the DBO and SA algorithms mitigates the risk of convergence to a local extreme.The numerical dispersion outcomes underscore that the proposed SDBO algorithm yields FD operators with precision errors constrained to 0.5‱while encompassing a broader spectrum coverage.This result confirms the efficacy of the SDBO algorithm.Ultimately,the numerical modeling results demonstrate that the new FD method based on the SDBO algorithm effectively suppresses numerical dispersion and enhances the accuracy of elastic wave numerical modeling,thereby accentuating scale effects.This result is significant for extracting wavefield perturbations induced by complex microstructures in the medium and the analysis of scale effects.
基金Supported by National Key Research and Development Program of China(Grant No.2022YFB3304200)National Natural Science Foundation of China(Grant No.52075479)Taizhou Municipal Science and Technology Project of China(Grant No.1801gy23).
文摘Blank holder force(BHF)is a crucial parameter in deep drawing,having close relation with the forming quality of sheet metal.However,there are different BHFs maintaining the best forming effect in different stages of deep drawing.The variable blank holder force(VBHF)varying with the drawing stage can overcome this problem at an extent.The optimization of VBHF is to determine the optimal BHF in every deep drawing stage.In this paper,a new heuristic optimization algorithm named Jaya is introduced to solve the optimization efficiently.An improved“Quasi-oppositional”strategy is added to Jaya algorithm for improving population diversity.Meanwhile,an innovated stop criterion is added for better convergence.Firstly,the quality evaluation criteria for wrinkling and tearing are built.Secondly,the Kriging models are developed to approximate and quantify the relation between VBHF and forming defects under random sampling.Finally,the optimization models are established and solved by the improved QO-Jaya algorithm.A VBHF optimization example of component with complicated shape and thin wall is studied to prove the effectiveness of the improved Jaya algorithm.The optimization results are compared with that obtained by other algorithms based on the TOPSIS method.
基金This research was funded by National Natural Science Foundation of China(No.62063006)Guangxi Science and Technology Major Program(No.2022AA05002)+2 种基金Key Laboratory of AI and Information Processing(Hechi University),Education Department of Guangxi Zhuang Autonomous Region(No.2022GXZDSY003)Guangxi Key Laboratory of Spatial Information and Geomatics(Guilin University of Technology)(No.21-238-21-16)Innovation Project of Guangxi Graduate Education(No.YCSW2023352).
文摘A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile robot.Firstly,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random probability.After that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT algorithm.The algorithm simulation platform based on the Gazebo platform was built.The simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more efficiently.Finally,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different obstacles.The experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.
