Aiming at the practical application of Unmanned Underwater Vehicle(UUV)in underwater combat,this paper proposes a battlefield ambush scene with UUV considering ocean current.Firstly,by establishing these mathematical ...Aiming at the practical application of Unmanned Underwater Vehicle(UUV)in underwater combat,this paper proposes a battlefield ambush scene with UUV considering ocean current.Firstly,by establishing these mathematical models of ocean current environment,target movement,and sonar detection,the probability calculation methods of single UUV searching target and multiple UUV cooperatively searching target are given respectively.Then,based on the Hybrid Quantum-behaved Particle Swarm Optimization(HQPSO)algorithm,the path with the highest target search probability is found.Finally,through simulation calculations,the influence of different UUV parameters and target parameters on the target search probability is analyzed,and the minimum number of UUVs that need to be deployed to complete the ambush task is demonstrated,and the optimal search path scheme is obtained.The method proposed in this paper provides a theoretical basis for the practical application of UUV in the future combat.展开更多
This work is carried out based on the analysis of urban planning instruments,taking the gender perspective as a foundation.It arises from the inclusion of women in the participation of urban development,through an ana...This work is carried out based on the analysis of urban planning instruments,taking the gender perspective as a foundation.It arises from the inclusion of women in the participation of urban development,through an analysis of the gender gaps that have marked the history of women,the inequalities serve as a basis for carrying out this study.It highlights the challenges we face today as a society in the process of building citizen participation,where we must all be recognized and have equal opportunities within the territory in which we live.This article analyzes the extent to which the Municipal Urban Development Programs of the Mexican municipality of Comala,Colima,Mexico,consider the recommendations on gender and urbanism,established since the 1990s by international entities and applied transversally to urban planning policies.Considerable differences are found between women and men in terms of empowerment and participation in urban territorial planning instruments,mainly in the oldest instrument(1997).Significant progress is observed in the most recent document and is currently in force in the municipality of Comala(2009).展开更多
Unmanned autonomous helicopter(UAH)path planning problem is an important component of the UAH mission planning system.Aiming to reduce the influence of non-complete ground threat information on UAH path planning,a gro...Unmanned autonomous helicopter(UAH)path planning problem is an important component of the UAH mission planning system.Aiming to reduce the influence of non-complete ground threat information on UAH path planning,a ground threat prediction-based path planning method is proposed based on artificial bee colony(ABC)algorithm by collaborative thinking strategy.Firstly,a dynamic threat distribution probability model is developed based on the characteristics of typical ground threats.The dynamic no-fly zone of the UAH is simulated and established by calculating the distribution probability of ground threats in real time.Then,a dynamic path planning method for UAH is designed in complex environment based on the real-time prediction of ground threats.By adding the collision warning mechanism to the path planning model,the flight path could be dynamically adjusted according to changing no-fly zones.Furthermore,a hybrid enhanced ABC algorithm is proposed based on collaborative thinking strategy.The proposed algorithm applies the leader-member thinking mechanism to guide the direction of population evolution,and reduces the negative impact of local optimal solutions caused by collaborative learning update strategy,which makes the optimization performance of ABC algorithm more controllable and efficient.Finally,simulation results verify the feasibility and effectiveness of the proposed ground threat prediction path planning method.展开更多
With the increasing penetration of wind and solar energies,the accompanying uncertainty that propagates in the system places higher requirements on the expansion planning of power systems.A source-grid-load-storage co...With the increasing penetration of wind and solar energies,the accompanying uncertainty that propagates in the system places higher requirements on the expansion planning of power systems.A source-grid-load-storage coordinated expansion planning model based on stochastic programming was proposed to suppress the impact of wind and solar energy fluctuations.Multiple types of system components,including demand response service entities,converter stations,DC transmission systems,cascade hydropower stations,and other traditional components,have been extensively modeled.Moreover,energy storage systems are considered to improve the accommodation level of renewable energy and alleviate the influence of intermittence.Demand-response service entities from the load side are used to reduce and move the demand during peak load periods.The uncertainties in wind,solar energy,and loads were simulated using stochastic programming.Finally,the effectiveness of the proposed model is verified through numerical simulations.展开更多
In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking....In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking.While Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion optimization.Achieving satisfactory results in practical scenarios remains challenging.In response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial manipulators.The approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free path.To enhance convergence speed,the Q-learning algorithm in RL is augmented with Dyna-Q.Additionally,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection technique.Furthermore,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power joints.The efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target positions.Experimental results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target point.Moreover,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.展开更多
Due to its flexibility and complementarity, the multiUAVs system is well adapted to complex and cramped workspaces, with great application potential in the search and rescue(SAR) and indoor goods delivery fields. Howe...Due to its flexibility and complementarity, the multiUAVs system is well adapted to complex and cramped workspaces, with great application potential in the search and rescue(SAR) and indoor goods delivery fields. However, safe and effective path planning of multiple unmanned aerial vehicles(UAVs)in the cramped environment is always challenging: conflicts with each other are frequent because of high-density flight paths, collision probability increases because of space constraints, and the search space increases significantly, including time scale, 3D scale and model scale. Thus, this paper proposes a hierarchical collaborative planning framework with a conflict avoidance module at the high level and a path generation module at the low level. The enhanced conflict-base search(ECBS) in our framework is improved to handle the conflicts in the global path planning and avoid the occurrence of local deadlock. And both the collision and kinematic models of UAVs are considered to improve path smoothness and flight safety. Moreover, we specifically designed and published the cramped environment test set containing various unique obstacles to evaluating our framework performance thoroughly. Experiments are carried out relying on Rviz, with multiple flight missions: random, opposite, and staggered, which showed that the proposed method can generate smooth cooperative paths without conflict for at least 60 UAVs in a few minutes.The benchmark and source code are released in https://github.com/inin-xingtian/multi-UAVs-path-planner.展开更多
Mountainous regions have disadvantages in economic development because of harsh physical and climatic conditions.However,winter tourism activities are one of the key components for supporting economic development in t...Mountainous regions have disadvantages in economic development because of harsh physical and climatic conditions.However,winter tourism activities are one of the key components for supporting economic development in the highlands.Establishing a ski resort area supports direct and indirect employment in a region,and it stops immigration from mountainous regions to other places.This research aimed to assess the potential ski areas using a multi criteria evaluation technique in the Van region which is located in the eastern part of Türkiye.In this context,snow cover duration,sun effect,slope,slope length,elevation,population density,distance from main roads and lake visibility were used as input factors in the decision making process.Each factor was standardized using a fuzzy technique based on existing well-known ski centers in Türkiye.The weight of inputs was defined by applying a survey to the professional skiers.The most important factors were detected as transportation opportunities and snow covers whereas,the least important factors were elevation and population density.Additionally,lake visibility was very important to make a difference from other existing facilities in the region.Therefore,it was included as constraints and lake visible areas were extracted at the final stage of the research.Potential ski areas were mapped in three levels as professional,intermediate and beginner skiers.One of the suitable areas was selected as a sample projection and for the 3D simulation of the ski investment area.Potential costs and benefits were discussed.It was found that a ski tourism area investment can be amortized in 3 years in the region.展开更多
Reducing casualties and property losses through effective evacuation route planning has been a key focus for researchers in recent years.As part of this effort,an enhanced sparrow search algorithm(MSSA)was proposed.Fi...Reducing casualties and property losses through effective evacuation route planning has been a key focus for researchers in recent years.As part of this effort,an enhanced sparrow search algorithm(MSSA)was proposed.Firstly,the Golden Sine algorithm and a nonlinear weight factor optimization strategy were added in the discoverer position update stage of the SSA algorithm.Secondly,the Cauchy-Gaussian perturbation was applied to the optimal position of the SSA algorithm to improve its ability to jump out of local optima.Finally,the local search mechanism based on the mountain climbing method was incorporated into the local search stage of the SSA algorithm,improving its local search ability.To evaluate the effectiveness of the proposed algorithm,the Whale Algorithm,Gray Wolf Algorithm,Improved Gray Wolf Algorithm,Sparrow Search Algorithm,and MSSA Algorithm were employed to solve various test functions.The accuracy and convergence speed of each algorithm were then compared and analyzed.The results indicate that the MSSA algorithm has superior solving ability and stability compared to other algorithms.To further validate the enhanced algorithm’s capabilities for path planning,evacuation experiments were conducted using different maps featuring various obstacle types.Additionally,a multi-exit evacuation scenario was constructed according to the actual building environment of a teaching building.Both the sparrow search algorithm and MSSA algorithm were employed in the simulation experiment for multiexit evacuation path planning.The findings demonstrate that the MSSA algorithm outperforms the comparison algorithm,showcasing its greater advantages and higher application potential.展开更多
Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to...Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.展开更多
To address the shortcomings of single-step decision making in the existing deep reinforcement learning based unmanned aerial vehicle(UAV)real-time path planning problem,a real-time UAV path planning algorithm based on...To address the shortcomings of single-step decision making in the existing deep reinforcement learning based unmanned aerial vehicle(UAV)real-time path planning problem,a real-time UAV path planning algorithm based on long shortterm memory(RPP-LSTM)network is proposed,which combines the memory characteristics of recurrent neural network(RNN)and the deep reinforcement learning algorithm.LSTM networks are used in this algorithm as Q-value networks for the deep Q network(DQN)algorithm,which makes the decision of the Q-value network has some memory.Thanks to LSTM network,the Q-value network can use the previous environmental information and action information which effectively avoids the problem of single-step decision considering only the current environment.Besides,the algorithm proposes a hierarchical reward and punishment function for the specific problem of UAV real-time path planning,so that the UAV can more reasonably perform path planning.Simulation verification shows that compared with the traditional feed-forward neural network(FNN)based UAV autonomous path planning algorithm,the RPP-LSTM proposed in this paper can adapt to more complex environments and has significantly improved robustness and accuracy when performing UAV real-time path planning.展开更多
Collaborative coverage path planning(CCPP) refers to obtaining the shortest paths passing over all places except obstacles in a certain area or space. A multi-unmanned aerial vehicle(UAV) collaborative CCPP algorithm ...Collaborative coverage path planning(CCPP) refers to obtaining the shortest paths passing over all places except obstacles in a certain area or space. A multi-unmanned aerial vehicle(UAV) collaborative CCPP algorithm is proposed for the urban rescue search or military search in outdoor environment.Due to flexible control of small UAVs, it can be considered that all UAVs fly at the same altitude, that is, they perform search tasks on a two-dimensional plane. Based on the agents’ motion characteristics and environmental information, a mathematical model of CCPP problem is established. The minimum time for UAVs to complete the CCPP is the objective function, and complete coverage constraint, no-fly constraint, collision avoidance constraint, and communication constraint are considered. Four motion strategies and two communication strategies are designed. Then a distributed CCPP algorithm is designed based on hybrid strategies. Simulation results compared with patternbased genetic algorithm(PBGA) and random search method show that the proposed method has stronger real-time performance and better scalability and can complete the complete CCPP task more efficiently and stably.展开更多
This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapi...This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapidly-exploring Random Trees*(Q-RRT*)algorithm.A cost inequality relationship between an ancestor and its descendants was derived,and the ancestors were filtered accordingly.Secondly,the underwater gravity-aided navigation path planning system was designed based on the DSFS algorithm,taking into account the fitness,safety,and asymptotic optimality of the routes,according to the gravity suitability distribution of the navigation space.Finally,experimental comparisons of the computing performance of the ChooseParent procedure,the Rewire procedure,and the combination of the two procedures for Q-RRT*and DSFS were conducted under the same planning environment and parameter conditions,respectively.The results showed that the computational efficiency of the DSFS algorithm was improved by about 1.2 times compared with the Q-RRT*algorithm while ensuring correct computational results.展开更多
Since the emergence of utopian socialism and other modern urban planning ideas,as well as the proposing of“garden cities”by Howard,modern urban planning theory has experienced a variety of planning ideas,and these i...Since the emergence of utopian socialism and other modern urban planning ideas,as well as the proposing of“garden cities”by Howard,modern urban planning theory has experienced a variety of planning ideas,and these ideas play a great role in guiding urban construction and planning.In this century,cities have ushered in many industrial revolutions,and urban life,economy,and ecology have changed greatly.Planning scholars in various countries are actively looking for“medicine”to save cities in the“sick”.In this paper,modern urban planning ideas were sorted out,and how to learn from the current territorial spatial planning that is being compiled around the country was thought about.展开更多
The large-scale development of electric vehicles(EVs)requires numerous charging stations to serve them,and the charging stations should be reasonably laid out and planned according to the charging demand of electric v...The large-scale development of electric vehicles(EVs)requires numerous charging stations to serve them,and the charging stations should be reasonably laid out and planned according to the charging demand of electric vehicles.Considering the costs of both operators and users,a site selection model for optimal layout planning of charging stations is constructed,and a queuing theory approach is used to determine the charging pile configuration to meet the charging demand in the planning area.To solve the difficulties of particle swarm global optimization search,the improved random drift particle swarm optimization(IRDPSO)and Voronoi diagram are used to jointly solve for the optimal layout of electric vehicles.The final arithmetic analysis verifies the feasibility and practicality of the model and algorithm,and the results show that the total social cost is minimized when the charging station is 9,the location of the charging station is close to the center of gravity and the layout is reasonable.展开更多
In the history, the main roles of inland rivers in Beilun Port City of Ningbo were desalination,blocking tides, shipping, and flood control. Nowadays, with the continuous spread and deepening ofurbanization, the ecolo...In the history, the main roles of inland rivers in Beilun Port City of Ningbo were desalination,blocking tides, shipping, and flood control. Nowadays, with the continuous spread and deepening ofurbanization, the ecological environment of river courses has been destroyed. In the past, remediationmeasures based on engineering and technology played a certain role, but can not “cure the root cause”. Itshould respect the historical evolution process of river courses, and highlight the ecological service functionand leisure tourism value of river courses from the coordination perspective of urban and rural ecologicalenvironment, economic industries, society and culture in the planning ideas of ecology, production, andlife integration. Four aspects of the measures are as below: protecting and repairing the ecological matrixof river courses;building green space system and maintaining flood control functions through the waternetwork;protecting cultural heritage along the rivers;developing waterfront leisure tourism scenic area.展开更多
With the rapid development of urbanization,landscape architecture has become an indispensable component of daily life.In order to achieve better landscape effects and protect the ecological environment,landscape ecolo...With the rapid development of urbanization,landscape architecture has become an indispensable component of daily life.In order to achieve better landscape effects and protect the ecological environment,landscape ecology theory can be integrated into landscape planning to carry out disciplinary crossing and integration research between landscape ecology and landscape architecture.In this study,based on the basic theories of landscape ecology,the waterfront landscape of Dapo Town was designed,with the aim to achieve ecological balance in planning,showcase biodiversity,and create a harmonious landscape ecological environment which can benefit both nature and people.This design combined artificial and natural elements while improving the natural environment,which promoted a harmonious relationship between humans and nature,thus enriching the spatial organization of the city,and playing a role in regulating the urban environment and climate.展开更多
This research establishes a strategic framework for developing a salt culture-themed agricultural garden in Jintan,Jiangsu to boost rural vibrancy and cultural tourism while honoring local salt heritage.It employs the...This research establishes a strategic framework for developing a salt culture-themed agricultural garden in Jintan,Jiangsu to boost rural vibrancy and cultural tourism while honoring local salt heritage.It employs the Analytic Hierarchy Process(AHP)for a data-driven and structured approach to evaluate the sustainability and cultural significance of agricultural initiatives.This framework ensures a balanced blend of agriculture,culture,and tourism to foster a sustainable and culturally rich experience.The study highlights the value of structured methodologies in planning culturally impactful agricultural projects.展开更多
Career planning is the key educational content for college students,which is related to students’career choices and future development after graduation.However,there are some common problems related to career plannin...Career planning is the key educational content for college students,which is related to students’career choices and future development after graduation.However,there are some common problems related to career planning among college students.At the same time,career planning education itself fails to break through the limitations of traditional education,which,to some extent,hinders the future development planning of college students.Based on this,schools should actively introduce advanced education methods in the new era,combine the characteristics of college students on the basis of summarizing the previous planning experience in education,constantly improve and innovate the content and form of career planning education,promote the improvement of college students’education,and enhance the quality of education.展开更多
文摘Aiming at the practical application of Unmanned Underwater Vehicle(UUV)in underwater combat,this paper proposes a battlefield ambush scene with UUV considering ocean current.Firstly,by establishing these mathematical models of ocean current environment,target movement,and sonar detection,the probability calculation methods of single UUV searching target and multiple UUV cooperatively searching target are given respectively.Then,based on the Hybrid Quantum-behaved Particle Swarm Optimization(HQPSO)algorithm,the path with the highest target search probability is found.Finally,through simulation calculations,the influence of different UUV parameters and target parameters on the target search probability is analyzed,and the minimum number of UUVs that need to be deployed to complete the ambush task is demonstrated,and the optimal search path scheme is obtained.The method proposed in this paper provides a theoretical basis for the practical application of UUV in the future combat.
文摘This work is carried out based on the analysis of urban planning instruments,taking the gender perspective as a foundation.It arises from the inclusion of women in the participation of urban development,through an analysis of the gender gaps that have marked the history of women,the inequalities serve as a basis for carrying out this study.It highlights the challenges we face today as a society in the process of building citizen participation,where we must all be recognized and have equal opportunities within the territory in which we live.This article analyzes the extent to which the Municipal Urban Development Programs of the Mexican municipality of Comala,Colima,Mexico,consider the recommendations on gender and urbanism,established since the 1990s by international entities and applied transversally to urban planning policies.Considerable differences are found between women and men in terms of empowerment and participation in urban territorial planning instruments,mainly in the oldest instrument(1997).Significant progress is observed in the most recent document and is currently in force in the municipality of Comala(2009).
文摘Unmanned autonomous helicopter(UAH)path planning problem is an important component of the UAH mission planning system.Aiming to reduce the influence of non-complete ground threat information on UAH path planning,a ground threat prediction-based path planning method is proposed based on artificial bee colony(ABC)algorithm by collaborative thinking strategy.Firstly,a dynamic threat distribution probability model is developed based on the characteristics of typical ground threats.The dynamic no-fly zone of the UAH is simulated and established by calculating the distribution probability of ground threats in real time.Then,a dynamic path planning method for UAH is designed in complex environment based on the real-time prediction of ground threats.By adding the collision warning mechanism to the path planning model,the flight path could be dynamically adjusted according to changing no-fly zones.Furthermore,a hybrid enhanced ABC algorithm is proposed based on collaborative thinking strategy.The proposed algorithm applies the leader-member thinking mechanism to guide the direction of population evolution,and reduces the negative impact of local optimal solutions caused by collaborative learning update strategy,which makes the optimization performance of ABC algorithm more controllable and efficient.Finally,simulation results verify the feasibility and effectiveness of the proposed ground threat prediction path planning method.
基金supported by Science and Technology Project of SGCC(SGSW0000FZGHBJS2200070)。
文摘With the increasing penetration of wind and solar energies,the accompanying uncertainty that propagates in the system places higher requirements on the expansion planning of power systems.A source-grid-load-storage coordinated expansion planning model based on stochastic programming was proposed to suppress the impact of wind and solar energy fluctuations.Multiple types of system components,including demand response service entities,converter stations,DC transmission systems,cascade hydropower stations,and other traditional components,have been extensively modeled.Moreover,energy storage systems are considered to improve the accommodation level of renewable energy and alleviate the influence of intermittence.Demand-response service entities from the load side are used to reduce and move the demand during peak load periods.The uncertainties in wind,solar energy,and loads were simulated using stochastic programming.Finally,the effectiveness of the proposed model is verified through numerical simulations.
基金supported by the National Natural Science Foundation of China under Grant No.62001199Fujian Province Nature Science Foundation under Grant No.2023J01925.
文摘In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking.While Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion optimization.Achieving satisfactory results in practical scenarios remains challenging.In response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial manipulators.The approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free path.To enhance convergence speed,the Q-learning algorithm in RL is augmented with Dyna-Q.Additionally,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection technique.Furthermore,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power joints.The efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target positions.Experimental results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target point.Moreover,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.
基金partly supported by Program for the National Natural Science Foundation of China (62373052, U1913203, 61903034)Youth Talent Promotion Project of China Association for Science and TechnologyBeijing Institute of Technology Research Fund Program for Young Scholars。
文摘Due to its flexibility and complementarity, the multiUAVs system is well adapted to complex and cramped workspaces, with great application potential in the search and rescue(SAR) and indoor goods delivery fields. However, safe and effective path planning of multiple unmanned aerial vehicles(UAVs)in the cramped environment is always challenging: conflicts with each other are frequent because of high-density flight paths, collision probability increases because of space constraints, and the search space increases significantly, including time scale, 3D scale and model scale. Thus, this paper proposes a hierarchical collaborative planning framework with a conflict avoidance module at the high level and a path generation module at the low level. The enhanced conflict-base search(ECBS) in our framework is improved to handle the conflicts in the global path planning and avoid the occurrence of local deadlock. And both the collision and kinematic models of UAVs are considered to improve path smoothness and flight safety. Moreover, we specifically designed and published the cramped environment test set containing various unique obstacles to evaluating our framework performance thoroughly. Experiments are carried out relying on Rviz, with multiple flight missions: random, opposite, and staggered, which showed that the proposed method can generate smooth cooperative paths without conflict for at least 60 UAVs in a few minutes.The benchmark and source code are released in https://github.com/inin-xingtian/multi-UAVs-path-planner.
文摘Mountainous regions have disadvantages in economic development because of harsh physical and climatic conditions.However,winter tourism activities are one of the key components for supporting economic development in the highlands.Establishing a ski resort area supports direct and indirect employment in a region,and it stops immigration from mountainous regions to other places.This research aimed to assess the potential ski areas using a multi criteria evaluation technique in the Van region which is located in the eastern part of Türkiye.In this context,snow cover duration,sun effect,slope,slope length,elevation,population density,distance from main roads and lake visibility were used as input factors in the decision making process.Each factor was standardized using a fuzzy technique based on existing well-known ski centers in Türkiye.The weight of inputs was defined by applying a survey to the professional skiers.The most important factors were detected as transportation opportunities and snow covers whereas,the least important factors were elevation and population density.Additionally,lake visibility was very important to make a difference from other existing facilities in the region.Therefore,it was included as constraints and lake visible areas were extracted at the final stage of the research.Potential ski areas were mapped in three levels as professional,intermediate and beginner skiers.One of the suitable areas was selected as a sample projection and for the 3D simulation of the ski investment area.Potential costs and benefits were discussed.It was found that a ski tourism area investment can be amortized in 3 years in the region.
基金supported by National Natural Science Foundation of China(71904006)Henan Province Key R&D Special Project(231111322200)+1 种基金the Science and Technology Research Plan of Henan Province(232102320043,232102320232,232102320046)the Natural Science Foundation of Henan(232300420317,232300420314).
文摘Reducing casualties and property losses through effective evacuation route planning has been a key focus for researchers in recent years.As part of this effort,an enhanced sparrow search algorithm(MSSA)was proposed.Firstly,the Golden Sine algorithm and a nonlinear weight factor optimization strategy were added in the discoverer position update stage of the SSA algorithm.Secondly,the Cauchy-Gaussian perturbation was applied to the optimal position of the SSA algorithm to improve its ability to jump out of local optima.Finally,the local search mechanism based on the mountain climbing method was incorporated into the local search stage of the SSA algorithm,improving its local search ability.To evaluate the effectiveness of the proposed algorithm,the Whale Algorithm,Gray Wolf Algorithm,Improved Gray Wolf Algorithm,Sparrow Search Algorithm,and MSSA Algorithm were employed to solve various test functions.The accuracy and convergence speed of each algorithm were then compared and analyzed.The results indicate that the MSSA algorithm has superior solving ability and stability compared to other algorithms.To further validate the enhanced algorithm’s capabilities for path planning,evacuation experiments were conducted using different maps featuring various obstacle types.Additionally,a multi-exit evacuation scenario was constructed according to the actual building environment of a teaching building.Both the sparrow search algorithm and MSSA algorithm were employed in the simulation experiment for multiexit evacuation path planning.The findings demonstrate that the MSSA algorithm outperforms the comparison algorithm,showcasing its greater advantages and higher application potential.
基金the National Natural Science Foundation of China(No.51965032)the National Natural Science Foundation of Gansu Province of China(No.22JR5RA319)+1 种基金the Excellent Dectoral Student Foundation of Gansu Province of China(No.23JRRA842)the Science and Technology Foundation of Gansu Province of China(No.21YF5WA060)。
文摘Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.
基金supported by the Natural Science Basic Research Prog ram of Shaanxi(2022JQ-593)。
文摘To address the shortcomings of single-step decision making in the existing deep reinforcement learning based unmanned aerial vehicle(UAV)real-time path planning problem,a real-time UAV path planning algorithm based on long shortterm memory(RPP-LSTM)network is proposed,which combines the memory characteristics of recurrent neural network(RNN)and the deep reinforcement learning algorithm.LSTM networks are used in this algorithm as Q-value networks for the deep Q network(DQN)algorithm,which makes the decision of the Q-value network has some memory.Thanks to LSTM network,the Q-value network can use the previous environmental information and action information which effectively avoids the problem of single-step decision considering only the current environment.Besides,the algorithm proposes a hierarchical reward and punishment function for the specific problem of UAV real-time path planning,so that the UAV can more reasonably perform path planning.Simulation verification shows that compared with the traditional feed-forward neural network(FNN)based UAV autonomous path planning algorithm,the RPP-LSTM proposed in this paper can adapt to more complex environments and has significantly improved robustness and accuracy when performing UAV real-time path planning.
基金supported by the National Natural Science Foundation of China (61903036, 61822304)Shanghai Municipal Science and Technology Major Project (2021SHZDZX0100)。
文摘Collaborative coverage path planning(CCPP) refers to obtaining the shortest paths passing over all places except obstacles in a certain area or space. A multi-unmanned aerial vehicle(UAV) collaborative CCPP algorithm is proposed for the urban rescue search or military search in outdoor environment.Due to flexible control of small UAVs, it can be considered that all UAVs fly at the same altitude, that is, they perform search tasks on a two-dimensional plane. Based on the agents’ motion characteristics and environmental information, a mathematical model of CCPP problem is established. The minimum time for UAVs to complete the CCPP is the objective function, and complete coverage constraint, no-fly constraint, collision avoidance constraint, and communication constraint are considered. Four motion strategies and two communication strategies are designed. Then a distributed CCPP algorithm is designed based on hybrid strategies. Simulation results compared with patternbased genetic algorithm(PBGA) and random search method show that the proposed method has stronger real-time performance and better scalability and can complete the complete CCPP task more efficiently and stably.
基金the National Natural Science Foundation of China(Grant No.42274119)the Liaoning Revitalization Talents Program(Grant No.XLYC2002082)+1 种基金National Key Research and Development Plan Key Special Projects of Science and Technology Military Civil Integration(Grant No.2022YFF1400500)the Key Project of Science and Technology Commission of the Central Military Commission.
文摘This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapidly-exploring Random Trees*(Q-RRT*)algorithm.A cost inequality relationship between an ancestor and its descendants was derived,and the ancestors were filtered accordingly.Secondly,the underwater gravity-aided navigation path planning system was designed based on the DSFS algorithm,taking into account the fitness,safety,and asymptotic optimality of the routes,according to the gravity suitability distribution of the navigation space.Finally,experimental comparisons of the computing performance of the ChooseParent procedure,the Rewire procedure,and the combination of the two procedures for Q-RRT*and DSFS were conducted under the same planning environment and parameter conditions,respectively.The results showed that the computational efficiency of the DSFS algorithm was improved by about 1.2 times compared with the Q-RRT*algorithm while ensuring correct computational results.
文摘Since the emergence of utopian socialism and other modern urban planning ideas,as well as the proposing of“garden cities”by Howard,modern urban planning theory has experienced a variety of planning ideas,and these ideas play a great role in guiding urban construction and planning.In this century,cities have ushered in many industrial revolutions,and urban life,economy,and ecology have changed greatly.Planning scholars in various countries are actively looking for“medicine”to save cities in the“sick”.In this paper,modern urban planning ideas were sorted out,and how to learn from the current territorial spatial planning that is being compiled around the country was thought about.
基金the National Social Science Foundation of China(No.18AJL014)。
文摘The large-scale development of electric vehicles(EVs)requires numerous charging stations to serve them,and the charging stations should be reasonably laid out and planned according to the charging demand of electric vehicles.Considering the costs of both operators and users,a site selection model for optimal layout planning of charging stations is constructed,and a queuing theory approach is used to determine the charging pile configuration to meet the charging demand in the planning area.To solve the difficulties of particle swarm global optimization search,the improved random drift particle swarm optimization(IRDPSO)and Voronoi diagram are used to jointly solve for the optimal layout of electric vehicles.The final arithmetic analysis verifies the feasibility and practicality of the model and algorithm,and the results show that the total social cost is minimized when the charging station is 9,the location of the charging station is close to the center of gravity and the layout is reasonable.
文摘In the history, the main roles of inland rivers in Beilun Port City of Ningbo were desalination,blocking tides, shipping, and flood control. Nowadays, with the continuous spread and deepening ofurbanization, the ecological environment of river courses has been destroyed. In the past, remediationmeasures based on engineering and technology played a certain role, but can not “cure the root cause”. Itshould respect the historical evolution process of river courses, and highlight the ecological service functionand leisure tourism value of river courses from the coordination perspective of urban and rural ecologicalenvironment, economic industries, society and culture in the planning ideas of ecology, production, andlife integration. Four aspects of the measures are as below: protecting and repairing the ecological matrixof river courses;building green space system and maintaining flood control functions through the waternetwork;protecting cultural heritage along the rivers;developing waterfront leisure tourism scenic area.
文摘With the rapid development of urbanization,landscape architecture has become an indispensable component of daily life.In order to achieve better landscape effects and protect the ecological environment,landscape ecology theory can be integrated into landscape planning to carry out disciplinary crossing and integration research between landscape ecology and landscape architecture.In this study,based on the basic theories of landscape ecology,the waterfront landscape of Dapo Town was designed,with the aim to achieve ecological balance in planning,showcase biodiversity,and create a harmonious landscape ecological environment which can benefit both nature and people.This design combined artificial and natural elements while improving the natural environment,which promoted a harmonious relationship between humans and nature,thus enriching the spatial organization of the city,and playing a role in regulating the urban environment and climate.
基金supported by the Chenguang Program of the Shanghai Education Development Foundation and the Shanghai Municipal Education Commission.
文摘This research establishes a strategic framework for developing a salt culture-themed agricultural garden in Jintan,Jiangsu to boost rural vibrancy and cultural tourism while honoring local salt heritage.It employs the Analytic Hierarchy Process(AHP)for a data-driven and structured approach to evaluate the sustainability and cultural significance of agricultural initiatives.This framework ensures a balanced blend of agriculture,culture,and tourism to foster a sustainable and culturally rich experience.The study highlights the value of structured methodologies in planning culturally impactful agricultural projects.
文摘Career planning is the key educational content for college students,which is related to students’career choices and future development after graduation.However,there are some common problems related to career planning among college students.At the same time,career planning education itself fails to break through the limitations of traditional education,which,to some extent,hinders the future development planning of college students.Based on this,schools should actively introduce advanced education methods in the new era,combine the characteristics of college students on the basis of summarizing the previous planning experience in education,constantly improve and innovate the content and form of career planning education,promote the improvement of college students’education,and enhance the quality of education.
