A county in eastern Jiangsu Province leads the way in low-cost medical treatment THE extremely cold weather that has ravaged large parts of the northern hemisphere this winter also took its toll on the small village o...A county in eastern Jiangsu Province leads the way in low-cost medical treatment THE extremely cold weather that has ravaged large parts of the northern hemisphere this winter also took its toll on the small village of Dazhuyin in Ganyu County,east China＇s Jiangsu Province. The dry,freezing days laid low scores展开更多
In this paper, on-road trajectory planning is solved by introducing intelligent computing budget allocation(ICBA) into a candidate-curve-based planning algorithm, namely, ordinal-optimization-based differential evolut...In this paper, on-road trajectory planning is solved by introducing intelligent computing budget allocation(ICBA) into a candidate-curve-based planning algorithm, namely, ordinal-optimization-based differential evolution(OODE). The proposed algorithm is named IOODE with ‘I' representing ICBA. OODE plans the trajectory in two parts: trajectory curve and acceleration profile. The best trajectory curve is picked from a set of candidate curves, where each curve is evaluated by solving a subproblem with the differential evolution(DE) algorithm. The more iterations DE performs, the more accurate the evaluation will become. Thus, we intelligently allocate the iterations to individual curves so as to reduce the total number of iterations performed. Meanwhile, the selected best curve is ensured to be one of the truly top curves with a high enough probability. Simulation results show that IOODE is 20% faster than OODE while maintaining the same performance in terms of solution quality. The computing budget allocation framework presented in this paper can also be used to enhance the efficiency of other candidate-curve-based planning methods.展开更多
文摘A county in eastern Jiangsu Province leads the way in low-cost medical treatment THE extremely cold weather that has ravaged large parts of the northern hemisphere this winter also took its toll on the small village of Dazhuyin in Ganyu County,east China＇s Jiangsu Province. The dry,freezing days laid low scores
基金supported by the National Natural Science Foundation of China(No.61273039)
文摘In this paper, on-road trajectory planning is solved by introducing intelligent computing budget allocation(ICBA) into a candidate-curve-based planning algorithm, namely, ordinal-optimization-based differential evolution(OODE). The proposed algorithm is named IOODE with ‘I' representing ICBA. OODE plans the trajectory in two parts: trajectory curve and acceleration profile. The best trajectory curve is picked from a set of candidate curves, where each curve is evaluated by solving a subproblem with the differential evolution(DE) algorithm. The more iterations DE performs, the more accurate the evaluation will become. Thus, we intelligently allocate the iterations to individual curves so as to reduce the total number of iterations performed. Meanwhile, the selected best curve is ensured to be one of the truly top curves with a high enough probability. Simulation results show that IOODE is 20% faster than OODE while maintaining the same performance in terms of solution quality. The computing budget allocation framework presented in this paper can also be used to enhance the efficiency of other candidate-curve-based planning methods.
