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基于模糊化环境建模的无人车路径规划研究 被引量:1
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作者 王文刚 张秀丽 王曦鸣 《国防制造技术》 2009年第3期53-56,共4页
无人作战车在战场环境中的路径规划面临的重要问题之一是对地形的理解,以及不同地形条件下无人车的可通行能力分析。本文提出了一种针对野外战场环境进行模糊化环境建模的方法。该方法能够对野外战场环境中的多种路面模型进行模糊化处理... 无人作战车在战场环境中的路径规划面临的重要问题之一是对地形的理解,以及不同地形条件下无人车的可通行能力分析。本文提出了一种针对野外战场环境进行模糊化环境建模的方法。该方法能够对野外战场环境中的多种路面模型进行模糊化处理,并根据各路面的通行状况与通行规则定义相应的路面可用度指标以评价路面的可通行能力,建立越野环境模型。利用A*算法进行路径搜索,仿真实验表明,本文算法稳定有效,能满足无人车战场越野路径规划的需要。 展开更多
关键词 无人车 模糊环境模型 路面可用度 路径规划
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动态环境下基于蚁群算法的实时路径规划方法 被引量:16
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作者 曾碧 杨宜民 《计算机应用研究》 CSCD 北大核心 2010年第3期860-863,共4页
提出了一种实现移动机器人在复杂动态环境下进行实时路径规划的新方法。该方法首先利用模糊逻辑来描述机器人局部环境模型;然后采用改进的蚁群系统算法快速地搜索出局部最优路径,并在此路径的引导下,结合机器人滚动规划方法,实现移动机... 提出了一种实现移动机器人在复杂动态环境下进行实时路径规划的新方法。该方法首先利用模糊逻辑来描述机器人局部环境模型;然后采用改进的蚁群系统算法快速地搜索出局部最优路径,并在此路径的引导下,结合机器人滚动规划方法,实现移动机器人在复杂动态环境下的实时路径规划。该方法不仅能克服传感器测量误差等引起环境信息的模糊性和不确定性的影响,还可以充分发挥蚁群算法的群体智能优势来保证系统规划的实时性。仿真结果表明该算法的有效性和可行性。 展开更多
关键词 移动机器人 路径规划 蚁群算法 环境模糊模型 动态环境
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A Comparative Analysis of Environmental Quality Assessment Methods for Heavy Metal-Contaminated Soils 被引量:33
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作者 LI Wei-Xin ZHANG Xu-Xiang +5 位作者 WU Bing SUN Shi-Lei CHEN Yan-Song PAN Wen-Yang ZHAO Da-Yong CHENG Shu-Pei 《Pedosphere》 SCIE CAS CSCD 2008年第3期344-352,共9页
Four assessment methods (two pollution indexes and two fuzzy mathematical models) were employed to investigate the environmental quality of four soils around a ferroalloy plant in Nanjing City. Environmental quality... Four assessment methods (two pollution indexes and two fuzzy mathematical models) were employed to investigate the environmental quality of four soils around a ferroalloy plant in Nanjing City. Environmental quality was assessed as class Ⅳ (moderately polluted) for each soil with single-factor index method, and was identified to be classes Ⅳ, Ⅲ (slightly polluted), Ⅲ, and Ⅲ for soils A, B, C, and D, respectively, with the comprehensive index model. In comparison with the single-factor index method, the comprehensive index model concerned both dominant parameter and average contribution of all factors to the integrated environmental quality. Using the two fuzzy mathematical methods (single-factor deciding and weighted average models), the environmental risks were determined to be classes Ⅳ, Ⅲ, Ⅱ (clean), and Ⅱ for soils A, B, C, and D, respectively. However, divergence of the membership degree to each pollution class still occurred between the two methods. In fuzzy mathematical methods, membership functions were used to describe the limits between different pollution degrees, and different weights were allocated for the factors according to pollution contribution. Introduction of membership degree and weight of each factor to fuzzy mathematical models made the methods more reasonable in the field of environmental risk assessment. 展开更多
关键词 environmental assessment fuzzy mathematical model heavy metal pollution pollution index method SOIL
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Site selection of emergency material warehouse under fuzzy environment 被引量:1
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作者 刘诚 陈则辉 龚玉燕 《Journal of Central South University》 SCIE EI CAS 2013年第6期1610-1615,共6页
The objective of this work was to determine the location of emergency material warehouses. For the site selection problem of emergency material warehouses, the triangular fuzzy numbers are respectively demand of the d... The objective of this work was to determine the location of emergency material warehouses. For the site selection problem of emergency material warehouses, the triangular fuzzy numbers are respectively demand of the demand node, the distance between the warehouse and demand node and the cost of the warehouse, a bi-objective programming model was established with minimum total cost of the system and minimum distance between the selected emergency material warehouses and the demand node. Using the theories of fuzzy numbers, the fuzzy programming model was transformed into a determinate bi-objective mixed integer programming model and a heuristic algorithm for this model was designed. Then, the algorithm was proven to be feasible and effective through a numerical example. Analysis results show that the location of emergency material warehouse depends heavily on the values of degree a and weight wl. Accurate information of a certain emergency activity should be collected before making the decision. 展开更多
关键词 bi-objective mixed-integer programming emergency material warehouse triangular fuzzy number site selection
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Information Entropy Fuzzy Matter-element Model and Its Application to Regional Eco-Environmental Quality Assessment 被引量:4
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作者 Ruzhong Li Tianqiu Hong Jiazhong Qian 《Journal of Systems Science and Information》 2006年第4期649-659,共11页
Based on the fuzzy characters of eco-environmental quality conception and classification standards, the incompatibility of evaluation indexes, the statistical fluctuation of index values, an information entropy fuzzy ... Based on the fuzzy characters of eco-environmental quality conception and classification standards, the incompatibility of evaluation indexes, the statistical fluctuation of index values, an information entropy fuzzy matter-element model for evaluating regional eco-environmental quality is proposed by way of comprehensively utilizing such theories as information theory, fuzzy sets and matter-element theory, etc. As a case, the model established here is used to evaluate the eco-environmental quality of Lake Chaohu basin. In the case, the eco-environmental quality standards and the evaluated schemes are indicated as matter-elements, together. Through constructing compound fuzzy matter-element, probability compound fuzzy matter-element and self-information compound fuzzy matter- element, the information entropy of each matter-element (including evaluated schemes and classification standards) is calculated in the end. According to these obtained information entropy values, the evaluated schemes can be not only arranged in quality state order but also classified by classification standards .Study result shows that information entropy fuzzy matter-element model is suitable for regional eco-environmental quality assessment. 展开更多
关键词 eco-environmental quality assessment information entropy fuzzy matterelement compound fuzzy matter-element
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