Improved Double Deep Q Network Algorithm Based on Average Q-Value Estimation and Reward Redistribution for Robot Path Planning

By integrating deep neural networks with reinforcement learning,the Double Deep Q Network(DDQN)algorithm overcomes the limitations of Q-learning in handling continuous spaces and is widely applied in the path planning of mobile robots.However,the traditional DDQN algorithm suffers from sparse rewards and inefficient utilization of high-quality data.Targeting those problems,an improved DDQN algorithm based on average Q-value estimation and reward redistribution was proposed.First,to enhance the precision of the target Q-value,the average of multiple previously learned Q-values from the target Q network is used to replace the single Q-value from the current target Q network.Next,a reward redistribution mechanism is designed to overcome the sparse reward problem by adjusting the final reward of each action using the round reward from trajectory information.Additionally,a reward-prioritized experience selection method is introduced,which ranks experience samples according to reward values to ensure frequent utilization of high-quality data.Finally,simulation experiments are conducted to verify the effectiveness of the proposed algorithm in fixed-position scenario and random environments.The experimental results show that compared to the traditional DDQN algorithm,the proposed algorithm achieves shorter average running time,higher average return and fewer average steps.The performance of the proposed algorithm is improved by 11.43%in the fixed scenario and 8.33%in random environments.It not only plans economic and safe paths but also significantly improves efficiency and generalization in path planning,making it suitable for widespread application in autonomous navigation and industrial automation.

Periodic Motion Planning and Control for Double Rotary Pendulum via Virtual Holonomic Constraints

Periodic motion planning for an under-actuated system is rather difficult due to differential dynamic constraints imposed by passive dynamics, and it becomes more difficult for a system with higher underactuation degree, that is with a higher difference between the number of degrees of freedom and the number of independent control inputs. However, from another point of view, these constraints also mean some relation between state variables and could be used in the motion planning.We consider a double rotary pendulum, which has an underactuation degree 2. A novel periodic motion planning is presented based on an optimization search. A necessary condition for existence of the whole periodic trajectory is given because of the higher underactuation degree of the system. Moreover this condition is given to make virtual holonomic constraint(VHC) based control design feasible. Therefore, an initial guess for the optimization of planning a feasible periodic motion is based on this necessary condition. Then, VHCs are used for the system transformation and transverse linearization is used to design a static state feedback controller with periodic matrix function gain. The controller gain is found through another optimization procedure. The effectiveness of initial guess and performance of the closed-loop system are illustrated through numerical simulations.

Double BP Q-Learning Algorithm for Local Path Planning of Mobile Robot

Aiming at the dimension disaster problem, poor model generalization ability and deadlock problem in special obstacles environment caused by the increase of state information in the local path planning process of mobile robot, this paper proposed a Double BP Q-learning algorithm based on the fusion of Double Q-learning algorithm and BP neural network. In order to solve the dimensional disaster problem, two BP neural network fitting value functions with the same network structure were used to replace the two Q value tables in Double Q-Learning algorithm to solve the problem that the Q value table cannot store excessive state information. By adding the mechanism of priority experience replay and using the parameter transfer to initialize the model parameters in different environments, it could accelerate the convergence rate of the algorithm, improve the learning efficiency and the generalization ability of the model. By designing specific action selection strategy in special environment, the deadlock state could be avoided and the mobile robot could reach the target point. Finally, the designed Double BP Q-learning algorithm was simulated and verified, and the probability of mobile robot reaching the target point in the parameter update process was compared with the Double Q-learning algorithm under the same condition of the planned path length. The results showed that the model trained by the improved Double BP Q-learning algorithm had a higher success rate in finding the optimal or sub-optimal path in the dense discrete environment, besides, it had stronger model generalization ability, fewer redundant sections, and could reach the target point without entering the deadlock zone in the special obstacles environment.

Teaching Reform and Research on Art Design Majors in Higher Vocational Colleges under the Background of “Double High Plan”

Training talents for the society is the responsibility of colleges and universities.The society needs applied and innovative art design majors.In order to cultivate talents needed by society and keep up with the development plan of the Ministry of Education,higher vocational colleges need to reform.This paper adopts the method of theoretical analysis to elaborate from the four aspects of focusing equally on science and education,promote learning by competition;integrating industry and education,nurturing talents together;keeping the mission in mind while serving students;and finding the right positioning,giving full play to the advantages.

Development of Strategic Industrial Clusters in Guangdong Higher Vocational Colleges based on the"Double High Plan"

This article analyzed the ten strategic pillar industry clusters and the ten strategic emerging industry clusters which were confirmed and announced by Guangdong Province in May 2020 in addition to the 14 professional groups of schools in Guangdong Province which were shortlisted in the"Double High Plan."With comparison and analysis,the degree of coincidence between the professional groups of higher vocational colleges and strategic industrial clusters in Guangdong Province which covered most of the industrial clusters was relatively high.The higher vocational colleges that were shortlisted in the"Double High Plan"still required dynamic adjustments in the construction of professional groups to achieve an allrounded integration of the supply of talents and industrial demands.

Research on the Optimization of Talent Recruitment Process in Higher Vocational Colleges under the Background of Double High Plan

In order to elucidate the relationship between talent recruitment and teacher allocation management in higher vocational colleges under the background of the"Double High Plan",this paper studies and analyzes the current status of talent recruitment in Chinese higher vocational colleges in conjunction with the characteristics of talent resource allocation in higher vocational colleges and proposes to elucidate the priorities and improve supporting policies with reasonable planning to improve the optimization guideline of talent recruitment efficiency,so as to better accomplish the building of the national"double high plan"and improve the ability of higher vocational colleges to nurture more outstanding talents for the society.

Thoughts on the Management of Personnel Files in Higher Vocational Colleges in the Context of“Double High Plan”

Starting from the background of the"Double High Plan"in conjunction with the role of personnel file management in advancing the"Double High Plan",this paper analyzes the current status of personnel file management in higher vocational colleges and the necessity of personnel management in higher vocational colleges,and explores the effective measures to strengthen the informatization of personnel files management to make it more reasonable,standardized and informatized.

Research on Innovation of Modern Apprenticeship Talent Training Model for Art and Design Majors in Higher Vocational Education under the Background of "Double High"

In order to cultivate more excellent talents in art and design majors following the requirements of the"13th Five-Year Plan"national education development,this paper analyzes in-depth on the current status of higher vocational education in art design profession under the background of the"Double High"plan and the challenges faced,and proposes the building of school-enterprise"Double Subject"education system and the establishment of a"diversified"evaluation system.Deepening the integration of industry and education,schools and enterprises jointly explore modern apprenticeship talent training models for innovative art and design majors,and provide a strong guarantee for the implementation of the"Double High"plan modern apprenticeship talent training model.

“双高计划”背景下高职院校专业群竞争力评价指标体系构建及应用

在“双高计划”高水平专业群面临终期验收和二次遴选的背景下,聚焦专业群建设成效,采用德尔菲专家咨询和AHP层次分析法构建了包括人才培养、师资队伍、教学改革、产教融合和社会服务5个一级指标、11个二级指标、40个三级指标的高职院校专业群竞争力评价指标体系。以广东省14所“双高计划”高职院校为例进行专业群建设实证分析,既验证了该评价指标体系的实际应用价值,又检验了14所“双高计划”学校目前专业群建设水平,从而从创新人才培养、加强师资队伍建设、深化教学改革、推进产教融合、增强社会服务能力等方面提出“双高计划”高职院校专业群建设策略。

服务四川省食品饮料产业的工商专业群人才培养模式探索

依据“双高计划”要求,专业群的人才培养应与产业人才需求精准对接。面向先进制造业、现代农业和现代服务业等重点产业,服务于重点产业转型升级,以体现职业教育为生产劳动服务的功能。工商专业在组群中没有特色,常常被边缘化。因此,要跨专业组群,面向重点产业,兼顾培养懂技术的管理人才,懂管理的技术人才。通过“技术+管理”“工科+商科”,跨专业跨领域交叉融合,服务四川省食品饮料产业。目标是培养“懂管理、善操作、精技术”的复合型技术技能人才和“懂技术、会经营、擅管理”的技术技能型管理人才。

“双高计划”背景下高职院校学报高质量发展策略探究

“双高计划”是推进中国职业教育现代化的重要决策。高职院校学报应当牢牢抓住“双高计划”给高职院校提供的发展机遇,不断提升学报编辑团队、审稿专家业务能力,围绕“双高计划”中院校与专业群建设的成果开办特色栏目,吸引优质稿源,加快数字化转型,深化科教融汇,在展示优秀学术与科研成果的同时,实现自身的可持续、高质量发展。

高水平专业群建设产出绩效评价指标体系构建研究

高水平专业群建设绩效评价既是衡量“双高”建设成效的必然要求,也是促进高职院校内涵式发展的迫切需要,还是下一轮双高计划建设单位遴选的重要举措。依据教育部和财政部相关文件,提出了高水平专业群建设绩效评价体系框架。在对产出指标选用原则分析的基础上,选出了9个二级指标下的备选三级指标;运用DEMATEL分析法,对备选三级指标进行优化,确定了产出指标下的评价体系和权重。通过高水平专业群建设绩效评价体系的构建,引导专业群建设方向始终指向“双高计划”总体目标,有效提升专业群的人才培养质量与服务能力。

“双高计划”背景下高职院校师资队伍国际化水平提升路径研究

高职院校师资队伍国际化水平的提升有利于促进中国高职专业建设标准与国际融通,有利于高职院校人才培养模式国际化和合理化,有利于高职院校管理模式更加国际化和规范化。但是,目前的相关工作中依然存在“缺乏核心团队,引领意识不强”“培训途径单一,交流活动局限”“自身能力不足,难以满足需求”“激励机制不够,堵点尚未打通”4个方面的问题。因此,在“双高计划”背景下高职院校师资队伍国际化水平提升方面,应不断提升核心团队竞争力,让“主动”成为常态;加强顶层设计与指导,拓展多元化培养途径;抓好“五能”培养工程,凝心聚力助推发展;深化体制机制改革,激发全员创新活力。

“双万计划”背景下体育专业大学生核心素养培育研究

文章运用专家访谈法、文献资料法和案例分析法等研究方法,在“双万计划”背景下对体育专业大学生核心素养培育进行研究,从体育专业大学生核心素养的结构出发,探究其研究价值,提出以做体育文化人为导引,更新培育方式;以德术相长为根基,完善课程结构;“学-练-赛”与“五心”培育相结合,更新培养思路;以知行合一及勇于担当为思想,强化培养目标的策略,以丰富核心素养研究的理论成果。

“双高计划”背景下高职院校专业群建设的政策演进与内涵特质

高水平专业群建设是高职院校治理体系和治理能力现代化的集中体现。纵观我国高职教育发展进程,专业(群)建设作为高职院校发展水平的核心要素和显著标识始终贯穿其中。从政策演进透析专业群建设的历史脉动和演进逻辑,有助于从政策制度层面理解高水平专业群建设在“双高计划”背景下所具有的功能定位和价值旨向,从专业理论层面理解高水平专业群所体现出的“群”“高”“才”诸方面的内涵特质,从而为高水平专业群建设的实现路径和行动方略等提供制度依据和理论支撑。

“双高计划”背景下生物化学“金课”建设探索

生物化学是医学生重要的专业基础课程,是衔接上下游基础课程和临床课程的桥梁,是学生临床实践所必备的基础,直接决定人才培养质量的高低.打造“金课”已成为当前大学教学改革的热点.“双高计划”背景下,针对高职医学院校生物化学“金课”的建设现状,明确线上线下混合式“金课”的建设思路,从加强师资队伍建设、优化整合课程内容、建设精品在线开放课程、创新教学方法和手段、建立多元化考核评价机制等构建了实践与创新能力为导向的生物化学“金课”课程体系,为建设符合“两性一度”标准的高职院校特色的生物化学线上线下混合式金课奠定基础.

“双高”建设背景下高职院校全面预算管理信息化建设的探索与实践

在信息技术高速发展的时代背景下,信息化应用越来越普及,全面预算管理系统作为高校提升核心竞争力的重要管理手段之一,其重要性越来越明显。可从深入理解“双高”建设及高校全面预算管理一体化核心理念出发,分析高职院校实施全面预算管理信息化方面存在的问题,进而有针对性地提出改进的对策与建议,以期对提高高校财政预算管理工作的成效和促进职业教育高质量发展提供参考。

“双高计划”专业群核心竞争力评估体系研究——以北京财贸职业学院为例

高水平专业群是“双高计划”建设的核心,要保障专业群建设成果,需要积极构建科学有效的评估体系。文章从国家、社会、学校三个层面阐述研究意义,结合“双高计划”专业群九大任务论述了评估体系的六个维度,用文字和图表、定性和定量、多形式评估的形式呈现了具体做法,建立动态调整机制对A、B、C、D档专业实行优胜劣汰,形成一套具有前瞻性的评估体系,助力“双高计划”专业群高质量发展。

“双高计划”下高职院校学生信息素养的调研及对策研究

信息素养已经成为当今时代高职院校学生必备的素质和关键能力,“双高计划”建设又对高职院校学生的信息素养能力提出了更高要求。通过文献梳理,构建高职院校学生信息素养评价指标体系,围绕信息意识、信息知识、信息能力、信息伦理道德以及信息素养课程等方面设计调查问卷,分析调研数据,了解高职院校学生信息素养现状及存在问题,提出合理化建议及对策,为高职院校学生信息素养教育培养提供借鉴。

“双高计划”视域下高职院校课堂教学精准测评体系构建研究——基于对18所“双高计划”高职院校听课评价表的分析

课堂教学评价能否促进教学质量的提高,关键在于评价体系是否科学、规范、可行。通过对18所“双高计划”高职院校的课堂教学评价表进行分析发现,高职院校的课堂教学评价体系存在评价标准无职业教育特色、评价体系使用过于统一、标准指标表述不准确、评价指标权重不合理、评价结果使用不充分等问题。“双高计划”视域下高职院校教学评价体系改革应彰显课程职业素质本位、秉承学生发展为中心、明确课程差异性、重视指标可测性、采用综合性评价方法。鉴于此,采用专家排序统计法、因子分析法构建全面的课程类型化课堂教学精准测评体系,包括量化模块和质化模块,以期推动课堂教学个性化评价标准的构建,提高课堂教学评价的有效性。