An Adaptive Rapidly-Exploring Random Tree

Sampling-based planning algorithms play an important role in high degree-of-freedom motion planning(MP)problems,in which rapidly-exploring random tree(RRT)and the faster bidirectional RRT(named RRT-Connect)algorithms have achieved good results in many planning tasks.However,sampling-based methods have the inherent defect of having difficultly in solving planning problems with narrow passages.Therefore,several algorithms have been proposed to overcome these drawbacks.As one of the improved algorithms,Rapidlyexploring random vines(RRV)can achieve better results,but it may perform worse in cluttered environments and has a certain environmental selectivity.In this paper,we present a new improved planning method based on RRT-Connect and RRV,named adaptive RRT-Connect(ARRT-Connect),which deals well with the narrow passage environments while retaining the ability of RRT algorithms to plan paths in other environments.The proposed planner is shown to be adaptable to a variety of environments and can accomplish path planning in a short time.

Global optimization of manipulator base placement by means of rapidly-exploring random tree

Due to the interrelationship between the base placement of the manipulator and its operation object,it is significant to analyze the accessibility and workspace of manipulators for the optimization of their base location.A new method is presented to optimize the base placement of manipulators through motion planning optimization and location optimization in the feasible area for manipulators.Firstly,research problems and contents are outlined.And then the feasible area for the manipulator base installation is discussed.Next,index depended on the joint movements and used to evaluate the kinematic performance of manipulators is defined.Although the mentioned indices in last section are regarded as the cost function of the latter,rapidly-exploring random tree(RRT) and rapidly-exploring random tree*(RRT*) algorithms are analyzed.And then,the proposed optimization method of manipulator base placement is studied by means of simulation research based on kinematic performance criteria.Finally,the conclusions could be proved effective from the simulation results.

Mapping landslide susceptibility at the Three Gorges Reservoir, China, using gradient boosting decision tree,random forest and information value models

This work was to generate landslide susceptibility maps for the Three Gorges Reservoir(TGR) area, China by using different machine learning models. Three advanced machine learning methods, namely, gradient boosting decision tree(GBDT), random forest(RF) and information value(InV) models, were used, and the performances were assessed and compared. In total, 202 landslides were mapped by using a series of field surveys, aerial photographs, and reviews of historical and bibliographical data. Nine causative factors were then considered in landslide susceptibility map generation by using the GBDT, RF and InV models. All of the maps of the causative factors were resampled to a resolution of 28.5 m. Of the 486289 pixels in the area,28526 pixels were landslide pixels, and 457763 pixels were non-landslide pixels. Finally, landslide susceptibility maps were generated by using the three machine learning models, and their performances were assessed through receiver operating characteristic(ROC) curves, the sensitivity, specificity,overall accuracy(OA), and kappa coefficient(KAPPA). The results showed that the GBDT, RF and In V models in overall produced reasonable accurate landslide susceptibility maps. Among these three methods, the GBDT method outperforms the other two machine learning methods, which can provide strong technical support for producing landslide susceptibility maps in TGR.

Navigation Method Based on Improved Rapid Exploration Random Tree Star-Smart(RRT^(*)-Smart) and Deep Reinforcement Learning

A large number of logistics operations are needed to transport fabric rolls and dye barrels to different positions in printing and dyeing plants, and increasing labor cost is making it difficult for plants to recruit workers to complete manual operations. Artificial intelligence and robotics, which are rapidly evolving, offer potential solutions to this problem. In this paper, a navigation method dedicated to solving the issues of the inability to pass smoothly at corners in practice and local obstacle avoidance is presented. In the system, a Gaussian fitting smoothing rapid exploration random tree star-smart(GFS RRT^(*)-Smart) algorithm is proposed for global path planning and enhances the performance when the robot makes a sharp turn around corners. In local obstacle avoidance, a deep reinforcement learning determiner mixed actor critic(MAC) algorithm is used for obstacle avoidance decisions. The navigation system is implemented in a scaled-down simulation factory.

MINIMUM CONGESTION SPANNING TREES IN BIPARTITE AND RANDOM GRAPHS

The first problem considered in this article reads: is it possible to find upper estimates for the spanning tree congestion in bipartite graphs, which are better than those for general graphs? It is proved that there exists a bipartite version of the known graph with spanning tree congestion of order n 3 2 , where n is the number of vertices. The second problem is to estimate spanning tree congestion of random graphs. It is proved that the standard model of random graphs cannot be used to find graphs whose spanning tree congestion has order greater than n 3 2 .

Improved Prediction of Slope Stability under Static and Dynamic Conditions Using Tree-BasedModels

Slope stability prediction plays a significant role in landslide disaster prevention and mitigation.This paper’s reduced error pruning(REP)tree and random tree(RT)models are developed for slope stability evaluation and meeting the high precision and rapidity requirements in slope engineering.The data set of this study includes five parameters,namely slope height,slope angle,cohesion,internal friction angle,and peak ground acceleration.The available data is split into two categories:training(75%)and test(25%)sets.The output of the RT and REP tree models is evaluated using performance measures including accuracy(Acc),Matthews correlation coefficient(Mcc),precision(Prec),recall(Rec),and F-score.The applications of the aforementionedmethods for predicting slope stability are compared to one another and recently established soft computing models in the literature.The analysis of the Acc together with Mcc,and F-score for the slope stability in the test set demonstrates that the RT achieved a better prediction performance with(Acc=97.1429%,Mcc=0.935,F-score for stable class=0.979 and for unstable case F-score=0.935)succeeded by the REP tree model with(Acc=95.4286%,Mcc=0.896,F-score stable class=0.967 and for unstable class F-score=0.923)for the slope stability dataset The analysis of performance measures for the slope stability dataset reveals that the RT model attains comparatively better and reliable results and thus should be encouraged in further research.

Balance in Random Trees

We prove that a random labeled (unlabeled) tree is balanced. We also prove that random labeled and unlabeled trees are strongly &#107-balanced for any &#107 &#8805 &#51. Definition: Color the vertices of graph &#71 with two colors. Color an edge with the color of its endpoints if they are colored with the same color. Edges with different colored endpoints are left uncolored. &#71 is said to be balanced if neither the number of vertices nor and the number of edges of the two different colors differs by more than one.

Counting and Randomly Generating <i>k</i>-Ary Trees

k-ary trees are one of the most basic data structures in Computer Science. A new method is presented to determine how many there are with n nodes. This method gives additional insight into their structure and provides a new algo-rithm to efficiently generate such a tree randomly.

Random walks in generalized delayed recursive trees

Recently a great deal of effort has been made to explicitly determine the mean first-passage time(MFPT) between two nodes averaged over all pairs of nodes on a fractal network.In this paper,we first propose a family of generalized delayed recursive trees characterized by two parameters,where the existing nodes have a time delay to produce new nodes.We then study the MFPT of random walks on this kind of recursive tree and investigate the effect of the time delay on the MFPT.By relating random walks to electrical networks,we obtain an exact formula for the MFPT and verify it by numerical calculations.Based on the obtained results,we further show that the MFPT of delayed recursive trees is much shorter,implying that the efficiency of random walks is much higher compared with the non-delayed counterpart.Our study provides a deeper understanding of random walks on delayed fractal networks.

Tree species classification in an extensive forest area using airborne hyperspectral data under varying light conditions

Although airborne hyperspectral data with detailed spatial and spectral information has demonstrated significant potential for tree species classification,it has not been widely used over large areas.A comprehensive process based on multi-flightline airborne hyperspectral data is lacking over large,forested areas influenced by both the effects of bidirectional reflectance distribution function(BRDF)and cloud shadow contamination.In this study,hyperspectral data were collected over the Mengjiagang Forest Farm in Northeast China in the summer of 2017 using the Chinese Academy of Forestry's LiDAR,CCD,and hyperspectral systems(CAF-LiCHy).After BRDF correction and cloud shadow detection processing,a tree species classification workflow was developed for sunlit and cloud-shaded forest areas with input features of minimum noise fraction reduced bands,spectral vegetation indices,and texture information.Results indicate that BRDF-corrected sunlit hyperspectral data can provide a stable and high classification accuracy based on representative training data.Cloud-shaded pixels also have good spectral separability for species classification.The red-edge spectral information and ratio-based spectral indices with high importance scores are recommended as input features for species classification under varying light conditions.According to the classification accuracies through field survey data at multiple spatial scales,it was found that species classification within an extensive forest area using airborne hyperspectral data under various illuminations can be successfully carried out using the effective radiometric consistency process and feature selection strategy.

Improving path planning efficiency for underwater gravity-aided navigation based on a new depth sorting fast search algorithm

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.

应用多时序特征的哨兵系列影像对南方丘陵区树种识别

树种分类是森林资源调查和监测的重要工作,杉木和油茶作为袁州区主要经济树种,准确获取树种空间分布信息,对产量估算和资源管理具有重要意义。以江西省宜春市袁州区为研究区,试验融合时序哨兵-1(Sentinel-1)、哨兵-2(Sentinel-2)等数据,结合中国南方丘陵区树种特点,提取植被指数、红边植被指数、地形特征和纹理特征等构建特征变量组合,分别利用分离阈值法(SEaTH)和特征权重算法(ReliefF)进行特征重要性排序和特征优选,分析各特征对树种分类的影响。结果表明:(1)在使用光谱特征和植被-水体指数的基础上加入不同特征后,树种分类精度均有提升,其中纹理特征的加入更有利于树种分类。(2)结合随机森林算法和特征权重算法(ReliefF)对树种分类的精度最高,总体精度为85.33%,Kappa系数为0.81,优于相同特征组下的支持向量机算法和分类回归树算法。

基于优化快速搜索随机树算法的全局路径规划

为了改善传统快速搜索随机树(RRT)算法在全局路径规划中存在的平滑度差、具有潜在碰撞性等问题,提出了一种双重优化的RRT算法。在传统RRT算法基础上,引入自适应目标偏向策略以缩短采样时间,引入角度约束采样策略以适应车辆极限转角。得到初始路径后,建立二项优化函数(即降低路径曲率和远离障碍物),并将其作为基点进行梯度下降二次优化,生成可供车辆行驶、平滑性良好且碰撞概率低的路径,并进行仿真验证。结果表明:优化RRT算法相比于传统RRT算法、RRT-Connect算法和RRT算法,平均曲率分别降低了38.1%、36.4%和24.7%,曲率均方差分别降低了38.4%、38.4%和27.2%。

基于随机森林的电子档案资源快速分类研究

传统的电子档案分类方法存在资源差异化分类系数偏小、分类误差大的问题,为此,设计基于随机森林的电子档案资源快速分类方法。首先设计控制器运算结构和数据接口,然后通过随机森林算法构建电子档案样本决策树,并根据电子档案资源分类特征优化决策树参量,最后设计电子档案资源分类决策输出模型。测试结果表明,相较于传统分类方法,所提方法的分类效果更好,更适用于电子档案资源快速分类工作。

近海复杂环境下UUV动态路径规划方法研究

为解决近海环境下水下无人航行器(unmanned underwater vehicle,UUV)的动态路径规划问题,本文提出一种结合全局和局部动态路径规划的算法。首先,本文提出一种基于自适应目标引导的快速拓展随机树算法,以增加随机树生长的方向性,并通过转向和重选策略减少无效拓展加快算法的收敛速度。接着,获得全局路径之后使用自适应子节点选取策略获取动态窗口法的子目标点,将复杂的全局动态任务规划分解为多个简单的动态路劲规划,从而防止动态窗口法陷入局部极小值。最后,通过UUV出港任务仿真实验验证了算法的有效性和实用性。

不确定采摘环境下改进RRT算法的机械臂路径规划研究

由于果蔬采摘环境的不确定性和复杂性,机械臂在复杂环境中完成采摘,其路径规划需考虑实时避障。为实现采摘机械臂在不确定环境下安全采摘,提出一种改进RRT的动态避障算法,以提升机械臂在不确定采摘环境的适应性。针对基本快速扩展随机树算法(Rapidly-exploring Random Trees,RRT)在动态环境下迭代时间长、路径长、适应性差等问题,在RRT算法的基础上,引入目标导向策略,把终点以一定概率作为随机采样点的采样方向,提高算法的迭代效率;引入动态检测机制,对已完成规划的初始路径进行实时检测,使算法适应动态变化的环境。通过仿真分析改进RRT算法,结果表明:改进RRT算法的路径减少16%,迭代时间缩短86.5%;同时,动态检测机制使算法适应动态环境。

基于大数据分析课、赛衔接的课程体系结构优化研究——以ERP沙盘相关课、赛衔接的经管类课程体系为例

课程体系建设作为培养人才素质与专业能力的核心环节,其整体结构优化急需多元化评价体系改革,尤其弥补大数据相关客观评价。本文以某高校ERP沙盘衔接的相关竞赛成绩和经管类课程成绩(含个人成绩和竞赛团队成绩)为线索,通过依托决策树算法和随机森林算法的大数据挖掘分析方法,探明经管类课程对竞赛成绩的影响,并结合专业教学大纲变革展开相关经管类课程体系的结构优化分析。研究结果既为经管类课程体系结构优化提供建议,又为宏观层次的课程体系结构优化提供立足大数据客观分析的优化范例,一种衔接更多形成性评价的范例。

基于机器学习的马铃薯叶片叶绿素含量估算

为了提高马铃薯叶绿素含量估算模型的精度,使用无人机平台搭载多光谱相机,获取对照处理和干旱处理下马铃薯关键生育期的遥感影像,选取13种植被指数作为叶绿素含量反演模型的输入变量,使用多元线性回归(MLR)、支持向量回归(SVR)、随机森林回归(RFR)、决策树回归(DTR)构建马铃薯叶绿素含量估算模型。首先分析了植被指数与叶绿素含量之间的相关性,结果表明,在对照处理块茎形成期,CIre、GNDVI、NDVIre、NDWI、GRVI、LCI与叶绿素含量之间的相关系数绝对值在0.5以上,且存在显著(p<0.05)或极显著(p<0.01)相关性;在马铃薯其他生育时期,13种植被指数与叶绿素含量之间的相关系数绝对值均在0.5以上,且存在极显著(p<0.001)相关性。然后对MLR、SVR、RFR和DTR等模型的精度进行比较,结果表明:SVR模型在对照处理块茎形成期、块茎膨大期和淀粉积累期的预测效果均是最佳,R 2和RMSE在块茎形成期为0.89和2.11,块茎膨大期为0.59和4.03,淀粉积累期为0.80和3.18;RFR模型在干旱处理块茎形成期、块茎膨大期和淀粉积累期的预测效果均是最佳,R 2和RMSE在块茎形成期为0.90和1.57,在块茎膨大期为0.87和2.16,在淀粉积累期为0.63和3.01。该研究为马铃薯叶绿素含量监测提供一种新的方法,后期可根据不同试验处理选择相应的估算模型。

复杂环境下的改进RRT算法路径规划

针对快速扩展随机树算法(rapidly-exploring trees,RRT)在一些复杂环境中存在搜索效率低、收敛速度慢、生成的路径冗余节点多等问题,提出一种改进的RRT算法。首先引入自适应目标概率策略,实时调整对目标点的采样概率;其次引入节点转向策略,提高单次采样的成功率;最后对生成的路径进行冗余节点裁剪,使路径更符合实际应用需求。在MATLAB中进行仿真实验,并与RRT算法、RRTGoalBias算法进行对比。实验结果表明,改进算法在多种不同环境下具有较好的适应性,在寻路时间、采样次数和采样成功率3个方面均有较大提升,最终平均路径长路降低了21.1%,平均节点数降低了75.3%,证明了改进算法的优越性和实用性。

基于随机树嵌入的随钻测井岩性识别方法

岩性识别是储层评价中的一项重要工作.随着机器学习方法的不断发展,岩性的智能识别也成为热门研究方向.随钻测井技术目前已经得到了广泛的应用,但是受限于高温高压的钻井作业条件,随钻测井仪器只能测得少量测井参数.由于随钻测井参数较少,直接输入机器学习模型无法充分挖掘其中的信息.对此,本文将随机树嵌入引入随钻测井资料的岩性识别.该方法将低维随钻测井数据通过二叉树编码并转化为高维稀疏特征,利用升维后的数据进行训练从而提升机器学习模型的判别能力.对比实验结果表明,使用随机树嵌入的随机森林方法具有最佳的识别效果,准确率和F_(1)值较直接使用随机森林分别提升了3.16%和3.25%,且优于梯度提升树、极随机树和粒子群优化支持向量机算法.