由于人工势场法中障碍物的影响距离通常为一个固定值,不可避免地导致无谓避碰行为的出现,极大影响航路规划的效率。本文在动态环境下,针对无谓避碰行为,提出碰撞危险度评估模型和障碍物影响距离确定模型;针对障碍物在目标附近目标不可...由于人工势场法中障碍物的影响距离通常为一个固定值,不可避免地导致无谓避碰行为的出现,极大影响航路规划的效率。本文在动态环境下,针对无谓避碰行为,提出碰撞危险度评估模型和障碍物影响距离确定模型;针对障碍物在目标附近目标不可及问题(goals nonreachable with obstacles nearby,GNRON),提出能够区别评估障碍物的时间碰撞危险度模型;针对陷阱问题,提出虚拟障碍物法,以此构成基于碰撞危险度的无陷阱动态航路规划法。仿真结果表明该方法能够有效避免无谓避碰行为和陷阱问题的发生,且无GNRON问题,所得路径也较短且平滑。展开更多
Protein folding problem is one of the most prominent problems of bioinformatics. In this paper, we study a three-dimensional off-lattice protein AB model with two species of monomers, hydrophobic and hydrophilic, and ...Protein folding problem is one of the most prominent problems of bioinformatics. In this paper, we study a three-dimensional off-lattice protein AB model with two species of monomers, hydrophobic and hydrophilic, and present a heuristic quasi-physical algorithm. By elaborately simulating the movement of the smooth elastic balls in the physical world, the algorithm finds low-energy configurations for a given monomer chain. A subsequent ＂off-trap＂ strategy is proposed to trigger a jump for a stuck situation in order to get out of local minima. The methods have been tested in the off-lattice AB model. The computational results show promising performance. For all sequences with 13 to 55 monomers, the algorithm finds states with lower energy than previously proposed putative ground states. Furthermore, for the sequences with 21, 34 and 55 monomers, new putative ground states are found, which are different from those given in present literature.展开更多
文摘由于人工势场法中障碍物的影响距离通常为一个固定值,不可避免地导致无谓避碰行为的出现,极大影响航路规划的效率。本文在动态环境下,针对无谓避碰行为,提出碰撞危险度评估模型和障碍物影响距离确定模型;针对障碍物在目标附近目标不可及问题(goals nonreachable with obstacles nearby,GNRON),提出能够区别评估障碍物的时间碰撞危险度模型;针对陷阱问题,提出虚拟障碍物法,以此构成基于碰撞危险度的无陷阱动态航路规划法。仿真结果表明该方法能够有效避免无谓避碰行为和陷阱问题的发生,且无GNRON问题,所得路径也较短且平滑。
基金This work was supported by the National Grand Fundamental Research 973 Program of China(Grant No.2004CB318000)the National Natural Science Foundation of China nnder Grant No.10471051.
文摘Protein folding problem is one of the most prominent problems of bioinformatics. In this paper, we study a three-dimensional off-lattice protein AB model with two species of monomers, hydrophobic and hydrophilic, and present a heuristic quasi-physical algorithm. By elaborately simulating the movement of the smooth elastic balls in the physical world, the algorithm finds low-energy configurations for a given monomer chain. A subsequent ＂off-trap＂ strategy is proposed to trigger a jump for a stuck situation in order to get out of local minima. The methods have been tested in the off-lattice AB model. The computational results show promising performance. For all sequences with 13 to 55 monomers, the algorithm finds states with lower energy than previously proposed putative ground states. Furthermore, for the sequences with 21, 34 and 55 monomers, new putative ground states are found, which are different from those given in present literature.
