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Operations Research, Systems Engineering and Industrial Engineering Commons™
Open Access. Powered by Scholars. Published by Universities.®
- Keyword
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- Simulation (135)
- Path planning (76)
- Genetic algorithm (48)
- Deep learning (44)
- Numerical simulation (44)
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- Digital twin (42)
- Virtual reality (42)
- Modeling and simulation (39)
- Multi-objective optimization (39)
- Particle swarm optimization (35)
- Reinforcement learning (34)
- Modeling (33)
- Fault diagnosis (29)
- Attention mechanism (28)
- Deep reinforcement learning (28)
- UAV (26)
- Neural network (25)
- Simulation model (25)
- Complex network (22)
- System simulation (22)
- System dynamics (21)
- Visualization (21)
- Virtual simulation (20)
- DRL (19)
- Optimization (19)
- Multi-agent (18)
- Trajectory planning (18)
- Traffic simulation (17)
- Unity3D (17)
- A* algorithm (16)
- Publication Year
Articles 1201 - 1230 of 3880
Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering
Optimized-Xgboost Early Warning Of Wind Turbine Generator Front Bearing Fault, Le Wei, Xiaodong Hu, Yin Shi
Optimized-Xgboost Early Warning Of Wind Turbine Generator Front Bearing Fault, Le Wei, Xiaodong Hu, Yin Shi
Journal of System Simulation
Abstract: In order to identify the abnormal running state of the generator in time, a wind turbine generator front bearing fault early warning method based on Bayesian optimized extreme gradient boosting algorithm is proposed. The historical data collected by SCADA (Supervisory Control And Data Acquisition) are preprocessed by effective data preprocessing methods. The temperature prediction model of the front bearing of wind turbine generator is constructed based on the Bayesian-optimized XGBoost (eXtreme Gradient Boosting) algorithm and the fault early warning threshold of the front bearing of the wind turbine generator is determined based on the 3σ criterion. The experimental …
Reusability Analysis And Application For Complex System Simulation Model, Zhu Feng, Yiping Yao, Wenjie Tang, Li Jin
Reusability Analysis And Application For Complex System Simulation Model, Zhu Feng, Yiping Yao, Wenjie Tang, Li Jin
Journal of System Simulation
Abstract: Model reuse is an important way to improve the development efficiency of complex system simulation application. At present, there are few researches on the reusability of simulation model and its impact on the development efficiency of complex system simulation application integration by using qualitative/quantitative methods. A simulation model reusability analysis method is proposed. By introducing the simulation application integration development speedup ratio, the simulation model reusability analysis mathematical model is constructed, and the requirements of model interface, model testing and information description for improving model reusability are analyzed qualitatively. Through two typical case studies, the influence of reusable simulation …
Scheduling Optimization Research Based On Tabu Algorithm For Uncertainty Carrier Aircraft Support, Yangkai Meng, Wang Zheng, Jiali Fan
Scheduling Optimization Research Based On Tabu Algorithm For Uncertainty Carrier Aircraft Support, Yangkai Meng, Wang Zheng, Jiali Fan
Journal of System Simulation
Abstract: In order to improve the scheduling stability of ship-borne and reduce the uncertainty risk during the operation, the deck scheduling mathematical model is designed. For the refueling uncertainty, the equipment failure distribution function is established, and the research method of guarantee operation risk factor value and fault opportunity influence factor is proposed. The uncertainty target function calculation model is derived and solved using the improved taboo algorithm to obtain the scheduling optimization scheme. Simulation experimental results verify the effectiveness and feasibility of the proposed research method.
Research On Assocoation Information Mining Of Space Reconnaissance Equipment System Index, Han Chi, Xiong Wei
Research On Assocoation Information Mining Of Space Reconnaissance Equipment System Index, Han Chi, Xiong Wei
Journal of System Simulation
Abstract: The system effectiveness and system contribution rate of the Space Reconnaissance Equipment System (SRES) has a large number of mutally associated indicators. How to identify relationships the association, select the key indicators and clarify the assocition between core indicators and system contribution rate are the key of the evaluation of system effectiveness and contribution rate. Through the joint simulation of MATLAB and STK, the underlying index data of SRES is obtained. Based on the Frequent Pattern-Tree (FP-Tree) algorithm, the assocition information is discovered, the redundancy is removed and the type of indicator assocition is determined, and an optimization model …
Research On The Network Of 3d Smoke Flow Super-Resolution Data Generation, Jinlian Du, Shufei Li, Xueyun Jin
Research On The Network Of 3d Smoke Flow Super-Resolution Data Generation, Jinlian Du, Shufei Li, Xueyun Jin
Journal of System Simulation
Abstract: Aiming at the problem of low data generation efficiency due to the high complexity of solving the N-S equation of smoke flow field, a deep learning model which can generate high-resolution smoke flow data based on low-resolution smoke flow data solved by N-S equation is explored and designed. Based on the Generative Adversarial Network, the smoke data reconstruction network based on the sub voxel convolution layer is constructed. Considering the fluidity of smoke, time loss based on advection step is introduced into the loss function to realize high-precision smoke simulation. By extending the image super-resolution quality evaluation index, the …
Modeling And Simulation Of Car Following In Fog Based On Cellular Automata, Zhanhong Liu, Xiujian Yang, Xiangji Wu, Huang Zhen
Modeling And Simulation Of Car Following In Fog Based On Cellular Automata, Zhanhong Liu, Xiujian Yang, Xiangji Wu, Huang Zhen
Journal of System Simulation
Abstract: In order to ensure the safety of driving in foggy weather, a microscopic model of car following and lane changing traffic flow is established based on cellular automata. In view of the instability of car following state in foggy weather, dynamic random acceleration is introduced to segment modeling. The simulation accuracy is improved by refining cell size and cell step size and adding position update allowance. The relationship curves of speed and vehicle dispersion with time and the speed density diagram are obtained. The results show that: the vehicle speed fluctuates greatly in medium fog; the dispersion …
Three-Dimensional Visual Dynamic Simulation Of Rice Leaf Cells, Deheng Zhao, Yingding Zhao, Hongyun Yang, Wenlong Yi
Three-Dimensional Visual Dynamic Simulation Of Rice Leaf Cells, Deheng Zhao, Yingding Zhao, Hongyun Yang, Wenlong Yi
Journal of System Simulation
Abstract: To explore the evolution process of rice leaf cell morphology with the help of computer visualization technology, it is necessary to establish the biomechanical relationship between the cell geometry model and its deformation. A dynamic simulation method is proposed for the 3D visualization of leaf cells based on the physical-mechanical properties, in which the cytoskeleton topology is represented by a "half-edge" data structure, and the surface geometries are constructed using a bicubic Bézier surface. The control parameters of a deformed surface are determined through "vertex", "edge" or "face" topological unit query algorithms of the cytoskeleton, and the cell stress-strain …
Research On Simulation Data Mapping For Production Performance Digital Twin, Junfeng Wang, Yufan Zhang, Yaoqi Shao, Shiqi Li
Research On Simulation Data Mapping For Production Performance Digital Twin, Junfeng Wang, Yufan Zhang, Yaoqi Shao, Shiqi Li
Journal of System Simulation
Abstract: To fully use the real-time data of the physical workshop to realize the accurate mapping of the data to the virtual workshop and drive the simulation and optimization of the manufacturing system, a data mapping method for the digital twin simulation of production performance is proposed. The fusion process of simulation data and production logic model is analyzed from the aspects of simulation data modeling, storage and updating. Focusing on the production performance simulation requirements, the redundancy analysis, outlier analysis and elimination, statistics and fitting of the original production site sample data is preprocessed. The real-time mapping update process …
Modeling And Simulation Of Channel Passage Capacity Based On Cellular Automata, Zongyang Liu, Chunhui Zhou, Junnan Zhao, Jinli Xiao, Langxiong Gan
Modeling And Simulation Of Channel Passage Capacity Based On Cellular Automata, Zongyang Liu, Chunhui Zhou, Junnan Zhao, Jinli Xiao, Langxiong Gan
Journal of System Simulation
Abstract: In order to study the passage capacity of the seaport and explore the service level of the channel, the cellular automata theory is used to discretize and model the main channel of the seaport, and the movement rules of the cell in the channel are processed in sections. In addition, this study focuses on the existence of a traffic "warning zone" in the curved channel section. The ship motion rules of the straight channel section and the curved channel section are respectively constrained, through simulation experiments, the vessel traffic flow of the channel and the maximum ship passing …
Virtual And Real Fusion Experiment Simulation Technology Based On Gesture Interaction, Xuyan Zou, Hanwu He, Yueming Wu, Jingwei Deng
Virtual And Real Fusion Experiment Simulation Technology Based On Gesture Interaction, Xuyan Zou, Hanwu He, Yueming Wu, Jingwei Deng
Journal of System Simulation
Abstract: In experimental teaching, some traditional experiments cannot be carried out due to limitations of experimental environment, experimental equipment, and faculty. In order to solve the above problems, the method of constructing virtual and real fusion simulation experiment using depth cameras is explored.. The Aruco labeling algorithm is used to achieve one-to-one registration of the virtual scene and the real scene, and the experimental environment of virtual and real fusion is constructed combining the colour images and depth images collected by the depth camera in real time. In order to achieve the purpose of operating virtual equipment, a gesture interaction …
Challenges And Reflection On Next-Generation Large-Scale Computer Wargame System, Guangya Si, Yanzheng Wang
Challenges And Reflection On Next-Generation Large-Scale Computer Wargame System, Guangya Si, Yanzheng Wang
Journal of System Simulation
Abstract: In view of the systematic, networked and intelligent characteristics of the future war, the major challenges of the new generation of large computer warfare system are proposed, and the next-generation large-scale computer wargame system is constructed. The key technologies of building a new generation of large computer warfare systems, such as intelligent war modeling, architecture integration, resource service management and human-computer interaction are researched.
Exploring Formal Model Transformation Techniques Within Model Driven Engineering, Zhu Zhi, Lei Sen, Yonglin Lei
Exploring Formal Model Transformation Techniques Within Model Driven Engineering, Zhu Zhi, Lei Sen, Yonglin Lei
Journal of System Simulation
Abstract: With the increasing complexity of simulation system and the wide use of simulation models, the higher requirements of the efficiency and quality for simulation models are needed. Currently, model-driven engineering is mostly applied in many simulation software tools, which cannot really carry out the formal analysis at the model level. Based on model driven engineering, the domain specific language with metamodeling and engineering model continuity is designed. Taking a group fire control channel system as the example, the domain specific language is designed and the conceptual models are transformed into other precise semantics to carry out the final executable …
Modeling Research Of Cognition Behavior For Intelligent Wargaming, Xiaoyuan He, Shengming Guo, Wu Lin, Li Dong, Xu Xiao, Li Li
Modeling Research Of Cognition Behavior For Intelligent Wargaming, Xiaoyuan He, Shengming Guo, Wu Lin, Li Dong, Xu Xiao, Li Li
Journal of System Simulation
Abstract: Aiming at the problem of cognitive behavior modeling in the construction and application of intelligent wargaming system, one modeling framework based on Actor-Operations-Scene (AOS) was proposed for C2 agent in wargaming. Then the realization of cognitive behavior modeling method for C2 agent was explored, including the modeling for the scenario oriented knowledge graph, intelligent situation awareness, operational planning, integrated operational control. It provides a feasible scheme for the construction and application of intelligent wargaming system.
Intelligent Wargaming System: Change Needed By Next Generation Need To Be Changed, Xiaofeng Hu, Dawei Qi
Intelligent Wargaming System: Change Needed By Next Generation Need To Be Changed, Xiaofeng Hu, Dawei Qi
Journal of System Simulation
Abstract: The future direction of wargaming system is intelligent, and the most significant feature of intelligence is the modeling of cognition. The main problems of wargaming system are summarized, the main difficulties of modeling brought by cognition and the overall framework of intelligent wargaming system design are discussed, the technical ways of transformation and upgrading based on the existing wargaming system are given from four aspects of model construction, system design, wargaming ecology and test inspection. It provides direction and reference to the development and construction of the next generation intelligent wargaming system.
Study On Next-Generation Strategic Wargame System, Wu Xi, Xianglin Meng, Jingyu Yang
Study On Next-Generation Strategic Wargame System, Wu Xi, Xianglin Meng, Jingyu Yang
Journal of System Simulation
Abstract: Strategic wargame is an important support to the strategic decision. The research status and challenges of the strategic wargame are analyzed, and the influence of big data and artificial intelligence technology on the strategic wargame system is studied. The prospects and key technologies of the next-generation strategic wargame system are studied, including the construction of event association graph for strategic topics, generation of strategic decision sparse samples based on generative adversarial nets, gaming strategy learning of human-in-loop hybrid enhancement, and public opinion dissemination modeling technology based on social network. The development trend of the strategic wargame is proposed.
Order Sorting Optimization For Four-Way Shuttle System Based On Improved Genetic Algorithm, Xinjie He, Shaowu Zhou, Hongqiang Zhang, Lianghong Wu, Zhou You
Order Sorting Optimization For Four-Way Shuttle System Based On Improved Genetic Algorithm, Xinjie He, Shaowu Zhou, Hongqiang Zhang, Lianghong Wu, Zhou You
Journal of System Simulation
Abstract: During the batch outbound operations of the four-way shuttle system, the different execution order of the system's outbound leads to the different interaction time between the four-way shuttle and the hoist will be different, which will affect the system's outbound operation time. According to the operation process of batch outbound, with the order of batch order outflow as the variable and the system outflow time as the objective function, a system order sort optimization model i established. Based to the characteristics of the model, with the improved genetic algorithm, the optimal order of the system is obtained. By changing …
Wargaming Eco-System For Intelligence Growing, Wu Lin, Xiaofeng Hu, Jiuyang Tao, Xiaoyuan He
Wargaming Eco-System For Intelligence Growing, Wu Lin, Xiaofeng Hu, Jiuyang Tao, Xiaoyuan He
Journal of System Simulation
Abstract: The construction of the next generation intelligent wargaming system can not be accomplished at one move, but through building an ecosystem to gradually grow intelligence. The basic concepts of the intelligent wargame ecosystem, and are defined the idea of dynamic openness, diversified levels and co-evolution are proposed. Drawing lessons from the human intelligence growing process and learning-evolution mechanism, the double helix model of the next generation of wargame cognitive intelligent evolution and growth is constructed. On the basis of the OLTA cycle, the wargame deduction ecosystem system framework is given. The application of the technologies, such as …
Application Of Two-Population Fish Swarm Algorithm In Distributed Portfolio, Fuyu Wang, Tang Tao
Application Of Two-Population Fish Swarm Algorithm In Distributed Portfolio, Fuyu Wang, Tang Tao
Journal of System Simulation
Abstract: Aiming at the disadvantages of artificial fish swarm algorithm, such as low precision and easily falling into local optimum, combining the idea of gravity algorithm and teaching optimization, a two-population fish swarm search algorithm is proposed. Cross-thinking is adopted to optimize the results obtained by the two populations and avoid the local optimization. Metropoils criterion of simulated annealing is added to the standard function verifies the algorithm, and the results show that the two-population fish swarm algorithm is better than the traditional artificial fish swarm algorithm and the known literature algorithm. Based on the known literature, a distributed …
Learning Ant Colony Algorithm For Green Multi-Depot Vehicle Routing Problem, Hu Rong, Wenbo Chen, Bin Qian, Guo Ning, Fenghong Xiang
Learning Ant Colony Algorithm For Green Multi-Depot Vehicle Routing Problem, Hu Rong, Wenbo Chen, Bin Qian, Guo Ning, Fenghong Xiang
Journal of System Simulation
Abstract: Considering the congested roads situation of urban central areas in China, a speed calculation method based on vehicle driving sections is designed, and a model for the Green Multi-Depot Vehicle Routing Problem with Total Fuel-Consumption cost Criterion (TFC-GMDVRP) is established, considering simultaneously the vehicle travel distance, load, and speed factors. A learning ant colony optimization algorithm (LACO), combining a knowledge model and an ant colony optimization algorithm (ACO), is proposed for solving the TFC-GMDVRP. In order to improve the performance and robustness of the algorithm's global search, the parameter knowledge that contains the different …
Hurricane Trajectory Outlier Detection Method Based On Variational Auto-Encode, Wanting Qin, Songyang Lao, Tang Jun, Lu Cong
Hurricane Trajectory Outlier Detection Method Based On Variational Auto-Encode, Wanting Qin, Songyang Lao, Tang Jun, Lu Cong
Journal of System Simulation
Abstract: Hurricanes often cause incalculable human and economic losses, and the trajectory outlier detection can provide the auxiliary information or abnormal warning of the disaster. On deep learning, a method of hurricane trajectory outlier detection based on variable auto encoder (VAEOD) is proposed in this paper. The trajectory is divided into equal sequence sub trajectories based on the sliding window as the input of VAE. The trajectory reconstruction model is trained by the VAE. The parallel, vertical and angle distance of reconstructed trajectory and the input trajectory are compared to find out the outlier trajectory segments. The simulation experiment on …
Research And Application On Space-Launching Mission Simulated Rehearsal Technology, Xiuluo Liu, Wang Jia, Wu Feng, Liu Yang, Ailiang Zhang, Wang Min
Research And Application On Space-Launching Mission Simulated Rehearsal Technology, Xiuluo Liu, Wang Jia, Wu Feng, Liu Yang, Ailiang Zhang, Wang Min
Journal of System Simulation
Abstract: High-density space launching tasks need the new requirements for space-launching mission rehearsal. The new concept of space-launching mission simulated rehearsal is proposed, the definition and content are presented in detail,and the technology research objective and key works are analyzed. The technology implementation architecture is established on five dimensions of the domain resources, developing tools, simulation modeling, fundamental function design and domain application. On the basis of simulation, the working process is given, the simulation software architecture is designed, and the simulation application tool is developed. The simulation results are also given, which validate the method and technology.
Mechanism Design For Entities' Passive Dimensional Sensing Interaction In Discrete Event Simulations, Yan Fei, Bin Gan, Zhaodi Chen, Wenjuan Ma, Luyao Li, Zhang Ke
Mechanism Design For Entities' Passive Dimensional Sensing Interaction In Discrete Event Simulations, Yan Fei, Bin Gan, Zhaodi Chen, Wenjuan Ma, Luyao Li, Zhang Ke
Journal of System Simulation
Abstract: Dimensional sensing interaction mechanism is a method of computing the entities' visibility on the basis of the position and visible range, and informing when and where the entities can perceive each other. Entities' active computing on the relative position needs a lot of computation and is low efficiency, and slow down the simulation execution at last. The mechanism and framework of the passive dimensional sensing interaction, including the spatial grid models, discrete movement models, and passive sense models are researched. Dimensional sensing interaction manager is designed to realize the computation of entities' dimensional sensing interaction in discrete event-based battle …
Research On The Issues Of Next Generation Wargame System Model Engine, Yubo Tang, Bilong Shen, Shi Lei, Yi Xing
Research On The Issues Of Next Generation Wargame System Model Engine, Yubo Tang, Bilong Shen, Shi Lei, Yi Xing
Journal of System Simulation
Abstract: Aiming at the more and more complex war systems, widely used artificial intelligence technology is needed to make up the human deficiencies in future wargame deduction, which is necessary for the next generation wargame system model engine. To address these challenges, a framework prototype of the next generation wargame model engine based on the experience of the long-term development and application is proposed. The decoupling method for the complexity of structure and computation is researched. The human-computer integration architecture on digital twinning technology is studied. Some new modeling techniques which the threshold of model development is reduced and the …
Abroad Wargaming Deduction And System Research, Zhanguang Cao, Tao Shuai, Xiaofeng Hu, Lülong He
Abroad Wargaming Deduction And System Research, Zhanguang Cao, Tao Shuai, Xiaofeng Hu, Lülong He
Journal of System Simulation
Abstract: Wargaming is an important auxiliary means of war deduction, scheme evaluation and operational analysis. Wargaming deduction system can support the research of operational problems, innovation of tactics and development of operational concepts. The development status of foreign computer wargaming system from the deduction method and system research is reviewed, and the online deduction the multi-level joint deduction, as well as the research status of multi-level wargaming fusion design, the multi system combination and auxiliary tool development are mainly introduced, which can providereference to the development and application of computer wargame system.
Fault Diagnosis Of Industrial Process Based On Lle And K-Means Clustering Algorithm, Li Yuan, Zewei Geng
Fault Diagnosis Of Industrial Process Based On Lle And K-Means Clustering Algorithm, Li Yuan, Zewei Geng
Journal of System Simulation
Abstract: Because of the similarity of various types of data in the industrial process. The fault diagnosis using the K-means algorithm has a large error rate. A K-means clustering algorithm based on Locally Linear Embedding (LLE) is proposed. the normal data is reduced by the LLE algorithm and the projection matrix is obtained. The projection matrix is used to map the original fault data to the low-dimensional space and the K-means algorithm clusters is used to carry out the data to establish a detection and diagnosis model. The method is applied to the fault detection and diagnosis in the TE …
Optimization Algorithm Of Mine Ventilation Based On Sa-Ipso, Liangshan Shao, Wang Zhen, Changming Li
Optimization Algorithm Of Mine Ventilation Based On Sa-Ipso, Liangshan Shao, Wang Zhen, Changming Li
Journal of System Simulation
Abstract: A non-linear optimization mathematical model aiming at the minimum total power of the mine ventilation network is established, in which SA-IPSO algorithm is applied for the optimization. The mutation operation is introduced in the PSO algorithm, in which a new inertia weight is proposed and a new particle selection method is constructed to control the number of particles violating the constraints, and the ability of the PSO algorithm to find boundaries is improved. The constraint conditions of the mine ventilation law are transformed into the penalty term of the objective function. IPSO optimizes the objective function and uses SA …
An Improved Srgan Infrared Image Super-Resolution Reconstruction Algorithm, Hu Lei, Zugen Wang, Chen Tian, Yongmei Zhang
An Improved Srgan Infrared Image Super-Resolution Reconstruction Algorithm, Hu Lei, Zugen Wang, Chen Tian, Yongmei Zhang
Journal of System Simulation
Abstract: Aiming at the low resolution of infrared images, an improved SRGAN super-resolution reconstruction algorithm is designed. In the generative network, the method of applying the residual dense network to obtain the image features extracted from each network layer so as to retain more high-frequency information of the image, and adopting a progressive upsampling method to improve the super-resolution reconstruction effect under a large scaling factor. In terms of the loss function, the perceptual loss that is more in line with human senses is adopted to make the generated image being closer to the real high-resolution image of senses and …
Trajectory Planning Of 6-Dof Manipulator Based On Inverse Multi-Objective Optimization, Xianyin Duan, Can Zhang, Zerun Zhu, Zhaoyang Sun, Guozhang Jiang, Xiang Feng
Trajectory Planning Of 6-Dof Manipulator Based On Inverse Multi-Objective Optimization, Xianyin Duan, Can Zhang, Zerun Zhu, Zhaoyang Sun, Guozhang Jiang, Xiang Feng
Journal of System Simulation
Abstract: In order to optimize the machining quality and production efficiency of manipulator, an inverse multi-objective determination method based on the optimization of manipulator stiffness and global travel is proposed. Establishing the forward kinematics model of manipulator, the inverse kinematics is solved by using behaviour tree. The stiffness performance evaluation index and the mathematical model of total stroke of joint angle are constructed to carry out the inverse solution multi-objective optimization. The 7-5-7 order polynomial joint space interpolation algorithm is designed for the trajectory planning. Compared with the commonly used cubic polynomial programming method, the manipulator trajectory obtained by …
Chaotic Gravitational Search Iterative Identification For Wiener Systems, Shanling Xu, Junhong Li, Mengru Liu, Hua Liang
Chaotic Gravitational Search Iterative Identification For Wiener Systems, Shanling Xu, Junhong Li, Mengru Liu, Hua Liang
Journal of System Simulation
Abstract: The Wiener nonlinear system is composed of a dynamic linear subsystem and a series of nonlinear static subsystems, which is widely used in the fields of automatic control, chemical engineering, electrical and other fields. Considering the identification of the Wiener Output Error Autoregressive (Wiener OEAR) system, a chaotic gravitational search iterative identification algorithm is proposed, in which the chaotic optimization mechanism is introduced into the gravitational search algorithm to estimate the unknown parameters of the Wiener OEAR system and the convergence is proved. In order to show the effectiveness of the proposed identification algorithm, the gravitational search algorithm and …
Multi-Uav Trajectory Planning Simulation Based On Adaptive Extended Potential Field, Wang Ning, Jiyang Dai, Ying Jin, Yeding Li, Liangliang Lu
Multi-Uav Trajectory Planning Simulation Based On Adaptive Extended Potential Field, Wang Ning, Jiyang Dai, Ying Jin, Yeding Li, Liangliang Lu
Journal of System Simulation
Abstract: To address the defects of the traditional artificial potential field method, such as unreachable targets, easy to fall into local minimums, inability to avoid obstacles, and lack of trajectory optimization strategies, and to solve the problem of slow planning rate due to more layers in the layered potential field algorithm, the model of the UAV is established, in which the influence factor of the attractive and repulsive force is introduced into the layered potential field function to solve the problem of unreachable targets, and the " auxiliary force" is introduced to solve the problem of easily falling into local …