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Articles 811 - 840 of 864
Full-Text Articles in Systems Science
Information Density Based Bayes Algorithm For Cloud Platform Intrusion Detection, Du Ye, Tiantian Zhang, Meihong Li
Information Density Based Bayes Algorithm For Cloud Platform Intrusion Detection, Du Ye, Tiantian Zhang, Meihong Li
Journal of System Simulation
Abstract: For getting better data classification results of cloud platform intrusion detection, and improving the detection accuracy and performance, a Bayes algorithm based on information density was proposed. The complete probability of data characteristics was constructed, and the uncertainty of information was represented by information entropy. The information density was defined to describe the distribution of information uncertainty. The improved algorithm was introduced, and the convergence and time complexity were analyzed. The simulation experiment results show that the method can effectively reduce the data loss and exposethe relationship between data characteristics and data type, which can further classify the detection …
Situation Assessment Approach For Air Defense Operation System Based On Force-Sparsed Stacked-Auto Encoding Neural Networks, Shengming Guo, Xiaoyuan He, Wu Lin, Xiaofeng Hu
Situation Assessment Approach For Air Defense Operation System Based On Force-Sparsed Stacked-Auto Encoding Neural Networks, Shengming Guo, Xiaoyuan He, Wu Lin, Xiaofeng Hu
Journal of System Simulation
Abstract: Aiming at the difficulty of feature extraction and related generation mechanism analysis for complex Air Defense System of Systems (ADSOS) using traditional data mining method, a novel situation assessment approach based on Force-Sparsed Stacked-Auto Encoding Neural Networks (FS-SAE) is proposed. Combined with big data and complex networks technology, FS-SAE situation assessment model is built. The emergence relations between the capacity indexes of ADSOS are formalized. And then, the formation mechanism and the contribution rate of capacity indexes are studied and the validity of this approach is validated by the simulation data. The experimental results show that formalized presentation …
A Model For Battlefield Situation Change Rate Prediction Based On Deep Learning, Jiuyang Tao, Wu Lin, Wang Chi, Junda Chu, Liao Ying, Zhu Feng
A Model For Battlefield Situation Change Rate Prediction Based On Deep Learning, Jiuyang Tao, Wu Lin, Wang Chi, Junda Chu, Liao Ying, Zhu Feng
Journal of System Simulation
Abstract: To measure and estimate the uncertainty of the battlefield situation is of great significance for the commanders to plan the reconnaissance mission and reduce the risk of decision-making. Based on Shannon's information theory, firstly, methods and a model on measurement of situation change rate are proposed. Secondly, a scene with two-dimensional grid elements maneuvering is established, based on deep learning, the prediction method for maneuvering trend is explored. It is proved that cross entropy is equivalent to situation change rate. Finally, with the increase of the objective uncertainty, situation change rate and the accuracy of the forecast is …
A Deep Spatio-Temporal Rnns Based Coordinated Operational Action Recognition, Yi Zhuo, Liao Ying, Xiaofeng Hu, Xuehui Du, Zhu Feng
A Deep Spatio-Temporal Rnns Based Coordinated Operational Action Recognition, Yi Zhuo, Liao Ying, Xiaofeng Hu, Xuehui Du, Zhu Feng
Journal of System Simulation
Abstract: To address the issues of large feature space, numerous model parameters and slow training speed in coordinated operation action recognition, a coordinated operational action recognition method based on a deep spatio-temporal recurrent neural network is proposed. In this method, a warped region generation mechanism is introduced to divide the whole battlefield into sub-battlefield. Meanwhile, a hierarchical recurrent neural network is constructed using spatio-temporal graph model, which is applied to the generated sub-battlefield to recognize coordinated operational action. Additionally, the recognized coordinated operational actions of sub-battlefields are merged to find out all coordinated operational actions based on the principle of …
Forestry Fire Spatial Diffusion Model Based On Multi-Agent Algorithm With Cellular Automata, Guoxiong Zhou, Wu Qi, Aibin Chen
Forestry Fire Spatial Diffusion Model Based On Multi-Agent Algorithm With Cellular Automata, Guoxiong Zhou, Wu Qi, Aibin Chen
Journal of System Simulation
Abstract: In view that forestry fire has the nature of multi-phase and multi-component, a forestry fire spatial diffusion model based on multi-agent algorithm with cellular automata is proposed. A method based on Wang Zhengfei-CA model is employed to approximately simulate the spread of forestry fire. On the basis of the status transition rule determined by CA and using the self-learning and variation methods of multi-agent algorithm, the measured forestry fire pattern is most similar to CA rule-driven evolution model and the CA rule can be automatically optimized. By comparatively analyzing the simulation results of the traditional Rothermel model and the …
Association Rules Analysis Method Of Spatial Data Under Mapreduce Framework, Mingzhi Zhang, Li Yi
Association Rules Analysis Method Of Spatial Data Under Mapreduce Framework, Mingzhi Zhang, Li Yi
Journal of System Simulation
Abstract: Spatial data has the characteristic of extensity, timeliness, multidimensional, large amount of data and complex relations. Some non-conventional data screening tool for analysis and mining is required to find out the patterns, rules and characteristics knowledge in the spatial big data for battlefield situation awareness and battle space management. In view that the existing Apriori algorithm scans the database too frequently, the Apriori algorithm is improved on the basis of working principle of Map Reduce .The fast analysis ideas and technologyframework of spatial data is proposed. An elementary validate prototype is built for the key technology experimentation.Experimental results …
Dynamics Of Microbubble Confined In Concave Wall In Ultrasound Filed, Jiwen Hu, Jiana Sun
Dynamics Of Microbubble Confined In Concave Wall In Ultrasound Filed, Jiwen Hu, Jiana Sun
Journal of System Simulation
Abstract: The interactions between an ultrasound contrast agent (UCA) microbubble and a concave surface can be applied to understanding of the response of the UCA near blood vessel wall in ultrasound field. A dynamics model of microbubble near a concave wall is presented by a virtual image method and the acoustic reflection effects of the surface. The dynamic behavior of the microbubble is analyzed by numerical calculation. The results show that the microbubble vibration is suppressed near the wall. Inhibitory effects to microbubble vibration near rigid wall are stronger than that of near elastic wall. The microbubble vibration is easier …
Evolutionary Simulation On User Behavior Of Learning-Oriented Network Community, Lina Jiang, Xiaohong Shan, Xiaoyan Liu, Li Hong
Evolutionary Simulation On User Behavior Of Learning-Oriented Network Community, Lina Jiang, Xiaohong Shan, Xiaoyan Liu, Li Hong
Journal of System Simulation
Abstract: As the Learning-Oriented network platform aims to share knowledge, its users’ behavior is different from that of other network communities. Based on the Mental Accounting Theory, affecting factors of the users’ behavior is analyzed with Structural Equation Model. The simulation model using social computing method is established. This paper makes the comparative analysis on the NETLOGO simulation platform to explore and summarize the rules of users’ behavior. The final mental accounts including "Gaining Knowledge", "Learning Interest", "Sense of Belonging", and "Time". According to the conclusions and experiments, This paper provides the basis of decision making for the …
Research And Implementation Of 3d Emergency Drilling System Of Oil Spill At Sea, Changjun Zou, Yin Yong, Xiuwen Liu, Haijiang Li
Research And Implementation Of 3d Emergency Drilling System Of Oil Spill At Sea, Changjun Zou, Yin Yong, Xiuwen Liu, Haijiang Li
Journal of System Simulation
Abstract: In view of the high cost, constraint to time and space, harmfulness to the environmental as well as insufficient training in extreme weather condition in current oil spill emergency drilling system, a 3D emergency drilling system of oil spill based on virtual reality is presented and implemented. The classical oil spill model is adopted to establish an oil boom driven model based on mass-spring system. Interactive operation between oil boom and oil film based on polygon clipping is realized. The system runs stably and smoothly in the system test, which fully proves the correctness and reliability of the system …
Mathematical Modeling And Simulation Application Of Gshp Unit, Li Hui, Shaogang Yang, Fengying Liu
Mathematical Modeling And Simulation Application Of Gshp Unit, Li Hui, Shaogang Yang, Fengying Liu
Journal of System Simulation
Abstract: For the purpose of building a simulation platform of GSHP system, a semi empirical mathematical model of GSHP unit adopting multiple nonlinear regression method was established based on the mechanism knowledge and the sample data of GSHP unit. A GSHP unit module was developed, namely Type223, and its accuracy was verified by simulation analysis. A TRNSYS simulation platform of GSHP system was built by Type223 module. The operation characteristics of variable flow on ground source side of GSHP system was studied under variable frequency control. The results showed that, the energy consumption of GSHP unit is increased compared …
A New Image Encryption Algorithm Based On Chaos, Li Lin, Liuyong Kong
A New Image Encryption Algorithm Based On Chaos, Li Lin, Liuyong Kong
Journal of System Simulation
Abstract: In order to increase the security of single chaotic systems, this paper proposesa new image encryption algorithm based on Chen chaotic system, cellular automaton and DNA. The 3-dimension Chen chaotic system is used to generate a pseudo random sequence. The DNA dynamic encoding on plain-text image and cellular automation is completed based on the transformed sequence. The DNA sequence of the plain-text image is divided into blocks, which arethen reorganized. These new groups of the DNA sequence of plain-text are combined with the DNA sequence of cellular automation to carry out the mixed operation with the cipher-text cross diffusion …
Soc Prediction Of Battery Based On Improved Online Kernel Extreme Learning Machine, Yukun Sun, Manman Li, Yonghong Huang
Soc Prediction Of Battery Based On Improved Online Kernel Extreme Learning Machine, Yukun Sun, Manman Li, Yonghong Huang
Journal of System Simulation
Abstract: In order to conduct an accurate and fast online prediction for the state of charge (SOC) of battery, an improved online kernel extreme learning machine (IO-KELM) algorithm is proposed. In this work, a prediction model is presented with charge voltage, current and surface temperature as inputs and SOC of battery as output. The IO-KELM adopts Cholesky factorization to extend the kernel extreme learning machine (KELM) from offline mode to online mode. Meanwhile, the output weights of the network are updated by successive join of the new samples, and the matrix inverse operation is replaced with arithmetic. Hence, the generalization …
Computation And Analysis For Coupling Scattering Characteristics Of Low-Fly Target Above Ocean Surface, Guanghui Wu, Chuangming Tong, Dongxun Sui, Yulong Sun
Computation And Analysis For Coupling Scattering Characteristics Of Low-Fly Target Above Ocean Surface, Guanghui Wu, Chuangming Tong, Dongxun Sui, Yulong Sun
Journal of System Simulation
Abstract: Aiming at fast computation of the composite scattering of low-fly target and ocean surface, the improvement of conventional multi-path algorithm is implemented, and a new multi-path algorithm is proposed based on the statistics of mirror facets’ slope. New algorithm takes the modulation from gravity into account in comparison with conventional algorithm. The distribution of mirror facets’ slope is counted from a determined ocean surface, and the multi-path coupling is summed with a weight coefficient, which scatters from mirror facets with different slope. Furthermore, the coupling scattering characteristic is obtained from target and ocean surface. Simulation result indicates that the …
Optimal Control And Simulation Of Hard Shoulder Running On Highways, Ruimin Li, Ye Zhen, Bin Li
Optimal Control And Simulation Of Hard Shoulder Running On Highways, Ruimin Li, Ye Zhen, Bin Li
Journal of System Simulation
Abstract: This paper summarizes the problems in the operation of hard shoulder running (HSR). A new algorithm for optimizing HSR on highways is proposed, which aims to minimize the total time spent (TTS) in the whole network. Based on the METANET model of highways, the algorithm utilizes genetic algorithm and sliding windows technique to forecast and optimize the operation of HSR under different constraint conditions and target functions. The strategy is tested on the I-80E highway in California. The experimental results show that when the change frequency of HSR is less than or equal to 14 during a sliding window …
Passivity-Based Control For Three-Phase Four-Bridge D-Statcom In Low-Voltage Distribution Network, Zheng Hong, Wencheng Xu, Jiawei Zhang
Passivity-Based Control For Three-Phase Four-Bridge D-Statcom In Low-Voltage Distribution Network, Zheng Hong, Wencheng Xu, Jiawei Zhang
Journal of System Simulation
Abstract: Three-phase four-bridge distribution static synchronous compensator (D-STATCOM) has the obvious superiority in solving the problems that brought by the three-phase unbalanced loads in the three-phase four-wire low-voltage power supply system. The Euler-Lagrange (EL) cycle average model is established based on the synchronous rotation d-q-0 coordinates. In the light of the nonlinear and strong coupling characteristics, the passivity-based control (PBC) and inverse cross coupling control strategy using the d-q axis nonlinear decoupling control. PBC controller is designed by energy shaping and damping injection (ESDI) based on the passivity of the system. The closed-loop system is demonstrating asymptotically stable according to …
Formation Mechanism And Simulation Analysis Of Railgun Armature Electromagnetic Transition, Zhiheng Wang, Wan Mei, Xiaojiang Li
Formation Mechanism And Simulation Analysis Of Railgun Armature Electromagnetic Transition, Zhiheng Wang, Wan Mei, Xiaojiang Li
Journal of System Simulation
Abstract: Armature transition of railgun causes rails erosion and change of launching parameters, which is one of the key problems restricting the performance of railgun. The formation mechanism of armature transition at the down-slope of driving current is analyzed. The armature transition estimation model and electromagnetic parameters calculation model are given. The formation process of armature transition at the down-slope of driving current is simulated by AYNSYS Workbench. The current and magnetic field distribution are simulated, so as the armature deformation caused by the armature electromagnetic force. The effect of current dropping rate on armature transition is analyzed. The …
Modified Fractional Order Sliding Model Control For Dc Speed Regulating System, Zhicheng Zhao, Zhitao Zhao, Jinggang Zhang, Xianjiao Zhao
Modified Fractional Order Sliding Model Control For Dc Speed Regulating System, Zhicheng Zhao, Zhitao Zhao, Jinggang Zhang, Xianjiao Zhao
Journal of System Simulation
Abstract: An improved fractional order sliding model control (FOSMC) is proposed for DC speed regulating system to eliminate static error easily caused by disturbance in sliding model control. Second order mathematical model is established through taking the derivative of first-order mathematical model of DC speed regulating system. The theory of fractional calculus is introduced to the switching function of sliding mode, and fractional sliding model is designed combining exponential reaching law and second order mathematical model. The control signal of voltage can be obtained through taking output of the controller and integrator in series. Stability analysis of the system is …
A Mppt Control Method Of Wind Turbines With Nonsingular And Fast Terminal Sliding Mode, Dazhong Li, Wu Feng
A Mppt Control Method Of Wind Turbines With Nonsingular And Fast Terminal Sliding Mode, Dazhong Li, Wu Feng
Journal of System Simulation
Abstract: In order to improve the energy capture efficiency of doubly-fed induction generator (DFIG), a control method is designed based on direct speed control (DSC) to achieve maximum power point tracking (MPPT). An effective wind speed estimator based on high-degree cubature Kalman filter (HCKF) and Newton-Raphson method (NR) is proposed for solving the difficulty in obtaining effective wind speed using traditional control strategy. A speed controller based on nonsingular fast terminal sliding mode surface is designed to obtain a faster speed response for the speed loop. The numerical simulation research of the 2.4MW wind turbine under rapidly variable wind …
Transformer Fault Diagnosis Based On Feature Extraction Of Relative Transformation Principal Component Analysis, Yongbo Tang, Yinguo Xiong
Transformer Fault Diagnosis Based On Feature Extraction Of Relative Transformation Principal Component Analysis, Yongbo Tang, Yinguo Xiong
Journal of System Simulation
Abstract: In order to handle the problem that the feature extraction of dissolved gas analysis (DGA) data by principal component analysis (PCA) is not distinct, a new transformer fault diagnosis method based on relative transformation (RT) PCA is proposed. The original data space is converted to the relative data space by relative transformation which makes the transformed data more distinguishable. PCA is employed to reduce the dimension of relative space to make the features more representative in the relative space. Diagnosis model based on least squares support vector machine (LSSVM) is set up according to the fault characteristic of transformer. …
Optimizing Control Of Total Heat Supply Based On Machine Learning, Li Qi, Xingqi Hu, Jianmin Zhao
Optimizing Control Of Total Heat Supply Based On Machine Learning, Li Qi, Xingqi Hu, Jianmin Zhao
Journal of System Simulation
Abstract: The central heating system has complex structure, along with the characteristics of hysteresis, strong coupling and nonlinear. Contraposing the problem that the process is difficult to be identified and controlled by the mechanism modeling, an optimal control method of heat source total heat production based on machine learning is proposed. The heat source model of central heating system is established by BP neural network and long short-term memory neural network. Under the premise of meeting the demand of heating quality, with the total energy consumption as the optimization objective, the optimal control sequence of water supply temperature and water …
Integrated Simulation Of Mixed Traffic Flow On Elementary And Middle School Gate’S Road When Students Going To School, Mingbao Pang, Yanan Pei, Zhang Ning
Integrated Simulation Of Mixed Traffic Flow On Elementary And Middle School Gate’S Road When Students Going To School, Mingbao Pang, Yanan Pei, Zhang Ning
Journal of System Simulation
Abstract: Synthesizing the advantages and disadvantages of social force model (SFM) and cellular automaton model (CAM), a simulation model of mixed traffic flow including pedestrian, motor vehicle and non-motorized vehicle on the interference road section of elementary and middle school’s gate when students going to school was established. The traffic flow characteristics after changing the proportion of students going to school by private car and implementing different traffic organization schemes were analyzed. The results of the examples indicate that its organization phenomena can be realized by decreasing the proportion of pupils taking private cars and implementing different measures of traffic …
Integrated Berth And Quay Crane Allocation Multi-Objective Algorithm For Container Terminal, Wang Xu, Shixin Liu, Ruiyou Zhang, Wang Jia
Integrated Berth And Quay Crane Allocation Multi-Objective Algorithm For Container Terminal, Wang Xu, Shixin Liu, Ruiyou Zhang, Wang Jia
Journal of System Simulation
Abstract: This paper researches on a continuous berth and quay crane allocation problem for low carbon container terminal. Considering the constraints of stochastic arrival time and limited truck transportation ability, a multi-objective nonlinear mixed integer programming model is established to minimize carbon emissions and average delay time. An efficient non-dominate sorting genetic algorithm II (ENSGA-II) is designed to deal with this problem. According to the characteristics of the problem, encoding rule and decoding rule based on rolling-horizon simulation, PPX crossover operator with elite selection, multi constraints mutation operator and repair operator are adopted. The results of several simulation experiments …
A Method Of Finding The Shortest Path Of Dynamic Networks, Lunwen Wang, Zhang Ling
A Method Of Finding The Shortest Path Of Dynamic Networks, Lunwen Wang, Zhang Ling
Journal of System Simulation
Abstract: We analyze the research status of finding the shortest path of dynamic networks, analyze the complexity of getting the shortest path, study the relationship between the structure of the dynamic networks and finding the shortest path of the dynamic networks. It is proved that dynamic networks defined by velocity automatically meet weak FIFO’s condition. The networks whose passing function of any side is not decreasing function equals dynamic networks which use velocity. The sufficient condition of directly using Dijkstra algorithm to get the shortest path is that the networks must meet weak FIFO’s condition. How to build a …
Achievements And Developments Of Hysteresis And Creep Of Pneumatic Artificial Muscles, Shenglong Xie, Haitao Liu, Jiangping Mei
Achievements And Developments Of Hysteresis And Creep Of Pneumatic Artificial Muscles, Shenglong Xie, Haitao Liu, Jiangping Mei
Journal of System Simulation
Abstract: Regarding to the problems of hysteresis and creep, the developments and achievements of the research on pneumatic artificial muscles at home and abroad are systemically reviewed. The state of the art is summarized in terms of characteristics, reasons causing, modeling and control strategies based on the hysteresis and creep modeling. The problems in recent research are analyzed and the direction for further research is put forward. The theoretical study on hysteresis and creep of pneumatic artificial muscle is limited. The hysteresis modeling needs to consider the time-varied parameters caused by creep. Neural network modeling needs to solve …
Simulation Optimization On Multi-Ports Slot Plan Problem Considering Dispatching Sequence Of Containers In Yard, Zhang Yu, Huimin Cheng, Xu Jin, Tian Wei, Junfeng Sun
Simulation Optimization On Multi-Ports Slot Plan Problem Considering Dispatching Sequence Of Containers In Yard, Zhang Yu, Huimin Cheng, Xu Jin, Tian Wei, Junfeng Sun
Journal of System Simulation
Abstract: The multi-ports slot plan problem considering dispatching sequence of containers in yard is solved by an integer linear programming model, which minimizes heeling moment. The influences of different dispatching rules on solving the problem are simulated and analyzed through the programming model. Accordingly, a simulation optimization model based on genetic algorithm is constructed in order to enhance the computational efficiency. The simulation optimization model simulates the process of dispatching containers and loading vessel. The feasible solution is constructed through rules sets and inputted into the optimization model. An efficient encoding and decoding solutions are developed in genetic algorithm, …
A 3d Convolution Neural Network For Operational Aggregation Behavior Prediction, Liao Ying, Yi Zhuo, Xiaofeng Hu, Tian Yuan, Jiuyang Tao
A 3d Convolution Neural Network For Operational Aggregation Behavior Prediction, Liao Ying, Yi Zhuo, Xiaofeng Hu, Tian Yuan, Jiuyang Tao
Journal of System Simulation
Abstract: Operational aggregation behavior prediction has encountered the challenges of large feature space, dynamic changes of related combat units and large behavior noise, etc. To address these issues, a operational aggregation behavior prediction method based on a 3D convolution neural network is proposed. In this method, a three-dimension convolution neural network is constructed by introducing the time dimension into the two-dimension convolution so as to recognize the operational aggregation behaviors. After that, a reconfigurable hierarchical long short-term memory (LSTM) network is adopted to analyze the temporal aggregation behavior data of related combat units, with which the key factors of aggregation …
Airport Surface Traffic Simulation Based On Agent-Cellular Automaton, Zhiwei Xing, Shijiao Li, Yunxiao Tang, Luo Qian
Airport Surface Traffic Simulation Based On Agent-Cellular Automaton, Zhiwei Xing, Shijiao Li, Yunxiao Tang, Luo Qian
Journal of System Simulation
Abstract: In order to analyze the traffic situation of airport surface, an airport surface traffic simulation method is proposed based on the theory of agent and cellular automaton model. The traffic characteristics of airport surface are analyzed. The combination of agent theory and the cellular automaton model is discussed. Different parts of the airport surface traffic are defined respectively as one-dimensional cellular automaton, and aircraft agent is designed, which means that a traffic simulation model is constructed based on agent-cellular automaton. The airport surface traffic is simulated. Simulation results show that the simulation method has the characteristics of simple, high …
Development Of Simulated Driving Dynamics Simulation System Of High-Speed Train, Sun Zhuang, Huanyun Dai, Gan Feng, Gao Hao
Development Of Simulated Driving Dynamics Simulation System Of High-Speed Train, Sun Zhuang, Huanyun Dai, Gan Feng, Gao Hao
Journal of System Simulation
Abstract: In order to truly simulate the moving postures of the high-speed train at run time, based on six degrees of freedom Stewart motion platform, dynamics simulation system and simulation operation interface are developed by VC++ programming language. The dynamics model of high-speed train system is presented in this paper, whose first vehicle is a detailed coupled model including longitudinal, lateral and vertical DOF (Degree of Freedom), and other vehicles are the mass models only with the longitudinal DOF. In the process of the simulation, the dynamics model is updated in real time according to line data and driver's …
Modeling Of Submarine Torpedo-Launching Simulation, Jinping Wu, Junchao Mao, Wenqiang Ding
Modeling Of Submarine Torpedo-Launching Simulation, Jinping Wu, Junchao Mao, Wenqiang Ding
Journal of System Simulation
Abstract: In order to lay foundation for modeling and simulation of operation problems such as torpedo attacking, torpedo operation application and torpedo operation effectiveness analysis, etc., the model of submarine torpedo-launching is built in the way of qualitative analysis and classical mathematics. As an important composition of submarine torpedo-attacking, torpedo-launching mainly means the course from torpedo out-tube to hitting target or voyage end, which is between the stage of “controlling weapon launching” and “observing attack effectiveness” during the whole torpedo-attacking course. Through analyzing the seven-stage trajectory process of torpedo-launching, the target detecting model and acoustic homing range model of …
A New Method On Trajectory Planning For Mobile Robots Using Bezier Curves, Sun Lei, Lishuang Zhang, Zhou Lu, Xuebo Zhang
A New Method On Trajectory Planning For Mobile Robots Using Bezier Curves, Sun Lei, Lishuang Zhang, Zhou Lu, Xuebo Zhang
Journal of System Simulation
Abstract: In view ofthe trajectory planning for the mobile robots, an efficient method based on Bezier curves is proposed, which produces better solution with shorter path and faster trajectory, compared with the existing methods. The problem of trajectory planning is divided into path planning and velocity planning. A Bezier curve is used to connect each two line-segments to obtain shorter paths. It is proved that the order of the used Bezier curves is at least five to ensure the curvature continuity of the whole path. Taking a differential-driven wheeled mobile as an example, to follow the planned path steadily and …