[1]王华鲜,华容,刘华平,等.无人机群多目标协同主动感知的自组织映射方法[J].智能系统学报,2020,15(3):609-614.[doi:10.11992/tis.201908022]
WANG Huaxian,HUA Rong,LIU Huaping,et al.Self-organizing feature map method for multi-target active perception of unmanned aerial vehicle systems[J].CAAI Transactions on Intelligent Systems,2020,15(3):609-614.[doi:10.11992/tis.201908022]
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WANG Huaxian,HUA Rong,LIU Huaping,et al.Self-organizing feature map method for multi-target active perception of unmanned aerial vehicle systems[J].CAAI Transactions on Intelligent Systems,2020,15(3):609-614.[doi:10.11992/tis.201908022]
无人机群多目标协同主动感知的自组织映射方法
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
15
期数:
2020年第3期
页码:
609-614
栏目:
吴文俊人工智能科学技术奖论坛
出版日期:
2020-05-05
- Title:
- Self-organizing feature map method for multi-target active perception of unmanned aerial vehicle systems
- Keywords:
- multi-robot system; active perception; traveling salesman problem; self-organizing mapping network; path planning; heterogeneous robot; Bézier curve; path smoothing
- 分类号:
- TP391.9
- 摘要:
- 针对主动感知问题多为单机器人系统的主动视觉问题，本文提出了基于自组织映射特征网络的异构机器人主动感知框架，为无人机团队规划出遍历所有目标所需时间最短的平滑路径。首先把多目标主动感知场景建模为带邻域的多旅行商问题，然后使用自组织映射网络为无人机团队规划出旅行时间最短的闭环轨迹，最后利用三阶贝塞尔曲线对轨迹做平滑处理。仿真结果和对比实验表明，本文的方法在多目标主动感知的应用中有着较好的效果。
- Abstract:
- It is known that the robots fitted with cameras, also sometimes called as unmanned aerial vehicles, are used to monitor inaccessible areas. The data sent by robots are analyzed through various artificial neural networks. Active vision is particularly important to cope with problems like occlusions, limited field of view, and limited resolution of the camera. In view of the active vision difficulty faced in active perception system, this paper proposes an active perception framework of heterogeneous robots based on the self-organizing feature map, a type of multi-objective active learning algorithm, and plans the shortest smooth path for the drone team to traverse all the targets. First, the multi-target active perception scene is modeled as multiple traveling salesmen problem with neighborhood. After that, the self-organizing mapping network is used to find the shortest closed-loop track for travel time, and then the track is smoothed with the third-order Bézier curve, a parametric curve. The simulation results and comparative experiments show that proposed method has better effects in the application of multi-objective active perception.
- 参考文献/References:
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备注/Memo
收稿日期:2019-08-19。
基金项目:国家自然科学基金项目(U1613212)；上海市“联盟计划”项目(LM201756)
作者简介:王华鲜，硕士研究生，主要研究方向为主动感知与多机器人协作;华容，教授，上海市徐汇区智能交通协会理事长，主要研究方向为轨道交通控制运行、机器人路径规划与多目标优化研究。发表学术论文30余篇;孙富春，教授，博士生导师，IEEE Senior Member，国家863计划专家组成员，中国人工智能学会副理事长，中国人工智能学会智能控制与智能管理专业委员会副主任兼秘书长，主要研究方向为智能控制与机器人、多模态数据感知、模式识别。主持国家自然科学基金5项。发表学术论文200余篇.
通讯作者:刘华平.E-mail:hpliu@tsinghua.edu.cn
更新日期/Last Update:
1900-01-01