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Your search keyword '"Zhu, Daqi"' showing total 276 results
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276 results on '"Zhu, Daqi"'

1. Multi-AUV Kinematic Task Assignment based on Self-organizing Map Neural Network and Dubins Path Generator

Author

Li, Xin, Gan, Wenyang, Wen, Pang, and Zhu, Daqi

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

To deal with the task assignment problem of multi-AUV systems under kinematic constraints, which means steering capability constraints for underactuated AUVs or other vehicles likely, an improved task assignment algorithm is proposed combining the Dubins Path algorithm with improved SOM neural network algorithm. At first, the aimed tasks are assigned to the AUVs by improved SOM neural network method based on workload balance and neighborhood function. When there exists kinematic constraints or obstacles which may cause failure of trajectory planning, task re-assignment will be implemented by change the weights of SOM neurals, until the AUVs can have paths to reach all the targets. Then, the Dubins paths are generated in several limited cases. AUV's yaw angle is limited, which result in new assignments to the targets. Computation flow is designed so that the algorithm in MATLAB and Python can realizes the path planning to multiple targets. Finally, simulation results prove that the proposed algorithm can effectively accomplish the task assignment task for multi-AUV system.

Published
2024

2. Formation Tracking for a Multi-Auv System Based on an Adaptive Sliding Mode Method in the Water Flow Environment

Author

Li, Xin, Zhu, Daqi, Sun, Bing, Chen, Qi, Gan, Wenyang, and Li, Zhigang

Subjects
Electrical Engineering and Systems Science - Systems and Control
Abstract

In this paper, formation tracking for a multi-AUV system (MAS) using an improved adaptive sliding mode control method is studied in the Three Dimensional (3-D) underwater environment. Firstly, the kinematics model and the dynamic model of the AUVs are given as the Six Dimensions of Freedom (6-DOF) considered. Then, control law based on the mathematical model of the AUVs is proposed based on the improved sliding mode method. A second order sliding mode control method is adopted to eliminate the chatting phenomenon of the controller. Thirdly, considering the water flow in the underwater working environment of the AUVs, an adaptive module is added to the controller. With the adaptive approach, the finite disturbances caused by water flow could be handled with the controller. The proposed method achieves stability by substituting an adaptive continuous term for the switching term in the controller. At last, a robust sliding mode controller with continuous model predictive control strategy for the multi-AUV system is developed to achieve leader-follower formation tracking under the presence of bounded flow disturbances, and simulations are implemented to confirm the effectiveness of the proposed method.

Published
2022

4. Neural Network-Based Formation Control of Autonomous Underwater Vehicles Under Disturbance in 3D Space

Author

Pang, Wen, Zhu, Daqi, Chen, Mingzhi, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Yang, Huayong, editor, Liu, Honghai, editor, Zou, Jun, editor, Yin, Zhouping, editor, Liu, Lianqing, editor, Yang, Geng, editor, Ouyang, Xiaoping, editor, and Wang, Zhiyong, editor

Published
2023
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5. Design and Development of ROV for Ship Hull Inspection Using ADRC

Author

Liu, Yuan, Chen, Mingzhi, Zhu, Daqi, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Yang, Huayong, editor, Liu, Honghai, editor, Zou, Jun, editor, Yin, Zhouping, editor, Liu, Lianqing, editor, Yang, Geng, editor, Ouyang, Xiaoping, editor, and Wang, Zhiyong, editor

Published
2023
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10. Research on Formation Obstacle Avoidance Algorithm of Multiple AUVs Based on Interfered Fluid Dynamical System

Author

Pang, Wen, Zhu, Daqi, Wang, Linling, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Liu, Honghai, editor, Yin, Zhouping, editor, Liu, Lianqing, editor, Jiang, Li, editor, Gu, Guoying, editor, Wu, Xinyu, editor, and Ren, Weihong, editor

Published
2022
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16. Quantum-Behaved Particle Swarm Optimization Fault-Tolerant Control for Human Occupied Vehicle

Author

Zhang, Huapeng, Zhu, Daqi, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Liu, Xin-Jun, editor, Nie, Zhenguo, editor, Yu, Jingjun, editor, Xie, Fugui, editor, and Song, Rui, editor

Published
2021
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17. An AUV Path Planning Algorithm Based on Model Predictive Control and Obstacle Restraint

Author

Liu, Zhaoyang, Zhu, Daqi, Yan, Mingzhong, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Liu, Xin-Jun, editor, Nie, Zhenguo, editor, Yu, Jingjun, editor, Xie, Fugui, editor, and Song, Rui, editor

Published
2021
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18. Comparison of GBNN Path Planning with Different Map Partitioning Approaches

Author

Chen, Mingzhi, Zhu, Daqi, Chu, Zhenzhong, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Liu, Xin-Jun, editor, Nie, Zhenguo, editor, Yu, Jingjun, editor, Xie, Fugui, editor, and Song, Rui, editor

Published
2021
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19. A New Moving Target Interception Algorithm for an AUV in the Ocean Current Environment

Author

Meng, Xiangqiao, Zhang, Wei, Sun, Bing, Zhu, Daqi, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Liu, Xin-Jun, editor, Nie, Zhenguo, editor, Yu, Jingjun, editor, Xie, Fugui, editor, and Song, Rui, editor

Published
2021
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20. Rigidity Based Time-Varying Formation Tracking Control for Autonomous Underwater Vehicles with Switching Topologies

Author

Pang, Wen, Liu, Chenxia, Wang, Linling, Zhu, Daqi, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Liu, Xin-Jun, editor, Nie, Zhenguo, editor, Yu, Jingjun, editor, Xie, Fugui, editor, and Song, Rui, editor

Published
2021
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28. YOLOv7t-CEBC Network for Underwater Litter Detection.

Author

Zhang, Xinyu, Zhu, Daqi, and Gan, Wenyang

Subjects
MARINE resources conservation, MARINE debris, OBJECT recognition (Computer vision), ENVIRONMENTAL protection, REMOTE submersibles, HEALTH of military personnel, MARINE biodiversity, MARINE ecology
Abstract

The issue of marine litter has been an important concern for marine environmental protection for a long time, especially underwater litter. It is not only challenging to clean up, but its prolonged presence underwater can cause damage to marine ecosystems and biodiversity. This has led to underwater robots equipped with powerful visual detection algorithms becoming the mainstream alternative to human labor for cleaning up underwater litter. This study proposes an enhanced underwater litter detection algorithm, YOLOv7t-CEBC, based on YOLOv7-tiny, to assist underwater robots in target identification. The research introduces some modules tailored for marine litter detection within the model framework, addressing inter-class similarity and intra-class variability inherent in underwater waste while balancing detection precision and speed. Experimental results demonstrate that, on the Deep Plastic public dataset, YOLOv7t-CEBC achieves a detection accuracy (mAP) of 81.8%, markedly surpassing common object detection algorithms. Moreover, the detection frame rate reaches 118 FPS, meeting the operational requirements of underwater robots. The findings affirm that the enhanced YOLOv7t-CEBC network serves as a reliable tool for underwater debris detection, contributing to the maintenance of marine health. [ABSTRACT FROM AUTHOR]

Published
2024
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29. Underwater Image Target Detection with Cascade Classifier and Image Preprocessing Method

Author

Zeng, Lingcai, Sun, Bing, Zhang, Wei, Zhu, Daqi, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Yu, Haibin, editor, Liu, Jinguo, editor, Liu, Lianqing, editor, Ju, Zhaojie, editor, Liu, Yuwang, editor, and Zhou, Dalin, editor

Published
2019
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30. Optimized SOM Algorithm to Solve Problem of Invalid Task Allocation

Author

Qu, Yun, Zhu, Daqi, Chen, Mingzhi, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Yu, Haibin, editor, Liu, Jinguo, editor, Liu, Lianqing, editor, Ju, Zhaojie, editor, Liu, Yuwang, editor, and Zhou, Dalin, editor

Published
2019
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31. A Dynamic Tracking Control for the 4500 m-Human Occupied Vehicle

Author

Gan, Wenyang, Zhu, Daqi, Hu, Zhen, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Yu, Haibin, editor, Liu, Jinguo, editor, Liu, Lianqing, editor, Ju, Zhaojie, editor, Liu, Yuwang, editor, and Zhou, Dalin, editor

Published
2019
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32. Multiple Underwater Target Search Path Planning Based on GBNN

Author

Zhu, Tingting, Zhu, Daqi, Yan, Mingzhong, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Yu, Haibin, editor, Liu, Jinguo, editor, Liu, Lianqing, editor, Ju, Zhaojie, editor, Liu, Yuwang, editor, and Zhou, Dalin, editor

Published
2019
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45. Adaptive Trajectory Tracking Control for Remotely Operated Vehicles Based on Disturbance Observer

Author

Chu, Zhenzhong, Zhu, Daqi, Sun, Bing, Hutchison, David, Series Editor, Kanade, Takeo, Series Editor, Kittler, Josef, Series Editor, Kleinberg, Jon M., Series Editor, Mattern, Friedemann, Series Editor, Mitchell, John C., Series Editor, Naor, Moni, Series Editor, Pandu Rangan, C., Series Editor, Steffen, Bernhard, Series Editor, Terzopoulos, Demetri, Series Editor, Tygar, Doug, Series Editor, Weikum, Gerhard, Series Editor, Chen, Zhiyong, editor, Mendes, Alexandre, editor, Yan, Yamin, editor, and Chen, Shifeng, editor

Published
2018
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46. Three Dimensional AUV Complete Coverage Path Planning with Glasius Bio-inspired Neural Network

Author

Sun, Bing, Zhu, Xixi, Zhang, Wei, Zhu, Daqi, Chu, Zhenzhong, Hutchison, David, Series Editor, Kanade, Takeo, Series Editor, Kittler, Josef, Series Editor, Kleinberg, Jon M., Series Editor, Mattern, Friedemann, Series Editor, Mitchell, John C., Series Editor, Naor, Moni, Series Editor, Pandu Rangan, C., Series Editor, Steffen, Bernhard, Series Editor, Terzopoulos, Demetri, Series Editor, Tygar, Doug, Series Editor, Weikum, Gerhard, Series Editor, Chen, Zhiyong, editor, Mendes, Alexandre, editor, Yan, Yamin, editor, and Chen, Shifeng, editor

Published
2018
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49. The Tracking Control of Unmanned Underwater Vehicles Based on QPSO-Model Predictive Control

Author

Gan, Wenyang, Zhu, Daqi, Sun, Bing, Luo, Chaomin, Hutchison, David, Series Editor, Kanade, Takeo, Series Editor, Kittler, Josef, Series Editor, Kleinberg, Jon M., Series Editor, Mattern, Friedemann, Series Editor, Mitchell, John C., Series Editor, Naor, Moni, Series Editor, Pandu Rangan, C., Series Editor, Steffen, Bernhard, Series Editor, Terzopoulos, Demetri, Series Editor, Tygar, Doug, Series Editor, Weikum, Gerhard, Series Editor, Huang, YongAn, editor, Wu, Hao, editor, Liu, Honghai, editor, and Yin, Zhouping, editor

Published
2017
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