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| 1 | An adaptive particle filter for soft fault compensation of mobile robots显示文摘Soft fault compensation plays an important role in mobile robot locating, mapping, and navigating. It is difficult to achieve fast and accurate compensation for mobile robots because they are usually highly non-linear, non-Gaussian systems with lim-ited computation and memory resources. An adaptive particle filter is presented to compensate two kinds of soft faults for mobile robots, i.e., noise or factor faults of dead reckoning sensors and slippage of wheels. Firstly, the kinematics models and the fault models are discussed, and five kinds of residual features are extracted to detect soft faults. Secondly, an adaptive particle filter is designed for fault com-pensation, and two kinds of adaptive scheme are discussed: 1) the noise variances of linear speed and yaw rate are adjusted according to residual features; 2) the particle number is adapted according to Kullback-Leibler divergence (KLD) of two approximate distribution denoted with two particle sets with different particles, i.e., increasing particle number if the KLD is large and decreasing particle number if the KLD is small. The theoretic proof is given and experimental results show the effi-ciency and accuracy of the presented approach. | DUAN ZhuoHua CAI ZiXing YU JinXia | 2008 | Science in China(Series F)2008，51，12： | 8 |
| 2 | Improved method for the feature extraction of laser scanner using genetic clustering显示文摘Feature extraction of range images provided by ranging sensor is a key issue of pattern recognition. To automatically extract the environmental feature sensed by a 2D ranging sensor laser scanner, an improved method based on genetic clustering VGA-clustering is presented. By integrating the spatial neighbouring information of range data into fuzzy clustering algorithm, a weighted fuzzy clustering algorithm (WFCA) instead of standard clustering algorithm is introduced to realize feature extraction of laser scanner. Aimed at the unknown clustering number in advance, several validation index functions are used to estimate the validity of different clustering al-gorithms and one validation index is selected as the fitness function of genetic algorithm so as to determine the accurate clustering number automatically. At the same time, an improved genetic algorithm IVGA on the basis of VGA is proposed to solve the local optimum of clustering algorithm, which is implemented by increasing the population diversity and improving the genetic operators of elitist rule to enhance the local search capacity and to quicken the convergence speed. By the comparison with other algorithms, the effectiveness of the algorithm introduced is demonstrated. | Yu Jinxia Cai Zixing Duan Zhuohua | 2008 | Journal of Systems Engineering and Electronics2008，19，2： | 6 |
| 3 | A Multirobotic Planning Based on Expert System显示文摘A robotic planning system using the technique of expert system for multirobotic coordi-nated motion with collision-avoidance has been developed.Its general architecture and theroles of its components are introduced in this paper.The task planning diagram of this sys-tem is also briefly explained.A mechanism for multirobotic planning has been proposed.Two examples of traffic control system,i.e.two-robot coordinated pathfinding system withcollision-avoidance have been demonstrated.In order to avoid the collision,some controlstrategies are applied.The results of this planning system are valuable and helpful for plan-ning the multirohotic coordinated motion with collision-avoidance. | Cai Zixing Tang Shaoxian (Department of Automatic Control Engineering,Central South University of Technology,Changsha 410083,P.R.China) | 1995 | High Technology Letters1995，1，1： | 3 |
| 4 | DIRECT FUZZY NEURAL CONTROL FOR TRAIN TRAVELING PROCESS显示文摘DIRECTFUZZYNEURALCONTROLFORTRAINTRAVELINGPROCESS①WangJing,CaiZixing,JiaLiminResearchCenterforIntelligentControl,CentralS... | Wang, Jing Cai, Zixing Jia, Limin | 1997 | 中国有色金属学会会刊:英文版1997，7，1： | 2 |
| 5 | Fuzzy Likelihood Estimation Based Map Matching for Mobile Robot Self- localization 显示文摘 | Yu Jinxia Cai Zixing | 2006 | FSKD2006，4223，： | 1 |
| 6 | Artificial bee colony program- ming made faster显示文摘 | LIU Xingbao CAI Zixing | 2009 | Natural Computation2009，，8： | 1 |
| 7 | Hybridizing particle swarm optimization with differential evolution for constrained numerical and engineering optimization显示文摘 | LIU Hui CAI Zixing WANG Yong | 2010 | Applied Soft Computing2010，10，2： | 1 |
| 8 | Differential evolution with composite trial vector generation strate- gies显示文摘 | Wang Yong Cai Zixing Zhang Qingfu | 2011 | IEEE Transactions on Evolutionary Compu- tation2011，15，1： | 1 |
| 9 | An orthogonal design based constrained optimization evolutionary algorithm显示文摘 | Wang Yong Liu Hui Cai Zixing | 2007 | Engineering Optimization2007，39，6： | 1 |
| 10 | A particle filter and SVM integration framework for fault-proneness prediction in robot dead reckoning system显示文摘 | Yu Lingli Wu Min Cai Zixing | 2011 | WSEAS Transactions on System2011，10，11： | 1 |
| 11 | Cooperative Coevolutionary Adaptive Genetic Algorithm in Path Planning of Cooperative Multi-Mobile Robot Systems显示文摘 | Zixing Cai Zhihong Peng | 2002 | Journal of Intelligent and Robotic Systems2002，，1： | 1 |
| 12 | An adaptive tradeoff model for constrained evolutionaryoptimization显示文摘 | Wang Yong Cai Zixing Zhou Yuren et ai | 2008 | IEEE Trans on Evolutionary Computation2008，12，1： | 1 |
| 13 | Traffic sign recognition algorithm based on shape signature and dual tree-complex wavelet transform显示文摘 | Cai Zixing Gu Mingqin | 2013 | Journal of Central South University of Technologyt English Edition)2013，20，2： | 1 |
| 14 | Enhancing the searchability of differential evolution through orthogonal crossover 显示文摘 | WANG Yong CAI Zixing ZHANG Qingfu | 2006 | Information Sciences2006，185，： | 1 |
| 15 | Normal model and BPNN-based immunization of anti-worm Web system显示文摘 | Gong Tao Cai Zixing | 2006 | International Journal of Multimedia and Ubiquitous Engineering2006，1，3： | 1 |
| 16 | An adaptive tradeoff model for constrained evolutionary optimization显示文摘 | Wang Yong Cai Zixing | 2008 | IEEE Transactions on Evolutionary Computation2008，12，1： | 1 |
| 17 | Fuzzy control strategy for the ac- robot显示文摘 | LAI Xuzhi CAI Zixing WU min et aI | 2000 | Kongzhi Lilun Yu Yinyong/Control Theory and Applications2000，17，3： | 1 |
| 18 | Multi-ob- jective optimization and hybrid evolutionary algorithm to solve constrained optimization problems 显示文摘 | WANG Yong CAI Zixing GUO Guanqin | 2007 | IEEE Transactions on Systems Man and Cybernetics2007，37，3： | 1 |
| 19 | Combining multiobjective optimization with differential evolution to solve constrained optimization problems显示文摘 | Wang Yong Cai Zixing | 2012 | IEEE Transactions on Evolutionary Computation2012，16，1： | 1 |
| 20 | Multiobjective Optimization and Hybrid Evolutionary Algorithm to Solve Constrained Optimization Problems显示文摘 | Wang Yong Cai Zixing | 2007 | IEEE Transactions on Systems Man and Cybernetics2007，37，2： | 1 |
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