Ziying Zhang

Multi-robot Formation Control Based on Behavior

Aiming at the shortcomings of following leaders method based on the feedback control, behavior-based feedback laws have been introduced in multi-robot formation control. Through the experiment based on the AmigoBot platform, it is proved that the method can meet the problem which can not converge fleetly in in the course of obstacles avoidance in the control method based on the feedback.

A Kind of Object-Oriented Petri Net and Its Application

By the introduction of object-oriented, a model for the object-oriented Petri net (OOPN) is developed on basis of Petri net in this paper. The systematic structure and its formal definition and its modeling step are described in detail. According to the characteristics of the autonomous underwater vehicle (AUV) system environment, a complete OOPN model for AUV is developed, which can reflect the dynamic behaviors of the system more really, thus the more effective tool for the modeling and the analysis of AUV is provided.

Research on Hierarchial Fuzzy Behavior Learning of Autonomous Robot

Aiming at the changing and dynamic unstructured environments of autonomous robot, this paper analyses these kinds of effects on robot in details and thus presents a local plan architecture based on hierarchical fuzzy logic to implement the basic navigation behaviors and the coordination between these behaviors to produce a type-2 hierarchical fuzzy logic control. The problem is solved that the number of the rules increase exponentially with the number of variables involved. Experiments show that this approach is helpful and reliable especially to path planning of autonomous robot.

An Improved Particle Swarm Optimization Algorithm with Sentient Mode

This paper presents a modification of the sentient particle swarm optimization algorithm intended to introduce some psychology factor of emotion into the algorithm. At the same time, the algorithm compares the real velocity and position error with the threshold for finding conditionality condition of dissipative particle. It guides individuals to behave reasonably with the capability of self-adaptation in activities of self-cognition and sociality via quantifying the sensation intension as a result of environmental stimulation according to the sensation model. Considering the complexity of a swarm intelligent system at the level of sensation brings about optimization of the comprehensive capability of global, local searching and cooperating with each other. The resulting algorithm is shown to perform significantly better than the original algorithm on different benchmark optimization problems. Avoiding premature convergence allows the improved SPSO to continue search for global optima, reaching better solutions than SPSO with a much faster convergence speed.

A High-Level Fuzzy Timed Petri-Net-Based Approach

In order to deal with the uncertain temporal knowledge of the complex real-time system and to improve the existed uncertain temporal knowledge expression and inference algorithm, a new kind of high-level fuzzy timed Petri nets was proposed based on fuzzy timed Petri nets (FTN). The uncertain temporal of the complex real-time can be quantitatively described and the time possibility can be analyzed after temporal constraint was added to resources and transitions of FTN. Finally, a case study was given to illustrate the usage of this approach. The temporal phenomena and laws of real-time system can be described more overall with HFTN. It is suitable for complex real-time system modeling and analysis.

The Software Behavior Trend Prediction Based on HMM-ACO

For the HMM exists defects in application in the aspect of software behavior prediction, namely, HMM could trap into local optimization because of the problem of B-parameter, which results in the decrease of HMM’s precision. This paper builds a new model HMM-ACO through combining Ant Colony Optimization (ACO) algorithm with HMM, with system calls as the data source, improving the prediction accuracy rate of HMM. In order to eliminate the HMM’s reflection on observations characteristics, this paper puts forward a new approach to recognize software behavior with hidden states.

System Dependency Graph Construction Algorithm Based on Equivalent Substitution

There are many remarkable methods used in software semantics analysis. However, people find some of the methods generally have the common problem of high time complexity or inaccurate results. In order to solve these problems, we propose a program controlled flow algorithm which is based on a control dependency graph and an abstract syntax tree. This algorithm uses object program equivalent substitution and a procedure of dependency graph to replace procedure System Dependency Graph (SDG), which improves the building process of traditional system dependency graph. Experimental results show that the proposed algorithm can effectively reduce the complexity of constructional SDG and increase the rate of program slicing.

Self-Organizing Task Allocation of Multi-robot

This existing multi-robot task allocation mechanisms treat tasks as simple, indivisible entities. Also in many applications, the dynamicity and complexity of the environment are not considered. In order to allocate the robots adaptively and flexibility according to the complex task and environment, this paper presents a multi-robot coordination approaches based on virtual pheromone which is inspired by the ant colony foraging behavior in the background of exploring unknown environments by multi-robot system. Numerical and experiment results show that this approach is helpful and reliable, and it is proved that the robots collaboration degree was obviously improved. In addition, the exploration efficiency was greatly improved.

Modeling and simulation of AUV system based on object-oriented Petri net

The autonomous underwater vehicle (AUV) system is a complex and large-scale system, which is subsequent interactive and distributed. Therefore, we apply OOPN method to model it. The AUV system was analyzed and divided into several modules; and the system models of each module were set; the OOPN model of AUV system was constructed and analyzed, and its simulation result was consistent with the practical process. Through the modeling, we can see that the state explosion in ordinary Petri net modeling is well avoided and the OOPN model processes preferable modularity, reusability and maintainability.