CAJ | 학술논문

分布式激振频率数据库用在力传感器机器人高精度作业中，为机器人进行探测作业提供数据支持。传统方法采用粒子滤波算法进行数据调度和系统状态跟踪，在分布式激振频率数据库在数据调度和重采样中常会出现粒子匮乏和多样性丧失的问题。提出一种基于人工遗传算法群优化的改进的粒子滤波算法，实现对分布式激振频率数据库粒子的匮乏补偿，给出分布式激振频率数据库链路生成机制，采用粒子滤波算法进行分布式激振频率数据库的访问。实验结果表明，算法能有效解决分布式激振频率数据库粒子滤波算法中粒子匮乏以及多样性丧失的问题，进而降低运行时间，提高数据调度和控制精度，均方误差较小。在高精度控制领域具有很好的应用价值。
분포식격진빈솔수거고용재력전감기궤기인고정도작업중，위궤기인진행탐측작업제공수거지지。전통방법채용입자려파산법진행수거조도화계통상태근종，재분포식격진빈솔수거고재수거조도화중채양중상회출현입자궤핍화다양성상실적문제。제출일충기우인공유전산법군우화적개진적입자려파산법，실현대분포식격진빈솔수거고입자적궤핍보상，급출분포식격진빈솔수거고련로생성궤제，채용입자려파산법진행분포식격진빈솔수거고적방문。실험결과표명，산법능유효해결분포식격진빈솔수거고입자려파산법중입자궤핍이급다양성상실적문제，진이강저운행시간，제고수거조도화공제정도，균방오차교소。재고정도공제영역구유흔호적응용개치。
The force sensor in robot high precision operations needs the distributed vibration frequency database, it pro?vides data support for robot detection task. The traditional method uses particle filter algorithm for data scheduling and sys?tem state tracking, in the distributed vibration frequency of database in the data scheduling and re-sampling, it usually ap?pears the particle degeneracy and loss of diversity issues. An improved particle filter algorithm of artificial genetic algo?rithm is proposed based on the swarm optimization, compensation of distributed vibration frequency of particles are distrib?uted database is realized, the excitation frequency database link mechanism is obtained. The experimental results show that, the algorithm can effectively solve the distributed vibration frequency database in particle filtering algorithm particle degeneracy and loss of diversity issues, so as to reduce the running time, improve the data scheduling and control precision, it has smaller mean square error. It has good application value in the high precision control field.