Rongsheng Zhang

Visual simultaneous localization and mapping (SLAM) algorithms in dynamic scenes can incorrectly add moving feature points to the camera pose calculation, which leads to low accuracy and poor robustness of pose estimation. In this paper, we propose a visual SLAM algorithm based on object detection and static probability update strategy for dynamic scenes, named YKP-SLAM. Firstly, we use the YOLOv5 target detection algorithm and the improved K-means clustering algorithm to segment the image into static regions, suspicious static regions, and dynamic regions. Secondly, the static probability of feature points in each region is initialized and used as weights to solve for the initial camera pose. Then, we use the motion constraints and epipolar constraints to update the static probability of the feature points to solve the final pose of the camera. Finally, it is tested on the TUM RGB-D dataset. The results show that the YKP-SLAM algorithm proposed in this paper can effectively improve the pose estimation accuracy. Compared with the ORBSLAM2 algorithm, the absolute pose estimation accuracy is improved by 56.07% and 96.45% in low dynamic scenes and high dynamic scenes, respectively, and the best results are almost obtained compared with other advanced dynamic SLAM algorithms.

To address the problem that the accuracy of traditional intelligent algorithms in distribution network fault location decreases with the expansion of distribution network scale, a regionalized fault location method for distribution networks containing distributed power sources based on the improved manta ray foraging optimization (IMRFO) algorithm is proposed. First, the global convergence property of the basic manta ray foraging optimization (MRFO) algorithm is improved by fusing the restart strategy and the opposition-based learning strategy. Then, based on the two-port equivalence principle, a topological model for regionalized fault hierarchical localization in distribution networks is constructed. Finally, the algorithm is improved by binary discretization using the Sigmoid function to output the fault vector and complete the fault location of the distribution network. Simulation experiments are conducted using MATLAB for IEEE-33 node distribution networks and the simulation results show that the IMRFO algorithm combined with the regionalization of complex distribution networks has a better effect of dimensionality reduction. Compared with the traditional distribution network simulation model, the fault location fault tolerance is greatly improved and its accuracy rate is increased by 1.8% and the location speed is improved by 15.537 ms.

Aiming at the problems of low path success rate, easy precocious maturity, and easily falling into local extremums in the complex environment of path planning of mobile robots, this paper proposes a new particle swarm algorithm (RDS-PSO) based on restart strategy and adaptive dynamic adjustment mechanism. When the population falls into local optimal or premature convergence, the restart strategy is activated to expand the search range by re-randomly initializing the group particles. An inverted S-type decreasing inertia weight and adaptive dynamic adjustment learning factor are proposed to balance the ability of local search and global search. Finally, the new RDS-PSO algorithm is combined with cubic spline interpolation to apply to the path planning and smoothing processing of mobile robots, and the coding mode based on the path node as a particle individual is constructed, and the penalty function is selected as the fitness function to solve the shortest collision-free path. The comparative results of simulation experiments show that the RDS-PSO algorithm proposed in this paper solves the problem of falling into local extremums and precocious puberty, significantly improves the optimization, speed, and effectiveness of the path, and the simulation experiments in different environments also show that the algorithm has good robustness and generalization.

To address the shortcomings of the whale optimization algorithm (WOA) in terms of insufficient global search ability and slow convergence speed, a differential evolution chaotic whale optimization algorithm (DECWOA) is proposed in this paper. Firstly, the initial population is generated by introducing the Sine chaos theory at the beginning of the algorithm to increase the population diversity. Secondly, new adaptive inertia weights are introduced into the individual whale position update formula to lay the foundation for the global search and improve the optimization performance of the algorithm. Finally, the differential variance algorithm is fused to improve the global search speed and accuracy of the whale optimization algorithm. The impact of various improvement strategies on the performance of the algorithm is analyzed using different kinds of test functions that are randomly selected. The particle swarm optimization algorithm (PSO), butterfly optimization algorithm (BOA), WOA, chaotic feedback adaptive whale optimization algorithm (CFAWOA), and DECWOA algorithm are compared for the optimal search performance. Experimental simulations are performed using MATLAB software, and the results show that the improved whale optimization algorithm has a better global optimization-seeking capability. The improved whale optimization algorithm is applied to the distribution network fault location of IEEE-33 nodes, and the effectiveness and accuracy of the distribution network fault zone location based on the multistrategy improved whale optimization algorithm is verified.