路径规划 | 图解粒子群(PSO)算法(附ROS C++仿真)

基于C++的2D路径规划：如何使用粒子群优化算法为移动机器人设计高效导航

粒子群优化（Particle Swarm Optimization, PSO）是一种启发式的优化算法，最早由Kennedy和Eberhart在1995年提出。它是受到鸟群捕食行为启发的，通过模拟鸟群中的个体（粒子）在解空间中搜索食物（最优解）的过程来进行优化。PSO的主要思想是：每个粒子都有一个位置和一个速度，这两个都是在解空间中的。每个粒子都会根据自己的经验和邻居的经验来更新自己的位置和速度。这样，整个群体会逐渐接近最优解。

【路径规划MATLAB】基于粒子群算法求解二维最短路径

1 简介 1.1 粒子群算法 粒子群优化算法(Particle Swarm Optimization，PSO)是一种模拟自然界中生物群觅 食行为相互合作机制从而找到问题最优解的群体智算法。该算法具有原理简单、易实现、 控制参数较少等优点，从而在不同领域都得到了广泛应用。PSO 算法通过群体中各粒 子间的相互合作及竞争，实现对区域内最优解的寻找，其基本思想是在解空间中随机选 择一群粒子并将它们随机分布至解空间，每个粒子的运动速度和方向决定粒子的下一位 置，粒子本身目前找到的历史最优解和整个群体找到的历史最

单目标粒子群优化算法（PSO）

摘要：粒子群优化算法(PSO)是一种基于群体智能的优化算法，源于对鸟群社会行为的模拟。该算法通过模拟粒子在解空间中的协作搜索过程，具有收敛快、参数少、易于实现等优点。本文详细介绍了PSO算法的基本原理、数学模型和特点，包括其多点搜索机制、全局搜索能力等优势。通过MATLAB实现，验证了PSO在求解函数优化问题中的有效性，实验结果表明算法能快速收敛到最优解附近。PSO已成功应用于多个领域，为解决复杂优化问题提供了有效工具。

Cy7c68013A速度测试教程

手里有一个cypress的CY7C68013A模块，一直没空玩。今天便测一下，这个模块的USB2.0速率。 1、开发工具下载 在cypress下载如下开发工具包（开发工具包下载地址） 2、驱动安装 一路Next即可 3、下载CyControl.exe 4、驱动安装 模块连接电脑，此时由于没有安装驱动，在设备管理器中显示未知设备...

机器学习模型系列：随机森林的原理和示例介绍

让我们总结一下与其他监督式机器学习模型相比，随机森林的优缺点。优点在许多真实数据集上已知能提供高度准确的模型。通过结合多个决策树的预测，可以捕捉数据集中的复杂交互和模式。通过自动选择相关特征，可以有效处理高维数据集。与单个决策树相比，不容易过拟合。自助采样和每个节点的随机特征选择有助于减少过拟合并改善泛化能力。可以处理包括数值和分类特征在内的异构数据类型。可以处理缺失值而不需要填充。提供特征重要性的度量。集成中的树可以并行训练，因为每个决策树可以独立构建。模型的泛化误差具有理论上的界限。

虚拟机扩容——非LVM分区

虚拟机扩容——非LVM分区

Cheat Engine实战：多级指针逆向破解游戏内存的5个关键步骤（附C++模拟代码）

本文详细解析了使用Cheat Engine进行多级指针逆向破解游戏内存的完整流程。通过5个关键步骤，从定位动态地址到逐层追踪指针链，最终构建稳定指针路径。文章结合C++模拟代码，深入剖析了指针链的底层汇编原理，并提供了高级排查技巧，帮助读者掌握逆向工程中的核心内存追踪技术。

MAC 青花瓷（Charles）爪机HTTPS 抓包

前段时间跟之前的产品小姐姐聊天，小姐姐说开发让她抓包帮忙看下数据，然而自己又不会，那就来写一篇简易版的教程 冲冲冲！ 手上只有mac电脑跟iPhone手机，只做苹果手机的抓包，android7.0以上版本也没法通过正常的抓htts的包，让安卓开发装个后门吧，不是安卓开发并不知道是啥，连上USB之后访问chrome://inspect/#devices就能很简单的抓包 一、准备工具等 青花瓷...

软件设计师---程序设计语言

软件设计师---程序设计语言

终于找到了！Ubuntu 虚拟机卡死的终极解决方案（如何解决VMware安装Ubuntu24.04桌面进不去、黑屏、虚拟机卡死、显示不全、屏幕闪烁等问题）

终于找到了！Ubuntu 虚拟机卡死的终极解决方案（如何解决VMware安装Ubuntu24.04桌面进不去、黑屏、虚拟机卡死、显示不全、屏幕闪烁等问题）

第11.4节 混合储能系统能量管理

混合储能系统（HESS）的能量管理策略采用分层架构实现多时间尺度优化：调度层（小时级）进行经济优化，协调层（秒级）基于频率分解分配功率，执行层（毫秒级）实现快速跟踪。深度强化学习（DRL）方法通过定义状态空间、动作空间和多目标奖励函数，能有效处理系统不确定性和多目标优化问题。HESS性能评估需综合技术指标（如调节性能Kp值、设备寿命指标）和经济指标（净现值NPV、平准化储能成本LCOS），并遵循"建模-仿真-实验"的闭环流程。

华为的C语言编程规范.pdf

华为技术有限公司内部技术规范。本规范制定了编写C语言程序的基本原则、规则和建议。从代码的清晰、简洁、可测试、安全、程序效率、可移植各个方面对C语言编程作出了具体指导。

TMS_WebGMaps_1.9.8.0_Full_Source

TMS_WebGMaps_1.9.8.0_Full_Source 全源码 delphi cbuilder

Devexpress16.2.6破解工具

Devexpress16.2.6破解工具Devexpress16.2.6破解工具Devexpress16.2.6破解工具Devexpress16.2.6破解工具

深度学习工具包 DeepLearningToolbox

深度学习工具包Deprecation notice.-----This toolbox is outdated and no longer maintained.There are much better tools available for deep learning than this toolbox, e.g. [Theano](http://deeplearning.net/software/theano/), [torch](http://torch.ch/) or [tensorflow](http://www.tensorflow.org/)I would suggest you use one of the tools mentioned above rather than use this toolbox.Best, Rasmus.DeepLearnToolbox================A Matlab toolbox for Deep Learning.Deep Learning is a new subfield of machine learning that focuses on learning deep hierarchical models of data.It is inspired by the human brain's apparent deep (layered, hierarchical) architecture.A good overview of the theory of Deep Learning theory is[Learning Deep Architectures for AI](http://www.iro.umontreal.ca/~bengioy/papers/ftml_book.pdf)For a more informal introduction, see the following videos by Geoffrey Hinton and Andrew Ng.* [The Next Generation of Neural Networks](http://www.youtube.com/watch?v=AyzOUbkUf3M) (Hinton, 2007)* [Recent Developments in Deep Learning](http://www.youtube.com/watch?v=VdIURAu1-aU) (Hinton, 2010)* [Unsupervised Feature Learning and Deep Learning](http://www.youtube.com/watch?v=ZmNOAtZIgIk) (Ng, 2011)If you use this toolbox in your research please cite [Prediction as a candidate for learning deep hierarchical models of data](http://www2.imm.dtu.dk/pubdb/views/publication_details.php?id=6284)```@MASTERSTHESIS\{IMM2012-06284, author = "R. B. Palm", title = "Prediction as a candidate for learning deep hierarchical models of data", year = "2012",}```Contact: rasmusbergpalm at gmail dot comDirectories included in the toolbox-----------------------------------`NN/` - A library for Feedforward Backpropagation Neural Networks`CNN/` - A library for Convolutional Neural Networks`DBN/` - A library for Deep Belief Networks`SAE/` - A library for Stacked Auto-Encoders`CAE/` - A library for Convolutional Auto-Encoders`util/` - Utility functions used by the libraries`data/` - Data used by the examples`tests/` - unit tests to verify toolbox is workingFor references on each library check REFS.mdSetup-----1. Download.2. addpath(genpath('DeepLearnToolbox'));Example: Deep Belief Network---------------------```matlabfunction test_example_DBNload mnist_uint8;train_x = double(train_x) / 255;test_x = double(test_x) / 255;train_y = double(train_y);test_y = double(test_y);%% ex1 train a 100 hidden unit RBM and visualize its weightsrand('state',0)dbn.sizes = [100];opts.numepochs = 1;opts.batchsize = 100;opts.momentum = 0;opts.alpha = 1;dbn = dbnsetup(dbn, train_x, opts);dbn = dbntrain(dbn, train_x, opts);figure; visualize(dbn.rbm{1}.W'); % Visualize the RBM weights%% ex2 train a 100-100 hidden unit DBN and use its weights to initialize a NNrand('state',0)%train dbndbn.sizes = [100 100];opts.numepochs = 1;opts.batchsize = 100;opts.momentum = 0;opts.alpha = 1;dbn = dbnsetup(dbn, train_x, opts);dbn = dbntrain(dbn, train_x, opts);%unfold dbn to nnnn = dbnunfoldtonn(dbn, 10);nn.activation_function = 'sigm';%train nnopts.numepochs = 1;opts.batchsize = 100;nn = nntrain(nn, train_x, train_y, opts);[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.10, 'Too big error');```Example: Stacked Auto-Encoders---------------------```matlabfunction test_example_SAEload mnist_uint8;train_x = double(train_x)/255;test_x = double(test_x)/255;train_y = double(train_y);test_y = double(test_y);%% ex1 train a 100 hidden unit SDAE and use it to initialize a FFNN% Setup and train a stacked denoising autoencoder (SDAE)rand('state',0)sae = saesetup([784 100]);sae.ae{1}.activation_function = 'sigm';sae.ae{1}.learningRate = 1;sae.ae{1}.inputZeroMaskedFraction = 0.5;opts.numepochs = 1;opts.batchsize = 100;sae = saetrain(sae, train_x, opts);visualize(sae.ae{1}.W{1}(:,2:end)')% Use the SDAE to initialize a FFNNnn = nnsetup([784 100 10]);nn.activation_function = 'sigm';nn.learningRate = 1;nn.W{1} = sae.ae{1}.W{1};% Train the FFNNopts.numepochs = 1;opts.batchsize = 100;nn = nntrain(nn, train_x, train_y, opts);[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.16, 'Too big error');```Example: Convolutional Neural Nets---------------------```matlabfunction test_example_CNNload mnist_uint8;train_x = double(reshape(train_x',28,28,60000))/255;test_x = double(reshape(test_x',28,28,10000))/255;train_y = double(train_y');test_y = double(test_y');%% ex1 Train a 6c-2s-12c-2s Convolutional neural network %will run 1 epoch in about 200 second and get around 11% error. %With 100 epochs you'll get around 1.2% errorrand('state',0)cnn.layers = { struct('type', 'i') %input layer struct('type', 'c', 'outputmaps', 6, 'kernelsize', 5) %convolution layer struct('type', 's', 'scale', 2) %sub sampling layer struct('type', 'c', 'outputmaps', 12, 'kernelsize', 5) %convolution layer struct('type', 's', 'scale', 2) %subsampling layer};cnn = cnnsetup(cnn, train_x, train_y);opts.alpha = 1;opts.batchsize = 50;opts.numepochs = 1;cnn = cnntrain(cnn, train_x, train_y, opts);[er, bad] = cnntest(cnn, test_x, test_y);%plot mean squared errorfigure; plot(cnn.rL);assert(er<0.12, 'Too big error');```Example: Neural Networks---------------------```matlabfunction test_example_NNload mnist_uint8;train_x = double(train_x) / 255;test_x = double(test_x) / 255;train_y = double(train_y);test_y = double(test_y);% normalize[train_x, mu, sigma] = zscore(train_x);test_x = normalize(test_x, mu, sigma);%% ex1 vanilla neural netrand('state',0)nn = nnsetup([784 100 10]);opts.numepochs = 1; % Number of full sweeps through dataopts.batchsize = 100; % Take a mean gradient step over this many samples[nn, L] = nntrain(nn, train_x, train_y, opts);[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.08, 'Too big error');%% ex2 neural net with L2 weight decayrand('state',0)nn = nnsetup([784 100 10]);nn.weightPenaltyL2 = 1e-4; % L2 weight decayopts.numepochs = 1; % Number of full sweeps through dataopts.batchsize = 100; % Take a mean gradient step over this many samplesnn = nntrain(nn, train_x, train_y, opts);[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.1, 'Too big error');%% ex3 neural net with dropoutrand('state',0)nn = nnsetup([784 100 10]);nn.dropoutFraction = 0.5; % Dropout fraction opts.numepochs = 1; % Number of full sweeps through dataopts.batchsize = 100; % Take a mean gradient step over this many samplesnn = nntrain(nn, train_x, train_y, opts);[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.1, 'Too big error');%% ex4 neural net with sigmoid activation functionrand('state',0)nn = nnsetup([784 100 10]);nn.activation_function = 'sigm'; % Sigmoid activation functionnn.learningRate = 1; % Sigm require a lower learning rateopts.numepochs = 1; % Number of full sweeps through dataopts.batchsize = 100; % Take a mean gradient step over this many samplesnn = nntrain(nn, train_x, train_y, opts);[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.1, 'Too big error');%% ex5 plotting functionalityrand('state',0)nn = nnsetup([784 20 10]);opts.numepochs = 5; % Number of full sweeps through datann.output = 'softmax'; % use softmax outputopts.batchsize = 1000; % Take a mean gradient step over this many samplesopts.plot = 1; % enable plottingnn = nntrain(nn, train_x, train_y, opts);[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.1, 'Too big error');%% ex6 neural net with sigmoid activation and plotting of validation and training error% split training data into training and validation datavx = train_x(1:10000,:);tx = train_x(10001:end,:);vy = train_y(1:10000,:);ty = train_y(10001:end,:);rand('state',0)nn = nnsetup([784 20 10]); nn.output = 'softmax'; % use softmax outputopts.numepochs = 5; % Number of full sweeps through dataopts.batchsize = 1000; % Take a mean gradient step over this many samplesopts.plot = 1; % enable plottingnn = nntrain(nn, tx, ty, opts, vx, vy); % nntrain takes validation set as last two arguments (optionally)[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.1, 'Too big error');```[](https://bitdeli.com/free "Bitdeli Badge")