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no-repeat 6px;background-position:center;margin-top:10px;min-width:55px;display:none;} @media (min-width:768px){.jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption .expand_btn{display:none;}} .jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-text{-webkit-flex:9;-ms-flex:9;flex:9;text-align:left;padding:21px 37px 10px 0px;font-size:16px;font-weight:700;} @media (min-width:768px){.jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-text{padding:19px 18px 10px 18px;}} @media (min-width:992px){.jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-text{padding:19px 21px 10px 21px;}} .jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption 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no-repeat 6px;background-position:center;padding:16px 0 16px 0;min-width:62px;max-width:62px;} @media (min-width:768px){.jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-partial-url{padding:16px 0 17px 0;min-width:52px;max-width:52px;}} @media (min-width:992px){.jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-partial-url{padding:15px 0 17px 0;min-width:60px;max-width:60px;}} .jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-partial-url:hover{-webkit-text-decoration:none;text-decoration:none;} .jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption-text{font-size:14px;padding:0px 18px 17px 22px;} @media (min-width:768px){.jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption-text{padding:0px 15px 15px 18px;}} @media (min-width:992px){.jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption-text{padding:0px 18px 19px 21px;}} .jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption-text figcaption{margin:0;padding:0;} .jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption-text svg{max-width:100%;} .jfJGTx ol{font-size:16px;padding-left:32px;font-family:STIXGeneral-Regular;line-height:24px;margin:15px 0;} .jfJGTx ol li{margin:10px 0;padding-left:10px;word-break:normal;} .jfJGTx ol li a{word-break:break-all;} .jfJGTx ol li .reflinks{display:block;} .jfJGTx ol li .reflinks a{color:#4D8A17;-webkit-text-decoration:none;text-decoration:none;cursor:pointer;} .jfJGTx ol li .reflinks a:hover{-webkit-text-decoration:underline;text-decoration:underline;} .jfJGTx ol li .reflinks .sep{color:#000000;} .jfJGTx .table-wrapper{width:auto;overflow-x:auto;} .jfJGTx .table-wrapper::-webkit-scrollbar{-webkit-appearance:none;width:5px;height:5px;} .jfJGTx .table-wrapper::-webkit-scrollbar-thumb{border-radius:5px;background-color:rgba(0,0,0,.5);-webkit-box-shadow:0 0 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href="//www.newsama.com/journals/jr/" aria-label="Journal of Robotics">机器人杂志</一个>/<gydF4y2Ba一个cl作为年代=”年代c-htpNat bUhGXt link sc-cpHetk jUUanO breadCrumb" href="//www.newsama.com/journals/jr/contents/year/2012/" aria-label="2012">2012年</一个>/<gydF4y2Ba年代p一个ncl作为年代=”年代c-nrwXf drSekm">文章</年代p一个n></d我v> <div class="threeColumn__ThreeColumnWrapper-sc-1bf4078-0 comSpQ threeColumnWrapper"> <div class="threeColumn__LeftWrapper-sc-1bf4078-1 fkVFlF leftWrapper"> <button type="button" class="sc-ePZHVD kXdKQA section__button " id="sectionButton"><span class="sc-htoDjs diutvq icon__dots dots__detector icon-colored _3n-7Ho7DlfjMlZbrRr9Q4a icon-themeable" title="" font-size="22"></span>文章部分</gydF4y2Babutton> <div class="sc-jtRlXQ dncNEX static_contents__section_links links__hidden "> <div id="leftSectionMenu" class="sc-lkqHmb yGOZn sc-jeCdPy eVPlap left_section_menu"> <p>在这一页上</p><年代p一个ncl作为年代=”年代c-bEjcJn iLzNBj grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-bGbJRg ihXRQF" href="#abstract" aria-label="">文摘</一个></年代p一个n><年代pan class="sc-bEjcJn iLzNBj grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-bGbJRg ihXRQF" href="#introduction" aria-label="">介绍</一个></年代p一个n><年代pan class="sc-bEjcJn iLzNBj grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-bGbJRg ihXRQF" href="#results" aria-label="">结果</一个></年代p一个n><年代pan class="sc-bEjcJn iLzNBj grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-bGbJRg ihXRQF" href="#conclusions" aria-label="">结论</一个></年代p一个n><年代pan class="sc-bEjcJn iLzNBj grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-bGbJRg ihXRQF" href="#references" aria-label="">引用</一个></年代p一个n><年代pan class="sc-bEjcJn iLzNBj grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-bGbJRg ihXRQF" href="#copyright" aria-label="">版权</一个></年代p一个n></d我v> </div> </div> <div class="threeColumn__ContentWrapper-sc-1bf4078-3 bbzREB contentWrapper"> <div class="threeColumn__Content-sc-1bf4078-4 jknsZc content"> <div class="articleContent__ArticleContentsWrapper-sc-2yl9jy-0 eSvjPB article_contents"> <div class="articleContent__ArticleContentsSectionsWrapper-sc-2yl9jy-1 jntdRu article_contents__sections_wrapper"> <div class="articleContent__ArticleWrapper-sc-2yl9jy-2 hAzjHP"> <div class="sc-iBEsjs kOIDmJ article_header_class"> <p class="sc-fcdeBU jSVooP article_type">研究文章|<gydF4y2Ba!-- -->开放获取</p><d我v class="sc-gmeYpB edbFGD article_citation"> 体积<gydF4y2Ba!-- --> 2012年<gydF4y2Ba!-- --> <span class="sc-RcBXQ euBwsC">|</年代p一个n>文章的ID<gydF4y2Ba!-- --> 590479年<gydF4y2Ba!-- --> <span class="sc-RcBXQ euBwsC">|</年代p一个n><一个cl作为年代=”年代c-htpNat bUhGXt link sc-iSDuPN kDGfWF" href="https://doi.org/10.1155/2012/590479" aria-label="Doi-link">https://doi.org/10.1155/2012/590479</一个></d我v> <div class="sc-jKVCRD kVmHSX article_full_citation"> <div class="sc-LKuAh eHdRBi isHide"> <p>杰瑞德伍德,j·卡尔·亨德里克<gydF4y2Ba!-- -->,<gydF4y2Ba!-- --> ”<年代p一个ncl作为年代=”一个djust-article-svg-size">学习可替换主体规划分区</年代p一个n>”,<gydF4y2Ba!-- --><i>机器人杂志</我>,<ggydF4y2BaydF4y2Ba!-- --> 卷。<gydF4y2Ba!-- -->2012年<gydF4y2Ba!-- -->,<gydF4y2Ba!-- --> 文章的ID<gydF4y2Ba!-- -->590479年<gydF4y2Ba!-- -->,<gydF4y2Ba!-- --> 14<gydF4y2Ba!-- -->   页面<gydF4y2Ba!-- -->,<gydF4y2Ba!-- --> 2012年<gydF4y2Ba!-- -->。<gydF4y2Ba!-- --> https://doi.org/10.1155/2012/590479</p></d我v> <button class="sc-iAyFgw irxuxk sc-kaNhvL hZfccF" color="">显示引用</gydF4y2Babutton> </div> <h1 class="sc-gPEVay iUuzmH sc-kZmsYB blFFOf article_title adjust-article-svg-size heading-title">学习可替换主体规划分区</h1></d我v> <div class="sc-kQsIoO ilXkOX article_authors"> <hr class="sc-iQtOjA bpnzQO hr__author"> <span class=""><b>杰瑞德木</gydF4y2Bab><a class="sc-htpNat bUhGXt link" href="mailto:" aria-label="Mail Option"><span class="sc-htoDjs kNoiZu sc-gPzReC kIRihs icon-colored _2zt-1j0LmaF8UjTQAM413G icon-themeable" title="" font-size="16"></span></a><a class="sc-htpNat bUhGXt link" href="http://orcid.org/0000-0002-4329-7399" aria-label="Redirect to Doi" target="_blank"><img alt="" class="sc-EHOje iiusBg sc-jrIrqw kSCjIU" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIGlkPSJMYXllcl8xIiBkYXRhLW5hbWU9IkxheWVyIDEiIHZpZXdCb3g9IjAgMCAyOTkuNSAyNTkuNSI+PGRlZnM+PHN0eWxlPi5jbHMtMXtmaWxsOiNhNmNlMzk7fS5jbHMtMntmaWxsOiNmZmY7fS5jbHMtM3tmaWxsOm5vbmU7fTwvc3R5bGU+PC9kZWZzPjx0aXRsZT5vcmNoaWQ8L3RpdGxlPjxwYXRoIGNsYXNzPSJjbHMtMSIgZD0iTTI4Ny41LDEyOS41YTEyOCwxMjgsMCwxLDEtMTI4LTEyOEExMjgsMTI4LDAsMCwxLDI4Ny41LDEyOS41WiIvPjxwYXRoIGNsYXNzPSJjbHMtMiIgZD0iTTExNy44LDE4Ny43SDEwMi40VjgwLjZoMTUuNFYxODcuN1oiLz48cGF0aCBjbGFzcz0iY2xzLTIiIGQ9Ik0xNDAuNCw4MC42SDE4MmMzOS42LDAsNTcsMjguMyw1Nyw1My42LDAsMjcuNS0yMS41LDUzLjYtNTYuOCw1My42SDE0MC40Wm0xNS40LDkzLjNoMjQuNWMzNC45LDAsNDIuOS0yNi41LDQyLjktMzkuNywwLTIxLjUtMTMuNy0zOS43LTQzLjctMzkuN0gxNTUuOHY3OS40WiIvPjxwYXRoIGNsYXNzPSJjbHMtMiIgZD0iTTEyMC4yLDU4LjNhMTAuMSwxMC4xLDAsMSwxLTEwLjEtMTAuMUExMC4xNCwxMC4xNCwwLDAsMSwxMjAuMiw1OC4zWiIvPjxyZWN0IGNsYXNzPSJjbHMtMyIgd2lkdGg9IjI5OS41IiBoZWlnaHQ9IjI1OS41Ii8+PC9zdmc+" height="16"></a><sup>1</年代up>和</年代p一个n><年代p一个ncl作为年代="">j·卡尔·亨德里克<年代up>2</gydF4y2Ba年代up></年代p一个n><d我v class="sc-iybRtq hqlWOa isHide"> <p><sup>1</年代up><年代p一个n>车辆动力学实验室和中心协作控制的无人驾驶车辆,机械工程系,加州大学伯克利分校6141年Etcheverry大厅,伯克利,CA 94720 - 1740,美国</年代p一个n></p><p><sup>2</年代up><年代p一个n>车辆动力学实验室、机械工程系、加州大学伯克利分校6141年Etcheverry大厅,伯克利,CA 94720 - 1740,美国</年代p一个n></p></d我v> <button class="sc-iAyFgw irxuxk sc-hjRWVT erRKjF" color="">显示更多</gydF4y2Babutton> </div> <div class="articleContent__EditorWrapper-sc-2yl9jy-3 evMkvU"> <div class="articleContent__TextWrapper-sc-2yl9jy-8 fYrLtk"> <b>学术编辑器:</gydF4y2Bab>Duško Katić</d我v> <div class="articleContent__PublicationTimeLineWrapper-sc-2yl9jy-4 fjviok"> <div class="articleContent__PublcationCol-sc-2yl9jy-5 hgKieC notPublished"> <span class="articleContent__PublicationField-sc-2yl9jy-6 cIribm">收到了</年代p一个n><年代p一个ncl作为年代="articleContent__PublicationValue-sc-2yl9jy-7 khHUcu">2012年3月30</年代p一个n></d我v> <div class="articleContent__PublcationCol-sc-2yl9jy-5 hgKieC notPublished"> <span class="articleContent__PublicationField-sc-2yl9jy-6 cIribm">修改后的</年代p一个n><年代p一个ncl作为年代="articleContent__PublicationValue-sc-2yl9jy-7 khHUcu">2012年7月27日</年代p一个n></d我v> <div class="articleContent__PublcationCol-sc-2yl9jy-5 hgKieC notPublished"> <span class="articleContent__PublicationField-sc-2yl9jy-6 cIribm">接受</年代p一个n><年代p一个ncl作为年代="articleContent__PublicationValue-sc-2yl9jy-7 khHUcu">2012年8月10</年代p一个n></d我v> <div class="articleContent__PublcationCol-sc-2yl9jy-5 hgKieC isPublished"> <span class="articleContent__PublicationField-sc-2yl9jy-6 cIribm">发表</年代p一个n><年代p一个ncl作为年代="articleContent__PublicationValue-sc-2yl9jy-7 khHUcu">2012年9月13日</年代p一个n></d我v> </div> </div> <article class="sc-hzDEsm jfJGTx article_body "> <div> <div class="xml-content"> <h4 class="header" id="abstract">文摘</h4><p>gydF4y2Ba自动化监测大地理区域和目标跟踪的一组自治代理是一个话题,已经收到了重大的研究和开发工作。标准的方法是将这个问题分解为两个步骤。第一步是目标跟踪估计,第二步是路径规划优化直接在目标跟踪评估。本标准方法适用于许多场景。然而,场景所需的一种改进的方法是当将军,非参数估计是必需的,和目标的数量是未知的。本文的重点是介绍一种新的方法,本质上处理任务搜索和跟踪<我>未知的</我>在一个数量的目标<我>大</我>地理区域。这种方法是专为搜索是由一组自治代理和目标估计总体要求,非参数方法。因此很少有假设。唯一的假设是一个图示的目标跟踪估计可以和代理之间的共享。这估计是允许通用和非参数。结果提供了这种新方法的性能比较与标准方法。从这些结果得出的结论是,这种新方法能提高搜索和跟踪目标的数目是未知的和目标跟踪是通用和非参数的估计。</p><年代p一个ncl作为年代=”end-abs"></span> <h4 id="introduction">1。介绍</h4><p>gydF4y2Ba计算技术的进步使得智能自治系统的实际开发。智能自动系统可用于执行困难感知任务。这样一个传感任务是搜索和跟踪目标在大的地理区域。许多研究已经进入这个任务导致的标准方法。这种标准的方法把问题分解成两个步骤。<年代p一个ncl作为年代=”l是t”><年代pan class="list-item"><span class="list-label">(1)</年代p一个n><年代p一个ncl作为年代="list-content">目标跟踪评估。</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(2)</年代p一个n><年代p一个ncl作为年代="list-content">代理路径优化基于目标跟踪评估。</年代p一个n></年代p一个n></span>重要的研究已经完成这些步骤。目标跟踪估计已经在很大程度上解决了(<一个href=”#B1">1</一个>- - - - - -<一个href=”#B5">5</一个>),本文提出了目标跟踪估计的新方法。代理路径优化基于目标跟踪估计在许多情况下都已经解决了。然而,当目标的数量的一般情况是未知的仍然需要更多的发展。</p><p>gydF4y2Ba通用的标准方法效果特别好时可以认为有一个目标(<一个href=”#B6">6</一个>- - - - - -<一个href=”#B14">14</一个>]。甚至在很多情况下标准方法适用当有多个目标(<一个href=”#B15">15</一个>,<gydF4y2Ba一个href=”#B16">16</一个>]。然而,当有多个目标,方法标准后开始要求限制假设问题的方法。例如,许多方法要求地理区域容易扫描,这样整个地理区域有频繁的目标检测。当这个可以认为它允许简单的估计,如高斯分布,因此可以更容易优化代理路径。然而,这些方法并不扩展当地理区域太大快速扫描。当地理区域很大,特工经常做<我>不</我>检测的目标。这些没有检测事件必须利用估计目标跟踪(<一个href=”#B6">6</一个>,<gydF4y2Ba一个href=”#B10">10</一个>,<gydF4y2Ba一个href=”#B12">12</一个>]。一般递推贝叶斯估计方法需要完成估计对于这种情况。这个结果在一般情况下,非参数估计的目标跟踪。然而,由于这种普遍性,随着目标数量的增加变得很难优化传感器目标跟踪估计路径。</p><p>gydF4y2Ba本文的重点是在搜索和跟踪的问题<我>未知的</我>可能是多个目标的数量<我>大</我>地理区域利用一组自治,传感代理。因此,很少假设放在这个问题。所有被认为是目标跟踪估计图示和共享的团队提供自主代理(<一个href=”#B10">10</一个>,<gydF4y2Ba一个href=”#B11">11</一个>,<gydF4y2Ba一个href=”#B13">13</一个>,<gydF4y2Ba一个href=”#B15">15</一个>,<gydF4y2Ba一个href=”#B16">16</一个>]。目标跟踪是完全通用和非参数估计和快速扫描的地理区域太大。</p><p>gydF4y2Ba这个一般问题的解决方案是由提出一个新方法来执行自动搜索和跟踪,本质上处理的案例数量未知的目标一般,非参数估计。这种新方法的性能与标准方法进行比较。具体的方法,将用于比较直接优化目标估计分布(<一个href=”#B6">6</一个>,<gydF4y2Ba一个href=”#B10">10</一个>,<gydF4y2Ba一个href=”#B14">14</一个>]。</p><h4gydF4y2Baid="problem-structure:-new-approach">2。结构问题:新方法</h4><p>gydF4y2Ba本文提出了一种新的方法来执行自动搜索和跟踪在大的地理区域。如此大的地理区域的结合将会称为监视区<年代vg height="10.725" id="M1" style="vertical-align:-0.1254pt;width:11.375px;" version="1.1" viewbox="0 0 11.375 10.725" width="11.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.725)"> <g transform="translate(72,-63.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在这篇文章中。这种新方法本质上是为了处理的情况下被未知的目标数量和目标跟踪在将军和非参数估计。图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig1/" target="_blank">1</一个>这种方法的概述。注意,而不是标准的两步方法有三个步骤。这三个步骤<年代p一个ncl作为年代=”l是t”><年代pan class="list-item"><span class="list-label">(1)</年代p一个n><年代p一个ncl作为年代="list-content">目标密度估计(<一个href=”#B17">17</一个>),</gydF4y2Ba年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(2)</年代p一个n><年代p一个ncl作为年代="list-content">分区学习目标密度估计的基础上,</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(3)</年代p一个n><年代p一个ncl作为年代="list-content">基于分区的代理路径规划。</年代p一个n></年代p一个n></span></p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig1"> <div class="floats-partial-content fig-content-fig1"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.001" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.001.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图1</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig1/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 问题结构自动搜索和跟踪的新方法。问题分解为三个步骤。每个在每个实例执行这些步骤。作为目标估计随着时间的变化,所以做分区和代理的路径。</t一个ble> </div> </div> </div> <p>这种分解的问题,独立的子问题被定义为每个步骤。每一步都将在以下小节中描述。两个步骤利用现有的工作通过扩展现有方法适合的结构问题。这些步骤目标密度估计和代理基于分区的路径规划。本文将所需的扩展。分区学习需要进一步发展。因此大多数讨论本文将专注于提供分区学习步骤。</p><p>还要注意,在每一次实例重复这些步骤。作为目标估计随着时间的变化,所以做分区和代理的路径。</p><h4gydF4y2Baid="step 1:-target-density-estimation">3所示。步骤1:目标密度估计</h4><p>gydF4y2Ba问题的第一步分解目标密度估计(<一个href=”#B18">18</一个>]。回想一下,标准方法的第一步是目标跟踪评估。目标跟踪目标密度估计估计是不相同的。为了理解的差异,考虑一个估计的位置搜索和跟踪应用程序<年代vg height="10.325" id="M2" style="vertical-align:-0.0pt;width:14.8375px;" version="1.1" viewbox="0 0 14.8375 10.325" width="14.8375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>利用标准方法的目标。标准方法的第一步是目标跟踪评估。假设目标位置都是在一些地区<年代vg height="10.725" id="M3" style="vertical-align:-0.1254pt;width:11.375px;" version="1.1" viewbox="0 0 11.375 10.725" width="11.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.725)"> <g transform="translate(72,-63.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>飞机的<年代vg height="16.5375" id="M4" style="vertical-align:-2.21957pt;width:28.1875px;" version="1.1" viewbox="0 0 28.1875 16.5375" width="28.1875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.5375)"> <g transform="translate(72,-58.77)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-58.53,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-53.66,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n></text> </g> </g> </svg>。调用这个地区监测区域。估计空间<年代vg height="10.95" id="M5" style="vertical-align:-0.3135pt;width:41.625px;" version="1.1" viewbox="0 0 41.625 10.95" width="41.625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.95)"> <g transform="translate(72,-63.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="13.415719" y="0"> ×</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.193304" y="0"> </t年代p一个n></text> </g> </g> </svg>。这个空间的维度可能非常高。为了估计目标的位置定义的概率分布是决定在这个高维空间。标准方法的第二步是由optimizating代理路径规划在这个高维空间。然而,从代理路径规划的角度将有利于优化路径明显低维空间<年代vg height="10.725" id="M6" style="vertical-align:-0.1254pt;width:11.375px;" version="1.1" viewbox="0 0 11.375 10.725" width="11.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.725)"> <g transform="translate(72,-63.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>,而不是<年代vg height="10.95" id="M7" style="vertical-align:-0.3135pt;width:41.625px;" version="1.1" viewbox="0 0 41.625 10.95" width="41.625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.95)"> <g transform="translate(72,-63.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="13.415719" y="0"> ×</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.193304" y="0"> </t年代p一个n></text> </g> </g> </svg>。这是目标密度分布的目的。</p><p>gydF4y2Ba捕获目标密度分布的复杂性高维目标跟踪估计空间映射到单一的平面空间监视区域。这个过程如图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig2/" target="_blank">2</一个>。这个图显示多个打分布相结合,形成一个目标密度分布。样本目标密度分布,定义在一个平面监测区域,在图提供<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig3/" target="_blank">3</一个>。在这个图目标密度分布是由轮廓线表示。红线有高密度和蓝线密度较低。该分布的形状的细节并不重要。重要的是要注意,捕捉目标密度分布相结合的复杂高维目标跟踪评估。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig2"> <div class="floats-partial-content fig-content-fig2"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.002" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.002.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图2</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig2/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 描述的高维目标跟踪的复杂性估计空间映射到监测区域。这个目标密度分布形式。</t一个ble> </div> </div> </div> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig3"> <div class="floats-partial-content fig-content-fig3"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.003" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.003.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图3</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig3/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 样本目标密度分布,由轮廓线,定义在监测区域。该分布的形状的细节并不重要。重要的是要注意,捕捉目标密度分布的复杂性高维目标跟踪估计空间。</t一个ble> </div> </div> </div> <p>目标的空间密度分布是监测区域<年代vg height="10.725" id="M8" style="vertical-align:-0.1254pt;width:11.375px;" version="1.1" viewbox="0 0 11.375 10.725" width="11.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.725)"> <g transform="translate(72,-63.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>。现在考虑某个子空间<年代vg height="10.95" id="M9" style="vertical-align:-0.3135pt;width:41.974998px;" version="1.1" viewbox="0 0 41.974998 10.95" width="41.974998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.95)"> <g transform="translate(72,-63.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.427982" y="0"> ⊂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.46837" y="0"> </t年代p一个n></text> </g> </g> </svg>监视的区域。目标可以被定义为一个分布密度<年代vg height="13.6125" id="M10" style="vertical-align:-2.34499pt;width:27.799999px;" version="1.1" viewbox="0 0 27.799999 13.6125" width="27.799999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.6125)"> <g transform="translate(72,-61.11)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.9391651" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.102664" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.979315" y="0"> )</t年代p一个n></text> </g> </g> </svg>这是在监测区域定义为<年代p一个ncl作为年代=”equation" id="EEq1"> <svg height="36.424999" id="M11" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 36.424999" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,36.425)"> <g transform="translate(72,-42.86)"> <text transform="matrix(1,0,0,-1,137.99,54.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> E</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,156.27,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,166.52,54.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.04" y="7.6999998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,184.31,43.14)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.80872" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="17.083904" y="0"> ⊂</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="23.079023" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,216.27,54.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.515023" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.678522" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.555172" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.806671" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="34.458267" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="44.148094" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="48.311592" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="55.188244" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="61.439743" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="257.85001" y="0.34"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="262.01349" y="0.34"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="268.26498" y="0.34"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="14.2375" id="M12" style="vertical-align:-3.13504pt;width:21.887501px;" version="1.1" viewbox="0 0 21.887501 14.2375" width="21.887501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.2375)"> <g transform="translate(72,-60.61)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-61.31,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>子空间目标的数量<年代vg height="10.55" id="M13" style="vertical-align:-0.0pt;width:11.325px;" version="1.1" viewbox="0 0 11.325 10.55" width="11.325" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.55)"> <g transform="translate(72,-63.56)"> <text transform="matrix(1,0,0,-1,-71.95,63.61)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="13.55" id="M14" style="vertical-align:-2.29482pt;width:28.65px;" version="1.1" viewbox="0 0 28.65 13.55" width="28.65" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.55)"> <g transform="translate(72,-61.16)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6018238" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.765323" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.641973" y="0"> )</t年代p一个n></text> </g> </g> </svg>表示执行测量的积分。例如,如果空间是离散积分代表一个求和。</p><p>gydF4y2Ba注意,目标密度分布提供了估计目标区域的监测区域内的数量。预期的目标总数监测区域<年代p一个ncl作为年代=”equation" id="EEq2"> <svg height="36.424999" id="M15" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 36.424999" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,36.425)"> <g transform="translate(72,-42.86)"> <text transform="matrix(1,0,0,-1,144.11,54.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> E</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,162.39,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,172.67,54.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.03" y="7.6999998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,190.45,43.14)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.80872" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,210.15,54.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.515023" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.678522" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.555172" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.806671" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="34.458267" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="44.148094" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="48.311592" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="55.188244" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="61.439743" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="263.97" y="0.34"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="268.13348" y="0.34"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="274.38501" y="0.34"> )</t年代p一个n></text> </g> </g> </svg></span></p> <p>目标密度分布可以从目标跟踪估计计算。例如,考虑这样一种情况时的位置<年代vg height="10.325" id="M16" style="vertical-align:-0.0pt;width:14.8375px;" version="1.1" viewbox="0 0 14.8375 10.325" width="14.8375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>独立目标估计。目标跟踪估计然后分布提供了一组目标<年代vg height="16.6" id="M17" style="vertical-align:-2.26974pt;width:129.35001px;" version="1.1" viewbox="0 0 129.35001 16.6" width="129.35001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.6)"> <g transform="translate(72,-58.72)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> {</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.00144" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="13.428222" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.591721" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-43.73,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-38.86,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.364747" y="0"> …</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.955748" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.169498" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.596279" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="40.759781" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,12.53,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,21.27,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> }</t年代p一个n></text> </g> </g> </svg>。目标密度分布可以计算<年代vg height="17.862499" id="M18" style="vertical-align:-3.80836pt;width:100.425px;" version="1.1" viewbox="0 0 100.425 17.862499" width="100.425" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.8625)"> <g transform="translate(72,-57.71)"> <text transform="matrix(1,0,0,-1,-71.95,61.56)"> <tspan style="font-size: 12.50px; " x="37.650002" y="0.029999999"> ∑</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.9391651" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.102664" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.979315" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.606144" y="0"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-22.87,57.86)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-17.56,61.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.4267821" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.590281" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,0.9,66.56)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,4.12,61.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n></text> </g> </g> </svg>。因此不需要开发新的方法来估计目标密度分布。相反,绝大的身体可以利用目标跟踪评估工作。</p><p>gydF4y2Ba然而,没有必要从目标跟踪估计获得目标密度分布。相反,它可以直接从传感器观测估计。一种方法(<一个href=”#B5">5</一个>)完成这个利用随机集理论(<一个href=”#B19">19</一个>获得一个近似目标密度分布。</p><h4gydF4y2Baid="step 2:-partition-learning">4所示。步骤2:分区学习</h4><p>gydF4y2Ba回想一下,一个目标中包含的信息密度分布非常复杂。这是因为它结合了所有目标跟踪的信息估计和地图到监测区域。在监测区域,帮助分发代理目标密度分布的复杂性可以用来监测区域分割成不相交的区域。例如,记得样品目标密度分布描绘在图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig3/" target="_blank">3</一个>。一个可能的分区区域如图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig4/" target="_blank">4</一个>。注意,在这个数字目标密度分布是由轮廓线和分区的边界是由厚,直线。显示的特定选择的分区是没有意义的。重要的是要注意,分区确定基于提供的信息内容目标密度分布。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig4"> <div class="floats-partial-content fig-content-fig4"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.004" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.004.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图4</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig4/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 分区监测区域的例子基于目标密度分布。目标密度分布是由轮廓线表示。分区的边界由厚,直线。这个图表示的空间目标的监视区定义密度分布。显示的特定选择的分区是没有意义的。重要的是要注意,分区确定基于提供的信息内容目标密度分布。</t一个ble> </div> </div> </div> <p>而不是分区监测区域成任意区域本文中所采用的方法监测区域分割成对应的区域<年代p一个ncl作为年代=”l是t”><年代pan class="list-item"><span class="list-label">(1)</年代p一个n><年代p一个ncl作为年代="list-content">一个零的目标分区,</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(2)</年代p一个n><年代p一个ncl作为年代="list-content">一个探索分区,</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(3)</年代p一个n><年代p一个ncl作为年代="list-content">一组搜索和跟踪分区。</年代p一个n></年代p一个n></span>通过分区监测区域为这些类型的地区它给代理路径规划算法的灵活性之间切换监控模式探索、目标搜索和目标跟踪。这些模式是描绘在图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig5/" target="_blank">5</一个>。为了计算每个分区不同的分类器设计。这些分区分类器以及相应的模式下面将进一步描述。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig5"> <div class="floats-partial-content fig-content-fig5"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.005" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.005.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图5</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig5/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 时可能存在的路径规划模式监测由提出执行计划。</t一个ble> </div> </div> </div> <p>这些分区的组合分类器构造整个分区学习分类器。这个分类器的结构呈现在图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig6/" target="_blank">6</一个>。一般步骤进行分类(1)零目标分区,(2)勘探分区,和(3)一组搜索和跟踪分区。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig6"> <div class="floats-partial-content fig-content-fig6"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.006" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.006.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图6</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig6/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 级联分类器的监测区域分割成(1)零目标分区,(2)探讨分区,和(3)一组搜索和跟踪分区。注意,在每个实例的时候目标密度分布变化,这对新目标分类器处理密度分布。在这个意义上分区随时间变化。</t一个ble> </div> </div> </div> <p>在描述这些步骤的细节之前,整个分类器的计算流可以被理解为一组<年代vg height="10.475" id="M19" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>以及它如何改变在整个分类器。让<年代vg height="10.475" id="M20" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>所有点的集合在监测区域。因此,在定义的目标密度分布<年代vg height="10.475" id="M21" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>。的流分类器可以被理解为<年代p一个ncl作为年代=”l是t”><年代pan class="list-item"><span class="list-label">(1)</年代p一个n><年代p一个ncl作为年代="list-content">零目标分区<年代vg height="14.5875" id="M22" style="vertical-align:-3.22281pt;width:27.924999px;" version="1.1" viewbox="0 0 27.924999 14.5875" width="27.924999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> u</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.7519999" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.185056" y="0"> l</t年代p一个n></text> </g> </g> </svg>分类和删除来自哪里<年代vg height="10.475" id="M23" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>(<年代vg height="15.2375" id="M24" style="vertical-align:-3.22281pt;width:84.550003px;" version="1.1" viewbox="0 0 84.550003 15.2375" width="84.550003" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.2375)"> <g transform="translate(72,-59.81)"> <text transform="matrix(1,0,0,-1,-71.95,63.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.802592" y="0"> ←</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.856203" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.97113" y="0"> ⧵</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.285866" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-18.52,59.95)"> <tspan style="font-size: 8.75px; " x="0" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> u</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.7519999" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.185056" y="0"> l</t年代p一个n></text> </g> </g> </svg>)在图块(1)<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig6/" target="_blank">6</一个>,</gydF4y2Ba年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(2)</年代p一个n><年代p一个ncl作为年代="list-content"> <svg height="10.475" id="M25" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>现在是监测区域的一个子集。在<年代vg height="10.475" id="M26" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>,探索分区<年代vg height="16.85" id="M27" style="vertical-align:-5.03984pt;width:43.462502px;" version="1.1" viewbox="0 0 43.462502 16.85" width="43.462502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.85)"> <g transform="translate(72,-58.52)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.702096" y="0"> x</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.0780964" y="0"> p</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="12.454096" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.887152" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="19.263151" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="22.160065" y="0"> e</t年代p一个n></text> </g> </g> </svg>分类,然后删除来自哪里<年代vg height="10.475" id="M28" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>(<年代vg height="17.5" id="M29" style="vertical-align:-5.03984pt;width:100.0875px;" version="1.1" viewbox="0 0 100.0875 17.5" width="100.0875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.5)"> <g transform="translate(72,-58)"> <text transform="matrix(1,0,0,-1,-71.95,63.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.802592" y="0"> ←</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.856203" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.97113" y="0"> ⧵</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.285866" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-18.52,59.95)"> <tspan style="font-size: 8.75px; " x="0" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.702096" y="0"> x</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.0780964" y="0"> p</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="12.454096" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.887152" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="19.263151" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="22.160065" y="0"> e</t年代p一个n></text> </g> </g> </svg>)在图块(2)<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig6/" target="_blank">6</一个>,</gydF4y2Ba年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(3)</年代p一个n><年代p一个ncl作为年代="list-content"> <svg height="10.475" id="M30" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>现在只包括将监测区域分区的子集为搜索和跟踪的分区。在图块(3)<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig6/" target="_blank">6</一个>有序集合的搜索和跟踪分区分类中<年代vg height="10.475" id="M31" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>。</年代p一个n></年代p一个n></span>每一个分区学习分类器的步骤将会更详细地讨论。</p><h5gydF4y2Baid="sec4.1">4.1。划分步骤1:零目标分区</h5><p>gydF4y2Ba随着时间的推移,一些地区会反复观察。观察到的区域不会有目标检测。可能依赖于预期目标移动,可能得出的结论是,在这些领域不存在目标。有必要维持一个分区分类不存在目标的区域。这些地区形成零目标分区。</p><p>gydF4y2Ba分区的第一步学习分类这个零目标分区。这个分区的重要性被考虑两种情况。第一个是当没有目标在监测区域。在某个时间点上的结论应该是没有达到目标。第二个场景是当有一个巨大的勘探分区。随着区域变得完全观察到,但未发现目标,这些观察到的区域应该停止了。</p><p>gydF4y2Ba为这一步的分区分类学习的方法将被描述。为此特征用于分类将首先被描述。然后分类器将被描述。</p><h6我d=”年代ec4.1.1">以下4.4.1。特性</h6><p>gydF4y2Ba低密度值的目标是定义零目标分区。唯一的功能要求进行分类分区那么简单的价值观目标密度分布。前面定义的目标密度分布(<一个href=”#EEq1">1</一个>)。</p><h6gydF4y2Baid="sec4.1.2">4.1.2。分类器</h6><p>gydF4y2Ba回想一下,<年代vg height="10.475" id="M32" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>代表了分类器的设置操作。因此,<年代vg height="10.475" id="M33" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>最初是整个监测区域(<年代vg height="10.725" id="M34" style="vertical-align:-0.1254pt;width:43.712502px;" version="1.1" viewbox="0 0 43.712502 10.725" width="43.712502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.725)"> <g transform="translate(72,-63.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.802592" y="0"> ←</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.856203" y="0"> </t年代p一个n></text> </g> </g> </svg>)。第一步(块(图1)<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig6/" target="_blank">6</一个>)分区学习是确定零目标分区<年代vg height="14.5875" id="M35" style="vertical-align:-3.22281pt;width:27.924999px;" version="1.1" viewbox="0 0 27.924999 14.5875" width="27.924999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> u</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.7519999" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.185056" y="0"> l</t年代p一个n></text> </g> </g> </svg>和删除它<年代vg height="10.475" id="M36" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>(<年代vg height="15.2375" id="M37" style="vertical-align:-3.22281pt;width:84.550003px;" version="1.1" viewbox="0 0 84.550003 15.2375" width="84.550003" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.2375)"> <g transform="translate(72,-59.81)"> <text transform="matrix(1,0,0,-1,-71.95,63.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.802592" y="0"> ←</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.856203" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.97113" y="0"> ⧵</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.285866" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-18.52,59.95)"> <tspan style="font-size: 8.75px; " x="0" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> u</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.7519999" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.185056" y="0"> l</t年代p一个n></text> </g> </g> </svg>)。这一步的分类器是显示在图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig7/" target="_blank">7</一个>一个简单的一维目标密度分布。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig7"> <div class="floats-partial-content fig-content-fig7"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.007" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.007.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图7</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig7/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 可视化的一个简单的目标密度分布与相应的零目标分区。</t一个ble> </div> </div> </div> <p>确定哪些点<年代vg height="10.475" id="M38" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>属于零目标分区,一个目标无效阈值<年代vg height="11.0375" id="M39" style="vertical-align:-3.22281pt;width:24.487499px;" version="1.1" viewbox="0 0 24.487499 11.0375" width="24.487499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.0375)"> <g transform="translate(72,-63.17)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-66.57,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> u</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.7519999" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.185056" y="0"> l</t年代p一个n></text> </g> </g> </svg>是必需的。该阈值指定目标密度低于它的价值是假定不存在目标。与这一目标无效阈值,监测区域中所有的点对应的区域基本上没有可以定义为目标<年代p一个ncl作为年代=”equation" id="EEq3"> <svg height="19.35" id="M40" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 19.35" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.35)"> <g transform="translate(72,-56.52)"> <text transform="matrix(1,0,0,-1,125.26,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,133.39,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> u</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.7519999" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.185056" y="0"> l</t年代p一个n></text> <text transform="matrix(1,0,0,-1,150.98,61.13)"> <tspan style="font-size: 12.50px; " x="18.42" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.610001" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.962482" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.990372" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="59.593155" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="69.458023" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="79.989998" y="-0.0099999998"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="84.153496" y="-0.0099999998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="91.030151" y="-0.0099999998"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="98.656982" y="-0.0099999998"> <</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="110.69736" y="-0.0099999998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,267.06,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> u</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.7519999" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.185056" y="0"> l</t年代p一个n></text> <text transform="matrix(1,0,0,-1,281.17,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.2799997" y="-2.51"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="192.95" y="-2.51"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="197.11349" y="-2.51"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="203.36501" y="-2.51"> )</t年代p一个n></text> </g> </g> </svg></span>点的集合<年代vg height="14.5875" id="M41" style="vertical-align:-3.22281pt;width:27.924999px;" version="1.1" viewbox="0 0 27.924999 14.5875" width="27.924999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> u</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.7519999" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.185056" y="0"> l</t年代p一个n></text> </g> </g> </svg>然后形成零目标分区。从这组点<年代vg height="10.475" id="M42" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>分类和分级机继续探索分区。</p><h5gydF4y2Baid="sec4.2">4.2。划分步骤2:探索分区</h5><p>gydF4y2Ba分区学习的第二步是对探索分区进行分类。探索分区由地区low-to-no信息的监测区域内,偏见。例如,一个地区的定义有一个统一的概率分布将会包含在探索分区。因为没有偏见的信息,路径规划的一个勘探模式可能更喜欢这些区域(<一个href=”#B20">20.</一个>,<gydF4y2Ba一个href=”#B21">21</一个>]。允许这种勘探模式的路径规划,这些类型的地区分为一个单独的分区。</p><p>gydF4y2Ba为这一步的分区分类学习的方法将被描述。为此特征用于分类将首先被描述。然后分类器将被描述。</p><h6我d=”年代ec4.2.1">4.2.1。准备特性</h6><p>gydF4y2Ba为了点进行分类<年代vg height="10.475" id="M43" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>探索分区,两个特性是必需的。这些特性是<年代p一个ncl作为年代=”l是t”><年代pan class="list-item"><span class="list-label">(1)</年代p一个n><年代p一个ncl作为年代="list-content">当地的不确定性,</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(2)</年代p一个n><年代p一个ncl作为年代="list-content">目标密度。</年代p一个n></年代p一个n></span>当地的不确定性是用来确定本地的区域统一的价值。最初似乎只需要局部不确定性定义完全探索分区。然而,这是一个微妙的方面,需要添加目标密度为了完全捕捉整个勘探分区。</p><p>gydF4y2Ba这微妙的方面可以被理解为,当整个监测区域最初均匀分布。一个代理使不完美的没有检测观察。因此,一些地区会有low-target密度(地区)探测到,完全未被注意的地区会有一个统一的价值不变,和其他人将有价值介于两者之间的低价值和不变的统一的价值(在这些领域由于观察不佳)。这些in-between-valued区域不会有当地统一的价值,但仍属于探索分区。这个案例表明,目标密度,除了当地的不确定性,需要完整的勘探分区。</p><p>gydF4y2Ba之前定义当地区域的不确定性的定义是必需的。当地<年代vg height="14.75" id="M44" style="vertical-align:-3.25793pt;width:71.112503px;" version="1.1" viewbox="0 0 71.112503 14.75" width="71.112503" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.75)"> <g transform="translate(72,-60.2)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.82,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-59.75,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-48.71,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-43.84,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6268301" y="0"> ⊆</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.667219" y="0"> </t年代p一个n></text> </g> </g> </svg>的某个时候<年代vg height="14.625" id="M45" style="vertical-align:-3.25793pt;width:45.450001px;" version="1.1" viewbox="0 0 45.450001 14.625" width="45.450001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.625)"> <g transform="translate(72,-60.3)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-56.73,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.040389" y="0"> </t年代p一个n></text> </g> </g> </svg>(在监测区域<年代vg height="10.725" id="M46" style="vertical-align:-0.1254pt;width:11.375px;" version="1.1" viewbox="0 0 11.375 10.725" width="11.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.725)"> <g transform="translate(72,-63.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是监测区域的空间)的定义是<年代p一个ncl作为年代=”equation" id="EEq4"> <svg height="19.35" id="M47" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 19.35" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.35)"> <g transform="translate(72,-56.52)"> <text transform="matrix(1,0,0,-1,115.06,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,123.19,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,129.34,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,142.07,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,146.95,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.75" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="88.269997" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.3199997" y="-2.51"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.709033" y="-2.51"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="34.939999" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.27998" y="-2.51"> ∈</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="57.32037" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="68.910652" y="-2.51"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="78.77552" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="94.120003" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="100.99665" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="106.1979" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,260.04,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,264.91,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="26.459999" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.3199997" y="-2.51"> <</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.36039" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.740002" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="209.21001" y="-2.51"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="213.3735" y="-2.51"> 4</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="219.625" y="-2.51"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="14.75" id="M48" style="vertical-align:-3.25793pt;width:48.650002px;" version="1.1" viewbox="0 0 48.650002 14.75" width="48.650002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.75)"> <g transform="translate(72,-60.2)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.6515961" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.815095" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.691746" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.892994" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-42.17,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-37.3,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n></text> </g> </g> </svg>是某种程度的距离。</p><p>gydF4y2Ba本地定义的不确定性是第一选择测量的不确定性。摘要地方基于熵不确定性。因此,当地不确定性计算评估局部熵定义为<年代p一个ncl作为年代=”equation" id="EEq5"> <svg height="48.1875" id="M49" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 48.1875" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,48.1875)"> <g transform="translate(72,-33.45)"> <text transform="matrix(1,0,0,-1,67.61,49.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> H</t年代p一个n></text> <text transform="matrix(1,0,0,-1,76.64,46.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,82.79,47.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,95.52,46.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,100.39,47.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.75" y="5.1799998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.3299999" y="-2.51"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.719033" y="-2.51"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,133.89,38.1)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.80872" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,150.39,35.92)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,153.44,38.1)"> <tspan style="font-size: 8.75px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.9144161" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,161.17,35.92)"> <tspan style="font-size: 6.25px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,164.79,38.1)"> <tspan style="font-size: 8.75px; " x="0" y="0"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,170.29,49.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,177.23,46.48)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,183.38,47.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.72665" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.927898" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,208.2,46.48)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,213.07,47.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.08" y="7.2199998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="60.57" y="-9.7600002"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9299998" y="-2.51"> l</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.405834" y="-2.51"> o</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.657333" y="-2.51"> g</t年代p一个n></text> <g> <path d="m 252.45,52.73 48.63,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,252.45,39.02)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,259.39,35.9)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,265.54,36.51)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.72665" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.927898" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,290.36,35.9)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,295.23,36.51)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.0500002" y="-3.3599999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.23" y="-13.09"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.881596" y="-13.09"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.571423" y="-13.09"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.734921" y="-13.09"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="46.611568" y="-13.09"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="52.863071" y="-13.09"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="178.89" y="-13.09"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="183.0535" y="-13.09"> 5</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="189.30499" y="-13.09"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="14.75" id="M50" style="vertical-align:-3.25793pt;width:54.087502px;" version="1.1" viewbox="0 0 54.087502 14.75" width="54.087502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.75)"> <g transform="translate(72,-60.2)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.01,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-60.94,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.040149" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.241398" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-37.82,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-32.94,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n></text> </g> </g> </svg>本地规范化目标密度函数定义的<年代p一个ncl作为年代=”equation" id="EEq6"> <svg height="42.112499" id="M51" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 42.112499" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,42.1125)"> <g transform="translate(72,-38.31)"> <text transform="matrix(1,0,0,-1,122.5,55.14)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,129.44,52.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,135.59,52.63)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.72665" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.927898" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,160.4,52.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,165.28,52.63)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.3199997" y="-2.51"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.709033" y="-2.51"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="64.980003" y="-10.86"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="75.495026" y="-10.86"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="79.658524" y="-10.86"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="86.535172" y="-10.86"> )</t年代p一个n></text> <g> <path d="m 194.22,58.27 97.8,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,194.22,45.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ∫</t年代p一个n></text> <text transform="matrix(1,0,0,-1,197.68,40.64)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.437264" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.432384" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,213.81,38.45)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,216.85,40.64)"> <tspan style="font-size: 8.75px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.9144161" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,224.58,38.45)"> <tspan style="font-size: 6.25px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,228.21,40.64)"> <tspan style="font-size: 8.75px; " x="0" y="0"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,233.7,45.1)"> <tspan style="font-size: 12.50px; " x="59.509998" y="-10.04"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.515023" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.678522" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.030046" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.281546" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.933144" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="43.635471" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.798969" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="54.150494" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="240.42" y="-6.9299998"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="244.5835" y="-6.9299998"> 6</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="250.83499" y="-6.9299998"> )</t年代p一个n></text> </g> </g> </svg></span>注意,如果没有当地的不确定性上定义一个局部归一化目标密度分布将不会有一个完善的最大值为当地的不确定性。本地规范化密度要求,然后最大值为当地的不确定性可以在引用分类。这个最大值允许分类器来确定一个特定的区域包含目标明显偏见的信息密度。帮助理解当地的不确定性<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig8/" target="_blank">8</一个>介绍了局部熵的计算在监视区域当底层目标密度分布是一个简单的高斯概率分布集中在监测区域的中间。在这个图中,地方不确定性由阴影值表示白色是高价值和黑色是低价值。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig8"> <div class="floats-partial-content fig-content-fig8"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.008" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.008.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图8</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig8/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 样本计算当地的不确定性监测区域底层目标密度分布是一个简单的高斯概率分布。地方不确定性由阴影值表示白色的高不确定性和黑色是当地的低价的不确定性。在这个示例中,请注意,峰值和高斯的尾巴已经高企的不确定性而峰值和尾巴之间的地区较低的不确定性。</t一个ble> </div> </div> </div> <h6 id="sec4.2.2">4.2.2。分类器</h6><p>gydF4y2Ba在这一点上的分类器<年代vg height="10.475" id="M52" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>由定义的监测区域的一个子集<年代vg height="15.2375" id="M53" style="vertical-align:-3.22281pt;width:89.762497px;" version="1.1" viewbox="0 0 89.762497 15.2375" width="89.762497" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.2375)"> <g transform="translate(72,-59.81)"> <text transform="matrix(1,0,0,-1,-71.95,63.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.802592" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.191626" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.232014" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="40.134628" y="0"> ⧵</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="49.449364" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-14.36,59.95)"> <tspan style="font-size: 8.75px; " x="0" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> u</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.7519999" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.185056" y="0"> l</t年代p一个n></text> </g> </g> </svg>。在这个步骤中(块(图2)<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig6/" target="_blank">6</一个>学习探索分区)的分区<年代vg height="16.85" id="M54" style="vertical-align:-5.03984pt;width:43.462502px;" version="1.1" viewbox="0 0 43.462502 16.85" width="43.462502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.85)"> <g transform="translate(72,-58.52)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.702096" y="0"> x</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.0780964" y="0"> p</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="12.454096" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.887152" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="19.263151" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="22.160065" y="0"> e</t年代p一个n></text> </g> </g> </svg>分类和删除来自哪里<年代vg height="10.475" id="M55" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>(<年代vg height="17.5" id="M56" style="vertical-align:-5.03984pt;width:100.0875px;" version="1.1" viewbox="0 0 100.0875 17.5" width="100.0875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.5)"> <g transform="translate(72,-58)"> <text transform="matrix(1,0,0,-1,-71.95,63.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.802592" y="0"> ←</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.856203" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.97113" y="0"> ⧵</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.285866" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-18.52,59.95)"> <tspan style="font-size: 8.75px; " x="0" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.702096" y="0"> x</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.0780964" y="0"> p</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="12.454096" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.887152" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="19.263151" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="22.160065" y="0"> e</t年代p一个n></text> </g> </g> </svg>)。定义这个结果的状态<年代vg height="10.475" id="M57" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>搜索分区(或搜索设置)<年代vg height="14.5875" id="M58" style="vertical-align:-3.22281pt;width:38.650002px;" version="1.1" viewbox="0 0 38.650002 14.5875" width="38.650002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.4045279" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="7.2904158" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.176304" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.073216" y="0"> c</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="17.819073" y="0"> h</t年代p一个n></text> </g> </g> </svg>。这个阶段的分类器的过程可视化图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig9/" target="_blank">9</一个>一个简单的一维目标密度分布。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig9"> <div class="floats-partial-content fig-content-fig9"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.009" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.009.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图9</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig9/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 可视化的一个简单的目标密度分布与相应的勘探分区。</t一个ble> </div> </div> </div> <p>确定哪些地区<年代vg height="10.475" id="M59" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>大约在本地制服,一套新的吗<年代vg height="14.475" id="M60" style="vertical-align:-3.13504pt;width:25.487499px;" version="1.1" viewbox="0 0 25.487499 14.475" width="25.487499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> H</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="6.318944" y="0"> E</t年代p一个n></text> </g> </g> </svg>,叫做熵值集,计算。被定义为设置的熵值<年代p一个ncl作为年代=”equation" id="EEq7"> <svg height="19.35" id="M61" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 19.35" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.35)"> <g transform="translate(72,-56.52)"> <text transform="matrix(1,0,0,-1,107.48,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,115.61,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> H</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="6.318944" y="0"> E</t年代p一个n></text> <text transform="matrix(1,0,0,-1,131.24,61.13)"> <tspan style="font-size: 12.50px; " x="18.43" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="68.68" y="-1.59"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="68.68" y="1.5700001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="71.18" y="0"> H</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.620001" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.95998" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="48.00037" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="58.815464" y="0"> ∶</t年代p一个n></text> <text transform="matrix(1,0,0,-1,211.45,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,217.6,61.14)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.040149" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.979315" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.319534" y="0"> H</t年代p一个n></text> <text transform="matrix(1,0,0,-1,255.96,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 米</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="6.8090558" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.694944" y="0"> x</t年代p一个n></text> <text transform="matrix(1,0,0,-1,272.98,62.72)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="3.1600001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.98" y="4.0999999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0600004" y="1.59"> <</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.087887" y="1.59"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.25" y="1.59"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="201.14" y="1.59"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="205.3035" y="1.59"> 7</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="211.55499" y="1.59"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="14.6" id="M62" style="vertical-align:-3.13504pt;width:35.5px;" version="1.1" viewbox="0 0 35.5 14.6" width="35.5" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.6)"> <g transform="translate(72,-60.32)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> H</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.92,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-58.85,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.040149" y="0"> )</t年代p一个n></text> </g> </g> </svg>中定义的局部熵特性(<一个href=”#EEq5">5</一个>),<gydF4y2Ba年代vg height="14.4875" id="M63" style="vertical-align:-3.22282pt;width:34.512501px;" version="1.1" viewbox="0 0 34.512501 14.4875" width="34.512501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.4875)"> <g transform="translate(72,-60.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> H</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.92,60.55)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 米</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="6.8090558" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.694944" y="0"> x</t年代p一个n></text> </g> </g> </svg>是最大的局部熵定义为<年代p一个ncl作为年代=”equation" id="EEq8"> <svg height="17.4125" id="M64" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 17.4125" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.4125)"> <g transform="translate(72,-58.07)"> <text transform="matrix(1,0,0,-1,164.16,61.91)"> <tspan style="font-size: 12.50px; " x="0" y="0"> H</t年代p一个n></text> <text transform="matrix(1,0,0,-1,173.19,58.78)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 米</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="6.8090558" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.694944" y="0"> x</t年代p一个n></text> <text transform="matrix(1,0,0,-1,193.69,61.91)"> <tspan style="font-size: 12.50px; " x="38.580002" y="-1.59"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="38.580002" y="1.58"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.080002" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.41692" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.892754" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.144253" y="0"> g</t年代p一个n></text> <text transform="matrix(1,0,0,-1,242.89,58.78)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,246.96,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="3.1700001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.5900002" y="1.59"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="227.16" y="1.59"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="231.3235" y="1.59"> 8</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="237.575" y="1.59"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="21.2875" id="M65" style="vertical-align:-6.67126pt;width:117.8125px;" version="1.1" viewbox="0 0 117.8125 21.2875" width="117.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,21.2875)"> <g transform="translate(72,-54.97)"> <text transform="matrix(1,0,0,-1,-71.95,61.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="2.5006001" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-61.32,58.55)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-57.25,61.67)"> <tspan style="font-size: 12.50px; " x="24.4" y="0.02"> ∫</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.9639311" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.352964" y="0"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-29.4,57.21)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.80872" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-12.9,55.02)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-7.27,61.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.6515961" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.25342" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.41692" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.29357" y="0"> )</t年代p一个n></text> </g> </g> </svg>。举个例子,当目标定义固定的网格密度分布是离散的监测区域。召回的定义<年代vg height="14.475" id="M66" style="vertical-align:-3.13504pt;width:15.375px;" version="1.1" viewbox="0 0 15.375 14.475" width="15.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在(<一个href=”#EEq4">4</一个>)。在(<一个href=”#EEq4">4</一个>),注意,为了定义<年代vg height="14.475" id="M67" style="vertical-align:-3.13504pt;width:15.375px;" version="1.1" viewbox="0 0 15.375 14.475" width="15.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>应定义一个测量的距离<年代vg height="14.75" id="M68" style="vertical-align:-3.25793pt;width:48.650002px;" version="1.1" viewbox="0 0 48.650002 14.75" width="48.650002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.75)"> <g transform="translate(72,-60.2)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.6515961" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.815095" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.691746" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.892994" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-42.17,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-37.3,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n></text> </g> </g> </svg>两点之间<年代vg height="7.1624999" id="M69" style="vertical-align:-0.11285pt;width:8.7250004px;" version="1.1" viewbox="0 0 8.7250004 7.1624999" width="8.7250004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1625)"> <g transform="translate(72,-66.27)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="11.075" id="M70" style="vertical-align:-3.25793pt;width:14.8125px;" version="1.1" viewbox="0 0 14.8125 11.075" width="14.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> </g> </g> </svg>在监测区域。对于一个固定的网格,这距离被定义为<年代p一个ncl作为年代=”equation" id="EEq9"> <svg height="19.35" id="M71" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 19.35" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.35)"> <g transform="translate(72,-56.52)"> <text transform="matrix(1,0,0,-1,71.7,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.4799995" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.33" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.20665" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.407898" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,106,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,110.87,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="66.489998" y="-4.0999999"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="66.489998" y="-0.94"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="68.989998" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.3299999" y="-2.51"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.719033" y="-2.51"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.74692" y="-2.51"> 米</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="37.474255" y="-2.51"> 一个</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="43.025585" y="-2.51"> x</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="53.450001" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="59.301403" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="77.949997" y="-2.52"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="82.113503" y="-2.52"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="88.364998" y="-2.52"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="95.304161" y="-2.52"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="106.64439" y="-2.52"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,224.4,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,231.36,61.14)"> <tspan style="font-size: 12.50px; " x="14.58" y="-1.58"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.58" y="1.58"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.16" y="0.0099999998"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.370001" y="-1.58"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.370001" y="1.58"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="26.870001" y="0.0099999998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.414999" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.830002" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.9935" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="46.244999" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="53.184162" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="64.524384" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,302.77,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,309.73,61.14)"> <tspan style="font-size: 12.50px; " x="14.57" y="-1.58"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.57" y="1.58"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.414999" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.16" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="26.349224" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="34.279999" y="0.0099999998"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="164.39" y="0.0099999998"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="168.5535" y="0.0099999998"> 9</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="174.80499" y="0.0099999998"> )</t年代p一个n></text> </g> </g> </svg></span>的数字<年代vg height="10.6875" id="M72" style="vertical-align:-0.0pt;width:7.9375px;" version="1.1" viewbox="0 0 7.9375 10.6875" width="7.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6875)"> <g transform="translate(72,-63.45)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 1</t年代p一个n></text> </g> </g> </svg>和<年代vg height="10.6875" id="M73" style="vertical-align:-0.0pt;width:7.9375px;" version="1.1" viewbox="0 0 7.9375 10.6875" width="7.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6875)"> <g transform="translate(72,-63.45)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 2</t年代p一个n></text> </g> </g> </svg>指定点的指数。然后,根据定义的<年代vg height="14.475" id="M74" style="vertical-align:-3.13504pt;width:15.375px;" version="1.1" viewbox="0 0 15.375 14.475" width="15.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>最大局部熵<年代vg height="17.7875" id="M75" style="vertical-align:-3.22282pt;width:99.887497px;" version="1.1" viewbox="0 0 99.887497 17.7875" width="99.887497" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.7875)"> <g transform="translate(72,-57.77)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> H</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.92,57.91)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 米</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="6.8090558" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.694944" y="0"> x</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-40.96,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.50372" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.75522" y="0"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="32.170219" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,2.99,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> </g> </g> </svg>,在那里<年代vg height="10.325" id="M76" style="vertical-align:-0.0pt;width:14.8375px;" version="1.1" viewbox="0 0 14.8375 10.325" width="14.8375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是当地的行/列数平方<年代vg height="14.475" id="M77" style="vertical-align:-3.13504pt;width:15.375px;" version="1.1" viewbox="0 0 15.375 14.475" width="15.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>。</p><p>gydF4y2Ba捕捉微妙的地区上面提到的另一组适用于计算。这组被称为低密度<年代vg height="14.475" id="M78" style="vertical-align:-3.13504pt;width:26.450001px;" version="1.1" viewbox="0 0 26.450001 14.475" width="26.450001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="7.4479518" y="0"> </t年代p一个n></text> </g> </g> </svg>。这组的定义很简单,然而,它需要解释。开始监视任务初始目标密度(或先验分布)是构建表达前对可能的目标位置。至少这之前由两部分组成。这些作品是<年代p一个ncl作为年代=”l是t”><年代pan class="list-item"><span class="list-label">(1)</年代p一个n><年代p一个ncl作为年代="list-content">一个先验分布<年代vg height="16.975" id="M79" style="vertical-align:-5.03984pt;width:49.900002px;" version="1.1" viewbox="0 0 49.900002 16.975" width="49.900002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.975)"> <g transform="translate(72,-58.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.01,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> p</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="7.4479518" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="9.8810081" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.257008" y="0"> r</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-47.33,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.040149" y="0"> )</t年代p一个n></text> </g> </g> </svg>之前所知的目标位置,</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(2)</年代p一个n><年代p一个ncl作为年代="list-content">估计数量的额外的目标<年代vg height="14.4875" id="M80" style="vertical-align:-3.22281pt;width:67.362503px;" version="1.1" viewbox="0 0 67.362503 14.4875" width="67.362503" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.4875)"> <g transform="translate(72,-60.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> E</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-53.67,60.55)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.8858881" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.2618876" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="12.637888" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="15.070944" y="0"> t</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="17.504" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="19.937056" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="24.313057" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="28.689056" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="32.574944" y="0"> l</t年代p一个n></text> </g> </g> </svg>在监测区域可能存在的。</年代p一个n></年代p一个n></span>之前的目标密度分布<年代vg height="16.975" id="M81" style="vertical-align:-5.03984pt;width:49.900002px;" version="1.1" viewbox="0 0 49.900002 16.975" width="49.900002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.975)"> <g transform="translate(72,-58.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.01,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> p</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="7.4479518" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="9.8810081" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.257008" y="0"> r</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-47.33,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.040149" y="0"> )</t年代p一个n></text> </g> </g> </svg>目标密度偏差提供了一个基于目标最近被观察到,他们现在可能。例如,<年代vg height="16.85" id="M82" style="vertical-align:-5.03984pt;width:30.9px;" version="1.1" viewbox="0 0 30.9 16.85" width="30.9" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.85)"> <g transform="translate(72,-58.52)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.01,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> p</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="7.4479518" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="9.8810081" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.257008" y="0"> r</t年代p一个n></text> </g> </g> </svg>可由高斯分布与每个高斯求和的代表一个特定目标的可能位置的位置曾是已知的或其位置只是猜测。估计数量的额外的目标<年代vg height="14.4875" id="M83" style="vertical-align:-3.22281pt;width:67.362503px;" version="1.1" viewbox="0 0 67.362503 14.4875" width="67.362503" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.4875)"> <g transform="translate(72,-60.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> E</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-53.67,60.55)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.8858881" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.2618876" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="12.637888" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="15.070944" y="0"> t</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="17.504" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="19.937056" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="24.313057" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="28.689056" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="32.574944" y="0"> l</t年代p一个n></text> </g> </g> </svg>影响初始目标密度分布密度分布通过定义一个统一的目标<年代vg height="13.45" id="M84" style="vertical-align:-2.21957pt;width:30.15px;" version="1.1" viewbox="0 0 30.15 13.45" width="30.15" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.45)"> <g transform="translate(72,-61.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.8146152" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.978114" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.854765" y="0"> )</t年代p一个n></text> </g> </g> </svg>这样<年代p一个ncl作为年代=”equation" id="EEq10"> <svg height="40.424999" id="M85" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 40.424999" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,40.425)"> <g transform="translate(72,-39.66)"> <text transform="matrix(1,0,0,-1,128.28,46.75)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,134.03,42.95)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.80872" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,153.72,54.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.265443" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.428942" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.305592" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.557093" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.208687" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.898514" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="50.062012" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="56.938663" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="64.577995" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="78.279999" y="-9.2200003"> E</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="85.919334" y="-9.2200003"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,250.28,60.55)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.8858881" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.2618876" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="12.637888" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="15.070944" y="0"> t</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="17.504" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="19.937056" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="24.313057" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="28.689056" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="32.574944" y="0"> l</t年代p一个n></text> <g> <path d="m 231.54,57.57 54.7,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,231.54,44.38)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ∫</t年代p一个n></text> <text transform="matrix(1,0,0,-1,234.99,39.94)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.80872" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,254.68,44.41)"> <tspan style="font-size: 12.50px; " x="32.75" y="-10.04"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.6515961" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.353924" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.517424" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.394073" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="213.19" y="-8.29"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="217.3535" y="-8.29"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="223.605" y="-8.29"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="229.85651" y="-8.29"> )</t年代p一个n></text> </g> </g> </svg></span>前合成目标密度分布<年代p一个ncl作为年代=”equation" id="EEq11"> <svg height="17.35" id="M86" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 17.35" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.35)"> <g transform="translate(72,-58.12)"> <text transform="matrix(1,0,0,-1,144.44,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.515023" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.678522" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.555172" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.194506" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.234894" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,192.62,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> p</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="7.4479518" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="9.8810081" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.257008" y="0"> r</t年代p一个n></text> <text transform="matrix(1,0,0,-1,212.38,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.040149" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.979315" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.319534" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.597481" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.760979" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="52.63763" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="58.876629" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="255.49001" y="1.26"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="259.6535" y="1.26"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="265.905" y="1.26"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="272.15649" y="1.26"> )</t年代p一个n></text> </g> </g> </svg></span></p> <p>注意,一些地区的前目标密度分布将有一个统一的价值特征<年代vg height="10.5375" id="M87" style="vertical-align:-0.16302pt;width:12.8625px;" version="1.1" viewbox="0 0 12.8625 10.5375" width="12.8625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.5375)"> <g transform="translate(72,-63.57)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>。这个无知的特征值可以用来定义低密度集。低密度的区域必须捕获组是那些地区目标密度之间的局部均匀密度和零目标阈值。然而,因为<年代vg height="15.2375" id="M88" style="vertical-align:-3.22281pt;width:81.775002px;" version="1.1" viewbox="0 0 81.775002 15.2375" width="81.775002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.2375)"> <g transform="translate(72,-59.81)"> <text transform="matrix(1,0,0,-1,-71.95,63.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.802592" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.842981" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.745598" y="0"> ⧵</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="43.060333" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-20.75,59.95)"> <tspan style="font-size: 8.75px; " x="0" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> u</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.7519999" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.185056" y="0"> l</t年代p一个n></text> </g> </g> </svg>在这一点上的分类器,可以简单地定义为低密度设置<年代p一个ncl作为年代=”equation" id="EEq12"> <svg height="16.5375" id="M89" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 16.5375" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.5375)"> <g transform="translate(72,-58.77)"> <text transform="matrix(1,0,0,-1,122.77,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,130.9,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="7.4479518" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,147.31,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.41692" y="0"> {</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.41836" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="34.770844" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="46.811234" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="57.626328" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="67.478691" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="78.006218" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="82.169716" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="89.046364" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="96.685699" y="0"> <</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="108.72609" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="120.31637" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="131.65659" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="137.533" y="0"> }</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="145.62244" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="320.56" y="0.63"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="324.72351" y="0.63"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="330.97501" y="0.63"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="337.2265" y="0.63"> )</t年代p一个n></text> </g> </g> </svg></span>然后,结合低密度与熵值集合,定义为探索分区<年代p一个ncl作为年代=”equation" id="EEq13"> <svg height="17.35" id="M90" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 17.35" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.35)"> <g transform="translate(72,-58.12)"> <text transform="matrix(1,0,0,-1,152.24,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,160.36,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.7108481" y="0"> x</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.0868483" y="0"> p</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="12.462848" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.895904" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="19.271904" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="22.168816" y="0"> e</t年代p一个n></text> <text transform="matrix(1,0,0,-1,190.38,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.41692" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,216.94,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> H</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="6.318944" y="0"> E</t年代p一个n></text> <text transform="matrix(1,0,0,-1,231.88,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ∩</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.527526" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,250.54,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="7.4479518" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,263.47,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="204.39999" y="1.26"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="208.56349" y="1.26"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="214.815" y="1.26"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="221.0665" y="1.26"> )</t年代p一个n></text> </g> </g> </svg></span> <svg height="16.85" id="M91" style="vertical-align:-5.03984pt;width:43.462502px;" version="1.1" viewbox="0 0 43.462502 16.85" width="43.462502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.85)"> <g transform="translate(72,-58.52)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.702096" y="0"> x</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.0780964" y="0"> p</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="12.454096" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.887152" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="19.263151" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="22.160065" y="0"> e</t年代p一个n></text> </g> </g> </svg>可以移除<年代vg height="10.475" id="M92" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>作为<年代vg height="17.5" id="M93" style="vertical-align:-5.03984pt;width:100.0875px;" version="1.1" viewbox="0 0 100.0875 17.5" width="100.0875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.5)"> <g transform="translate(72,-58)"> <text transform="matrix(1,0,0,-1,-71.95,63.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.802592" y="0"> ←</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.856203" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.97113" y="0"> ⧵</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.285866" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-18.52,59.95)"> <tspan style="font-size: 8.75px; " x="0" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.702096" y="0"> x</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.0780964" y="0"> p</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="12.454096" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.887152" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="19.263151" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="22.160065" y="0"> e</t年代p一个n></text> </g> </g> </svg>。让这种状态<年代vg height="10.475" id="M94" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>被称为搜索分区(或搜索设置)<年代vg height="14.5875" id="M95" style="vertical-align:-3.22281pt;width:38.650002px;" version="1.1" viewbox="0 0 38.650002 14.5875" width="38.650002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.4045279" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="7.2904158" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.176304" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.073216" y="0"> c</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="17.819073" y="0"> h</t年代p一个n></text> </g> </g> </svg>。<年代vg height="14.5875" id="M96" style="vertical-align:-3.22281pt;width:38.650002px;" version="1.1" viewbox="0 0 38.650002 14.5875" width="38.650002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.4045279" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="7.2904158" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.176304" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.073216" y="0"> c</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="17.819073" y="0"> h</t年代p一个n></text> </g> </g> </svg>然后,定义为<年代p一个ncl作为年代=”equation" id="EEq14"> <svg height="19.924999" id="M97" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 19.924999" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.925)"> <g transform="translate(72,-56.06)"> <text transform="matrix(1,0,0,-1,127,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,135.12,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.4045279" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="7.2904158" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.176304" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.081968" y="0"> c</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="17.827824" y="0"> h</t年代p一个n></text> <text transform="matrix(1,0,0,-1,161.29,61.13)"> <tspan style="font-size: 12.50px; " x="40.740002" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.919998" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.41692" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.332039" y="0"> ⧵</t年代p一个n></text> <text transform="matrix(1,0,0,-1,217.34,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> u</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.7519999" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.185056" y="0"> l</t年代p一个n></text> <text transform="matrix(1,0,0,-1,234.24,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ∪</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.515023" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,252.89,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.7108481" y="0"> x</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.0868483" y="0"> p</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="12.462848" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.895904" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="19.271904" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="22.168816" y="0"> e</t年代p一个n></text> <text transform="matrix(1,0,0,-1,279.44,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.2700005" y="-2.51"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="188.42999" y="-2.28"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="192.59351" y="-2.28"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="198.845" y="-2.28"> 4</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="205.0965" y="-2.28"> )</t年代p一个n></text> </g> </g> </svg></span></p> <p>删除后探索分区<年代vg height="10.475" id="M98" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>分类器然后继续分类搜索和跟踪分区。</p><h5gydF4y2Baid="sec4.3">4.3。划分步骤3:搜索和跟踪分区</h5><p>gydF4y2Ba分区学习的第三步是一组分类搜索和跟踪分区。这两个搜索和跟踪相同分区分类的分类器。</p><p>gydF4y2Ba信息内容,相反类型的地区勘探分区是一个跟踪分区。跟踪小空间分区,分区有强烈的偏见的目标密度和高确定性。发现这些分区中,目标一致。因此,跟踪分区定义位置已知的目标。这些分区必须继续根据流动性被跟踪的跟踪目标。的搜索策略成为纪念的已知位置的目标。例如,内最大密度的点跟踪分区保存在纪念活动。搜索策略跟踪分区然后最约束代理运动。举个例子,如果一个代理是一个固定翼飞机将飞行轨道拽得像路径环绕的已知位置的目标(<一个href=”#B14">14</一个>,<gydF4y2Ba一个href=”#B22">22</一个>- - - - - -<一个href=”#B25">25</一个>]。</p><p>gydF4y2Ba类似于跟踪分区搜索分区。的相似性搜索分区与跟踪分区是由一个信息集合,它提供了一个偏见来帮助优化搜索计划。然而,搜索分区与跟踪不同分区的信息内容不是很确定。因此,没有多少可说哪里一个目标可能位置。然而,有偏差的部分地区有很高的目标存在的可能性。然后它变成了一个搜索的责任计划优化路径的基础上,信息内容,以产生新的分销与更高的确定性。搜索策略成为某种类型的信息增益最大化,和搜索的路径指引改进信息内容以最终观察目标(<一个href=”#B6">6</一个>- - - - - -<一个href=”#B8">8</一个>,<gydF4y2Ba一个href=”#B12">12</一个>,<gydF4y2Ba一个href=”#B26">26</一个>,<gydF4y2Ba一个href=”#B27">27</一个>]。</p><p>gydF4y2Ba为这一步的分区分类学习的方法将被描述。为此特征用于分类将首先被描述。然后分类器将被描述。</p><h6我d=”年代ec4.3.1">4.3.1。特性</h6><p>gydF4y2Ba为了点进行分类<年代vg height="10.475" id="M99" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>为搜索和跟踪的分区,两个功能是必需的。这些特性是<年代p一个ncl作为年代=”l是t”><年代pan class="list-item"><span class="list-label">(1)</年代p一个n><年代p一个ncl作为年代="list-content">规范化的位置在监测区域内,</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(2)</年代p一个n><年代p一个ncl作为年代="list-content">当地的预期数量的目标。</年代p一个n></年代p一个n></span>归一化计算位置点<年代vg height="10.9875" id="M100" style="vertical-align:-0.33858pt;width:39.362499px;" version="1.1" viewbox="0 0 39.362499 10.9875" width="39.362499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.9875)"> <g transform="translate(72,-63.21)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.339981" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.380369" y="0"> </t年代p一个n></text> </g> </g> </svg>通过监测区域的大小除以<年代vg height="10.725" id="M101" style="vertical-align:-0.1254pt;width:11.375px;" version="1.1" viewbox="0 0 11.375 10.725" width="11.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.725)"> <g transform="translate(72,-63.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>。当地的预期数量的目标容易来自目标密度分布。要理解这一点,召回的定义目标密度分布。从这个定义很明显,在一些地区的预期数量目标<年代vg height="10.55" id="M102" style="vertical-align:-0.0pt;width:11.325px;" version="1.1" viewbox="0 0 11.325 10.55" width="11.325" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.55)"> <g transform="translate(72,-63.56)"> <text transform="matrix(1,0,0,-1,-71.95,63.61)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>只是目标的集成密度分布在该地区。召回的定义本地区域,然后计算预期的目标通过整合目标密度分布在当地的区域<年代p一个ncl作为年代=”equation" id="EEq15"> <svg height="70.462502" id="M103" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 70.462502" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,70.4625)"> <g transform="translate(72,-15.63)"> <text transform="matrix(1,0,0,-1,125.79,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 我</t年代p一个n></text> <text transform="matrix(1,0,0,-1,129.95,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,136.11,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,148.84,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,153.71,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.3199997" y="-2.51"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.709033" y="-2.51"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.437086" y="-2.51"> E</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.07642" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,200.44,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,206.12,55.82)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,209.17,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.9144161" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,216.9,55.82)"> <tspan style="font-size: 6.25px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,220.52,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,169.42,29.46)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.82" y="7.6999998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,189.99,17.96)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.80872" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,206.49,15.77)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,209.54,17.96)"> <tspan style="font-size: 8.75px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.9144161" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,217.27,15.77)"> <tspan style="font-size: 6.25px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,220.89,17.96)"> <tspan style="font-size: 8.75px; " x="0" y="0"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,226.39,29.46)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.515023" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.678522" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.555172" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.806671" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="34.458267" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="44.148094" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="48.311592" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="55.188244" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="61.439743" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="241.48" y="-11.23"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="245.64349" y="-11.23"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="251.895" y="-11.23"> 5</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="258.14648" y="-11.23"> )</t年代p一个n></text> </g> </g> </svg></span>帮助理解当地的预期目标,图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig10/" target="_blank">10</一个>提供了一个示例计算在监测区域当目标密度分布是一个简单的高斯概率分布。这个数字当地的价值预期目标的数量由阴影值,白色高和黑色低。从这个图可以观察到,地方预期数量的目标作为目标密度分布平滑滤波器。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig10"> <div class="floats-partial-content fig-content-fig10"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.0010" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0010.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图10</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig10/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <svg height="14.375" id="M104" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 10.4125 14.375" width="10.4125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.375)"> <g transform="translate(72,-60.5)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 我</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-67.79,60.55)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg> <table> 一个示例计算当地的预期数量的目标gydF4y2Ba在监视区域当底层目标密度分布是一个简单的高斯概率分布。注意当地的预期数量的目标作为平滑滤波器对目标密度分布。</t一个ble> </div> </div> </div> <h6 id="sec4.3.2">4.3.2。分类器</h6><p>gydF4y2Ba在这一点上分区学习(块3图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig6/" target="_blank">6</一个>)分类的设置操作<年代vg height="17.5" id="M105" style="vertical-align:-5.03984pt;width:214.66251px;" version="1.1" viewbox="0 0 214.66251 17.5" width="214.66251" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.5)"> <g transform="translate(72,-58)"> <text transform="matrix(1,0,0,-1,-71.95,63.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.802592" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.842981" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-40.97,59.95)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.4045279" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="7.2904158" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.176304" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.073216" y="0"> c</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="17.819073" y="0"> h</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-14.81,63.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.040389" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.943005" y="0"> ⧵</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="32.25774" y="0"> {</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="38.259178" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,31.58,59.95)"> <tspan style="font-size: 8.75px; " x="0" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> u</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.7519999" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.185056" y="0"> l</t年代p一个n></text> <text transform="matrix(1,0,0,-1,48.48,63.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ∪</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.527526" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,67.14,59.95)"> <tspan style="font-size: 8.75px; " x="0" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.702096" y="0"> x</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.0780964" y="0"> p</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="12.454096" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.887152" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="19.263151" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="22.160065" y="0"> e</t年代p一个n></text> <text transform="matrix(1,0,0,-1,93.68,63.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> }</t年代p一个n></text> </g> </g> </svg>。<年代vg height="10.475" id="M106" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>然后由地区监测区域与某种程度的偏见的信息可能的目标位置。在这一步中分区的学习<年代vg height="10.475" id="M107" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>是划分为一组搜索和跟踪分区。这一步不能由一组简单计算作为分区的前两个步骤的完成学习。相反,分<年代vg height="10.475" id="M108" style="vertical-align:-0.0pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 10.475" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.475)"> <g transform="translate(72,-63.62)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> </g> </g> </svg>根据目标集群密度特征空间。为了帮助可视化行动发生在这个阶段的分类器,观察图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig11/" target="_blank">11</一个>。这个图显示了一组点在目标密度分布特征空间中凸地分区。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig11"> <div class="floats-partial-content fig-content-fig11"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.0011" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0011.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图11</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig11/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 可视化的点目标密度分布特征空间中凸地分区。在这个例子中三个分区进行分类。由此产生的三个分区是由圆,星星,矩形。</t一个ble> </div> </div> </div> <p>有许多凸聚类方法(<一个href=”#B28">28</一个>),这种级别的工作分类器。本文采用的方法是进行分类,利用k - means和高斯混合模型EM (<一个href=”#B28">28</一个>]。k - means用于初始化搜索和跟踪分区监测任务的开始。高斯混合模型EM在后续步骤,然后使用高斯混合模型的地方他们是播种与先前的分区(<一个href=”#B17">17</一个>]。k - means和高斯混合模型EM经营目标密度分布特征空间组成的规范化在监测区域和当地的预期数量的目标。</p><p>gydF4y2Ba为了执行这个分类、分区分类的数量必须初始化。最初的分区数量是确定的总预期目标的监视区域<年代p一个ncl作为年代=”equation" id="EEq16"> <svg height="69" id="M109" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 69" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,69)"> <g transform="translate(72,-16.8)"> <text transform="matrix(1,0,0,-1,116.84,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,127.48,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.4330561" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="6.8090558" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="9.2421122" y="0"> t</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.675168" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.108224" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="17.994112" y="0"> l</t年代p一个n></text> <text transform="matrix(1,0,0,-1,151.88,61.13)"> <tspan style="font-size: 12.50px; " x="39.259998" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.117086" y="0"> c</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.668419" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="30.219751" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.695583" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.110001" y="0"> E</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="52.749332" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,215.27,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,222.07,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-30.93" y="36.849998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-21.549999" y="37.220001"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-63.799999" y="29.52"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-51.071945" y="29.52"> c</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-45.520615" y="29.52"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-39.96928" y="29.52"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-36.493446" y="29.52"> l</t年代p一个n></text> <text transform="matrix(1,0,0,-1,206.27,17.6)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.80872" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,225.96,29.1)"> <tspan style="font-size: 12.50px; " x="59.360001" y="7.3299999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="70.830002" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.515023" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.678522" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.555172" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.806671" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="34.458267" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="44.148094" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="48.311592" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="55.188244" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="241.91" y="-12.17"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="246.0735" y="-12.17"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="252.325" y="-12.17"> 6</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="258.57651" y="-12.17"> )</t年代p一个n></text> </g> </g> </svg></span></p> <p>后进行k - means或高斯混合模型EM中凸地分区<年代vg height="14.5875" id="M110" style="vertical-align:-3.22281pt;width:67.212502px;" version="1.1" viewbox="0 0 67.212502 14.5875" width="67.212502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.802592" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.842981" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-40.97,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.4045279" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="7.2904158" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.176304" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="14.073216" y="0"> c</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="17.819073" y="0"> h</t年代p一个n></text> </g> </g> </svg>为一组搜索和跟踪分区,然后下令这些分区。分区是命令,以便跟踪分区出现第一次和不确定搜索分区出现。这使路径规划算法来优化各种搜索和跟踪的分区。为此下令分区密度<年代vg height="13.75" id="M111" style="vertical-align:-5.39853pt;width:18.15px;" version="1.1" viewbox="0 0 18.15 13.75" width="18.15" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.75)"> <g transform="translate(72,-61)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.67,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-60.47,61.12)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>每个分区的<年代vg height="14.3625" id="M112" style="vertical-align:-3.2316pt;width:13.4375px;" version="1.1" viewbox="0 0 13.4375 14.3625" width="13.4375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3625)"> <g transform="translate(72,-60.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-64.52,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>计算。分区密度定义为<年代p一个ncl作为年代=”equation" id="EEq17"> <svg height="49.837502" id="M113" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 49.837502" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,49.8375)"> <g transform="translate(72,-32.13)"> <text transform="matrix(1,0,0,-1,146.58,48.94)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,152.85,45.81)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,158.05,43.62)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,164.47,48.94)"> <tspan style="font-size: 12.50px; " x="19.620001" y="-12.71"> ∫</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,187.54,57.21)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.80872" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,203.55,55.02)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,208.57,61.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.515023" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.678522" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.555172" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.806671" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="34.458267" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="44.160595" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="48.324097" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="55.200745" y="0"> )</t年代p一个n></text> <g> <path d="m 184.09,52.06 83.85,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,197.99,38.87)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ∫</t年代p一个n></text> <text transform="matrix(1,0,0,-1,201.45,34.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.80872" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,217.45,32.25)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,222.48,38.9)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.6515961" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.341421" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.504919" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.381571" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="46.650002" y="-10.04"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="245.39" y="-10.04"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="249.5535" y="-10.04"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="255.80499" y="-10.04"> 7</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="262.05649" y="-10.04"> )</t年代p一个n></text> </g> </g> </svg></span></p> <p>此时在这一步的分区学习有序集合的搜索和跟踪分区分类。这些分区可能对应于许多地区人口位于目标。可能会带来好处分配更多资源搜索这些类型的分区。因此,这些进一步subpartitioned分区。</p><p>gydF4y2Ba为了确定一些分区<年代vg height="14.3625" id="M114" style="vertical-align:-3.2316pt;width:13.4375px;" version="1.1" viewbox="0 0 13.4375 14.3625" width="13.4375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3625)"> <g transform="translate(72,-60.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-64.52,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>应该subpartitioned其预期的目标<年代vg height="17.200001" id="M115" style="vertical-align:-5.39853pt;width:33.150002px;" version="1.1" viewbox="0 0 33.150002 17.200001" width="33.150002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.2)"> <g transform="translate(72,-58.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> E</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-53.67,60.55)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-48.47,58.36)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>计算。<年代vg height="17.200001" id="M116" style="vertical-align:-5.39853pt;width:33.150002px;" version="1.1" viewbox="0 0 33.150002 17.200001" width="33.150002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.2)"> <g transform="translate(72,-58.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> E</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-53.67,60.55)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-48.47,58.36)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>很容易从目标密度分布计算吗<年代vg height="13.6125" id="M117" style="vertical-align:-2.34499pt;width:27.799999px;" version="1.1" viewbox="0 0 27.799999 13.6125" width="27.799999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.6125)"> <g transform="translate(72,-61.11)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.9391651" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.102664" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.979315" y="0"> )</t年代p一个n></text> </g> </g> </svg>作为<年代p一个ncl作为年代=”equation" id="EEq18"> <svg height="38.950001" id="M118" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 38.950001" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,38.95)"> <g transform="translate(72,-40.84)"> <text transform="matrix(1,0,0,-1,139.58,54.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> E</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,157.86,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,163.06,49.33)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,169.47,54.64)"> <tspan style="font-size: 12.50px; " x="18.43" y="7.6999998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,193.65,43.14)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.80872" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,209.66,40.95)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,214.68,54.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.515023" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.678522" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.555172" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.806671" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="34.458267" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="44.160595" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="48.324097" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="55.200745" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="61.439743" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="253.19" y="1.35"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="257.35349" y="1.35"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="263.60501" y="1.35"> 8</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="269.85651" y="1.35"> )</t年代p一个n></text> </g> </g> </svg></span>如果<年代vg height="17.4125" id="M119" style="vertical-align:-5.39853pt;width:60.349998px;" version="1.1" viewbox="0 0 60.349998 17.4125" width="60.349998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.4125)"> <g transform="translate(72,-58.07)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> E</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-53.67,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-48.47,58.18)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-42.06,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ></t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> 1</t年代p一个n></text> </g> </g> </svg>然后预计有超过一个的目标<年代vg height="14.3625" id="M120" style="vertical-align:-3.2316pt;width:13.4375px;" version="1.1" viewbox="0 0 13.4375 14.3625" width="13.4375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3625)"> <g transform="translate(72,-60.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-64.52,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>。为了追踪这些可能的目标可能需要多个代理。考虑到可能需要多个代理,任何<年代vg height="14.3625" id="M121" style="vertical-align:-3.2316pt;width:13.4375px;" version="1.1" viewbox="0 0 13.4375 14.3625" width="13.4375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3625)"> <g transform="translate(72,-60.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-64.52,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>与<年代vg height="17.4125" id="M122" style="vertical-align:-5.39853pt;width:60.349998px;" version="1.1" viewbox="0 0 60.349998 17.4125" width="60.349998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.4125)"> <g transform="translate(72,-58.07)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> E</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-53.67,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-48.47,58.18)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-42.06,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ></t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> 1</t年代p一个n></text> </g> </g> </svg>subpartitioned成<年代vg height="17.525" id="M123" style="vertical-align:-5.39853pt;width:66.125px;" version="1.1" viewbox="0 0 66.125 17.525" width="66.125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.525)"> <g transform="translate(72,-57.98)"> <text transform="matrix(1,0,0,-1,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> c</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.551332" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.102664" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.578498" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.054333" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.217831" y="0"> E</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.857164" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-31.45,60.28)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-26.25,58.1)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-23.31,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n></text> </g> </g> </svg>新分区。这是分类器的尽头。最终的结果是一个零目标分区,一个探索分区,和一组命令搜索和跟踪分区。</p><h4我d=”年代tep 3:-path-planning-over-partitions">5。步骤3:路径规划分区</h4><p>gydF4y2Ba最后一步的方法提出了自主搜索和跟踪路径规划。这个执行路径规划的分区。为了在分区规划路径,路径规划分解为两个步骤如图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig12/" target="_blank">12</一个>。这些步骤<年代p一个ncl作为年代=”l是t”><年代pan class="list-item"><span class="list-label">(1)</年代p一个n><年代p一个ncl作为年代="list-content">分区任务分配,</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(2)</年代p一个n><年代p一个ncl作为年代="list-content">基于目标密度分布的路径优化。</年代p一个n></年代p一个n></span></p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig12"> <div class="floats-partial-content fig-content-fig12"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.0012" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0012.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图12</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig12/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 路径规划的结构分解为任务分配在分区和路径规划优化直接在目标密度分布。</t一个ble> </div> </div> </div> <p>在第一步中分区分配给团队代理(<一个href=”#B29">29日</一个>,<gydF4y2Ba一个href=”#B30">30.</一个>]。在第二步中代理路径确定分配分区直接通过优化内部在分区级别目标密度分布(<一个href=”#B6">6</一个>- - - - - -<一个href=”#B8">8</一个>,<gydF4y2Ba一个href=”#B10">10</一个>,<gydF4y2Ba一个href=”#B14">14</一个>]。</p><p>gydF4y2Ba以这种方式通过分解路径规划的大量工作,已经开发了车辆路径(分区任务分配)和滚动时域路径优化(为目标density-distribution-based路径优化)可以利用。现在,所有需要扩展现有的方法,是必要的。因此,这部分读者是指身体的工作是杠杆,然后提出了所需的扩展。</p><h5我d=”年代ec5.1">5.1。路径规划步骤1:分区任务分配</h5><p>gydF4y2Ba的分区分类器生成的定义领域的子集可以提取目标密度分布。这表明一些任务分配算法的应用,每个分区搜索领域与不同水平的确定性或优先级的任务。任务分配的确切方法超出了本文的范围,因为它已经被很好地开发的人员。特别提到[<一个href=”#B29">29日</一个>,<gydF4y2Ba一个href=”#B30">30.</一个>]的方法直接应用。任务分配算法,为项目开发合作中心的无人机的控制是指(<一个href=”#B29">29日</一个>]。</p><h5gydF4y2Baid="sec5.2">5.2。路径规划步骤2:发布出去是依靠优化</h5><p>gydF4y2Ba优化路径通过一个目标密度分布几乎是相同的优化路径概率分布。幸运的是,大部分的工作已经完成开发路径优化在概率分布(<一个href=”#B6">6</一个>- - - - - -<一个href=”#B8">8</一个>,<gydF4y2Ba一个href=”#B10">10</一个>,<gydF4y2Ba一个href=”#B14">14</一个>]。这些现有的方法在本文中加以利用。这些方法的一般方法是定义一个函数来衡量路径基于效用的一个潜在的概率分布。然后,这个效用函数用于优化路径通过监测区域。这些方法扩展通过定义一个基于目标效用函数密度分布。定义这个效用函数是本节的重点。</p><p>gydF4y2Ba为了定义一个一个点的路径的效用效用必须定义在监测区域。然而,在定义点的效用,代理的传感器观测报道<年代vg height="14.75" id="M124" style="vertical-align:-3.25793pt;width:57.837502px;" version="1.1" viewbox="0 0 57.837502 14.75" width="57.837502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.75)"> <g transform="translate(72,-60.2)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.01,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-57.94,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.040149" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.241398" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-34.81,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-29.94,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n></text> </g> </g> </svg>对一个观点,<年代vg height="11.075" id="M125" style="vertical-align:-3.25793pt;width:14.8125px;" version="1.1" viewbox="0 0 14.8125 11.075" width="14.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> </g> </g> </svg>在监测区域,必须确定。<年代vg height="14.75" id="M126" style="vertical-align:-3.25793pt;width:57.837502px;" version="1.1" viewbox="0 0 57.837502 14.75" width="57.837502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.75)"> <g transform="translate(72,-60.2)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.01,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-57.94,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.040149" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.241398" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-34.81,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-29.94,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n></text> </g> </g> </svg>本质上指定如何适用<年代vg height="7.1624999" id="M127" style="vertical-align:-0.11285pt;width:8.7250004px;" version="1.1" viewbox="0 0 8.7250004 7.1624999" width="8.7250004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1625)"> <g transform="translate(72,-66.27)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在监测区域是一个特定的代理,代理位于<年代vg height="11.075" id="M128" style="vertical-align:-3.25793pt;width:14.8125px;" version="1.1" viewbox="0 0 14.8125 11.075" width="14.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> </g> </g> </svg>。例如,考虑一个固定传感器。这个传感器可以自由旋转,以观察其环境。然而,它不能超越<年代vg height="7.0124998" id="M129" style="vertical-align:-0.0pt;width:6.5px;" version="1.1" viewbox="0 0 6.5 7.0124998" width="6.5" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.0125)"> <g transform="translate(72,-66.39)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>米。因此,任何时候远比<年代vg height="7.0124998" id="M130" style="vertical-align:-0.0pt;width:6.5px;" version="1.1" viewbox="0 0 6.5 7.0124998" width="6.5" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.0125)"> <g transform="translate(72,-66.39)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>米这个传感器是没有意义的。</p><p>gydF4y2Ba代理的观察范围的属性决定了代理的传感器。例如,如果一个代理可以观察完全在一个半径<年代vg height="7.0124998" id="M131" style="vertical-align:-0.0pt;width:6.5px;" version="1.1" viewbox="0 0 6.5 7.0124998" width="6.5" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.0125)"> <g transform="translate(72,-66.39)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>,然后观察覆盖函数定义为是一个指标<年代p一个ncl作为年代=”equation" id="EEq19"> <svg height="38.575001" id="M132" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 38.575001" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,38.575)"> <g transform="translate(72,-41.14)"> <text transform="matrix(1,0,0,-1,115.87,53.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,122.81,50.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,131.97,50.93)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.72665" y="-2.52"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.927898" y="-2.52"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,156.78,50.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,161.66,50.93)"> <tspan style="font-size: 12.50px; " 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transform="matrix(1,0,0,-1,269.41,61.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 为</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0.99000001"> 为</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.09" y="0.49000001"> <</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.117886" y="0.49000001"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.21911" y="0.49000001"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-75.059998" y="15.49"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-68.808502" y="15.49"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-53.192253" y="15.49"> o</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-47.028275" y="15.49"> t</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-43.46492" y="15.49"> h</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-37.213421" y="15.49"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-31.662086" y="15.49"> r</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-27.26103" y="15.49"> w</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-18.233866" y="15.49"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-14.758031" y="15.49"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-9.8943644" y="15.49"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-4.3430319" y="15.49"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="198.46001" y="8.1099997"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="202.6235" y="8.1099997"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="208.875" y="8.1099997"> 9</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="215.1265" y="8.1099997"> )</t年代p一个n></text> </g> </g> </svg></span>然而,总的来说,观察报道是由传感器的视野以及解决能力可观测领域的观点和漏检的可能性<一个href=”#B31">31日</一个>]。为了进一步设想可能的传感器观测保险,考虑两种情况。<年代p一个ncl作为年代=”l是t”><年代pan class="list-item"><span class="list-label">(1)</年代p一个n><年代p一个ncl作为年代="list-content">一个代理可以查看周围环境完全在25米。除此之外,代理的观点线性降低,直到它不能使任何观察70米。</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(2)</年代p一个n><年代p一个ncl作为年代="list-content">一个代理不能查看任何靠近,直到45米之外的距离。之后,观察迅速成为完美但后来开始消退65米左右。90米,观察不再是可能的。</年代p一个n></年代p一个n></span>第一种情况下类似于什么是真正适合很多传感代理(<一个href=”#B32">32</一个>]。他们设计了这样的观察与邻近改善。图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig13/" target="_blank">13</一个>描述了这个传感器覆盖。在这个图的质量点的覆盖剂的传感器由一个阴影值,白色是效用和黑色低效用高。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig13"> <div class="floats-partial-content fig-content-fig13"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.0013" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0013.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图13</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig13/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 传感器观测样本覆盖,覆盖的质量由阴影值,白色是高质量的,黑色是低质量。这种类型的保险适用于当一个传感器的观测与靠近的改进。</t一个ble> </div> </div> </div> <p>第二种情况下可能看上去很奇怪,但实际上是类似与自治飞机配备一个实验进行使用视觉光谱相机(<一个href=”#B33">33</一个>]。在这个实验中,一个相机车载飞机是放大一个行人的检测特性。变焦是这样设计很好的分辨率将提供当飞机绕行人。因此,它是为了好好观察一个轨道的半径远离飞机。图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig14/" target="_blank">14</一个>描述了这个传感器覆盖。在这个图的质量点的覆盖剂的传感器由一个阴影值,白色是效用和黑色低效用高。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig14"> <div class="floats-partial-content fig-content-fig14"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.0014" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0014.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图14</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig14/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 传感器观测样本覆盖,覆盖的质量由阴影值,白色是高质量的,黑色是低质量。这种类型的保险适用当传感器很好地观察一些指定的距离。</t一个ble> </div> </div> </div> <p>代理人的效用的观点<年代vg height="11.075" id="M133" style="vertical-align:-3.25793pt;width:14.8125px;" version="1.1" viewbox="0 0 14.8125 11.075" width="14.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> </g> </g> </svg>在监测区域可以利用传感器覆盖定义。首先,考虑一个零层路径。一个点的效用<年代vg height="11.075" id="M134" style="vertical-align:-3.25793pt;width:14.8125px;" version="1.1" viewbox="0 0 14.8125 11.075" width="14.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> </g> </g> </svg>是<年代p一个ncl作为年代=”equation" id="EEq20"> <svg height="36.424999" id="M135" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 36.424999" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,36.425)"> <g transform="translate(72,-42.86)"> <text transform="matrix(1,0,0,-1,107.8,54.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,114.99,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,121.95,52.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,134.67,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,139.55,52.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.75" y="5.1900001"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.3199997" y="-2.51"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.709033" y="-2.51"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,173.05,43.14)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.80872" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,192.74,54.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.515023" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.678522" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.555172" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.806671" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,227.49,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,236.65,52.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.72665" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.927898" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,261.46,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,266.34,52.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9299998" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.581596" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.271421" y="-2.51"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.434919" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.311569" y="-2.51"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.563068" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="201.53" y="-2.1700001"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="205.6935" y="-2.1700001"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="211.94499" y="-2.1700001"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="218.1965" y="-2.1700001"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="13.6125" id="M136" style="vertical-align:-2.34499pt;width:27.799999px;" version="1.1" viewbox="0 0 27.799999 13.6125" width="27.799999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.6125)"> <g transform="translate(72,-61.11)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.9391651" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.102664" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.979315" y="0"> )</t年代p一个n></text> </g> </g> </svg>是目标密度分布。扩展这个有限的视野规划,定义<年代vg height="10.325" id="M137" style="vertical-align:-0.0pt;width:15.175px;" version="1.1" viewbox="0 0 15.175 10.325" width="15.175" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>一步一步地平线观察覆盖路径<年代vg height="14.75" id="M138" style="vertical-align:-3.25793pt;width:126.4375px;" version="1.1" viewbox="0 0 126.4375 14.75" width="126.4375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.75)"> <g transform="translate(72,-60.2)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.8482723" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-43.83,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.040389" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.203888" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-20.75,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-15.87,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2012482" y="0"> …</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.79225" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.993498" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,16.01,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,24.94,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n></text> </g> </g> </svg>作为<年代p一个ncl作为年代=”equation" id="EEq21"> <svg height="35.787498" id="M139" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 35.787498" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,35.7875)"> <g transform="translate(72,-43.37)"> <text transform="matrix(1,0,0,-1,98.32,59.75)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,105.26,56.63)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,114.42,57.24)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.72665" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.927898" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,139.23,56.63)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.8482723" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,157.01,57.24)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="51.619999" y="4.04"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.3199997" y="-2.51"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.709033" y="-2.51"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.736919" y="-2.51"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.776588" y="-2.51"> −</t年代p一个n></text> <text transform="matrix(1,0,0,-1,205.13,46.02)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7393761" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.7344961" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="13.110496" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="17.582767" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,233.23,57.24)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.877166" y="-2.51"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="26.217386" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,266.39,56.63)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,275.55,57.24)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.72665" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.927898" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,300.36,56.63)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,303.6,57.24)"> <tspan style="font-size: 12.50px; " x="13.79" y="-2.51"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8514042" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="164.27" y="2.6800001"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="168.4335" y="2.6800001"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="174.685" y="2.6800001"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="180.93649" y="2.6800001"> )</t年代p一个n></text> </g> </g> </svg></span>一个点的效用<年代vg height="14.625" id="M140" style="vertical-align:-3.25793pt;width:45.450001px;" version="1.1" viewbox="0 0 45.450001 14.625" width="45.450001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.625)"> <g transform="translate(72,-60.3)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-56.73,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.040389" y="0"> </t年代p一个n></text> </g> </g> </svg>,因此路径<年代vg height="11.075" id="M141" style="vertical-align:-3.25793pt;width:30.9375px;" version="1.1" viewbox="0 0 30.9375 11.075" width="30.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.8482723" y="0"> </t年代p一个n></text> </g> </g> </svg>,然后定义为<年代p一个ncl作为年代=”equation" id="EEq22"> <svg height="50.299999" id="M142" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 50.299999" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,50.3)"> <g transform="translate(72,-31.76)"> <text transform="matrix(1,0,0,-1,78.49,54.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,85.68,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,96.69,52.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,109.42,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,114.29,52.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.3299999" y="-2.51"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.719033" y="-2.51"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.736336" y="-2.51"> 米</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.463669" y="-2.51"> 一个</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="51.015003" y="-2.51"> x</t年代p一个n></text> <text transform="matrix(1,0,0,-1,142.04,46.72)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,146.86,44.53)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,149.3,46.72)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∈</t年代p一个n></text> <text transform="matrix(1,0,0,-1,155.29,46.72)"> <tspan style="font-size: 8.75px; " x="0" y="0"> R</t年代p一个n></text> <text transform="matrix(1,0,0,-1,161.13,46.72)"> <tspan style="font-size: 8.75px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.9144161" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,168.86,44.53)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 6.25px; " x="1.9443721" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 6.25px; " x="6.2269921" y="0"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,178.71,46.72)"> <tspan style="font-size: 8.75px; " x="0" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-34.200001" y="11.2"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-31.478128" y="11.2"> =</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-25.483007" y="11.2"> 1</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-21.107008" y="11.2"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-18.919008" y="11.2"> …</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-10.167008" y="11.2"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-7.9790082" y="11.2"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,183.71,46.94)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,189.46,43.14)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.80872" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,209.15,54.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.515023" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.678522" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.555172" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.806671" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,243.9,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,253.06,52.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.72665" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.927898" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,277.87,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.8482723" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,295.65,52.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9299998" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.581596" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.271421" y="-2.51"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.434919" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.311569" y="-2.51"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.563068" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="172.22" y="3.3800001"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="176.3835" y="3.3800001"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="182.63499" y="3.3800001"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="188.88651" y="3.3800001"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="13.45" id="M143" style="vertical-align:-2.21957pt;width:29.549999px;" version="1.1" viewbox="0 0 29.549999 13.45" width="29.549999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.45)"> <g transform="translate(72,-61.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> R</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.3395014" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.503" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.37965" y="0"> )</t年代p一个n></text> </g> </g> </svg>是达到组内的所有点的集合<年代vg height="7.1624999" id="M144" style="vertical-align:-0.11285pt;width:8.7250004px;" version="1.1" viewbox="0 0 8.7250004 7.1624999" width="8.7250004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1625)"> <g transform="translate(72,-66.27)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>(<一个href=”#B14">14</一个>]。直观地说,(<一个href=”#EEq22">22</一个>)代表预期数量的传感器覆盖目标<年代vg height="10.325" id="M145" style="vertical-align:-0.0pt;width:15.175px;" version="1.1" viewbox="0 0 15.175 10.325" width="15.175" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>一步一步路径源自这一点<年代vg height="11.075" id="M146" style="vertical-align:-3.25793pt;width:14.8125px;" version="1.1" viewbox="0 0 14.8125 11.075" width="14.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> </g> </g> </svg>。最大化(<一个href=”#EEq22">22</一个>),那么对应于选择要点<年代vg height="18.475" id="M147" style="vertical-align:-4.46533pt;width:17px;" version="1.1" viewbox="0 0 17 18.475" width="17" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,18.475)"> <g transform="translate(72,-57.22)"> <text transform="matrix(1,0,0,-1,-71.95,61.72)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,66.73)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ⋆</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.3400002"> 0</t年代p一个n></text> </g> </g> </svg>内部收益率的最大期望值目标观测的报道来自的道路<年代vg height="18.475" id="M148" style="vertical-align:-4.46533pt;width:17px;" version="1.1" viewbox="0 0 17 18.475" width="17" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,18.475)"> <g transform="translate(72,-57.22)"> <text transform="matrix(1,0,0,-1,-71.95,61.72)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,66.73)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ⋆</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.3400002"> 0</t年代p一个n></text> </g> </g> </svg>。</p><p>gydF4y2Ba这个路径效用的定义是基于整个目标密度分布。为了优化路径通过特定的分区工具必须定义为分区级别目标密度分布。幸运的是,这个扩展很容易完成。首先,让一组定义的分区在监测区域<年代vg height="14.75" id="M149" style="vertical-align:-3.20526pt;width:105.775px;" version="1.1" viewbox="0 0 105.775 14.75" width="105.775" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.75)"> <g transform="translate(72,-60.2)"> <text transform="matrix(1,0,0,-1,-71.95,63.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.890113" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.930502" y="0"> {</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.931942" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-35.58,60.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-30.71,63.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2012482" y="0"> …</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.79225" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.006001" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,1.72,60.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,6.57,63.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> }</t年代p一个n></text> </g> </g> </svg>。分区级别目标密度分布<年代vg height="17.4125" id="M150" style="vertical-align:-5.39853pt;width:37.974998px;" version="1.1" viewbox="0 0 37.974998 17.4125" width="37.974998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.4125)"> <g transform="translate(72,-58.07)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.01,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-59.81,58.18)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-56.87,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.040149" y="0"> )</t年代p一个n></text> </g> </g> </svg>为分区<年代vg height="14.3625" id="M151" style="vertical-align:-3.2316pt;width:44.450001px;" version="1.1" viewbox="0 0 44.450001 14.3625" width="44.450001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3625)"> <g transform="translate(72,-60.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-64.52,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-57.83,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> </t年代p一个n></text> </g> </g> </svg>然后,定义为<年代p一个ncl作为年代=”equation" id="EEq23"> <svg height="38.575001" id="M152" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 38.575001" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,38.575)"> <g transform="translate(72,-41.14)"> <text transform="matrix(1,0,0,-1,130.92,53.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,137.86,50.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,143.06,48.13)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,148.08,53.45)"> <tspan style="font-size: 12.50px; " x="37.110001" y="7.3299999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.040149" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.666979" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.056011" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="48.43" y="-7.6199999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="58.945023" y="-7.6199999"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="63.108521" y="-7.6199999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="69.985168" y="-7.6199999"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="86.651672" y="-7.6199999"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="90.127502" y="-7.6199999"> f</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="98.467003" y="-7.6199999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="108.81949" y="-7.6199999"> ∈</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="120.84737" y="-7.6199999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,276.37,57.95)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,279.59,61.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-83.080002" y="15"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-44.85833" y="15"> o</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-38.694351" y="15"> t</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-35.130997" y="15"> h</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-28.879496" y="15"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-23.328163" y="15"> r</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-18.927107" y="15"> w</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-9.8999414" y="15"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-6.4241071" y="15"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-1.5604399" y="15"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="3.9908919" y="15"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="188.28" y="7.6199999"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="192.4435" y="7.6199999"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="198.69499" y="7.6199999"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="204.9465" y="7.6199999"> )</t年代p一个n></text> </g> </g> </svg></span>然后替换<年代vg height="13.6125" id="M153" style="vertical-align:-2.34499pt;width:27.799999px;" version="1.1" viewbox="0 0 27.799999 13.6125" width="27.799999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.6125)"> <g transform="translate(72,-61.11)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.9391651" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.102664" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.979315" y="0"> )</t年代p一个n></text> </g> </g> </svg>与<年代vg height="17.4125" id="M154" style="vertical-align:-5.39853pt;width:37.974998px;" version="1.1" viewbox="0 0 37.974998 17.4125" width="37.974998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.4125)"> <g transform="translate(72,-58.07)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.01,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-59.81,58.18)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-56.87,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.040149" y="0"> )</t年代p一个n></text> </g> </g> </svg>的分区级别实用程序路径开始<年代vg height="11.075" id="M155" style="vertical-align:-3.25793pt;width:14.8125px;" version="1.1" viewbox="0 0 14.8125 11.075" width="14.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> </g> </g> </svg>然后,定义为<年代p一个ncl作为年代=”equation" id="EEq24"> <svg height="50.299999" id="M156" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 50.299999" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,50.3)"> <g transform="translate(72,-31.76)"> <text transform="matrix(1,0,0,-1,74.16,54.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,84.16,61.4)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,89.36,59.21)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,81.35,50.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,94.38,52.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,107.11,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,111.99,52.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.3199997" y="-2.51"> ∶</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.709033" y="-2.51"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.726337" y="-2.51"> 米</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.453671" y="-2.51"> 一个</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="51.005001" y="-2.51"> x</t年代p一个n></text> <text transform="matrix(1,0,0,-1,139.74,46.72)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,144.55,44.53)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,146.99,46.72)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∈</t年代p一个n></text> <text transform="matrix(1,0,0,-1,152.99,46.72)"> <tspan style="font-size: 8.75px; " x="0" y="0"> R</t年代p一个n></text> <text transform="matrix(1,0,0,-1,158.83,46.72)"> <tspan style="font-size: 8.75px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.9144161" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,166.55,44.53)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 6.25px; " x="1.9443721" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 6.25px; " x="6.2269921" y="0"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,176.4,46.72)"> <tspan style="font-size: 8.75px; " x="0" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-34.200001" y="11.2"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-31.478128" y="11.2"> =</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-25.483007" y="11.2"> 1</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-21.107008" y="11.2"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-18.919008" y="11.2"> …</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-10.167008" y="11.2"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-7.9790082" y="11.2"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,181.4,46.94)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,187.15,43.14)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.80872" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,206.85,54.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,213.79,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,218.98,49.33)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,224.01,54.65)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1599998" y="0.0099999998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.03665" y="0.0099999998"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.275646" y="0.0099999998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,248.24,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,257.39,52.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.72665" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.927898" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,282.2,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> ∶</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.8482723" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,299.98,52.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9299998" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.581596" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.283924" y="-2.51"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.447424" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.324074" y="-2.51"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.563068" y="-2.51"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="167.89" y="3.3800001"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="172.0535" y="3.3800001"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="178.30499" y="3.3800001"> 4</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="184.5565" y="3.3800001"> )</t年代p一个n></text> </g> </g> </svg></span></p> <p>这个方程完全指定分区级别目标density-distribution-based路径优化。进一步发展和特定于应用程序的细节中可以找到<一个href=”#B14">14</一个>,<gydF4y2Ba一个href=”#B17">17</一个>]。</p><h4gydF4y2Baid="results">6。结果</h4><p>gydF4y2Ba本文提出了一种新的方法自动搜索和跟踪。这个新方法是设计用来监测面积大的情况下,目标的数目是未知的,和目标是通用和非参数的估计。在本节中,结果,并给出了这种方法的性能。</p><p>gydF4y2Ba分区的性能学习帮助代理路径规划是通过构建一个模拟环境测试。在这种环境下的团队代理由自治飞机配备视觉光谱常平架相机传感器。这些代理的功能是为了密切代表行为中观察到飞行实验(<一个href=”#B32">32</一个>,<gydF4y2Ba一个href=”#B33">33</一个>]。相机的特点是为了代表的视野带来0.9273 rad视角。分辨率的影响包括通过限制观测到250米的距离。代理是为了飞在25米/秒和100米海拔最大转弯速率为0.2 rad / s。目标被允许根据过渡模型定义的移动<年代p一个ncl作为年代=”equation" id="EEq25"> <svg height="62.637501" id="M157" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 62.637501" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,62.6375)"> <g transform="translate(72,-21.89)"> <text transform="matrix(1,0,0,-1,142.62,43.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,149.5,40.69)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="7.0015998" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,163.21,43.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,182.12,40.69)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="7.0015998" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="9.7409763" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="15.736096" y="0"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,205.51,43.82)"> <tspan style="font-size: 12.50px; " x="18.530001" y="-13.08"> ⎡</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.530001" y="-2.23"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.530001" y="8.6099997"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.530001" y="19.4"> ⎣</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="59.869999" y="-13.08"> ⎤</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="59.869999" y="-2.23"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="59.869999" y="8.6099997"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="59.869999" y="19.4"> ⎦</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.16" y="-10.63"> c</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.711332" y="-10.63"> o</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.962833" y="-10.63"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="44.989998" y="-10.63"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="49.153496" y="-10.63"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="55.70507" y="-10.63"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.190001" y="14.38"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="30.053667" y="14.38"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.529503" y="14.38"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="43.9445" y="14.38"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="48.107998" y="14.38"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="54.659573" y="14.38"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="67.580002" y="7.1054274e-015"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="262.35999" y="7.1054274e-015"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="266.5235" y="7.1054274e-015"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="272.77499" y="7.1054274e-015"> 5</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="279.02649" y="7.1054274e-015"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="7.0124998" id="M158" style="vertical-align:-0.0pt;width:6.5px;" version="1.1" viewbox="0 0 6.5 7.0124998" width="6.5" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.0125)"> <g transform="translate(72,-66.39)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="10.7375" id="M159" style="vertical-align:-0.13794pt;width:8.3125px;" version="1.1" viewbox="0 0 8.3125 10.7375" width="8.3125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.7375)"> <g transform="translate(72,-63.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>被分配为<年代p一个ncl作为年代=”equation" id="EEq26"> <svg height="46.3125" id="M160" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 46.3125" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,46.3125)"> <g transform="translate(72,-34.95)"> <text transform="matrix(1,0,0,-1,152.09,61.03)"> <tspan style="font-size: 12.50px; " x="72.699997" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.5645552" y="0"> ∼</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.604944" y="0"> G</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.632111" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.183441" y="0"> u</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.43494" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="46.298611" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="51.162277" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="54.638111" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="60.189442" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="78.550003" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="86.16433" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="91.365578" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,250.81,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,255.68,58.52)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9400001" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-30.200001" y="19.809999"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-105.34" y="19.77"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-95.325096" y="19.77"> ∼</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-83.284706" y="19.77"> U</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-74.495102" y="19.77"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-68.243599" y="19.77"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-64.767761" y="19.77"> f</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-61.00436" y="19.77"> o</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-54.752861" y="19.77"> r</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-50.351807" y="19.77"> 米</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-34.372971" y="19.77"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-26.040001" y="19.77"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-19.7885" y="19.77"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-14.587252" y="19.77"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-8.3357515" y="19.77"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-0.73392802" y="19.77"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="3.4295709" y="19.77"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.6810713" y="19.77"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="212.19" y="8.1700001"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="216.3535" y="8.1700001"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="222.605" y="8.1700001"> 6</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="228.85651" y="8.1700001"> )</t年代p一个n></text> </g> </g> </svg></span>与<年代vg height="13.55" id="M161" style="vertical-align:-2.29482pt;width:39.450001px;" version="1.1" viewbox="0 0 39.450001 13.55" width="39.450001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.55)"> <g transform="translate(72,-61.16)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.077658" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.118048" y="0"> 2</t年代p一个n></text> </g> </g> </svg>在一秒钟<年代vg height="13.9875" id="M162" style="vertical-align:-0.17555pt;width:71.262497px;" version="1.1" viewbox="0 0 71.262497 13.9875" width="71.262497" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.9875)"> <g transform="translate(72,-60.81)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-64.61,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-56.26,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.279387" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="26.618887" y="0"> 米</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-19.91,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> </g> </g> </svg>。每个模拟迭代的时间间隔是4秒。几个仿真样本和代理执行各种初始目标位置以及各种先验密度分布。</p><p>gydF4y2Ba分区分类的性能质量和多样性的影响观察监视区。分区分类应根据观测接收表现良好。测量这几个指标使用性能。这些指标是<年代p一个ncl作为年代=”l是t”><年代pan class="list-item"><span class="list-label">(1)</年代p一个n><年代p一个ncl作为年代="list-content">搜索和跟踪的目标分区,</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(2)</年代p一个n><年代p一个ncl作为年代="list-content">的搜索和跟踪分区,</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(3)</年代p一个n><年代p一个ncl作为年代="list-content">平均搜索和跟踪分区大小,</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(4)</年代p一个n><年代p一个ncl作为年代="list-content">包含目标搜索和跟踪分区的平均大小,</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(5)</年代p一个n><年代p一个ncl作为年代="list-content">探索分区大小,</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(6)</年代p一个n><年代p一个ncl作为年代="list-content">本地化的目标。</年代p一个n></年代p一个n></span></p> <p>另外需要提供一个比较为了看看方法执行。召回的标准方法自主搜索和跟踪。标准方法优化代理直接路径的分布。比较在这一节中使用分区之间提供学习帮助路径规划与优化路径直接在目标分布。这将被称为最先进的标准方法。注意,然而,为了计算上面的一些指标,有必要为这两种情况下运行分区分类算法。分区学习分类器运行的路径规划方法,提出了和最先进的)。然而,只有路径规划方法提出了利用分区用于路径规划。</p><p>本文结果的场景,在该场景中,有六个特工和三个目标。此外,一个样本的分区序列学习是作为一个视觉援助提供了解这些分区可能会寻找时的情况有六个代理和六个目标。这个样本序列图中找到<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig21/" target="_blank">21</一个>。这图横跨整个页面后提供所有其他数据。(提供了额外的场景<一个href=”#B17">17</一个>]。</p><p>gydF4y2Ba本节演示场景中提供的结果当有足够的资源来执行监督。从这些结果结果表明,本文提出的方法表现良好。这个结论是由观测数据<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig15/" target="_blank">15</一个>和<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig16/" target="_blank">16</一个>。图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig15/" target="_blank">15</一个>提出了在搜索和跟踪的目标分区的数量。图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig16/" target="_blank">16</一个>提出了搜索和跟踪分区的数量。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig15"> <div class="floats-partial-content fig-content-fig15"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.0015" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0015.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图15</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig15/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 样本均值的比较的目标搜索或跟踪分区仿真时间内最先进的直接分配优化和分区学习分类之间的路径规划方法。</t一个ble> </div> </div> </div> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig16"> <div class="floats-partial-content fig-content-fig16"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.0016" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0016.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图16</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig16/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 比较样本均值之间的搜索和跟踪分区仿真时间学习先进的直接分配优化和分区分类路径规划方法。</t一个ble> </div> </div> </div> <p>从数据<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig15/" target="_blank">15</一个>和<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig16/" target="_blank">16</一个>很明显,所有目标快速捕获在搜索或跟踪分区和分区的数量是有界的。然而,两种路径规划方法的性能是非常不同的。从图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig17/" target="_blank">17</一个>,可以看出平均分区大小不减少先进的路径规划。然而,分区的平均分区大小大幅减少学习分类路径规划。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig17"> <div class="floats-partial-content fig-content-fig17"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.0017" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0017.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图17</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig17/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 比较样本均值之间的平均搜索和跟踪分区大小模拟时间学习先进的直接分配优化和分区分类路径规划方法。</t一个ble> </div> </div> </div> <p>相似的结果也适用于包含目标分区的平均尺寸,绘制在图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig18/" target="_blank">18</一个>。此外,根据图<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig19/" target="_blank">19</一个>勘探规模不断减少分区学习分类,但倾向于水平最先进的路径规划。此外,先进的路径规划定位的目标在这个场景中表现不好。相比之下,分区分类学习路径规划进行最终定位所有目标。这个图中可以看到<一个href=”http年代://www.newsama.com/journals/jr/2012/590479/fig20/" target="_blank">20.</一个>。从这里给出的结果,它是那么明显的分区学好分类路径规划执行查找和定位目标,这种情况下,相对于先进的路径规划。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig18"> <div class="floats-partial-content fig-content-fig18"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.0018" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0018.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图18</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig18/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 样本均值的比较平均分区大小的分区包含目标仿真时间之间的最先进的直接分配优化和分区分类学习路径规划方法。</t一个ble> </div> </div> </div> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig19"> <div class="floats-partial-content fig-content-fig19"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.0019" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0019.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图19</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig19/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 样本均值的比较探索分区大小在仿真时间最先进的直接分配优化和分区之间学习分类路径规划方法。</t一个ble> </div> </div> </div> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig20"> <div class="floats-partial-content fig-content-fig20"> <div class="partial-carousel--single-image"> <img alt="" name="590479.fig.0020" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0020.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图20</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig20/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 样本均值的比较数量的目标局部仿真时间最先进的直接分配优化和分区之间学习分类路径规划方法。</t一个ble> </div> </div> </div> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig21"> <div class="floats-partial-content fig-content-fig21"> <div class="partial-carousel--single-image"> <img alt="(一)”n一个米e=”590479。f我g。0021a" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0021a.jpg"> <br> <strong>(一)</年代trong></d我v> <div class="partial-carousel--single-image"> <img alt="(b)”n一个米e=”590479。f我g。0021b" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0021b.jpg"> <br> <strong>(b)</年代trong></d我v> <div class="partial-carousel--single-image"> <img alt="(c)”n一个米e=”590479。f我g。0021c" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0021c.jpg"> <br> <strong>(c)</年代trong></d我v> <div class="partial-carousel--single-image"> <img alt="(d)”n一个米e=”590479。f我g。0021d" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0021d.jpg"> <br> <strong>(d)</年代trong></d我v> <div class="partial-carousel--single-image"> <img alt="(e)”n一个米e=”590479。f我g。0021e" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0021e.jpg"> <br> <strong>(e)</年代trong></d我v> <div class="partial-carousel--single-image"> <img alt="(f)”n一个米e=”590479。f我g。0021f" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0021f.jpg"> <br> <strong>(f)</年代trong></d我v> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs fig-thumbs-fig21"> <button class="partial-carousel-dot" aria-label="(a)"><img alt="(一)”n一个米e=”590479。f我g。0021a" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0021a.jpg"><br><strong>(一)</年代trong></button> <button class="partial-carousel-dot" aria-label="(b)"><img alt="(b)”n一个米e=”590479。f我g。0021b" src="https://static-01.hindawi.com/articles/jr/volume-2012/590479/figures/590479.fig.0021b.jpg"><br><strong>(b)</年代trong></button> <button class="partial-carousel-dot" aria-label="(c)"><img alt="(c)”n一个米e=”590479。f我g。0021c" 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<div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图21</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2012/590479/fig21/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 分区学习分类的样本序列路径规划为一个场景涉及6个代理和6个目标(目标的数量尚不清楚代理)。代理是由蓝/绿圈与突出的线条代表代理的方向。每个代理的近似的视野是由绿色线连接。目标是由黑色/红色圆圈表示。整个监测区域分区。这些分区是由不同的颜色表示。按照顺序从左到右和从上到下。(一)形成初始分区。在(b)跟踪分区出现。(f)分区内的所有目标跟踪。</t一个ble> </div> </div> </div> <h4 id="conclusions">7所示。结论</h4><p>gydF4y2Ba本文提出了一种新的方法自动搜索和跟踪。这个新方法是设计用来地理面积大的情况下,目标是未知的数量,和目标跟踪是通用和非参数的估计。这是一个具有挑战性的问题,因为很少。所有被认为是某种形式的目标跟踪估计是可用的和共享的团队自治代理执行搜索。这种新方法的搜索和跟踪问题分解为三个步骤。第一步是目标密度分布估计。第二步是学习分区分类基于目标密度分布。第三步是路径规划基于分区。</p><p>绝大的作品可用于目标跟踪概率分布的估计和路径规划利用提供解决方案第一和第三个步骤。因此,本文的重点是在分区的学习。为了确定这种新方法的性能,这是相对于直接优化路径的标准方法在目标估计分布。从这个比较,结果表明,提出的方法在本文中表现良好,并提供一种改进的解的一般形式自主搜索和跟踪问题。</p></d我v> <div class="xml-content"> <h4 class="references" id="references">引用</h4><ol><l我我d="B1">y 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Basso et al." target="_blank">谷歌学术搜索</一个></年代p一个n></li> </ol> </div> <div class="xml-content"> <h4 class="copyright" id="copyright">版权</h4><p>gydF4y2Ba版权©2012 Jared木头和j·卡尔·亨德里克。这是一个开放的分布式下文章<一个rel=”l我cen年代e”href="http://creativecommons.org/licenses/by/3.0/">知识共享归属许可</一个>,它允许无限制的使用、分配和复制在任何媒介,提供最初的工作是正确引用。</p></d我v> </div> </article> </div> </div> </div> <div class="biblio__Wrapper-sc-1nou1lz-0 eyHfWh journal_article__BiblioIntegratorWidget-sc-12fk6zy-5 dbAANp article_widget biblioWrapper hide"> <hr> <h4 class="biblio__H4-sc-1nou1lz-2 kgAKHb hrTitleRef">更多相关文章</h4><d我v id="biblio_widget" class="biblio__BiblioWrapper-sc-1nou1lz-1 ghauYU"></div> </div> </div> </div> <div class="threeColumn__RightWrapper-sc-1bf4078-2 jzTMLK rightWrapper" id="rightSectionMenu"> <div> <div class="journal_article__ArticleStickyTopToolbar-sc-12fk6zy-0 gbrQxi article_sticky_top_toolbar"> <div class="sc-keVrkP cMXuwG article_top_toolbar"> <a class="sc-htpNat bUhGXt link sc-elJkPf ghbfGn sc-gVLVqr dEdHfs 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src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMTgiIGhlaWdodD0iMjIiIHZpZXdCb3g9IjAgMCAxOCAyMiI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjNBMywzLDAsMCwxLDMsMGg4YS45OTEuOTkxLDAsMCwxLC41NzMuMTgxbDAsMCwuMDA4LjAwNmEuOTU1Ljk1NSwwLDAsMSwuMTIyLjFsNiw2YTEuMDI1LDEuMDI1LDAsMCwxLC4xLjEyMmwuMDA2LjAxLDAsMEExLDEsMCwwLDEsMTgsNi45NzVWMTlhMywzLDAsMCwxLTMsM1pNMiwzVjE5YTEsMSwwLDAsMCwxLDFIMTVhMSwxLDAsMCwwLDEtMVY4SDExYTEsMSwwLDAsMS0xLTFWMkgzQTEsMSwwLDAsMCwyLDNaTTEyLDZoMi41ODdMMTIsMy40MTRaTTUsMTdhMSwxLDAsMSwxLDAtMmg4YTEsMSwwLDEsMSwwLDJabTAtNGExLDEsMCwxLDEsMC0yaDhhMSwxLDAsMSwxLDAsMlpNNSw5QTEsMSwwLDEsMSw1LDdIN0ExLDEsMCwwLDEsNyw5WiIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMyAxKSIvPjwvY2xpcFBhdGg+PC9kZWZzPjxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKC0zIC0xKSI+PHBhdGggZD0iTTMsMjJhMywzLDAsMCwxLTMtM1YzQTMsMywwLDAsMSwzLDBoOGEuOTkxLjk5MSwwLDAsMSwuNTczLjE4MWwwLDAsLjAwOC4wMDZhLjk1NS45NTUsMCwwLDEsLjEyMi4xbDYsNmExLjAyNSwxLjAyNSwwLDAsMSwuMS4xMjJsLjAwNi4wMSwwLDBBMSwxLDAsMCwxLDE4LDYuOTc1VjE5YTMsMywwLDAsMS0zLDNaTTIsM1YxOWExLDEsMCwwLDAsMSwxSDE1YTEsMSwwLDAsMCwxLTFWOEgxMWExLDEsMCwwLDEtMS0xVjJIM0ExLDEsMCwwLDAsMiwzWk0xMiw2aDIuNTg3TDEyLDMuNDE0Wk01LDE3YTEsMSwwLDEsMSwwLTJoOGExLDEsMCwxLDEsMCwyWm0wLTRhMSwxLDAsMSwxLDAtMmg4YTEsMSwwLDEsMSwwLDJaTTUsOUExLDEsMCwxLDEsNSw3SDdBMSwxLDAsMCwxLDcsOVoiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDMgMSkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIvPjwvZz48L2c+PC9zdmc+" height="24"><span class="text">下载引用</年代p一个n></年代p一个n><span class="sc-htoDjs bqeMOy sc-kTUwUJ fKwwpq fileArrow icon-colored _3P4iUn1NDM5G77nWCamJ4l icon-themeable" title="" font-size="20"></span></a> <a class="sc-htpNat bUhGXt link sc-elJkPf ghbfGn sc-exkUMo ikaeWC ref_desktop" href="//www.newsama.com/journals/jr/2012/590479.ris" aria-label="" target="" id="toolbar__dcNavSmall"><span><img alt="" class="sc-EHOje jOLhQl sc-jtRfpW drOnJN" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMTgiIGhlaWdodD0iMjIiIHZpZXdCb3g9IjAgMCAxOCAyMiI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjNBMywzLDAsMCwxLDMsMGg4YS45OTEuOTkxLDAsMCwxLC41NzMuMTgxbDAsMCwuMDA4LjAwNmEuOTU1Ljk1NSwwLDAsMSwuMTIyLjFsNiw2YTEuMDI1LDEuMDI1LDAsMCwxLC4xLjEyMmwuMDA2LjAxLDAsMEExLDEsMCwwLDEsMTgsNi45NzVWMTlhMywzLDAsMCwxLTMsM1pNMiwzVjE5YTEsMSwwLDAsMCwxLDFIMTVhMSwxLDAsMCwwLDEtMVY4SDExYTEsMSwwLDAsMS0xLTFWMkgzQTEsMSwwLDAsMCwyLDNaTTEyLDZoMi41ODdMMTIsMy40MTRaTTUsMTdhMSwxLDAsMSwxLDAtMmg4YTEsMSwwLDEsMSwwLDJabTAtNGExLDEsMCwxLDEsMC0yaDhhMSwxLDAsMSwxLDAsMlpNNSw5QTEsMSwwLDEsMSw1LDdIN0ExLDEsMCwwLDEsNyw5WiIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMyAxKSIvPjwvY2xpcFBhdGg+PC9kZWZzPjxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKC0zIC0xKSI+PHBhdGggZD0iTTMsMjJhMywzLDAsMCwxLTMtM1YzQTMsMywwLDAsMSwzLDBoOGEuOTkxLjk5MSwwLDAsMSwuNTczLjE4MWwwLDAsLjAwOC4wMDZhLjk1NS45NTUsMCwwLDEsLjEyMi4xbDYsNmExLjAyNSwxLjAyNSwwLDAsMSwuMS4xMjJsLjAwNi4wMSwwLDBBMSwxLDAsMCwxLDE4LDYuOTc1VjE5YTMsMywwLDAsMS0zLDNaTTIsM1YxOWExLDEsMCwwLDAsMSwxSDE1YTEsMSwwLDAsMCwxLTFWOEgxMWExLDEsMCwwLDEtMS0xVjJIM0ExLDEsMCwwLDAsMiwzWk0xMiw2aDIuNTg3TDEyLDMuNDE0Wk01LDE3YTEsMSwwLDEsMSwwLTJoOGExLDEsMCwxLDEsMCwyWm0wLTRhMSwxLDAsMSwxLDAtMmg4YTEsMSwwLDEsMSwwLDJaTTUsOUExLDEsMCwxLDEsNSw3SDdBMSwxLDAsMCwxLDcsOVoiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDMgMSkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIvPjwvZz48L2c+PC9zdmc+" height="24"><span class="text">引用</年代p一个n></年代p一个n><span class="sc-htoDjs bqeMOy sc-kTUwUJ fKwwpq fileArrow icon-colored _3P4iUn1NDM5G77nWCamJ4l icon-themeable" title="" font-size="20"></span></a> </div> </div> <div class="journal_article__ArticleStickyBottomToolbar-sc-12fk6zy-1 isgRZA article_sticky_bottom_toolbar"> <div class="sc-iYUSvU xdFeU article_bottom_toolbar"> <div class="sc-cHSUfg hlwZCh accordion" property="background-color" color="#D8D8D8" id="toolbar__dofNav"> <span><img alt="" class="sc-EHOje jOLhQl sc-iNhVCk fhBqDd" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMjAiIGhlaWdodD0iMjIiIHZpZXdCb3g9IjAgMCAyMCAyMiI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjE2YTEsMSwwLDAsMSwyLDB2M2ExLDEsMCwwLDAsMSwxSDE3YTEsMSwwLDAsMCwxLTFWMTZhMSwxLDAsMSwxLDIsMHYzYTMsMywwLDAsMS0zLDNabTYuMjg4LTYuMy00LTRhMSwxLDAsMCwxLDEuNDE0LTEuNDE0TDksMTIuNTg2VjFhMSwxLDAsMCwxLDIsMFYxMi41ODZsMi4yOTMtMi4yOTNhMSwxLDAsMCwxLDEuNDE0LDEuNDE0bC00LDRhMSwxLDAsMCwxLTEuNDIzLDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgyIDEpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTIgLTEpIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjE2YTEsMSwwLDAsMSwyLDB2M2ExLDEsMCwwLDAsMSwxSDE3YTEsMSwwLDAsMCwxLTFWMTZhMSwxLDAsMSwxLDIsMHYzYTMsMywwLDAsMS0zLDNabTYuMjg4LTYuMy00LTRhMSwxLDAsMCwxLDEuNDE0LTEuNDE0TDksMTIuNTg2VjFhMSwxLDAsMCwxLDIsMFYxMi41ODZsMi4yOTMtMi4yOTNhMSwxLDAsMCwxLDEuNDE0LDEuNDE0bC00LDRhMSwxLDAsMCwxLTEuNDIzLDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgyIDEpIi8+PGcgY2xpcC1wYXRoPSJ1cmwoI2EpIj48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiIGZpbGw9InJnYmEoMCwwLDAsMCkiLz48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiLz48L2c+PC9nPjwvc3ZnPg==" height="24"><span class="sc-bfYoXt jLRaNL">下载其他格式</年代p一个n><年代p一个ncl作为年代="sc-gbOuXE kvCIiS">更多的</年代p一个n></年代p一个n> <span class="sc-htoDjs bMdQcY sc-eAKXzc bmKKdh icon-colored _1CwL9R82TPl2HxDleeYGDR icon-themeable" title="" font-size="11"></span> </div> <div class="sc-cTjmhe fEoWte"> <a class="sc-htpNat bUhGXt link sc-cugefK irOfVO open_panel" href="//www.newsama.com/downloads/journals/jr/2012/590479.epub" aria-label="ePub" property="background-color" color="#D8D8D8"> <div class="sc-fnwBNb gUqhXf"> ePub</d我v><img alt="" class="sc-EHOje jOLhQl sc-iNhVCk fhBqDd" title="" role="presentation" 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height="24"><span class="sc-bfYoXt jLRaNL">订单打印副本</年代p一个n><年代p一个ncl作为年代="sc-gbOuXE kvCIiS">订单</年代p一个n></年代p一个n><span class="sc-htoDjs kNoiZu sc-eAKXzc bmKKdh right__icon icon-colored _32KP5uexH-Bgs7Kj8Gk1Tz icon-themeable" title="" font-size="16"></span></a> <div class="sc-bFADNz dxRcBT"> <div class="sc-cqpYsc bTgkQB"> <div> 的观点<年代p一个n>1199年年</年代p一个n></d我v> <div> 下载<年代p一个n>978年年</年代p一个n></d我v> </div> <div> <div class="sc-hBbWxd exhBez"> <span class="__dimensions_badge_embed__" data-doi="10.1155/2012/590479" data-style="small_circle"></span>引用</d我v> </div> </div> <nav class="sc-Rmtcm hZsedb sc-dRFtgE evqjui" id="toolbar__iconNav"> <h3 class="sc-csuQGl idXHYp">分享文章</h3><ulcl作为年代=”年代c-bRBYWo keayzM"> <li class="iconBorder"><a class="sc-htpNat bUhGXt link" href="https://twitter.com/share?url=https://doi.org/10.1155/2012/590479&via=Hindawi" aria-label="Sharing on Twitter" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje jOLhQl socialTwitter" title="" role="presentation" 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