Aiming at the disadvantages of the basic ant colony algorithm, this paper proposes an improved ant colony algorithm for robot global path planning. First, adjust the pheromone evaporation rate dynamically to enhance the global search ability and convergence speed, and then modify the heuristic function to improve the state transition probabilities in order to find the optimal solution as quickly as possible; and finally change the pheromone update strategy to avoid premature by strengthening pheromone on the optimal path and limiting pheromone level. Simulation results verify the effectiveness of the improved algorithm.
In order to resolve the problem of the image degradation, an image enhancement method based on fractional calculus and Retinex is proposed, which can preserve or enhance texture information and remove the noise of images. The fractional differential is used to preprocess the input image to enhance texture information, and using guided filter to estimate the illumination component, so it has less halo phenomena. The reflection component, obtained according to the Retinex theory, is denoised by fractional integral to remove the noises. The image is equalized by the contrast limited adaptive histogram equalization to improve the image contrast, and a final enhanced image is obtained. The experimental results show that the method can effectively achieve image enhancement, and the enhanced image has better visual effects.
In recent years, deep learning has made significant progress in wood panel defect detection. However, there are still challenges such as low detection , slow detection speed, and difficulties in deploying embedded devices on wood panel surfaces. To overcome these issues, we propose a lightweight wood panel defect detection method called YOLOv5-LW, which incorporates attention mechanisms and a feature fusion network. Firstly, to enhance the detection capability of acceptable defects, we introduce the Multi-scale Bi-directional Feature Pyramid Network (MBiFPN) as a feature fusion network. The MBiFPN reduces feature loss, enriches local and detailed features, and improves the model's detection capability for acceptable defects. Secondly, to achieve a lightweight design, we reconstruct the ShuffleNetv2 network model as the backbone network. This reconstruction reduces the number of parameters and computational requirements while maintaining performance. We also introduce the Stem Block and Spatial Pyramid Pooling Fast (SPPF) models to compensate for any accuracy loss resulting from the lightweight design, ensuring the model's detection capabilities remain intact while being computationally efficient. Thirdly, we enhance the backbone network by incorporating Efficient Channel Attention (ECA), which improves the network's focus on key information relevant to defect detection. By attending to essential features, the model becomes more proficient in accurately identifying and localizing defects. We validate the proposed method using a selfdeveloped wood panel defect dataset. The experimental results demonstrate the effectiveness of the improved YOLOv5-LW method. Compared to the original model, our approach achieves a 92.8% accuracy rate, reduces the number of parameters by 27.78%, compresses computational volume by 41.25%, improves detection inference speed by 10.16%, and enhances the detection accuracy of two types of acceptable defects (dead knots and cracks) by 0.2% and 1.3% respectively.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.