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2651 results about "Single chain" patented technology

Mobile robot path planning algorithm based on single-chain sequential backtracking Q-learning

The invention provides a mobile robot path planning algorithm based on single-chain sequential backtracking Q-learning. According to the mobile robot path planning algorithm based on the single-chain sequential backtracking Q-learning, a two-dimensional environment is expressed by using a grid method, each environment area block corresponds to a discrete location, the state of a mobile robot at some moment is expressed by an environment location where the robot is located, the search of each step of the mobile robot is based on a Q-learning iterative formula of a non-deterministic Markov decision process, progressively sequential backtracking is carried out from the Q value of the tail end of a single chain, namely the current state, to the Q value of the head end of the single chain until a target state is reached, the mobile robot cyclically and repeatedly finds out paths to the target state from an original state, the search of each step is carried out according to the steps, and Q values of states are continuously iterated and optimized until the Q values are converged. The mobile robot path planning algorithm based on the single-chain sequential backtracking Q-learning has the advantages that the number of steps required for optimal path searching is far less than that of a classic Q-learning algorithm and a Q(lambda) algorithm, the learning time is shorter, and the learning efficiency is higher; and particularly for large environments, the mobile robot path planning algorithm based on the single-chain sequential backtracking Q-learning has more obvious advantages.
Owner:SHANDONG UNIV

Private block chain operation support system that supports logical multi-chain, and working method thereof

The invention discloses a private block chain operation support system that supports a logical multi-chain, and a working method thereof. The system comprises: a monitoring unit for monitoring the operating condition; an access unit for providing an external access channel; an operation unit for controlling the operation, coordinating the cooperative work among each storage unit node in a storage unit, and supporting automatic growth, data transaction, and data synchronization of each chain block; and the storage unit, which comprises a plurality of storage unit nodes, and is used for storage management of the block chain data on multiple storage unit nodes and for real-time synchronization of the block chain data among each storage unit node. Based on the existing common block chain system, the system constructs a private block chain operation support system that supports the logical multi-chain, the innovative transformation of the private block chain from the single-chain to the multi-chain is realized, the business key data management system of the tree structure is supported, monitoring and management on the block chain operation in a multi-chain mode are realized, and ease of use and the applicability of the private block chain are improved.
Owner:UNIV OF JINAN +1
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