When a traditional Deep Deterministic Policy Gradient (DDPG) algorithm is used in mobile robot path planning, due to the limited observable environment of mobile robots, the training efficiency of the path planning model is low, and the convergence speed is slow. In this paper, Long Short-Term Memory (LSTM) is introduced into the DDPG network, the former and current states of the mobile robot are combined to determine the actions of the robot, and a Batch Norm layer is added after each layer of the Actor network. At the same time, the reward function is optimized to guide the mobile robot to move faster towards the target point. In order to improve the learning efficiency, different normalization methods are used to normalize the distance and angle between the mobile robot and the target point, which are used as the input of the DDPG network model. When the model outputs the next action of the mobile robot, mixed noise composed of Gaussian noise and Ornstein–Uhlenbeck (OU) noise is added. Finally, the simulation environment built by a ROS system and a Gazebo platform is used for experiments. The results show that the proposed algorithm can accelerate the convergence speed of DDPG, improve the generalization ability of the path planning model and improve the efficiency and success rate of mobile robot path planning.

Cloud detection is an important step in remote sensing image processing and a prerequisite for subsequent analysis and interpretation of remote sensing images. Traditional cloud detection methods are difficult to accurately detect clouds and snow with very similar features such as color and texture. In this paper, the features of cloud and snow in remote sensing images are deeply extracted, and an accurate cloud and snow detection method is proposed based on the advantages of Unet3+ network in feature fusion. Firstly, color space conversion is performed on remote sensing images, RGB images and HIS images are used as input of Unet3+ network. Resnet 50 is used to replace the Unet3+ feature extraction network to extract remote sensing image features at a deeper level, and add the Convolutional Block Attention Module in Resnet50 to improve the network’s attention to cloud and snow. Finally, the weighted cross entropy loss is constructed to solve the problem of unbalanced sample number caused by high proportion of background area in the image. The results show that the proposed method has strong adaptability and moderate computation. The mPA value, mIoU value and mPrecision value can reach 92.76%, 81.74% and 86.49%, respectively. Compared with other algorithms, the proposed method can better eliminate all kinds of interference information in remote sensing images of different landforms and accurately detect cloud and snow in images.

The pursuit of higher recognition accuracy and speed with smaller model sizes has been a major research topic in the detection of surface defects in steel. In this paper, we propose an improved high-speed and high-precision Efficient Fusion Coordination network (EFC-YOLO) without increasing the model’s size. Since modifications to enhance feature extraction in shallow networks tend to affect the speed of model inference, in order to simultaneously ensure the accuracy and speed of detection, we add the improved Fusion-Faster module to the backbone network of YOLOv7. Partial Convolution (PConv) serves as the basic operator of the module, which strengthens the feature-extraction ability of shallow networks while maintaining speed. Additionally, we incorporate the Shortcut Coordinate Attention (SCA) mechanism to better capture the location information dependency, considering both lightweight design and accuracy. The de-weighted Bi-directional Feature Pyramid Network (BiFPN) structure used in the neck part of the network improves the original Path Aggregation Network (PANet)-like structure by adding step branches and reducing computations, achieving better feature fusion. In the experiments conducted on the NEU-DET dataset, the final model achieved an 85.9% mAP and decreased the GFLOPs by 60%, effectively balancing the model’s size with the accuracy and speed of detection.

A vehicle detection algorithm is an indispensable component of intelligent traffic management and control systems, influencing the efficiency and functionality of the system. In this paper, we propose a lightweight improvement method for the YOLOv5 algorithm based on integrated perceptual attention, with few parameters and high detection accuracy. First, we propose a lightweight module IPA with a Transformer encoder based on integrated perceptual attention, which leads to a reduction in the number of parameters while capturing global dependencies for richer contextual information. Second, we propose a lightweight and efficient multiscale spatial channel reconstruction (MSCCR) module that does not increase parameter and computational complexity and facilitates representative feature learning. Finally, we incorporate the IPA module and the MSCCR module into the YOLOv5s backbone network to reduce model parameters and improve accuracy. The test results show that, compared with the original model, the model parameters decrease by about 9%, the average accuracy (mAP@50) increases by 3.1%, and the FLOPS does not increase.

In computer vision technology, image segmentation is a significant technological advancement for the current problems of high-speed railroad image scene changes, low segmentation accuracy, and serious information loss. We propose a segmentation algorithm, DFA-UNet, based on an improved U-Net network architecture. The model uses the same encoder–decoder structure as U-Net. To be able to extract image features efficiently and further integrate the weights of each channel feature, we propose to embed the DFA attention module in the encoder part of the model for the adaptive adjustment of feature map weights. We evaluated the performance of the model on the RailSem19 dataset. The results showed that our model showed improvements of 2.48%, 0.22%, 3.31%, 0.97%, and 2.2% in mIoU, F1-score, Accuracy, Precision, and Recall, respectively, compared with U-Net. The model can effectively achieve the segmentation of railroad images.

Deep Deterministic Policy Gradient (DDPG) is a deep reinforcement learning algorithm that is widely used in the path planning of mobile robots. It solves the continuous action space problem and can ensure the continuity of mobile robot motion using the Actor-Critic framework, which has great potential in the field of mobile robot path planning. However, because the Critic network always selects the maximum Q value to evaluate the actions of mobile robot, there is the problem of inaccurate Q value estimation. In addition, DDPG adopts a random uniform sampling method, which can’t efficiently use the more important sample data, resulting in slow convergence speed during the training of the path planning model and easily falling into local optimum. In this paper, a dueling network is introduced based on DDPG to improve the estimation accuracy of the Q value, and the reward function is optimized to increase the immediate reward, to direct the mobile robot to move faster toward the target point. To further improve the efficiency of experience replay, a single experience pool is separated into two by comprehensively considering the influence of average reward and TD-error on the importance of samples, and a dynamic adaptive sampling mechanism is adopted to sample the two experience pools separately. Finally, experiments were carried out in the simulation environment created with the ROS system and the Gazebo platform. The results of the experiments show that the proposed path planning algorithm has a fast convergence speed and high stability, and the success rate can reach 100% and 93% in the environment without obstacles and with obstacles, respectively.