张祥银｜北京工业大学｜学者主页

2026

基于DBSCAN-CBBA的多无人机分布式任务分配

张祥银，谢临，张相森，何冉

《北京工业大学学报》

2026

基于自主决策的自适应变径管道清洁机器人设计与性能分析

赵心然，陈建辉，张祥银

《机械设计》

DOI

2026

Quantum-Behaved Loser Reverse-Learning Differential Evolution Algorithm-Based Path Planning for Unmanned Aerial Vehicle

Zhuo Chen, Xiangyin Zhang, Yao Lu

Actuators

DOI

2026

Time-Efficient Multi-Region SAR Imaging with Heterogeneous UAVs: Joint Task Assignment and Path Planning

Deyu Song, Xiangyin Zhang, Baichuan Wang, Ya-Lin Zhong, Yuan Yao, Kai-Yu Qin

Remote Sensing

DOI

2026

Active Disturbance Rejection Event‐Triggered Formation Tracking Control for Multiagent Systems With Switching Topology

Zongyi Chen, Chunhe Hu, Qisong Han, Jiangjian Xie, Ruifang Dong, Xiangyin Zhang

Asian Journal of Control

DOI

2025

Coverage Path Planning for Multi-View SAR-UAV Observation System under Energy Constraint

Deyu Song, Xiangyin Zhang, Zipei Yu, Kai-Yu Qin

IEEE International Geoscience and Remote Sensing Symposium

DOI

2025

Cooperative Obstacle Avoidance of Unmanned System Swarm via Reinforcement Learning Under Unknown Environments

Xiangyin Zhang, Hao-Ran Zong, Weihuan Wu

IEEE Transactions on Instrumentation and Measurement

DOI

2025

A modified fruit fly optimization algorithm to active disturbance rejection control parameters tuning for trajectory tracking of omnidirectional mobile robotic chassis

Xiangyin Zhang, Weihuan Wu, Xiuzhi Li

Soft Computing - A Fusion of Foundations, Methodologies and Applications

DOI

2025

Dynamic Trajectory Control and User Association for Unmanned-Aerial-Vehicle-Assisted Mobile Edge Computing: A Deep Reinforcement Learning Approach

Libo Wang, Xiangyin Zhang, Kai-Yu Qin, Zhu-Wei Wang, Hang Yin, Jia-Yi Zhou, Deyu Song

Drones

DOI

2025

Collision-avoiding flocking of fixed-wing UAV swarm using dynamic interaction mechanism inspired by pigeons

Xiangyin Zhang, Lin Xie

Physica A Statistical Mechanics and its Applications

DOI

2024

网络攻击下基于分布式意图识别的集群逃逸与汇聚控制

张祥银，张曦梁，张天

《控制与决策》

DOI

2024

Obstacle Avoidance for UAV Swarm Based on Pigeon Flock Dynamic Interaction Mechanism

Lin Xie, Xiangyin Zhang

ACM Cloud and Autonomic Computing Conference

DOI

2024

Design of Flight Path Angle Rate Control Based on Active Disturbance Rejection Control for Manual Landing System

Chengling Liu, Xiangyin Zhang

ACM Cloud and Autonomic Computing Conference

DOI

2024

Dynamic Leadership Mechanism in Homing Pigeon Flocks

Lin Xie, Xiangyin Zhang

Biomimetics

DOI

2023

基于自适应遗传学习粒子群算法的多无人机协同任务分配

张祥银，夏爽，张天

《控制与决策》

DOI

2023

Reinforcement Learning-Based Swarm Control for UAVs in Static and Dynamic Multi-Obstacle Environments

Weihuan Wu, Xiangyin Zhang

ACM Cloud and Autonomic Computing Conference

DOI

2023

Enhancing synchronization of self-propelled particles via modified rule of fixed number of neighbors

Xiangyin Zhang, S. Fan, Weihuan Wu

Physica A: Statistical Mechanics and its Applications

DOI

2023

Topology Duration Optimization for UAV Swarm Network under the System Performance Constraint

Rui Zhou, Xiangyin Zhang, De-Yu Song, Kaiyu Qin, Limei Xu

Applied Sciences

DOI

2023

Distributed Model Predictive Control with Particle Swarm Optimizer for Collision-Free Trajectory Tracking of MWMR Formation

Tian Zhang, Xiangyin Zhang

Actuators

DOI

2023

Multiple Unmanned Aerial Vehicles Path Planning Based on Collaborative Differential Evolution

Yao Lu, Xiangyin Zhang

Lecture notes in computer science

DOI

2022

A Grey Wolf optimizer-Based Topology Shaping Method for UAV Swarm

Yan-Xiang Yang, Xiangyin Zhang, Bo Li, Kaiyu Qin

International Conference on Emerging Technologies

DOI

2022

Global Energy Consumption Optimization for UAV Swarm Topology Shaping

Yan-Xiang Yang, Xiangyin Zhang, Jia-Yi Zhou, Bo Li, Kaiyu Qin

Energies

DOI

2022

A Relative Coordinate-Based Topology Shaping Method for UAV Swarm with Low Computational Complexity

Yan-Xiang Yang, Xiangyin Zhang, Jia-Yi Zhou, Bo Li, Kaiyu Qin

Applied Sciences

DOI

2022

Starling-Behavior-Inspired Flocking Control of Fixed-Wing Unmanned Aerial Vehicle Swarm in Complex Environments with Dynamic Obstacles

Weihuan Wu, Xiangyin Zhang, Yang Miao

Biomimetics

DOI

2022

Multi-objective particle swarm optimization with multi-mode collaboration based on reinforcement learning for path planning of unmanned air vehicles

Xiangyin Zhang, Shuang Xia, Xiuzhi Li, Tian Zhang

Knowledge-Based Systems

DOI

2022

UAV Path Planning Based on Hybrid Differential Evolution with Fireworks Algorithm

Xiangsen Zhang, Xiangyin Zhang, Xiangyin Zhang, Xiangyin Zhang

Lecture notes in computer science

DOI

2021

基于复合式协同策略的移动机器人自主探索

李秀智，赫亚磊，孙炎珺，张祥银，张晓凡

《机器人》

DOI

2021

车载惯性稳定平台的神经网络滑模控制

贾桐，李秀智，张祥银

《控制理论与应用》

2021

4WD-4WS型床椅一体化机器人室内定位与点镇定控制研究

李秀智，杨宇，贾桐，张祥银

《计算机测量与控制》

DOI

2021

Hybrid FWPS cooperation algorithm based unmanned aerial vehicle constrained path planning

Xiangyin Zhang, Shuang Xia, Tian Zhang, Xiuzhi Li

Aerospace Science and Technology

DOI

2021

Pigeon-inspired Formation Control for Multi-UAVs under Obstacle Environments

Tian Zhang, Xiangyin Zhang, Xia Shuang

China Automation Congress (CAC)

DOI

2021

Constrained Path Planning for Unmanned Aerial Vehicle in 3D Terrain Using Modified Multi-Objective Particle Swarm Optimization

Shuang Xia, Xiangyin Zhang

Actuators

DOI

2020

轮子打滑状态下全向移动机器人轨迹跟踪控制

贾松敏，卢兴阳，张祥银，张国梁

《控制与决策》

DOI

2020

基于深度学习的机器人最优抓取姿态检测方法

李秀智，李家豪，张祥银，彭小彬

《仪器仪表学报》

DOI

2020

Multiple Swarm Fruit Fly Optimization Algorithm Based Path Planning Method for Multi-UAVs

Kunming Shi, Xiangyin Zhang, Shuang Xia

Applied Sciences

DOI

2020

Quantum Behavior-Based Enhanced Fruit Fly Optimization Algorithm with Application to UAV Path Planning

Xiangyin Zhang, Shuang Xia, Xiuzhi Li

International Journal of Computational Intelligence Systems

DOI

2019

室内场景下实时地三维语义地图构建

单吉超，李秀智，张祥银，贾松敏

《仪器仪表学报》

DOI

2019

基于量子行为烟花算法的移动机器人路径规划及平滑

薛裕颖，张祥银，张国梁，贾松敏

《控制理论与应用》

2019

一种室内移动机器人自主探索方法

李秀智，龚月，张祥银，贾松敏，梁兴楠

《控制与决策》

DOI

2019

Quantum Behaved Fruit Fly Optimization Algorithm for Continuous Function Optimization Problems

Xiangyin Zhang, Shuang Xia

Lecture notes in computer science

DOI

2018

A novel phase angle-encoded fruit fly optimization algorithm with mutation adaptation mechanism applied to UAV path planning

Xiangyin Zhang, Xingyang Lu, Songmin Jia, Xiuzhi Li

Applied Soft Computing

DOI

2018

Parameters Optimization of PID Controller Based on Improved Fruit Fly Optimization Algorithm

Xiangyin Zhang, Guang Chen, Songmin Jia

Lecture notes in computer science

DOI

2017

基于RTM的自主服务机器人智能化分散控制

张国梁，李秀智，徐涛，张辉，张祥银，李明爱，贾松敏

《北京工业大学学报》

2017

采用自适应变异粒子群优化SVM的行为识别

张国梁，贾松敏，张祥银，徐涛

《光学精密工程》

2017

Optimal fractional order of self-propelled particles in the synchronization motion

Xiangyin Zhang, Meng Jian, Songmin Jia, Xiuzhi Li

Chinese Control Conference (CCC)

DOI

2017

Design of Quadrotor Hovering Controller Based on Improved Particle Swarm Optimization

Xingyang Lu, Xiangyin Zhang, Songmin Jia, Jichao Shan

International Symposium on Computational Intelligence and Design

DOI

2017

Improving the synchronization speed of self-propelled particles with restricted vision via randomly changing the line of sight

Xiangyin Zhang, Songmin Jia, Xiuzhi Li

Nonlinear Dynamics

DOI

2015

Interactive Learning Environment for Bio-Inspired Optimization Algorithms for UAV Path Planning

Haibin Duan, Pei Li, Yuhui Shi, Xiangyin Zhang, Changhao Sun

Ieee Transactions On Education，Vol. 58, No. 4

DOI

2014

基于仿鹰眼视觉的无人机自主空中加油

段海滨，张奇夫，邓亦敏，张祥银

《仪器仪表学报》

2010

基于微分进化的多UAV紧密编队滚动时域控制

张祥银，段海滨，余亚翔

《中国科学:信息科学》

精选作品

期刊论文

基于DBSCAN-CBBA的多无人机分布式任务分配

基于自主决策的自适应变径管道清洁机器人设计与性能分析

Quantum-Behaved Loser Reverse-Learning Differential Evolution Algorithm-Based Path Planning for Unmanned Aerial Vehicle

Time-Efficient Multi-Region SAR Imaging with Heterogeneous UAVs: Joint Task Assignment and Path Planning

Active Disturbance Rejection Event‐Triggered Formation Tracking Control for Multiagent Systems With Switching Topology

Coverage Path Planning for Multi-View SAR-UAV Observation System under Energy Constraint

Cooperative Obstacle Avoidance of Unmanned System Swarm via Reinforcement Learning Under Unknown Environments

A modified fruit fly optimization algorithm to active disturbance rejection control parameters tuning for trajectory tracking of omnidirectional mobile robotic chassis

Dynamic Trajectory Control and User Association for Unmanned-Aerial-Vehicle-Assisted Mobile Edge Computing: A Deep Reinforcement Learning Approach

Collision-avoiding flocking of fixed-wing UAV swarm using dynamic interaction mechanism inspired by pigeons

网络攻击下基于分布式意图识别的集群逃逸与汇聚控制

Obstacle Avoidance for UAV Swarm Based on Pigeon Flock Dynamic Interaction Mechanism

Design of Flight Path Angle Rate Control Based on Active Disturbance Rejection Control for Manual Landing System

Dynamic Leadership Mechanism in Homing Pigeon Flocks

基于自适应遗传学习粒子群算法的多无人机协同任务分配

Reinforcement Learning-Based Swarm Control for UAVs in Static and Dynamic Multi-Obstacle Environments

Enhancing synchronization of self-propelled particles via modified rule of fixed number of neighbors

Topology Duration Optimization for UAV Swarm Network under the System Performance Constraint

Distributed Model Predictive Control with Particle Swarm Optimizer for Collision-Free Trajectory Tracking of MWMR Formation

Multiple Unmanned Aerial Vehicles Path Planning Based on Collaborative Differential Evolution

A Grey Wolf optimizer-Based Topology Shaping Method for UAV Swarm

Global Energy Consumption Optimization for UAV Swarm Topology Shaping

A Relative Coordinate-Based Topology Shaping Method for UAV Swarm with Low Computational Complexity

Starling-Behavior-Inspired Flocking Control of Fixed-Wing Unmanned Aerial Vehicle Swarm in Complex Environments with Dynamic Obstacles

Multi-objective particle swarm optimization with multi-mode collaboration based on reinforcement learning for path planning of unmanned air vehicles

UAV Path Planning Based on Hybrid Differential Evolution with Fireworks Algorithm

基于复合式协同策略的移动机器人自主探索

车载惯性稳定平台的神经网络滑模控制

4WD-4WS型床椅一体化机器人室内定位与点镇定控制研究

Hybrid FWPS cooperation algorithm based unmanned aerial vehicle constrained path planning

Pigeon-inspired Formation Control for Multi-UAVs under Obstacle Environments

Constrained Path Planning for Unmanned Aerial Vehicle in 3D Terrain Using Modified Multi-Objective Particle Swarm Optimization

轮子打滑状态下全向移动机器人轨迹跟踪控制

基于深度学习的机器人最优抓取姿态检测方法

Multiple Swarm Fruit Fly Optimization Algorithm Based Path Planning Method for Multi-UAVs

Quantum Behavior-Based Enhanced Fruit Fly Optimization Algorithm with Application to UAV Path Planning

室内场景下实时地三维语义地图构建

基于量子行为烟花算法的移动机器人路径规划及平滑

一种室内移动机器人自主探索方法

Quantum Behaved Fruit Fly Optimization Algorithm for Continuous Function Optimization Problems

A novel phase angle-encoded fruit fly optimization algorithm with mutation adaptation mechanism applied to UAV path planning

Parameters Optimization of PID Controller Based on Improved Fruit Fly Optimization Algorithm

基于RTM的自主服务机器人智能化分散控制

采用自适应变异粒子群优化SVM的行为识别

Optimal fractional order of self-propelled particles in the synchronization motion

Design of Quadrotor Hovering Controller Based on Improved Particle Swarm Optimization

Improving the synchronization speed of self-propelled particles with restricted vision via randomly changing the line of sight

Interactive Learning Environment for Bio-Inspired Optimization Algorithms for UAV Path Planning

基于仿鹰眼视觉的无人机自主空中加油

基于微分进化的多UAV紧密编队滚动时域控制

会议论文

Distributed Weighted Vertex Cover:An Ordinal Potential Game Theoretic Learning Approach

Composite Control of Aerodynamic Direct Force and Thrust Vector for Carrier-Based Aircraft based on Nonlinear Dynamic Inversion

Minimum Weighted Vertex Cover Approach to Task Allocation of Multiple Satellites

Integrated guidance and control system design for hypersonic vehicle based on backstepping high-order sliding mode approach

研究方向