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Photovoltaic power system is taking a significant percentage of power system and the demands for accurate forecasting of the power outputs is surging. In prior works, the forecasting problem was formulated as a regression problem, however, which most cannot guarantee that the forecasted outputs is nonnegative. To solve this problem, we proposed a novel probabilistic model by using nonlinear regression and Bayesian learning method. In the paper, we present the detailed theoretical derivations and interpretations. The simulation results show the validity and feasibility of the proposed algorithm by comparing with the traditional SVM algorithm.

This article presented a cooperative mapping technique using a novel edge gradient algorithm for multiple mobile robots. The proposed edge gradient algorithm can be divided into four behaviors such as adjusting the movement direction, evaluating the safety of motion behavior, following behavior, and obstacle information exchange, which can effectively prevent multiple mobile robots falling into concave obstacle areas. Meanwhile, a visual field factor is constructed based on biological principles so that the mobile robots can have a larger field of view when moving away from obstacles. Also, the visual field factor will be narrowed due to the obstruction of the obstacle when approaching an obstacle and the obtained map-building data are more accurate. Finally, three sets of simulation and experimental results demonstrate the performance superiority of the presented algorithm.