1. College of Information Engineering, Huanghuai University, Zhumadian 463000, China
2. Henan Key Laboratory of Smart Lighting, Zhumadian 463000, China
3. Henan Joint International Research Laboratory of Behavior Optimization Control for Smart Robots, Zhumadian 463000, China
4. Department of Information and Electronic Engineering, Shangqiu Institute of Technology, Shangqiu 476000, China