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Articles 1 - 8 of 8
Full-Text Articles in Physical Sciences and Mathematics
Path Planning For Mobile Sink Based On Enhanced Ant Colony Optimization Algorithm In Wireless Sensor Networks, Shanshan Ji
Path Planning For Mobile Sink Based On Enhanced Ant Colony Optimization Algorithm In Wireless Sensor Networks, Shanshan Ji
Journal of System Simulation
Abstract: To reduce the energy consumption and sink mobile distance of mobile sink wireless sensor networks simultaneously, a path planning algorithm for mobile sink based on enhanced ant colony optimization algorithm in wireless sensor networks is proposed. Genetic operators are introduced to ant colony optimization algorithm in order to prevent ant colony optimization premature. The non-uniform of data distribution is considered as the constraint condition, the network lifetime and sink mobile distance are considered as a multi-objective problem, and the enhanced ant colony optimization is adopted to search the Pareto sub-optimal sets of rendezvous points. The simulation results show that …
Virtual Scene Roaming Method Supporting Multi-Layer Path Planning, Shi Min, Yukun Wei, Xiangchen Jin, Suqin Wang, Tianlu Mao
Virtual Scene Roaming Method Supporting Multi-Layer Path Planning, Shi Min, Yukun Wei, Xiangchen Jin, Suqin Wang, Tianlu Mao
Journal of System Simulation
Abstract: Taking the automatic role pathfinding in three-dimensional virtual scene as the research background, the author proposes a method of multi-layer pathfinding based on A-star algorithm, and uses advanced heuristic functions to evaluate the cost values of various expansion nodes to confirm the optimal solution to the problems. By introducing collision detection mechanism, the navigation path generated by the improved A* algorithm is modified to avoid collision; and by interpolating the fixed path, the smooth navigation path is constructed using Bézier Curve. The experimental results show that the path finding results can well adapt to the multi-layer case when the …
Ti-A* Based Multi-Robot Dynamic Planning And Coordination Method, Zhao Ping, Xinyu Lei, Bozhi Chen, Jiaoyun Yang
Ti-A* Based Multi-Robot Dynamic Planning And Coordination Method, Zhao Ping, Xinyu Lei, Bozhi Chen, Jiaoyun Yang
Journal of System Simulation
Abstract: Multiple robots path planning problem in dynamic environment is one of the significant and basic problems of cluster robot perception and coordination. The planning problem is decomposed into two modules: the path planning and the conflict coordination. By introducing time-cost function, the Time Integrated A* algorithm (TI-A*) is introduced. Variable speed is employed simultaneously to coordinate the motion and hereby to avoid the deadlock and conflict. By adjusting the timing when the coordination phase is involved, two different coordination TI-A* algorithms are presented, including the speed-changing algorithm and path-changing algorithm. The two algorithms are compared and the respective …
Dp-Q(Λ): Real-Time Path Planning For Multi-Agent In Large-Scale Web3d Scene, Fengting Yan, Jinyuan Jia
Dp-Q(Λ): Real-Time Path Planning For Multi-Agent In Large-Scale Web3d Scene, Fengting Yan, Jinyuan Jia
Journal of System Simulation
Abstract: The path planning of multi-agent in an unknown large-scale scene needs an efficient and stable algorithm, and needs to solve multi-agent collision avoidance problem, and then completes a real-time path planning in Web3D. To solve above problems, the DP-Q(λ) algorithm is proposed; and the direction constraints, high reward or punishment weight training methods are used to adjust the values of reward or punishment by using a probability p (0-1 random number). The value from reward or punishment determines its next step path planning strategy. If the next position is free, the agent could walk to it. The above strategy …
Modeling On Information Exchange Behavior In Emergency Evacuation, Tianlu Mao, Xiangjun He, Yingfan Huang, Jiang Hao
Modeling On Information Exchange Behavior In Emergency Evacuation, Tianlu Mao, Xiangjun He, Yingfan Huang, Jiang Hao
Journal of System Simulation
Abstract: A method for modeling the information exchange behavior in an emergent crowd evacuation is proposed in this paper. It describes several aspects of information exchange in dynamic environments, includes contents, characteristics and ways of exchange. The influence model of know information on evacuation decision is built by cost evaluation and path planning. Combined with the existing crowd locomotion model, our method could model and simulate crowd evacuation in emergent situation. Realistic results with dynamic information exchanges and dynamic behavioral decision of crowds are given. The simulation results have a high coincidence degree with the real person experiments.
Trajectory Planning And Interactive Simulation Software Design For Flight Vehicle With Specified Terminal Time, Mingwei Sun, Shunjian Ma, Zengqiang Chen, Chaofang Hu
Trajectory Planning And Interactive Simulation Software Design For Flight Vehicle With Specified Terminal Time, Mingwei Sun, Shunjian Ma, Zengqiang Chen, Chaofang Hu
Journal of System Simulation
Abstract: Specified terminal time is a special requirement in some path planning problems. It is difficult to solve in real time with specified time, angle and multiple no-fly zones considered. A practical path model is utilized, and a nonlinear optimization problem with respect to waypoints is reformulated. The requirements on time, angle and obstacle avoidance for original path planning problem are converted into constraints of the proposed optimization after geometrical relationships are identified. The optimization problem is established and met the form of sequential quadratic programming problem which is solved by SNOPT (Sparse Nonlinear OPTimizer) package. A computer-aid interactive simulation …
Tracking Control Method Of Autonomous Dynamic Collision Avoidance For Unmanned Surface Vehicle, Yunsheng Fan, Xiaojie Sun, Guofeng Wang, Guo Chen
Tracking Control Method Of Autonomous Dynamic Collision Avoidance For Unmanned Surface Vehicle, Yunsheng Fan, Xiaojie Sun, Guofeng Wang, Guo Chen
Journal of System Simulation
Abstract: To solve the dynamic tracking control of autonomous avoidance problem of the ＂Lanxin＂ Unmanned Surface Vehicle (USV) in the unknown ocean environment, by combining the unknown dynamic collision avoidance path planning and tracking control, a dynamic tracking control of autonomous avoidance method in the unknown ocean environment is presented. In this method, in consideration of the unknown ocean environment and real time dynamic obstacle avoidance, using a dynamic obstacle avoidance algorithm based on the velocity decomposition, a dynamic autonomous avoidance controller based on USV experimental platform is designed. Simulation results show that the method is effective and accurate, …
A New Method On Trajectory Planning For Mobile Robots Using Bezier Curves, Sun Lei, Lishuang Zhang, Zhou Lu, Xuebo Zhang
A New Method On Trajectory Planning For Mobile Robots Using Bezier Curves, Sun Lei, Lishuang Zhang, Zhou Lu, Xuebo Zhang
Journal of System Simulation
Abstract: In view ofthe trajectory planning for the mobile robots, an efficient method based on Bezier curves is proposed, which produces better solution with shorter path and faster trajectory, compared with the existing methods. The problem of trajectory planning is divided into path planning and velocity planning. A Bezier curve is used to connect each two line-segments to obtain shorter paths. It is proved that the order of the used Bezier curves is at least five to ensure the curvature continuity of the whole path. Taking a differential-driven wheeled mobile as an example, to follow the planned path steadily and …