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Full-Text Articles in Engineering
A Multi-Uav Collaborative Priority Coverage Search Algorithm, Xiang Yu, Qianrui Deng, Sirui Duan, Chen Jiang
A Multi-Uav Collaborative Priority Coverage Search Algorithm, Xiang Yu, Qianrui Deng, Sirui Duan, Chen Jiang
Journal of System Simulation
Abstract: For the challenges such as large disaster area, uneven distribution of key areas and limited rescue time in emergency rescue, a multi-UAV collaborative priority coverage search algorithm is proposed. The search area is rasterized, and each grid is probabilistically labeled according to the disaster prediction information. The search area is divided into sub-regions of similar size and equal number of UAVs by K-means++ algorithm, and the search starting point of each sub-region is determined based on the clustering center, so that the multiple UAVs can carry out the partition cooperative search of the whole area. The score of each …
Path Planning For Improvement Of A* Algorithm And Artificial Potential Field Method, Xiang Yu, Chen Jiang, Sirui Duan, Qianrui Deng
Path Planning For Improvement Of A* Algorithm And Artificial Potential Field Method, Xiang Yu, Chen Jiang, Sirui Duan, Qianrui Deng
Journal of System Simulation
Abstract: A* algorithm has the problem of too many polyline paths and search nodes, while the artificial potential field (APF) method has the problems of local optimality and unattainability. These problems are investigated in this paper. A new hybrid heuristic function is proposed based on the Euclidean distance and projection distance, based on which the A* algorithm process is improved accordingly. The search nodes of the A* algorithm are reduced, and the search efficiency is improved. The optimal node generated by the new A* algorithm is used as the local target point of the APF algorithm to assist in getting …
Reconnaissance Mission Planning Method For Air-Ground Heterogeneous Unmanned Systems, Guohui Zhang, Ya'nan Zhang, Ang Gao, Aoyu Xu
Reconnaissance Mission Planning Method For Air-Ground Heterogeneous Unmanned Systems, Guohui Zhang, Ya'nan Zhang, Ang Gao, Aoyu Xu
Journal of System Simulation
Abstract: Compared with the air-based homogeneous unmanned system, the motion capabilities, resource payloads, and combat scenes in the air-ground heterogeneous unmanned system increase the number of constraint conditions and significantly increase the computational complexity of the solution model. The modeling of collaborative combat missions and the efficient solution of large-scale problems are the key issues. With the time, path cost, and reconnaissance benefit as the objective functions, considering the constraints such as the endurance of unmanned platforms, a multi-objective programming model for the reconnaissance missions of an air-ground heterogeneous unmanned system is constructed. Aiming at the urban combat environments with …
Virtual Navigation Path Planning Based On Octree Potential Field For Endonasal Endoscope, Wenjing Li, Yanlin Luo, Yuhui Wang, Li Zhu
Virtual Navigation Path Planning Based On Octree Potential Field For Endonasal Endoscope, Wenjing Li, Yanlin Luo, Yuhui Wang, Li Zhu
Journal of System Simulation
Abstract: Virtual navigation can intuitively display the internal structure of human tissue from multiple viewpoints. The navigation path planning algorithm is the key to achieving excellent navigation effects. The traditional centerline extraction algorithm can ensure a wide field of view during navigation, but the time efficiency is not high enough on the complex nasal-skull base volume model. To solve the problem, a rapid navigation path planning algorithm based on the octree potential field is proposed. The space outside the obstacles is modeled by an octree, and the octree potential field is constructed by calculating the potential of all the octree …
Multi-Stage Multi-Agv Path Planning With Walk Under Shelves For Robotic Mobile Fulfillment Systems, Teng Li, Peipei Ding, Jinfang Liu
Multi-Stage Multi-Agv Path Planning With Walk Under Shelves For Robotic Mobile Fulfillment Systems, Teng Li, Peipei Ding, Jinfang Liu
Journal of System Simulation
Abstract: Aiming at the problem of increasing travel time due to turning and obstacle avoidance in robotic mobile fulfillment systems(RMFS) with large-scale multi-AGV path planning, a path planning model with the shortest task completion time is established. A path planning model considering no-load AGV that can pass through the shelf is proposed, and the model is solved by an improving A* algorithm. The AGV operation stage is divided, an turning penalty value is introduced into the A* algorithm to reduce the turning times, and the obstacle avoidance priority with the obstacle avoidance waiting time is set. The simulation results show …
Simulation Of Multi-Layer Ship Evacuation System Based On Improved A* Algorithm, Dun Meng, Zhuo Hu, Huajun Zhang
Simulation Of Multi-Layer Ship Evacuation System Based On Improved A* Algorithm, Dun Meng, Zhuo Hu, Huajun Zhang
Journal of System Simulation
Abstract: Aiming at the low efficiency of emergency evacuation at sea, an emergency evacuation system based on improved A* algorithm is proposed. Based on the network flow model, the traversal mode of the adjacency node is used to complete the path search, and the influence of the path personnel density and path obstacles is added to the calculation of the cost, which makes the algorithm more practical. In order to improve the efficiency of the algorithm, the node optimization of the network is carried out, and a multi-path optimal scheme is proposed in the case of single layer with multiple …
Path Designing Of Multi-Omnidirectional Wheel Collaborative Sorting Platform, Li Qi, Wang Wei
Path Designing Of Multi-Omnidirectional Wheel Collaborative Sorting Platform, Li Qi, Wang Wei
Journal of System Simulation
Abstract: Aiming at the problems of low efficiency, high labor cost and low flexibility of traditional logistics sorting system, an automatic logistics sorting system is designed. The improved A* algorithm and the artificial potential field method are used to realize the automatic path planning of the system by taking the transportation path as the research object. The A* algorithm is improved by adjusting the weights of actual cost and estimated cost, and the artificial potential field method is improved by adding virtual sub-target points and adjusting adaptive parameters, so as to complete the function of path planning of goods. Simulation …
Multi-Agent Path Planning Maco Algorithm In Web3d Mountain Scene, Fengting Yan, Jinyuan Jia
Multi-Agent Path Planning Maco Algorithm In Web3d Mountain Scene, Fengting Yan, Jinyuan Jia
Journal of System Simulation
Abstract: There is amount of data in a mountain scene, and the path planning algorithm in it is very complex, so it is not impossible to be shown detailed in Web. Usually the common potential path planning using contours can not find an optimal path because the path is easily cut under the cliff. To solve the above problems, a mACO (mountain ACO) path planning algorithm was addressed for the Web3D application, a planar grid ACO path planning algorithm and a A* path planning were completed in Web3D environment. Then a typical battle scene case was used for the …
An Evacuation Simulation Method Based On Disaster Avoidance Psychology And Disaster Impact, Zhang Han, Liping Zheng, Huang Kang, Haibo Lin
An Evacuation Simulation Method Based On Disaster Avoidance Psychology And Disaster Impact, Zhang Han, Liping Zheng, Huang Kang, Haibo Lin
Journal of System Simulation
Abstract: Evacuating people safely and efficiently during disasters is the important guarantee to public safety, and the effective and feasible evacuation simulation method is theoretically and practically significant. The main methods seldom consider the dynamic evolution of disasters, so a dynamic Evacuation Route Replanning Based on Psychology (DERR) method is proposed. DERR method focuses on the psychological parameters of disaster avoidance of people. According to the change of disasters area, DERR can perform the real time evacuation process by using A* routing algorithm to re-plan and optimize the evacuation path. The simulation experiment shows the evacuation process of this method. …
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 …