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Articles 61 - 90 of 94
Full-Text Articles in Computer Engineering
Multi-Robot Path Planning Based On Cbs Algorithm, Qiao Qiao, Yan Wang, Zhicheng Ji
Multi-Robot Path Planning Based On Cbs Algorithm, Qiao Qiao, Yan Wang, Zhicheng Ji
Journal of System Simulation
Abstract: Aiming at the long multi-robot planning path and long one-way search running time of conflict-based search(CBS) in the multi-agent path finding(MAPF), an improved CBS algorithm is proposed, which in a two-way A* focus search is used to optimize the search direction and search method. The suboptimal factorωis introduced into the underlying search function of the CBS algorithm to improve the efficiency of path search. The one-way search in the conflict search algorithm is optimized to a two-way A* search. The experimental results show that the path cost of the improved CBS algorithm is shortened …
Particle Swarm Algorithm For Solving Emergency Material Dispatch Considering Urgency, Li Zhang, Huizhen Zhang, Dong Liu, Yuxin Lu
Particle Swarm Algorithm For Solving Emergency Material Dispatch Considering Urgency, Li Zhang, Huizhen Zhang, Dong Liu, Yuxin Lu
Journal of System Simulation
Abstract: In the early stage of major public health events, medical supplies are rapidly consumed and severely insufficient. In order to distribute medical supplies in a reasonable and efficient manner, research on the distribution of emergency medical materials is carried out. The entropy method is introduced to determine the urgency of demand points, thus could give priority to the demand points with high urgency and make the distribution routing as short as possible on that basis to realize the construction of a split delivery and multi-objective emergency medical materials scheduling model based on different urgency of demand points. Meanwhile the …
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 …
Research On 3d Path Planning Algorithm Based On Fast Rrt Algorithm, Zhaoqiang Li, Shiyu Zhang
Research On 3d Path Planning Algorithm Based On Fast Rrt Algorithm, Zhaoqiang Li, Shiyu Zhang
Journal of System Simulation
Abstract: RRT (rapidly exploring random tree) algorithm is a sampling-based path planning algorithm, which can search a path in high-dimensional environment. The traditional RRT algorithm has the problems of low node utilization and large amount of calculation. To solve these problems, the fast RRT* (Quick RRT*) algorithm is improved by optimizing the strategy of reselection of parent node and pruning range, improving the sampling method and introducing adaptive step size, which makes the algorithm time-consuming and path length shorter. At the same time, the node connection screening strategy is added to eliminate the excessive turning angle in the path. …
Dqn-Based Path Planning Method And Simulation For Submarine And Warship In Naval Battlefield, Xiaodong Huang, Haitao Yuan, Bi Jing, Liu Tao
Dqn-Based Path Planning Method And Simulation For Submarine And Warship In Naval Battlefield, Xiaodong Huang, Haitao Yuan, Bi Jing, Liu Tao
Journal of System Simulation
Abstract: To realize multi-agent intelligent planning and target tracking in complex naval battlefield environment, the work focuses on agents (submarine or warship), and proposes a simulation method based on reinforcement learning algorithm called Deep Q Network (DQN). Two neural networks with the same structure and different parameters are designed to update real and predicted Q values for the convergence of value functions. An ε-greedy algorithm is proposed to design an action selection mechanism, and a reward function is designed for the naval battlefield environment to increase the update velocity and generalization ability of Learning with Experience Replay (LER). Simulation results …
Obstacle Avoidance Path Planning Of Bridge Crane Based On Improved Rrt Algorithm, Zhimei Chen, Li Min, Xuejuan Shao, Zhicheng Zhao
Obstacle Avoidance Path Planning Of Bridge Crane Based On Improved Rrt Algorithm, Zhimei Chen, Li Min, Xuejuan Shao, Zhicheng Zhao
Journal of System Simulation
Abstract: In view of the problem that the reasonable path can not be obtained quickly for bridge crane planning in complex environment, a rapidly exploring random tree (RRT) algorithm combined with particle swarm algorithm is proposed. According to the characteristics of the bridge crane operation, the RRT algorithm is improved. The two-way RRT algorithm is used to make the tree grow in the direction of the target according to the probability. When the path is generated, the particle swarm optimization algorithm is used to smooth the path to get a more suitable path for the operation of the bridge crane. …
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 …
Obround Trees: Sparsity Enhanced Feedback Motion Planning Of Differential Driverobotic Systems, Mustafa Mert Ankarali
Obround Trees: Sparsity Enhanced Feedback Motion Planning Of Differential Driverobotic Systems, Mustafa Mert Ankarali
Turkish Journal of Electrical Engineering and Computer Sciences
Robot motion planning & control is one of the most critical and prevalent problems in the robotics community. Even though original motion planning algorithms had relied on "open-loop" strategies and policies, researchers and engineers have been focusing on feedback motion planning and control algorithms due to the uncertainties, such as process and sensor noise of autonomous robotic applications. Recently, several studies proposed some robust feedback motion planning strategies based on sparsely connected safe zones. In this class of planning and control policies, local control policy inside a single zone computes and feeds the control actions that can drive the robot …
Path Planning And Obstacle Avoidance Of Uav For Cage Culture Inspection, Yi-En Cai, Jih-Gau Juang
Path Planning And Obstacle Avoidance Of Uav For Cage Culture Inspection, Yi-En Cai, Jih-Gau Juang
Journal of Marine Science and Technology–Taiwan
This paper presents path planning and obstacle avoidance of an unmanned aerial vehicle (UAV) for cage culture inspection. The proposed system can automatically inspect cage farming environment that can cut manpower and reduce cost. The problem is similar to travelling salesman problem (TSP). Genetic algorithms are useful techniques for TSP and can also be used for cage culture inspection. In addition to path planning, an improved particle swarm optimization (IPSO) is applied to avoid obstacle between different cages. The IPSO is applicable to both stationary and dynamic environments with one or more obstacles. Simulation results show the effectiveness of the …
3d Real-Time Visualization And Simulation Platform For Collaborative Path Planning Of Ua, Chen Gong, Xu Lei, Zhiyong Su
3d Real-Time Visualization And Simulation Platform For Collaborative Path Planning Of Ua, Chen Gong, Xu Lei, Zhiyong Su
Journal of System Simulation
Abstract: There are still some issues existing in current path planning of UAV, such as planning result simulation verification and 3D visualization. To solve the problems, a 3D real-time visualization and simulation platform for collaborative path planning of UAV was proposed. The target area was divided and calculated. The reconnaissance beam of UAV was modeled with virtual camera, the intersection points obtained quickly based on graphics hardware. The terrain mesh was calculated by scan-line polygon filling algorithm, reconnaissance information was recorded and analyzed, and the color temperature maps were given. Through the actual operation by the simulation platform, simulation …
Cooperative Task Assignment Simulation Of Multi-Uavs In Dynamic Environments, Tizhou Qiao, Xinping Guo, Yawei Li, Wenjun Zhang, Zhongyi Yin
Cooperative Task Assignment Simulation Of Multi-Uavs In Dynamic Environments, Tizhou Qiao, Xinping Guo, Yawei Li, Wenjun Zhang, Zhongyi Yin
Journal of System Simulation
Abstract: In order to address the problem of cooperative task assignment for multiple UAVs, a parallel simulation framework was proposed for cooperative task planning based on HLA/RTI simulation through UAV aerodynamic simulations and flight control simulation, which could be more real and effective algorithm validation. The paths were optimized to account for randomization and threats in the environment by modeling the probability of UAV loss. By coupling the failure probabilities of each UAV to the missions of the other UAVs, reality of cooperation was improved significantly. In order to achieve the desired objectives, the stochastic simulation models were used to …
Fast Generating Algorithm Of Interest Roaming Path Based On Freehand Sketch, Dongjin Huang, Pengbin Tang, Youdong Ding
Fast Generating Algorithm Of Interest Roaming Path Based On Freehand Sketch, Dongjin Huang, Pengbin Tang, Youdong Ding
Journal of System Simulation
Abstract: Considering properties of touch interaction of intelligent terminals, a fast generating algorithm of interest roaming path based on freehand sketch was proposed and applied in the 3D mobile interactive system of virtual display. The self-adapting reduce method was adopted to optimize the feature points of sketch curve for addressing too much feature points in local. The piecewise curve fitting method was used to quickly generate smooth obstacle avoidance path for handling the case of sketch line over the obstacle, and the final roaming path was adjusted to approximate the freehand sketch as much as possible by error control. Experimental …
Design And Application Of Underwater Unmanned Vehicle Simulation System For Navigation And Obstacle Avoidance, Zheng Wei, Qiming Zou, Wenxi Ni
Design And Application Of Underwater Unmanned Vehicle Simulation System For Navigation And Obstacle Avoidance, Zheng Wei, Qiming Zou, Wenxi Ni
Journal of System Simulation
Abstract: Accurate navigation and location, effective detection and realtime obstacle avoidance are the bases of Underwater Unmanned Vehicle (UUV) for long voyage mission accomplishment. To achieve intellectual demonstration and validation functions of UUV, which was studied on the base of integrated navigation model and dynamic obstacle-avoidance strategy on detection, the systems analysis aimed to simulated object characteristics was accomplished. Besides, models-component encapsulation method together with concurrent multi-thread simulation skeleton on discrete events was derived, followed by designed UUV navigation and obstacle-avoidance simulation system, compartmentalized function modules and marked-out simulation flow. The simulation application of UUV was achieved to …
Multi-Robots Global Path Planning Based On Pso Algorithm And Cubic Spline, Qiang Ning, Gao Jie, Fengju Kang
Multi-Robots Global Path Planning Based On Pso Algorithm And Cubic Spline, Qiang Ning, Gao Jie, Fengju Kang
Journal of System Simulation
Abstract: There are shortcomings such as premature convergence, high encoding dimension and unsmooth path for particle swarm optimization (PSO) algorithm to solve the robot path planning problem under free space. The particle coding is coordinates of several path nodes in the environment. The number of spline curves and the maximum turnings of path were determined by the number of path nodes. The cubic spline function was used to interpolate on the path of the starting point, path nodes and target point, thus a full path which was formed by connecting all interpolation points was obtained. Simulation results show that …
Cruise Missile Path Planning Based On Aco Algorithm And Bezier Curve Optimization, Shi Yan, Lihua Zhang, Shouquan Dong, Jue Wang
Cruise Missile Path Planning Based On Aco Algorithm And Bezier Curve Optimization, Shi Yan, Lihua Zhang, Shouquan Dong, Jue Wang
Journal of System Simulation
Abstract: For the low-altitude penetration of cruise missile, there is a large number of steering points and a larger steering angle in missile path planning based on ant colony algorithm. In order to solve this problem, a three-dimensional path planning method based on ant colony algorithm and Bezier curve optimization is proposed. The planning path node generated by ant colony algorithm was used as the control point to generate the flight path of Bezier curve, and then the curve was changed to be broken lines path. In order to avoid the unnavigable section, using the breadth first search algorithm to …
Connectivity Considerations For Mission Planning Of A Search And Rescue Drone Team, Evşen Yanmaz Adam
Connectivity Considerations For Mission Planning Of A Search And Rescue Drone Team, Evşen Yanmaz Adam
Turkish Journal of Electrical Engineering and Computer Sciences
In this paper, we analyze the mission success performance and mission times of centralized, distributed, and hybrid path-planning methods for a drone team whose mission is to find a target and inform the ground control. We propose two methods that integrate connectivity into the search mission path decisions. We observe that even though the coverage path-planning leads to lower search times, when target connectivity is also required, schemes that incorporate end--end connectivity into path planning result in at least 50 % better mission times for small communication ranges and lower number of drones. Our results also indicate that methods to …
Improving Coverage Method Of Autonomous Drones For Environmental Monitoring, Ömür Yildirim, Revna Acar Vural, Klaus Diepold
Improving Coverage Method Of Autonomous Drones For Environmental Monitoring, Ömür Yildirim, Revna Acar Vural, Klaus Diepold
Turkish Journal of Electrical Engineering and Computer Sciences
With the rapid developments of unmanned aerial vehicles (UAVs), usage of UAVs is increasing to bring autonomy for complicated processes such as environmental monitoring. Because of the complexity of the problem, environmental monitoring tasks are highly demanding in terms of time and resources. To reduce expensive costs of operations, improvements on autonomous observation capabilities has a key role. In this work, we offer coverage improvements for our autonomous environmental monitoring system. We compared different path planning approaches to find out the optimum path planning solution. Simulation results showed that required task execution time and required resources are decreased by usage …
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 …
Path Planning And Energy Flow Control Of Wireless Power Transfer For Sensor Nodes In Wireless Sensor Networks, Chenyang Xia, Yang Zhang, Yuling Liu, Kezhang Lin, Jun Chen
Path Planning And Energy Flow Control Of Wireless Power Transfer For Sensor Nodes In Wireless Sensor Networks, Chenyang Xia, Yang Zhang, Yuling Liu, Kezhang Lin, Jun Chen
Turkish Journal of Electrical Engineering and Computer Sciences
In wireless sensor networks (WSNs), limited-capacity batteries are generally used for powering sensor nodes, where unbalanced electricity is the primary cause of premature death of WSNs. In this paper, wireless power transfer networks are used to power batteries in WSNs to avoid the problem of limited lifetime of traditional limited-capacity batteries. Furthermore, path planning based on the Dijkstra algorithm, which aims at minimizing the overall energy consumption in the network to improve system efficiency, is discussed in detail. Finally, three power transfer models with low contention level (LCL) topology for energy flow control are experimentally validated from the optimal path.
Abstraction Hierarchies For Multi-Agent Pathfinding, Aaron R. Kraft
Abstraction Hierarchies For Multi-Agent Pathfinding, Aaron R. Kraft
Electronic Theses and Dissertations
Multi-Agent Pathfinding is an NP-Complete search problem with a branching factor that is exponential in the number of agents. Because of this exponential feature, it can be difficult to solve optimally using traditional search techniques, even for relatively small problems. Many recent optimal solvers have attempted to reduce the complexity of the problem by resolving the conflicts between agent paths separately. Very little of this research has focused on creating quality heuristics to help solve the problem. In this thesis, we create heuristics using sub-problems created by removing agents from a complete problem instance. We combine this with the Independence …
Design And Implementation Of A Genetic Algorithm Ip Core On An Fpga For Path Planning Of Mobile Robots, Adem Tuncer, Mehmet Yildirim
Design And Implementation Of A Genetic Algorithm Ip Core On An Fpga For Path Planning Of Mobile Robots, Adem Tuncer, Mehmet Yildirim
Turkish Journal of Electrical Engineering and Computer Sciences
This paper presents a hardware realization of a genetic algorithm (GA) for the path planning problem of mobile robots on a field programmable gate array (FPGA). A customized GA intellectual property (IP) core was designed and implemented on an FPGA. A Xilinx xupv5-lx110t FPGA device was used as the hardware platform. The proposed GA IP core was applied to a Pioneer 3-DX mobile robot to confirm its path planning performance. For localization tasks, a camera mounted on the ceiling of the laboratory was utilized to receive images and allow the robot to determine its own location and the obstacles in …
Formal Specification And Refinement Of The Navigation Tasks Of Autonomous Robots, Eman Rabiah
Formal Specification And Refinement Of The Navigation Tasks Of Autonomous Robots, Eman Rabiah
Theses
Autonomous robots are hybrid systems whose role in our daily life is becoming increasingly critical. They are tasked with various activities requiring reliability, safety, and correctness of their software-controlled behavior. Formal methods have been proved effective in addressing development issues associated with these software qualities. However, even though autonomous robot navigation is a primordial function, there is no research dealing with enhancing reliability of the navigation algorithms. Thus, our focus is to investigate this type of algorithms, and specifically path planning, a fundamental and critical functionality supporting autonomy. We formally address the issue of enhancing reliability of the widely-used A* …
A Comparative Study Of Underwater Robot Path Planning Algorithms For Adaptive Sampling In A Network Of Sensors, Sreeja Banerjee
A Comparative Study Of Underwater Robot Path Planning Algorithms For Adaptive Sampling In A Network Of Sensors, Sreeja Banerjee
School of Computing: Dissertations, Theses, and Student Research
Monitoring lakes, rivers, and oceans is critical to improving our understanding of complex large-scale ecosystems. We introduce a method of underwater monitoring using semi-mobile underwater sensor networks and mobile underwater robots in this thesis. The underwater robots can move freely in all dimension while the sensor nodes are anchored to the bottom of the water column and can move only up and down along the depth of the water column. We develop three different algorithms to optimize the path of the underwater robot and the positions of the sensors to improve the overall quality of sensing of an area of …