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Path planning

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Articles 61 - 89 of 89

Full-Text Articles in Artificial Intelligence and Robotics

Research On Cooperative Path Planning Model Of Multiple Unmanned Vehicles In Real Environment, Guohui Zhang, Xuan Wang, Yanan Zhang, Ang Gao Feb 2023

Research On Cooperative Path Planning Model Of Multiple Unmanned Vehicles In Real Environment, Guohui Zhang, Xuan Wang, Yanan Zhang, Ang Gao

Journal of System Simulation

Abstract: The cluster combat application of unmanned ground vehicles(UVS) is a hot research issue of the intersection of artificial intelligence and battle command. Aiming at the cooperative path planning multiple unmanned vehicles not meeting the dynamic threat condition requirement, by combining the global path planning algorithm A-STAR with the local path planning algorithm RL, from the perspective of perception to behavioral decision making, the cooperative path planning model of multiple unmanned vehicles is studied. The cooperative combat situation threat algorithm, state and action space, reward function and sphere of influence function are designed, the sub-models of formation configuration strategy generation …

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Terrain Cost Learning From Human Preferences For Robot Path Planning Using A Visual User Interface, Kaivalya Velagapudi Jan 2023

Terrain Cost Learning From Human Preferences For Robot Path Planning Using A Visual User Interface, Kaivalya Velagapudi

Electronic Theses and Dissertations

Robot navigation in terrains with limited exploration and limited knowledge has been a problem of interest in robotics due to the potential dangers that may arise during traversal. Due to the large number of path permutations within a complex and feature-rich real-world environment, and in the interest of saving time and ensuring safety, the robot should learn the optimal path without repeated exploration of the terrain. This can be accomplished by leveraging the path preferences of a human operator so that, with selective inputs, the agent can effectively learn a terrain-cost mapping in order to determine the optimal route, thereby …

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Exploiting The Advantages And Overcoming The Challenges Of The Cable In A Tethered Drone System, Rogerio Rodrigues Lima Jan 2023

Exploiting The Advantages And Overcoming The Challenges Of The Cable In A Tethered Drone System, Rogerio Rodrigues Lima

Graduate Theses, Dissertations, and Problem Reports (ETD)

This dissertation proposes solutions for motion planning, localization, and landing of tethered drones using only tether variables. A tether-based multi-model localization framework for tethered drones is proposed. This framework comprises three independent localization strategies based on a different model. The first strategy uses simple trigonometric relations assuming that the tether is taut; the second method relies on a set of catenary equations for the slack tether case; the third estimator is a neural network-based predictor that can cover different tether shapes. Multi-layer perceptron networks previously trained with a dataset comprised of the tether variables (i.e., length, tether angles on the …

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Multi-Robot Path Planning Based On Cbs Algorithm, Qiao Qiao, Yan Wang, Zhicheng Ji Dec 2022

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 …

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Particle Swarm Algorithm For Solving Emergency Material Dispatch Considering Urgency, Li Zhang, Huizhen Zhang, Dong Liu, Yuxin Lu Sep 2022

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 …

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Simulation Of Multi-Layer Ship Evacuation System Based On Improved A* Algorithm, Dun Meng, Zhuo Hu, Huajun Zhang Jun 2022

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 …

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Research On 3d Path Planning Algorithm Based On Fast Rrt Algorithm, Zhaoqiang Li, Shiyu Zhang Mar 2022

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. …

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Dqn-Based Path Planning Method And Simulation For Submarine And Warship In Naval Battlefield, Xiaodong Huang, Haitao Yuan, Bi Jing, Liu Tao Oct 2021

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 …

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Obstacle Avoidance Path Planning Of Bridge Crane Based On Improved Rrt Algorithm, Zhimei Chen, Li Min, Xuejuan Shao, Zhicheng Zhao Aug 2021

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. …

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Path Designing Of Multi-Omnidirectional Wheel Collaborative Sorting Platform, Li Qi, Wang Wei Mar 2021

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 …

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Asymptotically-Optimal Topological Nearest-Neighbor Filtering, Read Sandström, Jory Denny, Nancy M. Amato Oct 2020

Asymptotically-Optimal Topological Nearest-Neighbor Filtering, Read Sandström, Jory Denny, Nancy M. Amato

Department of Math & Statistics Faculty Publications

Nearest-neighbor finding is a major bottleneck for sampling-based motion planning algorithms. The cost of finding nearest neighbors grows with the size of the roadmap, leading to a significant computational bottleneck for problems which require many configurations to find a solution. In this work, we develop a method of mapping configurations of a jointed robot to neighborhoods in the workspace that supports fast search for configurations in nearby neighborhoods. This expedites nearest-neighbor search by locating a small set of the most likely candidates for connecting to the query with a local plan. We show that this filtering technique can preserve asymptotically-optimal …

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Topology-Guided Roadmap Construction With Dynamic Region Sampling, Read Sandström, Diane Uwacu, Jory Denny, Nancy M. Amato Oct 2020

Topology-Guided Roadmap Construction With Dynamic Region Sampling, Read Sandström, Diane Uwacu, Jory Denny, Nancy M. Amato

Department of Math & Statistics Faculty Publications

Many types of planning problems require discovery of multiple pathways through the environment, such as multi-robot coordination or protein ligand binding. The Probabilistic Roadmap (PRM) algorithm is a powerful tool for this case, but often cannot efficiently connect the roadmap in the presence of narrow passages. In this letter, we present a guidance mechanism that encourages the rapid construction of well-connected roadmaps with PRM methods. We leverage a topological skeleton of the workspace to track the algorithm's progress in both covering and connecting distinct neighborhoods, and employ this information to focus computation on the uncovered and unconnected regions. We demonstrate …

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3d Real-Time Visualization And Simulation Platform For Collaborative Path Planning Of Ua, Chen Gong, Xu Lei, Zhiyong Su Aug 2020

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 …

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Cooperative Task Assignment Simulation Of Multi-Uavs In Dynamic Environments, Tizhou Qiao, Xinping Guo, Yawei Li, Wenjun Zhang, Zhongyi Yin Aug 2020

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 …

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Fast Generating Algorithm Of Interest Roaming Path Based On Freehand Sketch, Dongjin Huang, Pengbin Tang, Youdong Ding Jul 2020

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 …

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Design And Application Of Underwater Unmanned Vehicle Simulation System For Navigation And Obstacle Avoidance, Zheng Wei, Qiming Zou, Wenxi Ni Jul 2020

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 …

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Multi-Robots Global Path Planning Based On Pso Algorithm And Cubic Spline, Qiang Ning, Gao Jie, Fengju Kang Jun 2020

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 …

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Cruise Missile Path Planning Based On Aco Algorithm And Bezier Curve Optimization, Shi Yan, Lihua Zhang, Shouquan Dong, Jue Wang Jan 2020

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 …

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Path Planning For Mobile Sink Based On Enhanced Ant Colony Optimization Algorithm In Wireless Sensor Networks, Shanshan Ji Dec 2019

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 …

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Virtual Scene Roaming Method Supporting Multi-Layer Path Planning, Shi Min, Yukun Wei, Xiangchen Jin, Suqin Wang, Tianlu Mao Dec 2019

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 …

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Ti-A* Based Multi-Robot Dynamic Planning And Coordination Method, Zhao Ping, Xinyu Lei, Bozhi Chen, Jiaoyun Yang Nov 2019

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 …

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Dp-Q(Λ): Real-Time Path Planning For Multi-Agent In Large-Scale Web3d Scene, Fengting Yan, Jinyuan Jia Apr 2019

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 …

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Trajectory Planning And Interactive Simulation Software Design For Flight Vehicle With Specified Terminal Time, Mingwei Sun, Shunjian Ma, Zengqiang Chen, Chaofang Hu Jan 2019

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 …

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Modeling On Information Exchange Behavior In Emergency Evacuation, Tianlu Mao, Xiangjun He, Yingfan Huang, Jiang Hao Jan 2019

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.

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Tracking Control Method Of Autonomous Dynamic Collision Avoidance For Unmanned Surface Vehicle, Yunsheng Fan, Xiaojie Sun, Guofeng Wang, Guo Chen Jan 2019

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, …

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A New Method On Trajectory Planning For Mobile Robots Using Bezier Curves, Sun Lei, Lishuang Zhang, Zhou Lu, Xuebo Zhang Jan 2019

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 …

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A Comparative Study Of Underwater Robot Path Planning Algorithms For Adaptive Sampling In A Network Of Sensors, Sreeja Banerjee Aug 2014

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 …

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Online Path Planning And Control Solution For A Coordinated Attack Of Multiple Unmanned Aerial Vehicles In A Dynamic Environment, Juan Vega-Nevarez Jan 2012

Online Path Planning And Control Solution For A Coordinated Attack Of Multiple Unmanned Aerial Vehicles In A Dynamic Environment, Juan Vega-Nevarez

Electronic Theses and Dissertations

The role of the unmanned aerial vehicle (UAV) has significantly expanded in the military sector during the last decades mainly due to their cost effectiveness and their ability to eliminate the human life risk. Current UAV technology supports a variety of missions and extensive research and development is being performed to further expand its capabilities. One particular field of interest is the area of the low cost expendable UAV since its small price tag makes it an attractive solution for target suppression. A swarm of these low cost UAVs can be utilized as guided munitions or kamikaze UAVs to attack …

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Cognitive Robot Mapping With Polylines And An Absolute Space Representation, Kennard R. Laviers, Gilbert L. Peterson Apr 2004

Cognitive Robot Mapping With Polylines And An Absolute Space Representation, Kennard R. Laviers, Gilbert L. Peterson

Faculty Publications

Robot mapping even today is one of the most challenging problems in robot programming. Most successful methods use some form of occupancy grid to represent a mapped region. This approach becomes problematic if the robot is mapping a large environment, the map quickly becomes too large for processing and storage. Rather than storing the map as an occupancy grid, our robot (equipped with sonars) sees the world as a series of connected spaces. These spaces are initially mapped as an occupancy grid in a room by room fashion. As the robot leaves a space, denoted by passing through a doorway, …

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