Open Access. Powered by Scholars. Published by Universities.®

Artificial Intelligence and Robotics Commons™

Open Access. Powered by Scholars. Published by Universities.®

Discipline
Institution
Keyword
Publication Year
Publication
Publication Type
File Type

Articles 8341 - 8370 of 11355

Full-Text Articles in Artificial Intelligence and Robotics

Classification Of Labour Pain Using Electroencephalogram Signal Based On Wavelet Method, Chong Yeh Sai May 2020

Classification Of Labour Pain Using Electroencephalogram Signal Based On Wavelet Method, Chong Yeh Sai

Student Works (2020-2029)

Electroencephalogram (EEG) is the recording of electrical activity of the cerebral cortex through electrodes placed on the scalp. EEG is used to acquire neurophysiological signals for application in clinical diagnosis and brain computer interface (BCI). However, in practical settings the EEG signals are often contaminated by signal artifacts known as the biological and environmental artifacts. These artifacts degrade EEG signals, thereby obstructing clinical diagnosis or BCI applications by distorting the observed power spectrum. Procedures for automated removal of EEG artifacts are frequently sought after in pre-processing and filtering of the EEG signals. In recent years, a combination of independent component …

Go to article

Knot Flow Classification And Its Applications In Vehicular Ad-Hoc Networks (Vanet), David Schmidt May 2020

Knot Flow Classification And Its Applications In Vehicular Ad-Hoc Networks (Vanet), David Schmidt

Electronic Theses and Dissertations

Intrusion detection systems (IDSs) play a crucial role in the identification and mitigation for attacks on host systems. Of these systems, vehicular ad hoc networks (VANETs) are difficult to protect due to the dynamic nature of their clients and their necessity for constant interaction with their respective cyber-physical systems. Currently, there is a need for a VANET-specific IDS that meets this criterion. To this end, a spline-based intrusion detection system has been pioneered as a solution. By combining clustering with spline-based general linear model classification, this knot flow classification method (KFC) allows for robust intrusion detection to occur. Due its …

Go to article

A Machine Learning Method For Predicting Liver Transplant Survival Outcomes, Brandon C. Revels May 2020

A Machine Learning Method For Predicting Liver Transplant Survival Outcomes, Brandon C. Revels

Honors Theses

For years, doctors have utilized the Model for End-stage Liver Disease (MELD) score to aid in the allocation of organs for liver transplants (LT). A major issue with using the MELD score to allocate organs for transplantation is that the MELD score does not accurately predict post-transplant survival. This research project aims to investigate the use of machine learning (ML) methods to predict LT survival using the newer Scientific Registry of Transplant Recipients (SRTR) dataset. For this project, death and nonfatal graft failure were treated equally as both cases result in a loss of a donated organ. The ML algorithms …

Go to article

Predicting Disease Progression Using Deep Recurrent Neural Networks And Longitudinal Electronic Health Record Data, Seunghwan Kim May 2020

Predicting Disease Progression Using Deep Recurrent Neural Networks And Longitudinal Electronic Health Record Data, Seunghwan Kim

McKelvey School of Engineering Graduate Student Theses & Dissertations

Electronic Health Records (EHR) are widely adopted and used throughout healthcare systems and are able to collect and store longitudinal information data that can be used to describe patient phenotypes. From the underlying data structures used in the EHR, discrete data can be extracted and analyzed to improve patient care and outcomes via tasks such as risk stratification and prospective disease management. Temporality in EHR is innately present given the nature of these data, however, and traditional classification models are limited in this context by the cross- sectional nature of training and prediction processes. Finding temporal patterns in EHR is …

Go to article

Predicting Disease Progression Using Deep Recurrent Neural Networks And Longitudinal Electronic Health Record Data, Seunghwan Kim May 2020

Predicting Disease Progression Using Deep Recurrent Neural Networks And Longitudinal Electronic Health Record Data, Seunghwan Kim

McKelvey School of Engineering Graduate Student Theses & Dissertations

Electronic Health Records (EHR) are widely adopted and used throughout healthcare systems and are able to collect and store longitudinal information data that can be used to describe patient phenotypes. From the underlying data structures used in the EHR, discrete data can be extracted and analyzed to improve patient care and outcomes via tasks such as risk stratification and prospective disease management. Temporality in EHR is innately present given the nature of these data, however, and traditional classification models are limited in this context by the cross-sectional nature of training and prediction processes. Finding temporal patterns in EHR is especially …

Go to article

Hierarchical Multiagent Reinforcement Learning For Maritime Traffic Management, Arambam James Singh, Akshat Kumar, Hoong Chuin Lau May 2020

Hierarchical Multiagent Reinforcement Learning For Maritime Traffic Management, Arambam James Singh, Akshat Kumar, Hoong Chuin Lau

Research Collection School Of Computing and Information Systems

Increasing global maritime traffic coupled with rapid digitization and automation in shipping mandate developing next generation maritime traffic management systems to mitigate congestion, increase safety of navigation, and avoid collisions in busy and geographically constrained ports (such as Singapore's). To achieve these objectives, we model the maritime traffic as a large multiagent system with individual vessels as agents, and VTS (Vessel Traffic Service) authority as a regulatory agent. We develop a hierarchical reinforcement learning approach where vessels first select a high level action based on the underlying traffic flow, and then select the low level action that determines their future …

Go to article

Values Of Artificial Intelligence In Marketing, Yingrui Xi, Keng Siau May 2020

Values Of Artificial Intelligence In Marketing, Yingrui Xi, Keng Siau

Research Collection School Of Computing and Information Systems

Artificial Intelligence (AI) is causing radical changes in marketing and emerging as a competent assistant supporting all areas of the marketing field. The influences and impacts AI has created in various marketing segments have aroused much interest among marketing professionals and academic scholars. Comprehensive and systematic studies on the values of AI in marketing, however, are still lacking and the existing literature fragmented. This research provides a comprehensive review of the existing literature in the relevant fields as well as a series of systematic interviews using the Value-Focused Thinking approach to understand the values of AI in marketing. This research …

Go to article

Partial Discharge Classification For Xlpe Cable Joints Using K Nearest Neighbors Algorithm, Mohd Salleh Muhammad Shairazi May 2020

Partial Discharge Classification For Xlpe Cable Joints Using K Nearest Neighbors Algorithm, Mohd Salleh Muhammad Shairazi

Student Works (2020-2029)

Due to excellent mechanical and electrical properties, cross-linked polyethylene (XLPE) cables are commonly used in the power industry. However, cable joints are the weakest part of XLPE cables and are susceptible to insulation failures. Cable joint insulation breakup can cause large losses for power companies. It is therefore necessary to evaluate the consistency of the insulation for early detection of insulation failure. It is known that there is a link between the partial discharge (PD) and the quality of the insulation. PD analysis is an important tool for assessing the quality of insulation in cable joints. In this study, XLPE …

Go to article

Classification Of Dividend News Based On The Movement Of The Share Market Prices Of Public Listed Companies In Bursa Malaysia, Vijaya Kumar Shubana May 2020

Classification Of Dividend News Based On The Movement Of The Share Market Prices Of Public Listed Companies In Bursa Malaysia, Vijaya Kumar Shubana

Student Works (2020-2029)

Stock market is naturally complex and plays a major role in towards the nation’s growth. However, the performance of a company in stock market varies due to many influences but not limited to economics, political and financial related news. This study attempts to classify the share market dividend news announcement in Bursa Malaysia based on the pattern of share market price. Samples including five hundred (500) observations of dividend news from forty-seven (47) listed companies in Bursa Malaysia during the period of 2000 to 2018 are used in this study. There are three (3) main objectives in this study which …

Go to article

Learning Discriminative Neural Sentiment Units For Semi-Supervised Target-Level Sentiment Classification, Jingjing Zhao, Yao Yang, Guansong Pang, Lei Lv, Hong Shang, Zhongqian Sun, Wei Yang May 2020

Learning Discriminative Neural Sentiment Units For Semi-Supervised Target-Level Sentiment Classification, Jingjing Zhao, Yao Yang, Guansong Pang, Lei Lv, Hong Shang, Zhongqian Sun, Wei Yang

Research Collection School Of Computing and Information Systems

Target-level sentiment classification aims at assigning sentiment polarities to opinion targets in a sentence, for which it is significantly more challenging to obtain large-scale labeled data than sentence/document-level sentiment classification due to the intricate contexts and relations of the target words. To address this challenge, we propose a novel semi-supervised approach to learn sentiment-aware representations from easily accessible unlabeled data specifically for the finegrained sentiment learning. This is very different from current popular semi-supervised solutions that use the unlabeled data via pretraining to generate generic representations for various types of downstream tasks. Particularly, we show for the first time that …

Go to article

Non-Autoregressive Dialog State Tracking, Hung Le, Richard Socher, Steven C. H. Hoi May 2020

Non-Autoregressive Dialog State Tracking, Hung Le, Richard Socher, Steven C. H. Hoi

Research Collection School Of Computing and Information Systems

Recent efforts in Dialogue State Tracking (DST) for task-oriented dialogues have progressed toward open-vocabulary or generation-based approaches where the models can generate slot value candidates from the dialogue history itself. These approaches have shown good performance gain, especially in complicated dialogue domains with dynamic slot values. However, they fall short in two aspects: (1) they do not allow models to explicitly learn signals across domains and slots to detect potential dependencies among (domain, slot) pairs; and (2) existing models follow auto-regressive approaches which incur high time cost when the dialogue evolves over multiple domains and multiple turns. In this paper, …

Go to article

Short-Term Repositioning For Empty Vehicles On Ride-Sourcing Platforms, Hai Wang, Zhengli Wang May 2020

Short-Term Repositioning For Empty Vehicles On Ride-Sourcing Platforms, Hai Wang, Zhengli Wang

Research Collection School Of Computing and Information Systems

Motivation Ride sourcing companies, such as Uber, Lyft, and Didi, have been able to leverage on internet-based platforms to connect passengers and drivers. These platforms facilitate passengers and drivers’ mobility data on smartphones in real time, which enables a convenient matching between demand and supply. The imbalance of demand (i.e., passenger requests) and supply (i.e., drivers) on the platforms causes many unserved passenger requests and empty vehicles with idle drivers to exist at the same time, which poses a challenging problem for the platform. To address these challenges, some platforms display heat maps of surge-pricing multipliers or real-time demand to …

Go to article

A Matheuristic Algorithm For Solving The Vehicle Routing Problem With Cross-Docking, Aldy Gunawan, Audrey Tedja Widjaja, Pieter Vansteenwegen, Vincent F. Yu May 2020

A Matheuristic Algorithm For Solving The Vehicle Routing Problem With Cross-Docking, Aldy Gunawan, Audrey Tedja Widjaja, Pieter Vansteenwegen, Vincent F. Yu

Research Collection School Of Computing and Information Systems

This paper studies the integration of the vehicle routing problem with cross-docking, namely VRPCD. The aim is to find a set of routes to deliver single products from a set of suppliers to a set of customers through a cross-dock facility, such that the operational and transportation costs are minimized, without violating the vehicle capacity and time horizon constraints. A two-phase matheuristic approach that uses the routes of the local optima of an adaptive large neighborhood search (ALNS) as columns in a set-partitioning formulation of the VRPCD is designed. This matheuristic outperforms the state-of-the-art algorithms in solving a subset of …

Go to article

Improving Syntactic Relationships Between Language And Objects, Benjamin Wilke, Tej Tenmattam, Anand Rajan, Andrew Pollock, Joel Lindsey Apr 2020

Improving Syntactic Relationships Between Language And Objects, Benjamin Wilke, Tej Tenmattam, Anand Rajan, Andrew Pollock, Joel Lindsey

SMU Data Science Review

This paper presents the integration of natural language processing and computer vision to improve the syntax of the language generated when describing objects in images. The goal was to not only understand the objects in an image, but the interactions and activities occurring between the objects. We implemented a multi-modal neural network combining convolutional and recurrent neural network architectures to create a model that can maximize the likelihood of word combinations given a training image. The outcome was an image captioning model that leveraged transfer learning techniques for architecture components. Our novelty was to quantify the effectiveness of transfer learning …

Go to article

Multi-Objective Signal Timing Optimal Model For Rural-Urban Fringe Area Intersection, Xiaoyu Zhang, Chunfu Shao Apr 2020

Multi-Objective Signal Timing Optimal Model For Rural-Urban Fringe Area Intersection, Xiaoyu Zhang, Chunfu Shao

Journal of System Simulation

Abstract: With the acceleration of the urbanization process in our country, the road traffic problems in the urban-rural fringe area are becoming serious. In order to improve the traffic efficiency, environmental benefits and traffic safety, a multi-objective optimal model for signal timing is established under the comprehensive consideration of several factors, such as the delay, capacity, number of stops and vehicle emissions. The genetic algorithm is used to solve the problem. A typical intersection is taken as the example for the analysis and the improved design schemes can be achieved and evaluated by the road traffic simulation. The …

Go to article

Lightmap-Based Gi Collaborative Rendering System For Web3d Application, Shao Wei, Liu Chang, Jinyuan Jia Apr 2020

Lightmap-Based Gi Collaborative Rendering System For Web3d Application, Shao Wei, Liu Chang, Jinyuan Jia

Journal of System Simulation

Abstract: For the real-time dynamic lighting rendering in low-end web environment, a view-independent collaborative real-time rendering system is presented. The whole system consists of a cloud renderer which produces the global illumination, a web renderer which computes the local illumination, and a scalable collaboration solution which takes the user behavior into account to adjust the range and frequency of the lighting computation. The cloud renderer computes the lighting data into the Lightmap, streams the Lightmap to the web client. After computing the direct light, the web renderer achieves the global illumination information by Sampling the Lightmap, and shows the …

Go to article

Research On Modeling And Analyzing Method Of Task-Oriented Network Information System Of Systems, Zhu Tao, Weitai Liang, Songhua Huang, Jieyong Zhang Apr 2020

Research On Modeling And Analyzing Method Of Task-Oriented Network Information System Of Systems, Zhu Tao, Weitai Liang, Songhua Huang, Jieyong Zhang

Journal of System Simulation

Abstract: As the catalyst and fusion agent of the system combat capability in the information age, the network information system of systems has been changing the form of information-based warfare and the mode of combat effectiveness generation. On the basis of studying the concept of the network information system of systems and introducing association mapping rules between tasks and systems, a new modeling and analyzing method of the network information system of systems with two dimensions and four networks, based on super-network and service-oriented characteristics, is proposed. The definitions of services information flow motif delay, the task execution accuracy …

Go to article

Thinking On Digital Twin For Weapon System, Junhua Zhou, Junjie Xue, Heyu Li, Ji Hang, Tingyu Lin, Guoqiang Shi Apr 2020

Thinking On Digital Twin For Weapon System, Junhua Zhou, Junjie Xue, Heyu Li, Ji Hang, Tingyu Lin, Guoqiang Shi

Journal of System Simulation

Abstract: The main development process of the digital twin technology is reviewed and its necessity for the weapon system is put forward. The definition and composition of the digital twin for the weapon system is given and its application architecture and key technologies, such as the construction of the digital thread, bi-directional collaborative simulation and control, intelligent autonomous evolution, digital twin operation support based on the container-simulation-cloud, et al, are analyzed. The preliminary research and practice of some key technologies is expounded, and the future research directions are summarized and looked forward to.

Go to article

Modeling And Propeller Location Optimization For Diving Propeller Vehicle, Jianjun Zhang, Yang Bing, Jinhui Wu, Yan Qiang Apr 2020

Modeling And Propeller Location Optimization For Diving Propeller Vehicle, Jianjun Zhang, Yang Bing, Jinhui Wu, Yan Qiang

Journal of System Simulation

Abstract: Focus on the rapid physical exertion and the poor flexibility of diving propeller vehicle, a wearable diving propeller equipped with buoyancy control devices is proposed, and the position of the propeller in the device is optimized. The human body structure is regarded as a rigid body to establish a spatial 6-degree-of-freedom motion equation, and its surrounding hydrodynamic performance is analyzed. The hydrodynamic parameters in the model are obtained based on the FLUENT. The propeller position optimization model based on the minimum external force of rectilinear diving and slewing motions is established. The optimization results demonstrate that the optimized …

Go to article

Research On Image Description Method Based On Neural Network, Kong Rui, Xie Wei, Lei Tai Apr 2020

Research On Image Description Method Based On Neural Network, Kong Rui, Xie Wei, Lei Tai

Journal of System Simulation

Abstract: The automatic recognition and automatically describing image content is an important research direction to the artificial intelligence to connect the computer vision and the natural language processing. A method of describing the image content is proposed to generate the natural language by using the deep neural network model. The model consists of a convolutional neural network (CNN) and a recurrent neural network (RNN). The CNN is used to extract features of the input image to generate a fixed-length feature vector, which initializes the RNN to generate the sentences. Experimental results on the MSCOCO image description dataset show the syntactic …

Go to article

Multi-Objective Dynamic Programming Algorithm Of Energy-Efficient Scheduling For Tow-Train, Xinyan Zhang, Yuqing Zhou Apr 2020

Multi-Objective Dynamic Programming Algorithm Of Energy-Efficient Scheduling For Tow-Train, Xinyan Zhang, Yuqing Zhou

Journal of System Simulation

Abstract: To balance the performance and energy consumption of the mixed-model assembly lines effectively, a multi-objective energy-saving scheduling method for the tow-train is proposed. The energy-saving objective is introduced into the traditional material handling scheduling model for the tow-train and a multi-objective mixed integer programming model is constructed with two objective functions of minimizing the maximum line-side inventory and the total energy consumption. A forwards multi-objective dynamic programming based on the time window and dominance rules is presented to obtain the Pareto solutions: the definition for new states is given to obtain the Markov property, the time window and dominance …

Go to article

Design Of Space-Based Surveillance Distributed Simulation System For Space Targets, Zhang Yang, Qingbo Gan, Yuan Hong, Jiangliang Fu, Chengming Sun Apr 2020

Design Of Space-Based Surveillance Distributed Simulation System For Space Targets, Zhang Yang, Qingbo Gan, Yuan Hong, Jiangliang Fu, Chengming Sun

Journal of System Simulation

Abstract: Following the wide application of the HLA in the aerospace system simulation, the space-based surveillance distributed simulation system for the space targets based on the HLA is designed. In the infrastructure design level, the hierarchical structure including data layer, model layer and mission layer are designed. In the system design level, the simulation control members, space-based surveillance member, space target member, optical payload member, and visual simulation member are divided and confirmed. The orbit dynamics and maneuvering model, attitude dynamics and control model, payload pointing and optical imaging model are established. In system implement level, the …

Go to article

One Design Mode Of Highly Configurable Modular Simulation System, Chunsheng Hu, Chengdong Xu, Penfei Zhang Apr 2020

One Design Mode Of Highly Configurable Modular Simulation System, Chunsheng Hu, Chengdong Xu, Penfei Zhang

Journal of System Simulation

Abstract: The computer simulation technology is an essential verification way to the design, construction and application optimization of the modern complex system. Following the continuous growing complexity of the system, the higher requirement on the configurability of the simulation system is needed to face the rapidly change. Based on the analysis on the configurability and some coupling factors with the adverse effect, a design mode of highly configurable and open and easy to expend modular simulation system is proposed. The results show that, despite the cost of some real-time performance, the design mode can realize the high configurability of the …

Go to article

Modeling And Simulation Of Locating Water Resources For Forest Fire Extinguishing, Guoxiong Zhou, Li Tong, Aibin Chen, Mingfang He Apr 2020

Modeling And Simulation Of Locating Water Resources For Forest Fire Extinguishing, Guoxiong Zhou, Li Tong, Aibin Chen, Mingfang He

Journal of System Simulation

Abstract: At the time of the forest fire, the effective water resource position is a good assistance to the firefighters to put out the fire. Taking a state-owned tree-farm, Huangfeng Bridge as an example in You Xian, an approach is proposed to optimally locate and determine the water resources to extinguish the forest fires, which uses the barycenter of a Weighted Voronoi Diagram and is generated dynamically via Cellular Automata and locally optimized by Alternative Location and Allocation algorithm. In order to reduce the low ratio impact of the water resource to the high fire risk areas, a barycenter model …

Go to article

Cost-Efficiency Analysis Of Weapon System Portfolios For Effect Based Operation, Zhong Lin, Mingan Tong, Zhang Jian, Jianhai Liang Apr 2020

Cost-Efficiency Analysis Of Weapon System Portfolios For Effect Based Operation, Zhong Lin, Mingan Tong, Zhang Jian, Jianhai Liang

Journal of System Simulation

Abstract: In considertion of the cost-efficiency analysis of weapon system mainly for the target based operation, the uncertainties about preferences and possible interactions of different weapon systems, a cost-efficiency analysis method weapon system portfolios for effect based operation is presented. The framework of weapon system assignment for effect based operation is presented, the Bayesian network is used to build up the connection between effects and targets, and the cost-efficiency analysis model based on robust portfolio optimization is carried out. In view of the combinatorial explosion, the approximation algorithm based on the Tchebycheff norm and the linear integer programming is proposed …

Go to article

System Dynamics And Multi-Agent Simulation Research On Ground Combatpersonnel Attrition, Xiaoxiong Hao, Jianwei Ma, Zhaohui Huang, Yungui Wang Apr 2020

System Dynamics And Multi-Agent Simulation Research On Ground Combatpersonnel Attrition, Xiaoxiong Hao, Jianwei Ma, Zhaohui Huang, Yungui Wang

Journal of System Simulation

Abstract: In order to study the law of the combat personnel attrition and guide the military medical logistics support, the relevant researches are systematically sorted out and the key questions are clarified. Based on Lanchester equation theory, a system dynamics model of the combat attrition process is established, and the consistency between the model conclusion and the historical experience is analyzed. A multi-agent model of the combat attrition process is also constructed, and the advantages and disadvantages of the two models are analyzed. The main conclusion is that the theoretical model’s outcomes of combat attrition are relatively consistent with the …

Go to article

Modeling Method Of Emergency Response Based On Internal And External Areas Of Disaster Zone, Liang Wei, Yanyan Huang, Jianyu Wang Apr 2020

Modeling Method Of Emergency Response Based On Internal And External Areas Of Disaster Zone, Liang Wei, Yanyan Huang, Jianyu Wang

Journal of System Simulation

Abstract: The insufficient ability of the rescuers and the insufficient self-rescue ability of the victims are the two main reasons of the low efficiency in some conventional event emergency. An emergency response model which combines the rescue ability and the self-rescue ability is presented. The division of the internal and the external system in the disaster field is defined, the basic structure of the model and the emergency response process characteristics are described. MAS (multi-agent system) is used to describe the law of the emergency behavior. The synergistic rescue effect is simulated through an imaginary case. The results show that …

Go to article

Simplification And Compression Service Construction Of 3d Model For Complex Products, Junjie Xue, Guoqiang Shi, Junhua Zhou, Huiyang Qu, Tao Luan, Ruiying Pu Apr 2020

Simplification And Compression Service Construction Of 3d Model For Complex Products, Junjie Xue, Guoqiang Shi, Junhua Zhou, Huiyang Qu, Tao Luan, Ruiying Pu

Journal of System Simulation

Abstract: A simplification and compression (S&C) service construction method of the 3D model for the complex products is proposed. An improved method of the model data export and spatial index generation is adopted to preserve the assembly tree and label information of the model in the process of model S&C. An adaptive mesh simplification algorithm based on the mesh density is designed and implemented, and the meshes can be simplified adaptively on condition of satisfying the requirement of error for the geometric model. And a model data compression algorithm with the high compression ratio and efficiency is adopted to reduce …

Go to article

Time Domain Vertical Dynamics Model Of Electric Vehicle Considering Electric Motor Vibration, Guoying Tian, Pengyi Deng, Shulei Sun, Yiqiang Peng, Haiying Lu Apr 2020

Time Domain Vertical Dynamics Model Of Electric Vehicle Considering Electric Motor Vibration, Guoying Tian, Pengyi Deng, Shulei Sun, Yiqiang Peng, Haiying Lu

Journal of System Simulation

Abstract: On the basis of considering the electric motor vibration, a time domain vertical dynamics model of the electric vehicle with 11 DOF is built, and the road roughness input model and the numerical method are given. Aiming at an electric passenger vehicle, the basic characteristics of the typical vehicle dynamics responses under the condition of the impulse and random road roughness inputs are calculated, the influence of the different mount stiffness, damping and motor mass on the motor and the vehicle vibration is analyzed under the condition of the impulse input. The results show that the proposed model is …

Go to article

Trajectory Planning Of Wheeled Mobile Robot Based On Model Predictive Control, You Bo, Mingrui Wang, Li Zhi, Ding Liang Apr 2020

Trajectory Planning Of Wheeled Mobile Robot Based On Model Predictive Control, You Bo, Mingrui Wang, Li Zhi, Ding Liang

Journal of System Simulation

Abstract: Aiming at the underactuation of the Wheeled Mobile Robot (WMR) and considering the various limitations and constraints during the actual operation, a trajectory planning method based on the Model Predictive Control (MPC) is proposed.This method can deal with the kinematics constraints, physical constraints and obstacle avoidance constraints unifiedly and effectively. It can generate the feasible trajectories that conform to the characteristics of the car body model and satisfy the various constraints. It fully guarantees the feasibility, safety and efficiency of the autonomous driving of wheeled mobile robots. The simulation results fully verify the effectiveness of the proposed method.

Go to article

First Prev Next Last