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A new enhanced multi-strategy bottlenose dolphin optimizer is proposed. • The superiority of the proposed algorithm is verified by comparing with efficient intelligent algorithms. • A three-dimensional path planning model for unmanned aerial vehicles with time, threat, height and smooth cost is studied. • The proposed algorithm is applied to solve the three-dimensional path planning problem for unmanned aerial vehicles. • The quality of the proposed algorithm based path planning results is better than other approaches. The path planning of unmanned aerial vehicle is a complex practical optimization problem, which is an important part of unmanned aerial vehicle technology. For constrained path planning problem, the traditional path planning methods can not deal with the complex constraint conditions well, and the classical nature-inspired algorithms will find the local optimal solution due to the lack of optimization ability. In this paper, an enhanced multi-strategy bottlenose dolphin optimizer is proposed to solve the unmanned aerial vehicle path planning problem under threat environments. Firstly, the introduction of fish aggregating device strategy that simulates the living habits of sharks enriches the behavioral diversity of the population. Secondly, random mixed mutation strategy and chaotic opposition-based learning strategy expand the exploration range of the algorithm in the solution space by disturbing the positions of some individuals and generating the opposite population respectively. Finally, after balancing the exploration and exploitation ability of the algorithm more reasonably through the mutation factor and energy factor, this paper proposes a new swarm intelligence algorithm. After verifying the adaptability and efficiency of the proposed algorithm through different types of test functions, this paper further highlights the advantages of the proposed algorithm in finding the optimal feasible path in the unmanned aerial vehicle path planning model based on four constraints. [ABSTRACT FROM AUTHOR]

Achieving smooth motion for multi-legged robots on complex terrains is a significant focus of research. When encountering high obstacles, robots often need to alter their motion direction to avoid them, increasing redundancy in their motion trajectories. To address this challenge, this paper proposes a method for planning the foot-end trajectory during the swing phase while considering obstacle avoidance without modifying the fuselage trajectory. The method combines the Global Optimal Path Search Tree (GOPST) algorithm and a prior path estimation method utilizing Graph Convolutional Network (GCN). The GOPST explores multiple global paths by conducting local path tree searches in each step, guided by an objective function. To enhance efficiency, redundant search branches with high intensity or high possibility of collision with obstacles or other feet, etc. are eliminated using an event-triggering mechanism based on expert constraints. Another objective function is also formulated to obtain an optimal path that offers a larger safety space and a shorter path length. The optimal path nodes and their environmental features are integrated into a GCN for training. Before the operation of the GOPST, the GCN network provides a preliminary path with fast estimation speed. If the estimated path falls outside the safety margin, the GOPST is reactivated to explore a reliable path. Numerical simulation results validate that the GOPST–GCN approach can rapidly generate a smooth trajectory within the safety space of the foot-end workspace. Furthermore, the search time for finding the optimal path in an untrained environment decreases as the number of tests increases. Experimental verification confirms that robots successfully avoid obstacles by employing foot-end swinging without altering the initial motion direction of the fuselage. The GOPST–GCN algorithm is publicly available at https://github.com/bjmyX/GOPST-GCN-a-foot-end-path-planning-method-. [ABSTRACT FROM AUTHOR]

Path planning is an essential subproblem of autonomous robots’ navigation. Reaching a given goal pose or covering the available space are typical navigation missions, that require different planning approaches. We focus on such problems in this paper, where a goal pose must be reached by a wheeled autonomous ground vehicle in challenging situations, i.e. in complex environments with limited free space. Many path-planning methods are available, from which the sampling-based approaches gained the highest interest due to their computational efficiency. However, the performance of such methods degrades if the free space is limited and narrow passages have to be crossed on the way to the goal. Finding real-time planning methods to deliver high-quality paths in such situations is challenging. This paper aims to take steps toward solving this problem. On the one hand, an approach is presented to characterize free space narrowness and the difficulty of planning tasks. This can be used as a tool to compare planning queries and evaluate the performance of planning methods from the perspective of their sensitivity to environmental narrowness. On the other hand, an improved variant of our previously proposed RTR planner, an incremental sampling-based path-planning method, is introduced that exhibits good performance even in narrow and difficult planning situations. It is shown by simulations that it outperforms the popular RRT and RRT* planners in terms of running time and path quality, and that it is less sensitive to the narrowness of the environment where the planning task has to be solved. [ABSTRACT FROM AUTHOR]

With the rapid development of the intelligent driving technology, achieving accurate path planning for unmanned vehicles has become increasingly crucial. However, path planning algorithms face challenges when dealing with complex and ever-changing road conditions. In this paper, aiming at improving the accuracy and robustness of the generated path, a global programming algorithm based on optimization is proposed, while maintaining the efficiency of the traditional A* algorithm. Firstly, turning penalty function and obstacle raster coefficient are integrated into the search cost function to increase the adaptability and directionality of the search path to the map. Secondly, an efficient search strategy is proposed to solve the problem that trajectories will pass through sparse obstacles while reducing spatial complexity. Thirdly, a redundant node elimination strategy based on discrete smoothing optimization effectively reduces the total length of control points and paths, and greatly reduces the difficulty of subsequent trajectory optimization. Finally, the simulation results, based on real map rasterization, highlight the advanced performance of the path planning and the comparison among the baselines and the proposed strategy showcases that the optimized A* algorithm significantly enhances the security and rationality of the planned path. Notably, it reduces the number of traversed nodes by 84%, the total turning angle by 39%, and shortens the overall path length to a certain extent. [ABSTRACT FROM AUTHOR]

The advancement of autonomous capabilities in maritime navigation has gained significant attention, with a trajectory moving from decision support systems to full autonomy. This push towards autonomy has led to extensive research focusing on collision avoidance, a critical aspect of safe navigation. Among the various possible approaches, dynamic programming is a promising tool for optimizing collision avoidance maneuvers. This paper presents a DP formulation for the collision avoidance of autonomous vessels. We set up the problem framework, formulate it as a multi-stage decision process, define cost functions and constraints focusing on the actual requirements a marine maneuver must comply with, and propose a solution algorithm leveraging parallel computing. Additionally, we present a greedy approximation to reduce algorithm complexity. We put the proposed algorithms to the test in realistic navigation scenarios and also develop an extensive test on a large set of randomly generated scenarios, comparing them with the RRT* algorithm using performance metrics proposed in the literature. The results show the potential benefits of an autonomous navigation or decision support framework. [ABSTRACT FROM AUTHOR]

We present a new limited environmental information path planning procedure (IEIPPP) that finds collision-free paths without prior knowledge of feasible paths or obstacle locations by analyzing an image set of the area of interest. IEIPPP uses COLMAP to process the image set and reconstruct a three-dimensional point cloud model of the environment. Then, mechanical selective rapidly exploring random tree star is used to find the required path on the point cloud model. Gravitation and repulsion are introduced to correct the positions of random nodes and reduce the collision probability, and an elastic potential energy calculation is introduced to balance the height difference between adjacent nodes and stabilize vertical fluctuation of the path. To reduce computational cost and running time, a target-based sampling strategy is used to enable selective sampling. We evaluate IEIPPP with different image datasets and show that it can identify a collision-free path without other sensor equipment. [ABSTRACT FROM AUTHOR]

This paper considers the problem of communication protocols between leaders and its followers for motion planning in an initially partially known environment. In this setting, the leader observes the environment information to satisfy its own local objective and and the follower completes its own local objective by estimating the states of the leader and communicating with the leader to update its knowledge about the environment when it is necessary, where the local objectives can be expressed in temporal logic. A verifier construction is built first to contain all possible communication protocols between the leaders and the followers. Then, a two‐step synthesis procedure is proposed to capture all feasible communication protocol that satisfy the local objectives for the leader and follower, respectively. In the first step, a sub‐verifier is synthesized to satisfy the objective of the follower. In the second step, based on the obtained sub‐verifier, an iterative algorithm is proposed to extract communication protocols such that the objectives of the leader and follower are satisfied, respectively. A running example is provided to illustrate the proposed procedures. [ABSTRACT FROM AUTHOR]

The technology for path planning of independent mobile robots is mature, but multi-robot path planning for unified scheduling and allocation is much more complex than single-robot path planning. This requires consideration of collision problems between robots, general optimal path problems, etc. This paper proposes the use of the BSO algorithm for unified scheduling and allocation of multiple robots to improve the efficiency of task execution. The BSO algorithm is a new type of intelligent optimization algorithm that uses clustering ideas to search for local optimal solutions and obtains global optimal solutions by comparing local optimal solutions. It also uses mutation ideas to increase the diversity of the algorithm and avoid becoming trapped in local optimal solutions. Using the GA/SA algorithm and the proposed BSO algorithm for computer simulation comparison, we obtained the optimal path planning for the three robots under unified scheduling. The total distance of the optimal path obtained by the BSO algorithm was 27.36% and 25.31% shorter than those of the GA and SA algorithms, respectively. To further test the performance of the BSO algorithm, we conducted additional experiments on the unified scheduling of multiple robots. The experimental results show that the proposed BSO algorithm can significantly improve the efficiency. The multi-robot under unified scheduling performs point-to-point path planning without collisions, and they can traverse all task target points in the shortest path without repetition. This algorithm is suitable for multi-robot tasks in large-scale environments. [ABSTRACT FROM AUTHOR]

This paper addresses two substantial aspects in the field of robotics: trajectory planning and trajectory tracking for multi-robot systems. The collective movement of the multi-wheeled mobile robots is based on a formation control with a leader–follower strategy. To ensure safe navigation toward the destination within a workspace containing multiple obstacles, we skillfully combine the Modified Artificial Potential Field (MAPF) method and the Improved Particle Swarm Optimization (IPSO) algorithm for a group of nonholonomic mobile robots. A global planner based on IPSO algorithm is assigned to the leader robot, to find the optimal collision-free path. Compared to recent nature-inspired methodologies, the improvement suggested enhance the search capabilities of the algorithm, resulting in a 2% reduction in path length and a 29% decrease in computation time. Simultaneously, the follower robot has the ability to employ either a formation policy or a local planner using MAPF. The proposed modifications address the primary limitations of the conventional method, notably the susceptibility to local minima and the challenge of reaching goals near obstacles. Furthermore, this local planner is adept at evading both static and dynamic obstacles. Extensive real hardware experiments are conducted within multiple scenarios using the mobile robot Qbot-2e to corroborate the obtained simulation results and validate the effectiveness of the proposed approaches both in tracking the desired trajectories, finding the optimal feasible collision-free path and avoiding static and dynamic obstacles for multi-robot systems. [ABSTRACT FROM AUTHOR]

Objective. The percutaneous puncture lung mass biopsy procedure, which relies on preoperative CT (Computed Tomography) images, is considered the gold standard for determining the benign or malignant nature of lung masses. However, the traditional lung puncture procedure has several issues, including long operation times, a high probability of complications, and high exposure to CT radiation for the patient, as it relies heavily on the surgeon's clinical experience. Approach. To address these problems, a multi-constrained objective optimization model based on clinical criteria for the percutaneous puncture lung mass biopsy procedure has been proposed. Additionally, based on fuzzy optimization, a multidimensional spatial Pareto front algorithm has been developed for optimal path selection. The algorithm finds optimal paths, which are displayed on 3D images, and provides reference points for clinicians' surgical path planning. Main results. To evaluate the algorithm's performance, 25 data sets collected from the Second People's Hospital of Zigong were used for prospective and retrospective experiments. The results demonstrate that 92% of the optimal paths generated by the algorithm meet the clinicians' surgical needs. Significance. The algorithm proposed in this paper is innovative in the selection of mass target point, the integration of constraints based on clinical standards, and the utilization of multi-objective optimization algorithm. Comparison experiments have validated the better performance of the proposed algorithm. From a clinical standpoint, the algorithm proposed in this paper has a higher clinical feasibility of the proposed pathway than related studies, which reduces the dependency of the physician's expertise and clinical experience on pathway planning during the percutaneous puncture lung mass biopsy procedure. [ABSTRACT FROM AUTHOR]

Aiming at the requirement of path planning of the quadruped robot in urban gas micro-leakage inspection, a path acquisition method for gas inspection of quadruped robots based on improved A∗ algorithm was proposed. Firstly, the grid method was used to construct a two-dimensional working map of the quadruped robot. Then, the heuristic function of A∗ algorithm was improved, and the adaptive adjustment strategy was introduced to reduce the number of search nodes and make the search path less prone to local optimal. Finally, the improved A∗ algorithm achieved the expected effect when evaluating from path length, average search time and number of search nodes. Using MATLAB2016b as the simulation software, the simulation results show that the improved A∗ algorithm successfully completes the pathfinding task. Compared with the classical A∗ algorithm, the average search time of the improved algorithm is reduced by 52. 13%, and the number of search nodes is reduced by 30. 23% . The algorithm has higher search efficiency in the path planning of maps with size less than 200 × 200. [ABSTRACT FROM AUTHOR]

Navigation systems are extensively used in everyday life, but the conventional A* algorithm has several limitations in path planning applications within these systems, such as low degrees of freedom in path planning, inadequate consideration of the effects of special regions, and excessive nodes and turns. Addressing these limitations, an enhanced A* algorithm was proposed using regular hexagonal grid mapping. First, the approach to map modeling using hexagonal grids was described. Subsequently, the A* algorithm was refined by optimizing the calculation of movement costs, thus allowing the algorithm to integrate environmental data more effectively and flexibly adjust node costs while ensuring path optimality. A quantitative method was also introduced to assess map complexity and adaptive heuristics that decrease the number of traversed nodes and increase the search speed. Moreover, a turning penalty measure was implemented to minimize unnecessary turns on the planned paths. Simulation results confirmed that the improved A* algorithm exhibits superior performance, which can dynamically adjust movement costs, enhance search efficiency, reduce turns, improve overall path planning quality, and solve critical path planning issues in navigation systems, greatly aiding the development and design of these systems and making them better suited to meet modern navigation requirements. [ABSTRACT FROM AUTHOR]

Intelligent ship navigation scheduling and planning is of great significance for ensuring the safety of maritime production and life and promoting the development of the marine economy. In this paper, an intelligent ship scheduling and path planning method is proposed for a practical application scenario wherein the emergency rescue center receives rescue messages and dispatches emergency rescue ships to the incident area for rescue. Firstly, the large-scale sailing route of the task ship is pre-planned in the voyage planning stage by using the improved A* algorithm. Secondly, the full-coverage path planning algorithm is used to plan the ship's search route in the regional search stage by updating the ship's navigation route in real time. In order to verify the effectiveness of the proposed algorithm, comparative experiments were carried out with the conventional algorithm in the two operation stages of rushing to the incident sea area and regional search and rescue. The experimental results show that the proposed algorithm can adapt to emergency search and rescue tasks in the complex setting of the sea area and can effectively improve the efficiency of the operation, ensure the safety of the operation process, and provide a more intelligent and efficient solution for the planning of maritime emergency rescue tasks. [ABSTRACT FROM AUTHOR]

In recent years, there has been a significant development in unmanned platform technologies, specifically unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs). As a result, their application scenarios have expanded considerably. Unmanned platforms are considered integral components of the Internet of Things system. However, certain challenges arise when dealing with specialized tasks, such as navigating complex urban low-altitude terrain with multiple obstacles and limited communication capabilities. These challenges can greatly impact the efficiency of the system due to information isolation. To address this issue, a messenger drone mechanism is introduced in this paper, which utilizes air superiority to facilitate indirect communication between unmanned platforms. Additionally, a task sequence planning algorithm based on sampling transformation is designed. This algorithm efficiently assigns the drone to mobile UGVs by discretely sampling their paths and considering the UAV-UGV motion relationship. By transforming the problem into an asymmetric traveler problem, it allows for a fast solution. Finally, the effectiveness of the algorithm is verified through comparative analysis in different scenarios. [ABSTRACT FROM AUTHOR]

Decision Support Systems (DSS) are tools designed to help operators make effective choices in workplace environments where discernment and critical thinking are required for effective performance. Path planning in military operations and general logistics both require individuals to make complex and time-sensitive decisions. However, these decisions can be complex and involve the synthesis of numerous tradeoffs for various paths with dynamically changing conditions. Intelligence collection can vary in difficulty, specifically in terms of the disparity between locations of interest and timing restrictions for when and how information can be collected. Furthermore, plans may need to be changed adaptively mid-operation, as new collection requirements appear, increasing task difficulty. We tested participants in a path planning decision-making exercise with scenarios of varying difficulty in a series of two experiments. In the first experiment, each map displayed two paths simultaneously, relating to two possible routes for the two available trucks. Participants selected the optimal path plan, representing the best solution across multiple routes. In the second experiment, each map displayed a single path, and participants selected the best two paths sequentially. In the first experiment, utilizing the DSS was predictive of adoption of more heuristic decision strategies, and that strategic approach yielded more optimal route selection. In the second experiment, there was a direct effect of the DSS on increased decision performance and a decrease in perceived task workload. [ABSTRACT FROM AUTHOR]

The novel coronavirus is one of the most widespread global epidemics that has harmed human life and health around the world in the past century. Nonetheless, we confront a formidable predicament: the transportation costs and transmission risks of comprehensive testing for the new coronavirus are huge. Furthermore, the extensive utilization of trucks has contributed to a surge in greenhouse gas emissions, thereby exacerbating the pressing issues of global warming and climate change. To ameliorate these challenges, we proffer an ingenious resolution: the deployment of a truck outfitted multiple drones, thereby orchestrating the transfer of samples. In our endeavor to address this intricate issue, we have devised a MIP model, with distribution cost and delivery time serving as bi-objectives. Additionally, we have developed a genetic adaptive large-scale neighborhood search algorithm (GALNS) to resolve the model. Through example testing, we draw the following conclusions: a. We verified the correctness and effectiveness of the proposed model and algorithm. b. In comparison to traditional truck transfer, the deployment of trucks ferrying multiple drones, each equipped with multi-visit functionalities, for the transportation of nucleic acid testing samples, not only proves to be a more cost-effective and efficient approach but also mitigates the risk of contagion. [ABSTRACT FROM AUTHOR]

To address the issue of unreasonable route planning in modern logistics intelligent distribution, a comprehensive, efficient, and practical path planning method is provided by modern logistics intelligent distribution. This study takes a comprehensive multimodal transportation perspective between cities as its starting point. Firstly, a physical network system model describes logistics distribution's fundamental physical network elements. Additionally, a logistics service network system model is established to depict the service network elements of logistics distribution. These two models are then combined. Building upon this foundation, variables such as risk and cost in logistics path planning are examined and considered, leading to the design of a logistics path planning model. Simulation analysis is employed in this study for data analysis. Analyzing section utilization and planning results reveals key information in logistics path planning. Segment 4 exhibits the lowest utilization rate at 46.2%, while Segment 7 demonstrates the highest utilization rate at 100%. This indicates that the model favors segment 7 as the primary path due to its superior physical facility elements and road conditions. By integrating section planning with cost and risk considerations, the optimal planning path is determined to be 1–3–6–7, encompassing sections 2, 7, and 10. This plan is based on the analysis results of the model and is considered the most economical and safe logistics path after comprehensive deliberation. The designed green logistics path planning model for the physical network system enables comprehensive planning of combined logistics routes, thereby enhancing the distribution path. The studied and designed green logistics path planning model of the physical network system allows for a comprehensive perspective in planning combined logistics traffic paths, resulting in improved distribution paths. This presents a novel and effective path-planning method for modern logistics intelligent distribution, accomplishing the research objectives and providing important references for subsequent related research. [ABSTRACT FROM AUTHOR]

The conventional repairing of CFRP (continuous fiber-reinforced polymer composites) includes complicated steps of patching, splicing, repairing, and post-curing. Intensive labor work needs to be conducted, and poor surface quality and weak interfacial adhesion are usually observed. This work mainly introduces an in situ online repairing method using AM (additive manufacturing) facilitated composite fabrication. With the advances of the robotic-assisted AM process, the surface roughness and accuracy during the repairing process can be evaluated online upon layer-by-layer process. In order to fulfill the efficient and on-site requirements for repairing damage in structural components, this study explores the method including in situ repairing, laser point clouds online collection, and repairing path planning based on multi-axial additive manufacturing of composites. A repair algorithm is proposed incorporating point clouds collection, measurement evaluation, and path planning. Furthermore, relevant mechanical measurements have been conducted, so as to assess the interface degree of recovery. A rapid online evaluation and surface conformal repairing method have been proposed to overcome the technical bottleneck of in situ automatic repairing of damaged composites. It expands the application of multi-axial robot-assisted CFRP AM. [ABSTRACT FROM AUTHOR]

We provide an approach of elastic flow with dynamic conditions at the knot points to resolve the path planning problem in the plane. The elastic flow is set up by a second-order semilinear parabolic system with nonlocal lower-order terms. We prove the existence of classical global solutions to the elastic flow, whose asymptotic limits provide classical solutions to the path planning problem. [ABSTRACT FROM AUTHOR]

The uncertainty and sudden nature of public health emergencies make efficient and accurate emergency material allocation plans particularly important. A site selection model of daily necessities distribution transfer station under the background of public health emergencies was constructed. Considering the occurrence of special events and updating priority coefficients and time window calculations, a multi-objective delivery path planning model was established using transportation distance, penalty cost for violating vehicle capacity and time window constraints as the optimization goals. The site selection problem was solved by the K-means clustering algorithm and the optimal delivery path was obtained using a hybrid genetic algorithm combining genetic algorithm and large neighborhood search algorithm. Finally, the example of material distribution in the Chaoyang District of Changchun was used to empirical analysis. The results indicate that 200 neighborhoods can be clustered into 60 material demand sites for distribution. It requires 26 vehicles to transport the materials from the distribution center to the demand sites and four types of optimal material distribution schemes are obtained, which provides a new idea for solving the emergency material allocation under public health emergencies. [ABSTRACT FROM AUTHOR]

This paper presents a fusion algorithm based on the enhanced RRT* TEB algorithm. The enhanced RRT* algorithm is utilized for generating an optimal global path. Firstly, proposing an adaptive sampling function and extending node bias to accelerate global path generation and mitigate local optimality. Secondly, eliminating path redundancy to minimize path length. Thirdly, imposing constraints on the turning angle of the path to enhance path smoothness. Conducting kinematic modeling of the mobile robot and optimizing the TEB algorithm to align the trajectory with the mobile robot's kinematics. The integration of these two algorithms culminates in the development of a fusion algorithm. Simulation and experimental results demonstrate that, in contrast to the traditional RRT* algorithm, the enhanced RRT* algorithm achieves a 5.8% reduction in path length and a 62.5% decrease in the number of turning points. Utilizing the fusion algorithm for path planning, the mobile robot generates a superior, seamlessly smooth global path, adept at circumventing obstacles. Furthermore, the local trajectory meticulously conforms to the kinematic constraints of the mobile robot. [ABSTRACT FROM AUTHOR]

This paper introduces a comprehensive motion planning–tracking–safety constraint scheme for a 3D ballbot system. A nonlinear control for the 3D ballbot system is designed based on three separate planes by utilizing extended state observer (ESO) to estimate coupling mechanisms. Three virtual control signals are generated from these distinct planes and can be used for formulating actual control signals. To overcome the complexity of nonlinear motion equations, flatness theory is used to construct the time‐optimal trajectory through an optimization problem, facilitating smooth movement of the ballbot, and obstacle avoidance based on RRT* waypoints. Furthermore, our work manipulates the hierarchical sliding mode controller (HSMC) as the nominal controller to ensure that the ballbot tracks to the optimal trajectory, unifying with the exponential control barrier function (ECBF) to address safety constraints in the body's deflection angle. Through extensive simulations and comparative analysis, the system demonstrates its effectiveness and safe operation in various working conditions. [ABSTRACT FROM AUTHOR]

Spacecraft cluster is a new way of multi-vehicle cooperation and a major problem in the current space distribution system. A large number of core technologies of spacecraft cluster technology need to be simulated, analyzed and verified on the ground. On this basis, this article proposes the construction of a spacecraft system model and a dynamic model, and designs a path planning method that combines the spacecraft system model with the a* algorithm. And use the Morphin search tree algorithm to improve the A-star algorithm, and then simulate and analyze the spacecraft formation control scheme. The simulation results of trajectory planning show that after running the model for 21 ms, the improved A* algorithm achieved the expected error. Its MAE value is 10 - 4, achieving good path planning effect. The research plan can effectively achieve control of spacecraft formation and meet the needs of collaborative tasks and navigation route planning. [ABSTRACT FROM AUTHOR]

When man⁃made or natural disasters occur suddenly, the rapid deployment of search and rescue (SAR) robots is crucial for saving lives. To accomplish rescue tasks, SAR robots need to autonomously plan paths in continuously dynamic and unknown environments to reach the rescue target locations. This paper proposes a sensor configuration scheme for SAR robots, applying a Q-learning algorithm based on Q-table and neural networks to achieve autonomous control of SAR robots. It addresses the challenge of path planning in unknown environments, specifically how to avoid static and dynamic obstacles. Balancing the exploration and exploitation during the training process is one of the challenges in reinforcement learning. This paper introduces a mixed optimization method for dynamically selecting search strategies, building upon greedy search and Boltzmann search. Simulations are conducted using MATLAB, and the results indicate that the proposed method is feasible and effective. SAR robots equipped with the sensor configuration can effectively respond to environmental changes, reaching target locations while successfully avoiding both static and dynamic obstacles. [ABSTRACT FROM AUTHOR]

An improved Ant Colony Optimization (ACO) algorithm, named IACO, is proposed to address the inherent limitation of slow convergence, susceptibility to local optima and excessive number of inflection in traditional ACO when solving path planning problems. To this end, firstly, the search direction number is expanded from 4 or 8 into 32; Secondly, the distance heuristic information is replaced by an area heuristic function, which deviated from the traditional approach that only considers pheromone information between two points; Then, the influence of path angle and number of turns is taken into account in the local pheromone update. Additionally, a reward and punishment mechanism is employed in the global pheromone update to adjust the pheromone concentrations of different paths; Furthermore, an adaptive update strategy for pheromone volatility factor adaptive is proposed to expand the search range of the algorithm. Finally, simulation experiments are conducted under various scenarios to verify the superiority and effectiveness of the proposed algorithm. [ABSTRACT FROM AUTHOR]

With the rise and development of autonomy and intelligence technologies, UAVs will have increasingly significant applications in the future. It is very important to solve the problem of low-altitude penetration of UAVs to protect national territorial security. Based on an S-57 electronic chart file, the land, island, and threat information for an actual combat environment is parsed, extracted, and rasterized to construct a marine combat environment for UAV flight simulation. To address the problem of path planning for low-altitude penetration in complex environments, a photosensitivity-enhanced plant growth algorithm (PEPG) is proposed. Based on the plant growth path planning algorithm (PGPP), the proposed algorithm improves upon the light intensity preprocessing and light intensity calculation methods. Moreover, the kinematic constraints of the UAV, such as the turning angle, are also considered. The planned path that meets the safety flight requirements of the UAV is smoother than that of the original algorithm, and the length is reduced by at least 8.2%. Finally, simulation tests are carried out with three common path planning algorithms, namely, A*, RRT, and GA. The results show that the PEPG algorithm is superior to the other three algorithms in terms of the path length and path quality, and the feasibility and safety of the path are verified via the autonomous tracking flight of a UAV. [ABSTRACT FROM AUTHOR]

Finding a collision-free feasible path for mobile robots is very important because they are essential in many fields such as healthcare, military, and industry. In this paper, a novel Clustering Obstacles (CO)-based path planning algorithm for mobile robots is presented using a quintic trigonometric Bézier curve and its two shape parameters. The CO-based algorithm forms clusters of geometrically shaped obstacles and finds the cluster centers. Moreover, the proposed waypoint algorithm (WP) finds the waypoints of the predefined skeleton path in addition to the start and destination points in an environment. Based on all these points, the predefined quintic trigonometric Bézier path candidates, taking the skeleton path as their convex hull, are then generated using the shape parameters of this curve. Moreover, the performance of the proposed algorithm is compared with K-Means and agglomerative hierarchical algorithms to obtain the quintic trigonometric Bézier paths desired by the user. The experimental results show that the CO-based path planning algorithm achieves better cluster centers and consequently better collision-free predefined paths. [ABSTRACT FROM AUTHOR]

In recent years, unmanned aerial vehicles (UAVs) have become a popular and cost-effective technology in urban scenarios, encompassing applications such as material transportation, aerial photography, remote sensing, and disaster relief. However, the execution of prolonged tasks poses a heightened challenge owing to the constrained endurance of UAVs. This paper proposes a model to accurately represent urban scenarios and an unmanned system. Restricted zones, no-fly zones, and building obstructions to the detection range are introduced to make sure the model is realistic enough. We also introduced an unmanned ground vehicle (UGV) into the model to solve the endurance of the UAVs in this long-time task scenario. The UGV and UAVs constituted a heterogeneous unmanned system to collaboratively solve the path-planning problem in the model. Building upon this model, this paper designs a Three-stage Alternating Optimization Algorithm (TAOA), involving two crucial steps of prediction and rolling optimization. A three-stage scheme is introduced to rolling optimization to effectively address the complex optimization process for the unmanned system. Finally, the TAOA was experimentally validated in both synthetic scenarios and scenarios modeled based on a real-world location to demonstrate their reliability. The experiments conducted in the synthetic scenarios aimed to assess the algorithm under hypothetical conditions, while the experiments in the scenarios based on real-world locations provided a practical evaluation of the proposed methods in more complex and authentic environments. The consistent performance observed across these experiments underscores the robustness and effectiveness of the proposed approaches, supporting their potential applicability in various real-world scenarios. [ABSTRACT FROM AUTHOR]

Mobile robots require the ability to plan collision-free paths. This paper introduces a wheel-foot hybrid parallel-leg walking robot based on the 6-Universal-Prismatic-Universal-Revolute and 3-Prismatic (6UPUR + 3P) parallel mechanism model. To enhance path planning efficiency and obstacle avoidance capabilities, an improved artificial potential field (IAPF) method is proposed. The IAPF functions are designed to address the collision problems and issues with goals being unreachable due to a nearby problem, local minima, and dynamic obstacle avoidance in path planning. Using this IAPF method, we conduct path planning and simulation analysis for the wheel-foot hybrid parallel-legged walking robot described in this paper, and compare it with the classic artificial potential field (APF) method. The results demonstrate that the IAPF method outperforms the classic APF method in handling obstacle-rich environments, effectively addresses collision problems, and the IAPF method helps to obtain goals previously unreachable due to nearby obstacles, local minima, and dynamic planning issues. [ABSTRACT FROM AUTHOR]

Autonomous driving navigation relies on diverse approaches, each with advantages and limitations depending on various factors. For HD maps, modular systems excel, while end-to-end methods dominate mapless scenarios. However, few leverage the strengths of both. This paper innovates by proposing a hybrid architecture that seamlessly integrates modular perception and control modules with data-driven path planning. This innovative design leverages the strengths of both approaches, enabling a clear understanding and debugging of individual components while simultaneously harnessing the learning power of end-to-end approaches. Our proposed architecture achieved first and second place in the 2023 CARLA Autonomous Driving Challenge's SENSORS and MAP tracks, respectively. These results demonstrate the architecture's effectiveness in both map-based and mapless navigation. We achieved a driving score of 41.56 and the highest route completion of 86.03 in the MAP track of the CARLA Challenge leaderboard 1, and driving scores of 35.36 and 1.23 in the CARLA Challenge SENSOR track with route completions of 85.01 and 9.55 , for, respectively, leaderboard 1 and 2. The results of leaderboard 2 raised the hybrid architecture to the first position, winning the edition of the 2023 CARLA Autonomous Driving Competition. [ABSTRACT FROM AUTHOR]

In order to address the issues with the jump point search algorithm in the process of pathfinding, such as numerous path inflection points, numerous intermediate search hop points, numerous extended nodes, and lengthy pathfinding time in the process of finding jump points, this paper proposed the improved bidirectional dynamic JPS algorithm. The improved algorithm dynamically defined the target points in the forward and reverse expansion directions, dynamically defined the heuristic function, and used the dynamic constraint ellipse to restrict the expansion region of the algorithm to distinguish the expansion priorities of the inner and outer regions of the ellipse. The new cost minimum point served as the focus of the new ellipse, and the orientation and constraint region were dynamically changed as the extension from the starting point and goal point to each other. The simulation results show that the optimized bidirectional dynamic JPS algorithm has a certain performance in general maps, especially in indoor environment maps with fewer obstacles and the target point is close to the starting point. [ABSTRACT FROM AUTHOR]

A collision-free path planning method is proposed based on learning from demonstration (LfD) to address the challenges of cumbersome manual teaching operations caused by complex action of yarn storage, variable mechanism positions, and limited workspace in preform weaving. First, by utilizing extreme learning machines (ELM) to autonomously learn the teaching data of yarn storage, the mapping relationship between the starting and ending points and the teaching path points is constructed to obtain the imitation path with similar storage actions under the starting and ending points of the new task. Second, an improved rapidly expanding random trees (IRRT) method with adaptive direction and step size is proposed to expand path points with high quality. Finally, taking the spatical guidance point of imitation path as the target direction of IRRT, the expansion direction is biased toward the imitation path to obtain a collision-free path that meets the action yarn storage. The results of different yarn storage examples show that the ELM-IRRT method can plan the yarn storage path within 2s–5s when the position of the mechanism changes in narrow spaces, avoiding tedious manual operations that program the robot movements, which is feasible and effective. [ABSTRACT FROM AUTHOR]

Real-time and efficient path planning is critical for all robotic systems. In particular, it is of greater importance for industrial robots since the overall planning and execution time directly impact the cycle time and automation economics in production lines. While the problem may not be complex in static environments, classical approaches are inefficient in high-dimensional environments in terms of planning time and optimality. Collision checking poses another challenge in obtaining a real-time solution for path planning in complex environments. To address these issues, we propose an end-to-end learning-based framework viz., Path Planning and Collision checking Network (PPCNet). The PPCNet generates the path by computing waypoints sequentially using two networks: the first network generates a waypoint, and the second one determines whether the waypoint is on a collision-free segment of the path. The end-to-end training process is based on imitation learning that uses data aggregation from the experience of an expert planner to train the two networks, simultaneously. We utilize two approaches for training a network that efficiently approximates the exact geometrical collision checking function. Finally, the PPCNet is evaluated in two different simulation environments and a practical implementation on a robotic arm for a bin-picking application. Compared to the state-of-the-art path-planning methods, our results show significant improvement in performance by greatly reducing the planning time with comparable success rates and path lengths. [ABSTRACT FROM AUTHOR]

Snake robots can move flexibly due to their special bodies and gaits. However, it is difficult to plan their motion in multi-obstacle environments due to their complex models. To solve this problem, this work investigates a reinforcement learning-based motion planning method. To plan feasible paths, together with a modified deep Q-learning algorithm, a Floyd-moving average algorithm is proposed to ensure smoothness and adaptability of paths for snake robots' passing. An improved path integral algorithm is used to work out gait parameters to control snake robots to move along the planned paths. To speed up the training of parameters, a strategy combining serial training, parallel training, and experience replaying modules is designed. Moreover, we have designed a motion planning framework consists of path planning, path smoothing, and motion planning. Various simulations are conducted to validate the effectiveness of the proposed algorithms. [ABSTRACT FROM AUTHOR]

To address the challenges of extended distances and prolonged travel times in urban vehicle routing, an optimized path planning method using a Non-dominated Sorting Genetic Algorithm (NSGA) is proposed for intelligent transportation systems. The process begins with transportation vehicle travel information data and normalizing it after preprocessing. Subsequently, a multi-objective function and constraints are formulated to accommodate time windows and dynamic conditions for optimal vehicle routing. The NSGA is then employed to encode chromosomes, sort non-domination levels, and perform crossover and mutation operations. The algorithm is refined using crowding distance to generate the next generation population, ultimately integrating service satisfaction to determine the most favorable route. Experimental results demonstrate that this approach can significantly reducing both path length and total travel time. [ABSTRACT FROM AUTHOR]

Robotic grinding based on point cloud data is considered an alternative solution for efficient and intelligent machining of complex components by virtue of its flexibility, intelligence, and cost efficiency, particularly in comparison with the current mainstream manufacturing modes. Over the past two decades, the development of robotic grinding techniques based on point cloud data has evolved from an independent measurement and machining operation to an integrated "measurement-machining" approach. The total grinding cycle time was reduced by 43% compared to manual grinding. Currently, the average measurement error of the robotic grinding system based on point cloud data is about 0.06 mm, the average machining error is 0.1 mm, and the average roughness of the surface is 0.286 µm, which can meet the requirement of complex components. The relevant research in the field of robotic grinding based on point cloud data in the past 20 years was organized in this paper. Then technical difficulties, specifications, and breakthrough advances of robotic grinding were summarized. Online measurement and path planning were analyzed on robotic grinding for complex components. Finally, some research interests and potential application areas were proposed to improve the accuracy, quality, and application range. [ABSTRACT FROM AUTHOR]

We present a coordinated autonomy pipeline for multi-sensor exploration of confined environments. We simultaneously address four broad challenges that are typically overlooked in prior work: (a) make effective use of both range and vision sensing modalities, (b) perform this exploration across a wide range of environments, (c) be resilient to adverse events, and (d) execute this onboard teams of physical robots. Our solution centers around a behavior tree architecture, which adaptively switches between various behaviors involving coordinated exploration and responding to adverse events. Our exploration strategy exploits the benefits of both visual and range sensors with a generalized frontier-based exploration algorithm and an OpenVDB-based map processing pipeline. Our local planner utilizes a dynamically feasible trajectory library and a GPU-based Euclidean distance transform map to allow fast and safe navigation through both tight doorways and expansive spaces. The autonomy pipeline is evaluated with an extensive set of field experiments, with teams of up to three robots that fly up to 3 m/s and distances exceeding 1 km in confined spaces. We provide a summary of various field experiments and detail resilient behaviors that arose: maneuvering narrow doorways, adapting to unexpected environment changes, and emergency landing. Experiments are also detailed from the DARPA Subterranean Challenge, where our proposed autonomy pipeline contributed to us winning the "Most Sectors Explored" award. We provide an extended discussion of lessons learned, release software as open source, and present a video that illustrates our extensive field trials. [ABSTRACT FROM AUTHOR]

The traditional Harris Hawks optimization algorithm is prone to the local shortest path, slow search speed and poor path accuracy in indoor mobile robot path planning. For the above problems, a multi-strategy improvement of the Harris Hawks optimization algorithm (MIHHO) is proposed. In this study, a Chebyshev chaotic mapping strategy is used to increase the diversity of the Harris Hawk population, improve the global search performance of the Harris Hawk algorithm, and prevent being trapped in the locally optimal path. A fusion exploration mechanism is proposed to fuse the discovery mechanism of the sparrow algorithm with the exploration mechanism of the HHO. Then the influence factor E is improved to improve the algorithm's search accuracy and search efficiency, and finally, in the design of a dynamic Lévy flight strategy, which accelerates the convergence speed of the algorithm and improves the robot planning speed. Simulation results show that the proposed MIHHO method exhibits better search performance in path planning, improved planning efficiency, and superior quality of planned paths. [ABSTRACT FROM AUTHOR]

Aiming at the local minimum problem and target unreachable problems in the path planning of unmanned surface vehicle (USV), a path planning algorithm of USV considering virtual target point is proposed. For the target unreachable problem, a repulsive force potential field function is created. According to the measured distance between the target and the obstacle, the repulsive force of the target is zero, so that the USV can reach the target point. For the local minimum problem, the local minimum caused by various obstacles is analyzed, simulated annealing (SA) and artificial potential field approach (APFA) are combined to solve the minimum point problem caused by general obstacles. For the local minimum problem caused by special U-shaped obstacles, a virtual target point algorithm (VTPA) is established to solve this problem. The simulation results prove that this algorithm solves the problem of long path caused by too large repulsive force. Compared with Dual-Tree Rapidly exploring Random Tree (DT-RRT) algorithm, the efficiency of this algorithm has been significantly improved. Algorithm running time was reduced by 33.4%. Path length was reduced by 17.8%. Not only the time is saved, but also the path planning is optimized, so that the speed of the algorithm is accelerated. [ABSTRACT FROM AUTHOR]

In large-scale scenes, how to quickly obtain paths while ensuring the shortest possible path length is a key issue. Rapidly-exploring Random Tree (RRT) have the characteristic of quickly exploring the state space, but it is often difficult to obtain a short path. To overcome this problem, this paper proposes an improved RRT algorithm based on equidistance retention strategy and A* local search(ERRRT-A*). First, RRT is used for large-step global fast exploration to obtain approximate paths. Then, an equidistance retention strategy is used to discard most of the points and retain a small number of key points. Finally, A* is used to search between each segment to obtain a new path. The ERRRT-A* algorithm is compared with other commonly used algorithms on maps of different size in terms of path length and planning time. Simulation results indicate that compared with other algorithms, this algorithm achieves fast planning in large-scale scenes while obtaining short path length, which can effectively balance the path length and planning time. [ABSTRACT FROM AUTHOR]

Developing efficient path-planning algorithms is an essential topic in modern robotics and control theory. Autonomous rovers and wheeled and tracked robots require path generators that can efficiently cover the explorable space with minimal redundancy. In this paper, we present a new path-planning algorithm based on the chaotic behavior of the Courbage–Nekorkin neuron model with a coverage control parameter. Our study aims to reduce the number of iterations required to cover the chosen investigated area, which is a typical efficiency criterion for this class of algorithms. To achieve this goal, we implemented a pseudorandom bit generator (PRBG) based on a Courbage–Nekorkin chaotic map, which demonstrates chaotic behavior and successfully passes all statistical tests for randomness. The proposed PRBG generates a bit sequence that can be used to move the tracked robot in four or eight directions in an operation area of arbitrary size. Several statistical metrics were applied to evaluate the algorithm's performance, including the percentage of coverage of the study area and the uniformity of coverage. The performance of several competing path-planning algorithms was analyzed using the chosen metrics when exploring two test areas of the sizes 50 × 50 cells and 100 × 100 cells, respectively, in four and eight directions. The experimental results indicate that the proposed algorithm is superior compared to known chaotic path-planning methods, providing more rapid and uniform coverage with the possibility of controlling the covered area using tunable parameters. In addition, this study revealed the high dependence of the coverage rate on the starting point. To investigate how the coverage rate depends on the choice of chaotic map, we implemented six different PRBGs using various chaotic maps. The obtained results can be efficiently used for solving path-planning tasks in both real-life and virtual (e.g., video games) applications. [ABSTRACT FROM AUTHOR]

To address the problem of long time-consuming and large memory consumption of A*algorithm in solving path trajectory, this paper proposes an improved A* algorithm based on adaptive step size. First, the priority order of the search direction was set according to the position relationship between the current point and the end point, with the purpose to reduce the redundant planning calculation on unreasonable directions. Second, the judgment condition for reaching the end point was modified to achieve path jumping during path planning. Then an adaptive step size strategy was proposed to improve the efficiency of A* algorithm in path planning. Finally, an eight-directional search approach was proposed to address the issues of large memory usage and possible memory overflow when facing large maps. Experimental results show that compared with original A* algorithm, the improved A* algorithm greatly improves the efficiency of path planning, and solves the problem of large memory usage. [ABSTRACT FROM AUTHOR]

The rapid and accurate path planning for lane change, effective tracking of the desired path while maintaining vehicle stability during lane change are core technologies to ensure active safety for intelligent vehicles. Here, a path planning strategy based on double quintic polynomial and introduction of intermediate position is proposed for intelligent vehicles, with the purpose to perform smooth and safe lane-changing in real time. The active lane change scenario was analyzed to determine the initial and target positions of the lane change, then a lane-changing path planning strategy of double quintic polynomial was proposed based on critical collision position during lane change. And a co-simulation model was established to carry out active lane change simulation tests in different road conditions. The results show that the proposed lane-changing path planning strategy has more obvious lateral displacement due to the introduction of the intermediate position, which can avoid obstacles in front of the vehicle thus ensure the safe lane changing. Meanwhile, the maximum lateral acceleration of the vehicle at the intermediate position is no more than 2 m/s², which ensures the vehicle stability during lane change process. Furthermore, the required longitudinal safety distance for lane changing is reduced by about 20 m on both dry and wet roads, which reduces the longitudinal collision risk. The results provide theoretical and practical basis for active lane change path planning of intelligent vehicles. [ABSTRACT FROM AUTHOR]

Ground mobile robots can replace human beings to perform special tasks in threatened areas. Path planning technology provides mobile robots with the ability to reach the target position autonomously. When there are threats in the environment, the ground mobile robot needs to be able to reach the target position quickly and safely. Because threats are often difficult to calculate in such environments, and planned paths are difficult to use for path tracing. Therefore, path planning should comprehensively consider the distance, continuity and possible threats when moving. Aiming at the problem that the threat in the environment cannot be accurately calibrated usually, this paper proposes a method to mark the threat degree on the global elevation map by using the fuzzy logic system. In order to verify the feasibility of the algorithm, the improved algorithm with the classical algorithm in different environments and the current similar algorithm are compared with the current simulation experiment. The simulation results show that the algorithm has achieved good results, which proves the superiority of the algorithm. The path planning results of the algorithm in the threatened 3D environment not only have less threat, but also have better adaptability to the natural environment, and the planning path quality is better than that of the same type of algorithm. [ABSTRACT FROM AUTHOR]

Car-like mobile robots (CLMRs) are extensively utilized in various intricate scenarios owing to their exceptional maneuverability, stability, and adaptability, in which path planning is an important technical basis for their autonomous navigation. However, path planning methods are prone to inefficiently generate unsmooth paths in narrow and large-size scenes, especially considering the chassis model complexity of CLMRs with suspension. To this end, instead of traditional path planning based on an integer order model, this paper proposes fractional-order enhanced path planning using an improved Ant Colony Optimization (ACO) for CLMRs with suspension, which can obtain smooth and efficient paths in narrow and large-size scenes. On one hand, to improve the accuracy of the kinematic model construction of CLMRs with suspension, an accurate fractional-order-based kinematic modelling method is proposed, which considers the dynamic adjustment of the angle constraints. On the other hand, an improved ACO-based path planning method using fractional-order models is introduced by adopting a global multifactorial heuristic function with dynamic angle constraints, adaptive pheromone adjustment, and fractional-order state-transfer models, which avoids easily falling into a local optimum and unsmooth problem in a narrow space while increasing the search speed and success rate in large-scale scenes. Finally, the proposed method's effectiveness is validated in both large-scale and narrow scenes, confirming its capability to handle various challenging scenarios. [ABSTRACT FROM AUTHOR]

Navigation poses a significant challenge for autonomous vehicles, prompting the exploration of various bio-inspired artificial intelligence techniques to address issues related to path generation, obstacle avoidance, and optimal path planning. Numerous studies have delved into bio-inspired approaches to navigate and overcome obstacles. In this paper, we introduce the dragonfly algorithm (DA), a novel bio-inspired meta-heuristic optimization technique to autonomously set goals, detect obstacles, and minimize human intervention. To enhance efficacy in unstructured environments, we propose and analyze the dragonfly–fuzzy hybrid algorithm, leveraging the strengths of both approaches. This hybrid controller amalgamates diverse features from different methods into a unified framework, offering a multifaceted solution. Through a comparative analysis of simulation and experimental results under varied environmental conditions, the hybrid dragonfly–fuzzy controller demonstrates superior performance in terms of time and path optimization compared to individual algorithms and traditional controllers. This research aims to contribute to the advancement of autonomous vehicle navigation through the innovative integration of bio-inspired meta-heuristic optimization techniques. [ABSTRACT FROM AUTHOR]

Compared to terrestrial transportation systems, the expansion of urban traffic into airspace can not only mitigate traffic congestion, but also foster establish eco-friendly transportation networks. Additionally, unmanned aerial vehicle (UAV) task allocation and trajectory planning are essential research topics for an Urban Air Mobility (UAM) scenario. However, heterogeneous tasks, temporary flight restriction zones, physical buildings, and environment prerequisites put forward challenges for the research. In this paper, multigene and improved anti-collision RRT* (IAC-RRT*) algorithms are proposed to address the challenge of task allocation and path planning problems in UAM scenarios by tailoring the chance of crossover and mutation. It is proved that multigene and IAC-RRT* algorithms can effectively minimize energy consumption and tasks' completion duration of UAVs. Simulation results demonstrate that the strategy of this work surpasses traditional optimization algorithms, i.e., RRT algorithm and gene algorithm, in terms of numerical stability and convergence speed. [ABSTRACT FROM AUTHOR]

With the rapid development of science and technology and the impact of the novel coronavirus epidemic in recent years, medical delivery robots have gradually appeared in major medical institutions. However, traditional medical delivery robots have local optimal solution problems and target unreachable problems when using artificial potential field algorithms for path planning. Therefore, for the local optimal solution problem, this paper proposes a method of designing virtual target points to rescue the robot from the local optimal state. In this paper, the target distance function is introduced into obstacle repulsion potential field function to limit obstacle repulsion, to solve the problem of target unreachable. Finally, the proposed method is compared with the traditional algorithm in a variety of complex environments. The results show that the improved algorithm can solve the local optimal solution and target unreachable problems existing in the traditional algorithm, and the efficiency of the algorithm is also increased by 5%-9% and can be effectively applied to practical scenarios. [ABSTRACT FROM AUTHOR]

Path planning for mobile robots in complex circumstances is still a challenging issue. This work introduces an improved deep reinforcement learning strategy for robot navigation that combines dueling architecture, Prioritized Experience Replay, and shaped Rewards. In a grid world and two Gazebo simulation environments with static and dynamic obstacles, the Dueling Deep Q-Network with Modified Rewards and Prioritized Experience Replay (PMR-Dueling DQN) algorithm is compared against Q-learning, DQN, and DDQN in terms of path optimality, collision avoidance, and learning speed. To encourage the best routes, the shaped Reward function takes into account target direction, obstacle avoidance, and distance. Prioritized replay concentrates training on important events while a dueling architecture separates value and advantage learning. The results show that the PMR-Dueling DQN has greatly increased convergence speed, stability, and overall performance across conditions. In both grid world and Gazebo environments the PMR-Dueling DQN achieved higher cumulative rewards. The combination of deep reinforcement learning with reward design, network architecture, and experience replay enables the PMR-Dueling DQN to surpass traditional approaches for robot path planning in complex environments. [ABSTRACT FROM AUTHOR]

In this paper, an improved APF-GFARRT* (artificial potential field-guided fuzzy adaptive rapidly exploring random trees) algorithm based on APF (artificial potential field) guided sampling and fuzzy adaptive expansion is proposed to solve the problems of weak orientation and low search success rate when randomly expanding nodes using the RRT (rapidly exploring random trees) algorithm for disinfecting robots in the dense environment of disinfection operation. Considering the inherent randomness of tree growth in the RRT* algorithm, a combination of APF with RRT* is introduced to enhance the purposefulness of the sampling process. In addition, in the context of RRT* facing dense and restricted environments such as narrow passages, adaptive step-size adjustment is implemented using fuzzy control. It accelerates the algorithm's convergence and improves search efficiency in a specific area. The proposed algorithm is validated and analyzed in a specialized environment designed in MATLAB, and comparisons are made with existing path planning algorithms, including RRT, RRT*, and APF-RRT*. Experimental results show the excellent exploration speed of the improved algorithm, reducing the average initial path search time by about 46.52% compared to the other three algorithms. In addition, the improved algorithm exhibits faster convergence, significantly reducing the average iteration count and the average final path cost by about 10.01%. The algorithm's enhanced adaptability in unique environments is particularly noteworthy, increasing the chances of successfully finding paths and generating more rational and smoother paths than other algorithms. Experimental results validate the proposed algorithm as a practical and feasible solution for similar problems. [ABSTRACT FROM AUTHOR]