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6 results on '"pathplanning"'

1. Path Planning for Autonomous Underwater Vehicles (AUVs) Considering the Influences and Constraints of Ocean Currents

Author

Ziming Chen, Jinjin Yan, Ruen Huang, Yisong Gao, Xiuyan Peng, and Weijie Yuan

Subjects
AUV, pathplanning, ocean currents, genetic algorithm, path performance evaluation, Motor vehicles. Aeronautics. Astronautics, TL1-4050
Abstract

Ocean currents pose a significant challenge in the path planning of autonomous underwater vehicles (AUVs), with conventional path-planning algorithms often failing to effectively counter these influences. In response to this challenge, we propose a path-planning algorithm that can consider the influences and constraints of ocean currents, which leverages the strengths of two widely employed path-planning algorithms, A* and the genetic algorithm (GA), to account for the influences of ocean currents on the planned paths. Specifically, it enhances the initial population generation, formulates a fitness function tailored to ocean current conditions, and employs an adaptive mutation approach to enhance population diversity and stability. By utilizing simulated and real-world ocean current datasets, we validated the feasibility of the proposed algorithm with quantitative metrics. The results demonstrate that in comparison to conventional methods, the new algorithm can deal with the influences and constraints of ocean currents in AUV path planning, resulting in notable enhancements in path smoothness, energy efficiency, and safety.

Published
2024
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2. Optimal Path Planning of Mobile Robot Using Hybrid Cuckoo Search-Bat Algorithm.

Author

Saraswathi, Mbl, Murali, Gunji Bala, and Deepak, B.B.V.L.

Subjects
MOBILE robots, ROBOTIC path planning, METAHEURISTIC algorithms, SOFT computing, SEARCH algorithms
Abstract

The mobile robot path planning depends on sensing the data, map building and planning the path according to the prescribed environment. Many researchers have followed different techniques to get the optimal path. In the Earlier days Mathematical model has been developed to get the optimal path but the result obtained was very poor. After that, so many Soft computing techniques have been developed, but the major drawback is that they are more time to find the optimal path. Sometimes these algorithms fall in local optima during execution. This paper Deals with mobile robot path planning using two nature inspired meta-heuristic algorithms namely cuckoo-search and bat algorithm in the unknown or partially known environment. Cuckoo search is based on the parasitic behaviour of the cuckoo, and the bat algorithm is based on the Echolocation behaviour of the bats. The best qualities in the cuckoo-search and the bat algorithm are combined to obtain the optimal path. Proposed method takes less time to reach the target as compared to individual algorithms. The efficiency of this work has been tested in Matlab environment. [ABSTRACT FROM AUTHOR]

Published
2018
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3. Automated Driving on a Skid Road with a Forwarder in a CTL Logging Process

Author

Geiger, Chris, Beiser, Sebastian, and Geimer, Marcus

Subjects
Automation, Pathplanning, Potential Fields, ddc:620, Automated Driving, Engineering & allied operations
Abstract

In a fully mechanized Cut-to-Length (CTL) logging process, a harvester fells the trees and cuts them into logs of specific length according to the log quality. In the subsequent process step, a forwarder loads the logs and moves them from the logging area to a forest road. This step shows a huge potential towards automation. Within this paper, a method is presented for driving a forwarder automated on a skid road based on environmental recognition, avoiding the disadvantages of gps-based systems and their lacking accuracy under tree canopy. The presented method exploits the process flow of a CTL process, as a Lidar is mounted on the harvester, which delivers a highly accurate point cloud of the environment and works well regardless of the lighting conditions. Applying the SLAM-algorithm ���Google Cartographer��� on the collected point cloud data of the 3D-LIDAR from the Harvester creates a map, on which an offline path planning is performed. This map results firstly in a 2D occupancy grid map, showing which areas contains objects and which areas are free space. The data in the map is further processed by identifying trees using a clustering algorithm on the object points. After receiving such a simplified map, the subsequent path planning consists of two steps due to the articulated steering of the forestry machine. In the first step, a guiding path for the skid road is created by using gradient descent after creating an artificial potential field with a high potential for areas containing trees. In the second step, this path is recalculated with a simplified kinematics model of the vehicle, avoiding collisions of the forwarder with the trees adjacent to the skid road. Furthermore, the calculated path contains the steering and heading angles of the vehicle. Based on this information, the necessary steering angle of a vehicle on the map can be calculated online and sent to the machine control. The presented method was proven simulation-based with measurement data recorded at real logging sites during thinning and will be tested under real working conditions for an 11-ton forwarder in near future. Thereby, a stump detection based on a Convolutional Neural Network resulting in an online obstacle avoidance system will be implemented by mounting an additional depth camera on the Forwarder.

Published
2021
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4. Využití současných technik SW inženýrství v oblasti videoher

Author

Kovář, Jiří, Kroupa, Jiří, Pavlásek, Jan, Kovář, Jiří, Kroupa, Jiří, and Pavlásek, Jan

Abstract

Tato práce pojednává o vytvoření jednoduché 2D hry s využítím technik pro vývoj softwarové aplikace. Do hry jsou zabudovány prvky generování bludiště a hledání trasy. První část popisuje teorii spojenou s vývojem aplikace, generováním bludiště a plánováním trasy. Ve druhé části jsou pak tyto poznatky využity k implementaci jednotlivých algoritmů a jejich porovnání. Následuje implementace vybraných algoritmů do jednoduché 2D hry., This thesis is primarily about creating a simple 2D game using modern aproaches for software development. Maze generation and pathfinding elements are build into the game. The first part of the thesis describes application development, maze generation and pathfinding. In the second part are these findings used to implement and compare individual algorithms. The following part is about implementation of selected algorithms into the simple 2D game.

5. Využití současných technik SW inženýrství v oblasti videoher

Author

Kovář, Jiří, Kroupa, Jiří, Pavlásek, Jan, Kovář, Jiří, Kroupa, Jiří, and Pavlásek, Jan

Abstract

Tato práce pojednává o vytvoření jednoduché 2D hry s využítím technik pro vývoj softwarové aplikace. Do hry jsou zabudovány prvky generování bludiště a hledání trasy. První část popisuje teorii spojenou s vývojem aplikace, generováním bludiště a plánováním trasy. Ve druhé části jsou pak tyto poznatky využity k implementaci jednotlivých algoritmů a jejich porovnání. Následuje implementace vybraných algoritmů do jednoduché 2D hry., This thesis is primarily about creating a simple 2D game using modern aproaches for software development. Maze generation and pathfinding elements are build into the game. The first part of the thesis describes application development, maze generation and pathfinding. In the second part are these findings used to implement and compare individual algorithms. The following part is about implementation of selected algorithms into the simple 2D game.

6. Využití současných technik SW inženýrství v oblasti videoher

Author

Kovář, Jiří, Kroupa, Jiří, Pavlásek, Jan, Kovář, Jiří, Kroupa, Jiří, and Pavlásek, Jan

Abstract

Tato práce pojednává o vytvoření jednoduché 2D hry s využítím technik pro vývoj softwarové aplikace. Do hry jsou zabudovány prvky generování bludiště a hledání trasy. První část popisuje teorii spojenou s vývojem aplikace, generováním bludiště a plánováním trasy. Ve druhé části jsou pak tyto poznatky využity k implementaci jednotlivých algoritmů a jejich porovnání. Následuje implementace vybraných algoritmů do jednoduché 2D hry., This thesis is primarily about creating a simple 2D game using modern aproaches for software development. Maze generation and pathfinding elements are build into the game. The first part of the thesis describes application development, maze generation and pathfinding. In the second part are these findings used to implement and compare individual algorithms. The following part is about implementation of selected algorithms into the simple 2D game.

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