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Generating A-star algorithm Admissible Heuristics Using a Dynamic Dataloader on Neural Networks, Enhanced With Genetic algorithms, on a Distributed Architecture

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IEEE ACCESS 2023年 11卷 18356-18373页

作者： Amine, Ouardi Mohammed, Mestari Ecole Normale Super Enseignement Tech ENSET Signals Distributed Syst & Artificial Intelligence Mohammadia 28830 Morocco Hassan II Univ Casablanca Dept Math & Comp Sci Casablanca 20000 Morocco

Heuristic search algorithms are informed search strategies that use heuristics to estimate the minimal cost of the path from the current state to the goal. Using this additional knowledge, this type of algorithms can distinguish non-goal states, and then directs its search towards those that look more promising. This makes these algorithms faster than uninformed search algorithms. The A* algorithm is a well-known example of heuristic-based algorithms that is guaranteed to find the least-cost path to a goal state if the heuristic used is admissible, which means that it never overestimates the real cost from the current state to the goal. In this article, we are going to present a neural network architecture that makes it possible to predict admissible heuristics for a given graph and destination node, then we are going to refine our models using genetic algorithms in order to obtain better results.

关键词： Neural networks genetic algorithms a star algorithm graphs heuristics path finding PyTorch Azure databricks distributed computing

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Multi-UAV avoiding barrier problem based on the improved artificial potential afield nd A-star algorithm 24

Multi-UAV avoiding barrier problem based on the improved art...

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International Conference on algorithms, Software Engineering, and Network Security (ASENS)

作者： Chen, Yixuan Shanxi Normal Univ Taiyuan 041081 Shanxi Peoples R China

ISBN: (纸本)9798400709784

At present, the performance of a single UAV gradually cannot meet the needs of the development of human society. The key to the use of the UAV fleet lies in the technology of collaborative control. Existing uav collaboration technologies, such as group intelligence algorithm, deep reinforcement learning method and artificial potential field method, all have some deficiencies. This paper aims to obtain A collaborative artificial quadrotor UAV group that can effectively avoid obstacles by combining the improved artificial potential field algorithm and A-star algorithm. First, record the UAV obstacle avoidance test data to verify the superiority of the new algorithm. For the traditional artificial potential field function, improve the repulsion field function, introduce the distance between the quadrotor UAV and the target point in the repulsion field function;the artificial potential field algorithm is used for global route planning, the a star algorithm is used to avoid local obstacles, set the dangerous distance between the UAV and obstacles. When the dangerous distance is less than or equal between the two, the map is grid and the a star algorithm is used to avoid obstacles. Finally, a group of drones with efficient obstacle avoidance is obtained in the form of main-following formation.

关键词： Uav group Artificial potential field method a star algorithm Main-from following Obstacle avoidance

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Minimum dose path planning method for virtual nuclear facilities based on navigation mesh

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ANNALS OF NUCLEAR ENERGY 2024年 195卷

作者： Zheng, Anran Liu, Tiancai Song, Yunpeng Wang, Xuesong Liu, Lili Qi, Lin China Inst Atom Energy Beijing 102413 Peoples R China

The operation, maintenance and decommissioning of nuclear facilities have radiation risks. When workers work in the radiation area, it is necessary to carry out radiation protection through path planning. In order to optimize the dose field path planning algorithm, a virtual verification platform for dose field path planning is established based on the Unreal Engine. The platform includes virtual environment, dose field, and personnel dose assess-ment modules, which can meet the needs of dose field path planning algorithm research and optimization. Considering the complexity and variability of the environment in the operation process, a new dose minimum path planning algorithm based on navigation mesh is designed. Based on this algorithm, the number of grids for path planning in complex or large scenes is significantly reduced, and the calculation time of the algorithm is reduced while ensuring the optimal dose. The simulation results show that the minimum dose path planning method based on navigation mesh can effectively reduce path planning time and ensure the safety of personnel during the decommissioning of nuclear facilities.

关键词： Minimum dose path planning Nuclear facilities Navigation mesh a star algorithm Virtual simulation

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A systematic review and analysis of A-star pathfinding algorithms and its variations

A systematic review and analysis of A-star pathfinding algor...

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作者： Zuoyu Wang Xinduo Fan Department of Computer Science Denison University

This paper presents a comprehensive review and analysis of the A-star（A） pathfinding algorithm and its variations. A-star algorithm's core principles, practical representations, and diverse applications are examined. The study extends to various A derivatives, including Weighted A, IDA（Iterative Deepening A）, ARA（Anytime Repairing A）, D（Dynamic A）,LPA（Lifelong Planning A）, D Lite, and AD（Anytime Dynamic D）. Each variant's unique adaptations and efficiencies are explored, highlighting their suitability for specific challenges in pathfinding tasks. This work aims to elucidate the intricacies of these algorithms, demonstrating their significance and versatility in solving complex navigational problems,thus offering valuable insights for future research and application development in the field of artificial intelligence and game industry.

关键词： a star algorithm pathfinding algorithm D~*/D~* Lite/LPA~*(incremental search algorithms) Weighted A~ A~*/ARA~*(anytime algorithms) IDA~ AD~

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Predicting A* search algortihm heuristics using neural networks

Predicting A* search algortihm heuristics using neural netwo...

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IEEE International Conference on Electrical, Computer, and Energy Technologies (ICECET)

作者： Amine, Ouardi Mohammed, Mestari Hassan II Univ Lab Signals Distributed Syst & Artificial Intelli Ecole Normale Super Enseignement Tech ENSET Casablanca Morocco Hassan II Univ Lab Signals Distributed Syst & Artificial Intelli Ecole Normale Super Enseignement Tech ENSET Artificial Intelligence Res Team Casablanca Morocco

ISBN: (纸本)9781665442312

At the opposite side of the uninformed search algorithms, performing a systematic search, heuristic search algorithms are based on multiple rules leading it to estimate, in a predictive way, the minimal cost of the path from the current state to the goal. In this sense, A* algorithm is an example of heuristics-based algorithms that can guarantee to find a least-cost path to a goal state if this algorithm is using an "admissible heuristic". A heuristic is said to be "admissible" if it never overestimates the real path cost from the current state to the goal. Through this article, the main idea consists of developing a Neural Network that can predict those heuristics to further refine the a star algorithm results. During its learning phase, and as inputs, the neural network will have some representative examples in the form of pairs of several problems (graph and destination node) and heuristics ({P1,h1};{P2,h2} ... {Pn,hn}), to finally be able to calculate the best heuristic regardless of the inputs.

关键词： Neural Networks a star algorithm graphs heuristics path finding

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Providing Runner Platform for Personal Shopper, Delivery Services and Queue Assistant for Urban Community 14

Providing Runner Platform for Personal Shopper, Delivery Ser...

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14th International Conference on Developments in eSystems Engineering (DeSE)

作者： Yen, Lu Wai Kamsin, Intan Farahana Binti Asia Pacific Univ Technol & Innovat Technol Pk Malaysia Kuala Lumpur Malaysia

ISBN: (纸本)9781665408882

Nowadays, people are busy with works, studies, or tasks, as well as the disabled people, are getting some problem in daily life. Therefore, all of them are pursuing convenience and efficiency in their daily life. This research is to discuss about a proposed system called as VRunner, which is a mobile application that provides the on-demand runner booking service to the user from the available runner or rider in order to offer delivery service, queue assistant, errand runners, and personal shopper. The VRunner application provides errand services for personal shoppers or riders, which can purchase items from groceries to costume, jewelry and bag for customers and deliver them to the customer's doorstep. The on-demand runner service able to offer delivery everywhere based on the customer's request. The aim of the VRunner is to provide the runner service in an urban community and provide revenue-generating opportunities for the riders and provide solutions for customers who need runner services such as food delivery, personal shoppers, queue assistants, and errand runners. It also assists companies in increasing productivity by offering advertising space and delivering Business to Customers (B2C) business.

关键词： Global Positioning System (GPS) Geographical Information Systems (GIS) a star algorithm Google Cloud Messaging (GCM)

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A star Search algorithm for Civil UAV Path Planning with 3G Communication 10

A Star Search Algorithm for Civil UAV Path Planning with 3G ...

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10th International Conference on Intelligent Information Hiding and Multimedia Signal Processing (IIH-MSP)

作者： Tseng, Fan-Hsun Liang, Tsung-Ta Lee, Cho-Hsuan Chou, Li-Der Chao, Han-Chieh Natl Cent Univ Dept Comp Sci & Informat Engn Taoyuan Taiwan Natl Ilan Univ Dept Elect Engn Ilan Taiwan Natl Ilan Univ Dept Comp Sci & Informat Engn Ilan Taiwan Natl Dong Hwa Univ Dept Elect Engn Hualien Taiwan

ISBN: (纸本)9781479953905

The Unmanned Aerial Vehicle (UAV) has been widely applied to various applications, such as the enemy investigation in war, image transmission of military usage by satellite, and the transmission of control signal and image through radio frequency. The civilian UAV typically uses satellite, Global Positioning System (GPS), Wi-Fi or the third generation of mobile phone mobile communications technology (3G) for communications. However, the transmission range limits the data transmission of civilian UAV. In this paper, we utilize the 3G communications and consider the signal quality of Base Stations (BSs) for path planning. We adopt the well-known A star search algorithm to prevent the dead end of signal during flight, and plan the better flight path for civil UAV. The simulation results show that our proposed method acquires the 2.44 times better communication quality and routes with the 1.56 times longer flight only.

关键词： Unmanned Aerial Vehicle Civil UAV a star algorithm Path Planning 3G Communication

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Modified A* algorithm integrated with ant colony optimization for multi-objective route-finding;case study: Yazd

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APPLIED SOFT COMPUTING 2021年第PartA期113卷 107877-107877页

作者： Pasandi, Leila Hooshmand, Mehrnaz Rahbar, Morteza Univ Tabriz Islamic Art Univ Tabriz Dept Architecture Tabriz Iran Iran Univ Sci & Technol Sch Architecture & Environm Design Tehran Iran Iran Univ Sci & Technol Hengam StResalat Square Tehran Iran

In this paper, MASA (Modified A* algorithm) method is introduced which can merge numerous factors with different weights into a multi-weighted graph to offer the most optimal route for a pedestrian tourist. Several mobile applications support personalized tour recommendations in making feasible plans, however, tours should not only make visiting attractions possible via the shorter route but also satisfy the unique needs of individuals with different preferences. MASA integrates the Ant Colony Optimization algorithm for arranging points of interest (POI), with a modified A* algorithm for generating multi-weighted graphs through pairs of POIs to propose the most suitable tour and facilitate traversal for a tourist who does not get involved with riding vehicles. Our contribution in this research is to consider multiple factors simultaneously or customize the route based on the user's choice, and introduce pareto front chart for selecting optimal links, which has not been solved yet for being a challenging as well as complicated case. The user in this paper is authorized to choose preferred POIs, defined the importance of each parameter to affect route finding. A historical region in Yazd is selected as the case study due to its winding streets to show the solidity of our approach, with four main factors including Length, Communion, Relaxation, and Isovist, and then three routes have been generated considering customized selections along with an overall route considering all objectives. The computational results have shown the capability of the new proposed algorithm in route finding. (C) 2021 Elsevier B.V. All rights reserved.

关键词： Personalized tour recommendation Route-finding Optimal route Multi-weighted graph Ant Colony Optimization a star algorithm

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Search Method of disaster inspection coordinated by Multi-UAV 38

Search Method of disaster inspection coordinated by Multi-UA...

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38th Chinese Control Conference (CCC)

作者： ZheZhang JianWu ChengHe Nanchang Hangkong Univ Nanchang 330063 Jiangxi Peoples R China Hongdu Aviat Ind Grp 650 Res Inst Nanchang 330024 Jiangxi Peoples R China

ISBN: (纸本)9789881563972

The use of unmanned aerial vehicle(UAV) for timely and efficient disaster inspection is an important measure to reduce earthquake *** at the problem that complicated terrain of the disaster area and the urgent time of disaster relief, this paper puts forward a multi-UAV collaborative disaster inspection search method, gets the optimal scheme of inspection under the primary disaster and secondary *** such as terrain, inspection time, search area coverage and number of drones are fully taken into account, and the multi-machine cooperative flight model under primary disaster and secondary disaster is established *** with the fastest descent method and the a star algorithm, a route plan is obtained to complete the maximum coverage search in a specified time with *** whole area search route under secondary disaster is obtained by using taboo search algorithm. The simulation results show that the route is reasonable and the maneuverability is strong.

关键词： UAV Gradient Method Disaster inspection Coverage a star algorithm

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Search Method of disaster inspection coordinated by Multi-UAV

Search Method of disaster inspection coordinated by Multi-UA...

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第三十八届中国控制会议

作者： ZheZhang JianWu ChengHe Nanchang Hangkong University N0.650 Research Institute of Hongdu Aviation Industry Group

The use of unmanned aerial vehicle(UAV)for timely and efficient disaster inspection is an important measure to reduce earthquake *** at the problem that complicated terrain of the disaster area and the urgent time of disaster relief,this paper puts forward a multi-UAV collaborative disaster inspection search method,gets the optimal scheme of inspection under the primary disaster and secondary *** such as terrain,inspection time,search area coverage and number of drones are fully taken into account,and the multi-machine cooperative flight model under primary disaster and secondary disaster is established *** with the fastest descent method and the a star algorithm.,a route plan is obtained to complete the maximum coverage search in a specified time with *** whole area search route under secondary disaster is obtained by using taboo search *** simulation results show that the route is reasonable and the maneuverability is strong.

关键词： UAV Gradient Method Disaster inspection Coverage a star algorithm

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