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4th IEEE Information Technology, Networking, Electronic and Automation Control Conference (ITNEC)

作者： Zhou, Yicheng Cheng, Xiaoyu Lou, Xingyu Fang, Zhou Ren, Jialu Hohai Univ Coll Internet Things Engn Changzhou Peoples R China

ISBN: (纸本)9781728143903

Although there are many types of trip planning systems, and many of them have already been put into commercial use, most of the known trip planning systems have some defects, such as the inability to integrate multiple modes of transportation when planning the itinerary. Without considering the special needs of different groups of people, etc., if users want to achieve combined travel, they still need to manually search and match, thus reducing the user experience. The system is based on the a-star algorithm[1], considering the transportation modes commonly used by people, such as subways, high-speed rails, and airplanes, to construct an intelligent planning system for travel between cities. The system can realize the city A subway station as the starting point, the city B subway station as the destination, integrate various urban and inter-city transportation modes, intelligently plan the complete travel route, and provide the "most time-saving" and "most Save money and "most comfortable" three planning options.

关键词： travel planning a-star algorithm heuristic function complex system

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Solving Inverse Kinematics Problem of Robot Arm Based on a-star algorithm 13

Solving Inverse Kinematics Problem of Robot Arm Based on A-S...

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13th International Joint Conference on Computer Science and Software Engineering (JCSSE)

作者： Chaichawananit, Jirayus Saiyod, Saiyan Khon Kaen Univ Fac Sci Dept Comp Sci Khon Kaen Thailand

ISBN: (纸本)9781509020331

Nowadays, the robot arm is widely used. A robot arm includes various components such as links, joints, and arm tip. These components may difference from other robot arm that are according to their designing. The joints are one of the robot arm component that are the rotation motor. These rotation motors need to be controlled for the component collaboration. After system order moved the arm. Then, all of the motors need to move for target position reaching of the arm tip. The Inverse kinematics problem is how to command the movement of each motor. Therefore, this paper has presented a solution for those problems by using gradient following procedure, a-star algorithm, and transformation matrix in order to achieve the best practice. In addition, this paper applied the Snap width constant to increase the performance of proposed method. To suggest a solution, this paper has concerned about the accuracy, the loop of operation, and the minimum movement by carrying out a simulation on the simulative model with MATLAB program. According to the result, it was possible to calculate the proper degrees of the joint angles for creating the most accurate reach range of the end effector. After that, proposed method will apply in the robot arm.

关键词： Inverse Kinematics a-star algorithm Robot Arm Snap-width

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A Path Planning Method for Intelligent Warehouse Robots Based on Improved a-star algorithm 2

A Path Planning Method for Intelligent Warehouse Robots Base...

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2nd IEEE-Industrial-Electronics-Society Annual On-Line Conference (ONCON)

作者： Yan, Xiaozhen Zhou, Xinyue Luo, Qinghua Li, Shenghui Harbin Inst Technol 2 Wenhua West Rd Weihai 264209 Shandong Peoples R China Shandong Inst Shipbldg Technol Haibu Rd Weihai 264209 Shandong Peoples R China

ISBN: (纸本)9798350357974

In the context of escalating demand for heightened logistical efficiency, the significance of intelligent warehousing becomes increasingly pronounced. Within the realm of intelligent warehousing, the prevalent issue of numerous turning points in existing algorithmically planned routes necessitates a reduction in robotic velocity during these maneuvers, thereby impeding overall operational efficiency. Addressing this challenge, this article posits an enhanced A-star method based on directional search and path reprocessing. Primarily, it aims to curtail computational load by minimizing the quantity of search nodes. Additionally, it endeavors to streamline paths by eliminating non-essential nodes, consequently reducing the number of turning points and shortening path lengths. Simulation outcomes indicate that the enhanced a-star algorithm attains an optimal overall performance across maps with varying obstacle ratios.

关键词： Intelligent robot path planning robots a-star algorithm

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2.5D Navigation Graph and Improved a-star algorithm for Path Planning in Ship Inside Virtual Environment

2.5D Navigation Graph and Improved A-star Algorithm for Path...

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Prognostics and System Health Management Conference (PHM-Besancon)

作者： Xie, Wei Fang, Xiongbing Wu, Sheng China Ship Dev & Design Ctr Wuhan Peoples R China

ISBN: (纸本)9781728156750

A new method entitled 2.5D navigation graph for walkable domain modelling, and an improved a-star algorithm for path planning in large ship inside 3D virtual environment (VE) are developed. Firstly, the authors partitioned the XOZ plane with squared cells and then converted the 3D virtual scene model composed of triangular facets into cuboidal obstacles in each grid via projection and intersection algorithm. The top face of each cuboid obstacle is a candidate walkable area for the character in 3D VE. Top facets of all obstacles in the 2.5D navigation graph form the walkable domain of the 3D VE. Furthermore, the obstacle for the next stay position is found by the improved a-star algorithm among the obstacles which reposes on the surrounding eight cells. Experimental results indicate that the provided 2.5D navigation graph and the improved A-star method can deal with the problem of path planning for ship inside 3D VE. Especially, the proposed scheme has adequately taken the horizontal and vertical characteristics of the ship inside environment, the body size of the character, and the physiological specialty and walking customs of humankind into account.

关键词： ship virtual reality path planning navigation graph a-star algorithm

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Global Path Planning for USV Using a-star algorithm with Modified Heuristic Function 4

Global Path Planning for USV Using A-Star Algorithm with Mod...

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4th IEEE International Conference on Power, Electronics and Computer Applications, ICPECA 2024

作者： Zheng, Shengxuan Luo, Liang Xiao, Yuqing School of Naval Architecture Ocean and Energy Power Engineering Wuhan University of Technology Key Laboratory of High Performance Ship Technology of Ministry of Education Wuhan China

ISBN: (纸本)9798350359589

The traditional a-star algorithm searches for paths with too much detour. This article aims to address this issue by establishing a rectangle with the line connecting the current point and the target point as the diagonal. The square of the slope k of the diagonal of the rectangle is introduced as the correction coefficient of Mann heuristic function to obtain a preliminary planning path. Then, we need to optimize and merge it, and use cubic splines for trajectory smoothing. The simulation results show that the improved method can plan a path that is approximately close to the line connecting the starting point to the target point. © 2024 IEEE.

关键词： a-star algorithm Heuristic function Path planning Smooth processing

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Variable search domain improved a-star algorithm for AMR in warehouse environments 7

Variable search domain improved A-star algorithm for AMR in ...

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7th CAA International Conference on Vehicular Control and Intelligence, CVCI 2023

作者： Li, Wei Cong, Yongzheng Du, Haibo Zhu, Wenwu School of Electrical Engineering and Automation Hefei University of Technology Hefei China

ISBN: (纸本)9798350340488

In order to reduce autonomous mobile robot path planning time and improve efficiency in the warehouse environment, the variable search domain improved a-star algorithm is proposed. Firstly, a raster map matrix is created based on the actual map, then inflection point features and path information are extracted to set up a search template, and finally, different search steps and search directions are adaptively obtained from the search template according to the location information of the nodes to be expanded, simplifying the search space and improving the computational efficiency of the a-star algorithm. The traditional a-star algorithm and the improved a-star algorithm are compared and tested respectively. The simulation test results show that the variable search domain a-star algorithm proposed in this paper has fewer traversing nodes, shorter search time, and better performance. © 2023 IEEE.

关键词： a-star algorithm autonomous mobile robot path planning variable search domain

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Underwater Gliders Using the a-star algorithm for Station Keeping in Currents

Underwater Gliders Using the A-Star Algorithm for Station Ke...

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OCEANS Conference

作者： Li, Shuai Niu, Wendong Ma, Xiaojuan Wang, Yanhui Yang, Ming Yang, Shaoqiong Tianjin Univ TJU Sch Mech Engn Tianjin 300072 Peoples R China

ISBN: (纸本)9798350332261

Underwater glider (UG) is becoming a reliable tool for continuous data collection due to its low operating cost, long-term observation, and easy deployment and recovery. UGs are a promising option for virtual moorings, because traditional moorings are expensive and cannot be easily transfered to other locations once installed. However, it is difficult for the UG to function like a real mooring and keep a small error distance between the surfacing locations and the surface target location in ocean currents. With the application of Hybrid Coordinate Ocean Model in ocean current prediction, the a-star algorithm is introduce in this study to to pick out the optimal azimuth as much as possible in currents. A sea trial was perfromed with the Petrel-II UGs developed by Tianjin University of China, which were deployed as virtual moorings for the observation of mesoscale eddies. According to the experimental results, it is effective and meaningful for UGs to adopt the A-staralgorithm for station keeping in currents.

关键词： underwater glider virtual mooring a-star algorithm station keeping

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A Path Planning Method for Indoor Robots Based on Partial & Global a-star algorithm

A Path Planning Method for Indoor Robots Based on Partial & ...

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2017 5th International Conference on Frontiers of Manufacturing Science and Measuring Technology(FMSMT 2017)

作者： WANG Kang-le DANG Shu-wen HE Fa-jiang CHENG Peng-zhan School of Air Transportation and Flying Shanghai University of Engineering Science School of Mechanical Engineering Shanghai University of Engineering Science

ISBN: (纸本)9781510840232

Considering the traditional A*algorithm being difficult to satisfy the limitation of the indoor environment space of the robot. A partial and global A-star(P&G-A*) algorithm based on the motion model of indoor robot is proposed. LIDAR sensing system is employed into P&G-A* algorithm to achieve both local awareness and global optimization. The real environment data is adopted for simulated experiments, and experimental results proved that the path planning time is reduced 13.31% when comparing with traditional algorithm, and actual driving distance decrease by 15.71%. Furthermore, the robot trajectory is more smoothly after P&G-A* is applied.

关键词： a-star algorithm Indoor Robot Path Planning LIDAR

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Dynamic planning of crowd evacuation path for metro station based on Dynamic Avoid Smoke a-star algorithm

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TUNNELLING AND UNDERGROUND SPACE TECHNOLOGY 2024年 154卷

作者： Zuo, Songtao Mao, Zhanli Fan, Chuangang Chen, Xin Gong, Meiling Ren, Jianxing Fan, Xiaoxiao Guo, Yongnan China Peoples Police Univ Sch Fire Protect Engn Langfang 065000 Peoples R China Cent South Univ Sch Civil Engn Changsha 410075 Peoples R China

Considerable casualties can easily be caused once a fire occurs in a metro station, and a safe and effective evacuation path in time should be provided, taking on critical significance in the rapid evacuation of the crowd. In existing research, crowd evacuation paths have been generally planned without considering the fire environment and the real-time effect of fire products on the evacuation paths, such that the planned paths do not fit the realistic environment of crowd evacuation. An algorithm is proposed in this study to dynamically plan evacuation paths in fire scenarios in metro stations. First, the equivalent length of the path under the effect of fire on evacuation speed is determined in accordance with the effects of ambient temperature, visibility, and CO concentration, and then the fire risk model is built. Second, the fire risk model is incorporated into the a-star algorithm, and the evaluation function of the a-star algorithm is optimized, such that the determined path is capable of avoiding areas with higher fire risk. Subsequently, a dynamic update mechanism considering time factor is introduced to update the search environment information data of the algorithm in real time for dynamic path planning, with the aim of coping with the dynamically changing fire environment. Lastly, the a-star algorithm is optimized, and the Dynamic Avoid-Smoke A-star (DASA-star) algorithm is built. As indicated by the simulation results, the DASa-star algorithm is capable of making a trade-off between the fire risk and geometric length of the path in an underground station fire scenario and achieving dynamic planning of evacuation paths based on FDS fire simulation results. Accordingly, the algorithm conforms to the real-time requirements of path planning under fire conditions, and it is capable of more effectively planning the optimal evacuation path under the effect of fire.

关键词： Evacuation path planning a-star algorithm Metro station fire Crowd evacuation Dynamic planning

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Reversed design of selective infrared emitter based on the combination of equivalent medium theory and a-star algorithm

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OPTICS AND LASER TECHNOLOGY 2024年 176卷

作者： Guo, Hetao Yang, Xiaolong Zhu, Di Nanjing Univ Aeronaut & Astronaut Coll Mech & Elect Engn Nanjing 210016 Peoples R China Nanjing Univ Aeronaut & Astronaut Jiangsu Key Lab Precis & Micromfg Technol Nanjing 210016 Peoples R China

Metal-dielectric-metal (MDM) structure can selectively emit infrared wave because of the local plasma resonance;it has attracted intensive attentions in sensor, radiative cooling and many other fields. However, it remains challenging to efficiently design a customized near-ideal selective emitter. In this work, a concise design method that combined equivalent medium theory with a-star algorithm was developed for the reversed design of the MDM structure. This strategy for designing and optimizing the MDM structure, implemented the customization of the selective emitters. Meanwhile, design efficiency was improved by similar to 10 times. A variety of nearideal selective infrared emitters at 6 mu m were designed based on different materials. The essence of structural parameter or material change was to adjust the radiation damping and dissipative damping of the structure to regulate the spectral radiation characteristics, such as emissivity peak and full width at half maximum (FWHM). The Q-factor of the high-performance selective emitter depends on the higher loss tangent of metals. Both the computational method and the concluded results of this work would provide enlightenment for future design of MDM structures intended for many cutting-edge applications, such as infrared sensing and radiative cooling.

关键词： MDM structure Equivalent medium theory a-star algorithm Selective infrared emitter

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