Positioning navigation is a key technology for mobile robots to achieve autonomous navigation and precise positioning. Through the positioning and navigation system, the mobile robot can obtain its own position and at...
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ISBN:
(纸本)9798400716775
Positioning navigation is a key technology for mobile robots to achieve autonomous navigation and precise positioning. Through the positioning and navigation system, the mobile robot can obtain its own position and attitude information in the environment, and perform path planning and action execution based on this. This article analyzes and uses the robot Gmapping mapping algorithm based on ROS (Robot Operating System); Introduce the positioning and navigation function package node relationship in the ROS system; Conduct matlab simulation and comparative experiments on the A-star global path planning algorithm, and introduce the running process of the DWA (Dynamic Window Approach) local path planning algorithm. Experiments are conducted in the experimental classroom, mainly by calling the Gmapping function package and Navigation function package in the ROS system to construct raster maps and position navigation. The experiment has initially completed mapping and positioning navigation functions. The experiment has initially completed the mapping and positioning and navigation functions.
Due to an advancement in Industry 4.0 technology, various autonomous systems have been developed in order to increase the operational efficiency. This paper considers an application of Industry 4.0 technology to an au...
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Due to an advancement in Industry 4.0 technology, various autonomous systems have been developed in order to increase the operational efficiency. This paper considers an application of Industry 4.0 technology to an autonomous transportation operation. The paper focuses on applying a machine learning technique to a dynamic path planning problem where real-time randomized obstacle locations are considered. The routes or the solutions from the dynamic path planning problem are determined by an a-star algorithm, which are then used to build machine learning models based on an artificial neural network. The models were developed to discover the relationship between the input and output of the dynamic path planning problem. The structure of the network which is defined by the number of intermediate layers and the number of nodes is provided, where the overall accuracy is used to evaluate the setting efficiency. The proposed methodology was tested with a problem that consists of 7 types of paths, and the number of randomized obstacles fluctuated from 1 to 8. The paths were generated based on a layout of a consumer product warehouse. The proposed model succeeded in predicting the robot paths with 98.5% prediction accuracy.
The current railway routing system can not produce satisfactory trip plans for passengers with different income backgrounds, taking into account their preferences on route choices. Therefore, the effort on developing ...
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ISBN:
(纸本)9781457721205
The current railway routing system can not produce satisfactory trip plans for passengers with different income backgrounds, taking into account their preferences on route choices. Therefore, the effort on developing and implementing a railway routing and scheduling model that provide personalized trip routes is of great significance in improving railway transportation service. The model proposed was based on current train diagram. Its characteristic variables were established through a comprehensive analysis of factors that contribute railway passengers’ trip options. Weightings for these variables were determined by passengers’ preferences. Utility function for each section on a railway path was constructed on an initial railway network. The optimization problem of routing generation was then converted to shortest path problem solved by a combination of K shortest path algorithm and a-star algorithm. A case analysis in this thesis verified the feasibility and effectiveness of this model.
With the development of GPS,GIS and mobile network communication technology,it has been becoming possible for mobile phone users to acquire the geographical information anytime and *** paper proposes a novel solution ...
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With the development of GPS,GIS and mobile network communication technology,it has been becoming possible for mobile phone users to acquire the geographical information anytime and *** paper proposes a novel solution of embedded navigation system based on GPS/GIS that realizes some functions such as PDA data enquiry and parsing,terminal communication service,map application service,geographic information collection,embedded navigation electronic map *** this paper,we discuss the system topology architecture,technical scheme and the key realization *** last,test results prove that the solution of embedded navigation system based on GPS/GIS is feasible and valid,and it can be installed in PDA,mobile phones and other portable information terminals.
This paper reviews the principle of A* algorithm in 2D game. In order to improve the path-finding efficiency and avoid using A* directly because which may bring much more space, we use copied map to assist A* to refin...
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Gossip routing protocol for distributed computation in WSNs is attractive due to its simplicity, distributed nature, and robustness in noisy and uncertain environments. However, using a traditional randomized gossip p...
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ISBN:
(纸本)9781457717666
Gossip routing protocol for distributed computation in WSNs is attractive due to its simplicity, distributed nature, and robustness in noisy and uncertain environments. However, using a traditional randomized gossip protocol can lead to a significant waste of energy due to repeatedly recirculation redundant information. This paper proposes an energy-efficient routing protocol called Fuzzy-Gossip protocol which is a modification of gossip protocol using fuzzy logic. The new protocol determines the optimal routing path from source to destination by selected the best node from candidate nodes in the forwarding paths by favoring highest remaining energy and the lowest distance (minimum number of hops) to the sink. Simulation results demonstrate that applying the proposed method to control messages forwarding improves performance which minimizes the overall energy consumption and maximizes WSN lifetime.
Aiming at some limitations of the a-star algorithm,the algorithm is improved and optimized,robot path planning experiment is carried *** the traditional a-star algorithm,there are too many turning points of the path a...
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Aiming at some limitations of the a-star algorithm,the algorithm is improved and optimized,robot path planning experiment is carried *** the traditional a-star algorithm,there are too many turning points of the path and the path is not smooth enough,the car deviates from the path when navigating due to the arc at the corner is too *** paper combines the conjugate gradient and Gaussian process principle to optimize the a-star algorithm and eliminate the invalid path information to jump points,to implement a path with less angle and *** results show that the hybrid algorithm has a shorter and smoother path than the a-star algorithm.
With the development of GPS, GIS and mobile network communication technology, it has been becoming possible for mobile phone users to acquire the geographical information anytime and anywhere. This paper proposes a no...
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ISBN:
(纸本)9781424448999;9781424448982
With the development of GPS, GIS and mobile network communication technology, it has been becoming possible for mobile phone users to acquire the geographical information anytime and anywhere. This paper proposes a novel solution of embedded navigation system based on GPS/GIS that realizes some functions such as PDA data enquiry and parsing, terminal communication service, map application service, geographic information collection, embedded navigation electronic map etc. In this paper, we discuss the system topology architecture, technical scheme and the key realization technologies. At last, test results prove that the solution of embedded navigation system based on GPS/GIS is feasible and valid, and it can be installed in PDA, mobile phones and other portable information terminals.
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