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a-star algorithm for Robot Path Planning Based on Digital Twin 1

AUN/SEED-Net Joint Regional Conference in Transportation, Energy, and Mechanical Manufacturing Engineering, RCTEMME 2021

作者： Xuan, Doan Thanh Nam, Le Giang Viet, Dang Thai Thang, Vu Toan Hanoi University of Science and Technology Hanoi Viet Nam

ISBN: (数字)9789811919688

ISBN: (纸本)9789811919671

Robotic applications have become more and more popular with the development of the automation industry. The research on robotics is now constantly increasing due to a great demand in the market, a broad range of applications and potential technical development. In particular, the robot path planning has numerously been studied and applied using many algorithm generations. Path Planning optimization will help reduce the time and cost of robot operating procedures. Recently, there has been an emerging technology named Digital Twins that are virtual replicas of physical devices used for running simulations prior to the building and deployment of actual devices. This study presents a combination of the well-known a-star algorithm and digital twin technology for robot path planning. This combination has not been reported previously in the literature. In our study, the advantages of a-star algorithm and digital twin technology are applied to suitable robotic movement stages to propose an effective plan for the whole operating procedure. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： a-star algorithm Digital twin Path planning Robot Simulation

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Lifetime Enhancement in Wireless Sensor Networks Using Fuzzy Approach and a-star algorithm

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IEEE SENSORS JOURNAL 2012年第10期12卷 3010-3018页

作者： AlShawi, Imad S. Yan, Lianshan Pan, Wei Luo, Bin SW Jiaotong Univ Sch Informat Sci & Technol Chengdu 610031 Peoples R China

Wireless sensor networks (WSNs) are used in many applications to gather sensitive information which is then forwarded to an analysis center. Resource limitations have to be taken into account when designing a WSN infrastructure. Unbalanced energy consumption is an inherent problem in WSNs, characterized by multihop routing and a many-to-one traffic pattern. This uneven energy dissipation can significantly reduce network lifetime. This paper proposes a new routing method for WSNs to extend network lifetime using a combination of a fuzzy approach and an a-star algorithm. The proposal is to determine an optimal routing path from the source to the destination by favoring the highest remaining battery power, minimum number of hops, and minimum traffic loads. To demonstrate the effectiveness of the proposed method in terms of balancing energy consumption and maximization of network lifetime, we compare our approach with the A-star search algorithm and fuzzy approach using the same routing criteria in two different topographical areas. Simulation results demonstrate that the network lifetime achieved by the proposed method could be increased by nearly 25% more than that obtained by the a-star algorithm and by nearly 20% more than that obtained by the fuzzy approach.

关键词： a-star algorithm fuzzy logic network lifetime routing wireless sensor networks (WSNs)

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An Efficient and Accurate a-star algorithm for Autonomous Vehicle Path Planning

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2024年第6期73卷 9003-9008页

作者： Lin, Zhi Wu, Kang Shen, Rulin Yu, Xin Huang, Shiquan Cent South Univ Coll Mech & Elect Engn Changsha 410083 Peoples R China Sunward Intelligent Equipment Co Ltd Changsha 410100 Hunan Peoples R China

Efficient and accurate path planning algorithm of unmanned vehicles for unstructured road is of great significant for field disaster relief. An improved a-star algorithm for unmanned vehicle path planning is proposed in this paper to achieve optimized path with shorter length and less inflection point. Redundant safety spaces are set up in the improved algorithm to filter out impassable narrow roads and to avoid collisions between vehicles without obstacles. The prejudgment planning strategy and redundant inflection point elimination strategy are integrated into the algorithm to obtain a better driving path. Furthermore, a safe corridor approach was used in the trajectory optimization to avoid repeated checks and corrections and save computer time. The simulation results show that the path planned with the improved algorithm has shorter length, less inflection point and smoother than the path planned with the initial algorithm, and can avoid collision between vehicle contours and obstacles.

关键词： Heuristic algorithms Planning Safety Turning Roads Path planning Costs Autonomous driving a-star algorithm path planning redundant inflection point elimination pre-judgment planning strategy

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Development of Path Planning Approach Using Improved a-star algorithm in AGV System

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JOURNAL OF INTERNET TECHNOLOGY 2019年第3期20卷 915-924页

作者： Zhang, Yan Li, Ling-ling Lin, Hsiung-Cheng Ma, Zewen Zhao, Jiang Hebei Univ Sci & Technol Sch Elect Engn Shijiazhuang Hebei Peoples R China Hebei Univ Technol Sch Elect Engn Shijiazhuang Hebei Peoples R China Natl Chin Yi Univ Technol Dept Elect Engn Taichung Taiwan

Automated guided vehicles (AGV) has been widely applied in industry, especially in warehousing, logistics and port transportation, etc. The most important issue in the AGV control system is how to determine the shortest path. Although a-star algorithm is usually used to solve this problem due to its fast computational time, it may suffer from some drawbacks, for instance, there are too many unnecessary inflection points and redundant nodes during its moving process. For this reason, the improved a-star algorithm is proposed to optimize the motion path, including the reduction of path length, number of AGV turns and path planning time. In this scheme, a key point selection strategy is used for the secondary planning based on the initial path obtained by the a-star algorithm. Therefore, redundant inflection points and nodes in the path can be effectively removed. Additionally, the rotation direction and rotation angle of AGV at the inflection point can be thus determined. This improved A-star method can provide a more efficient path planning with shorter routes, less turn times and shorter operation time compared with previous methods, such as the a-star algorithm and the ant colony algorithm.

关键词： Automated guided vehicles (AGV) a-star algorithm Path planning Heuristic search algorithm

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Development of Path Planning Approach Based on Improved a-star algorithm in AGV System 3rd

Development of Path Planning Approach Based on Improved A-st...

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3rd European-Alliance-for-Innovation (EAI) International Conference on IoT as a Service (IoTaaS)

作者： Zhang, Yan Li, Ling-ling Lin, Hsiung-Cheng Ma, Zewen Zhao, Jiang Hebei Univ Sci & Technol Sch Elect Engn Shijiazhuang 050018 Hebei Peoples R China Hebei Univ Technol Dept Elect Informat Engn Tianjin 300130 Peoples R China Natl Chin Yi Univ Technol Dept Elect Engn Taichung 41170 Taiwan

ISBN: (纸本)9783030004101;9783030004095

Automate guide vehicle (AGV) has been widely applied in industry. Therefore, it is important to design a highly efficient AGV. The path planning is known as one of the key factor for AGV operation. Although typical a-star algorithm with a heuristic mechanism can be used in the shortest path searching, it may suffer from broken lines and redundant nodes. In this paper, an improved a-star algorithm is presented. Based on the initial path planned by a-star algorithm, traversing all the nodes on an initial path and deleting unnecessary nodes and connections, the proposed model can remove the superfluous inflection points and redundant nodes effectively so that no obstacles exist during AGV moving. The performance results reveal that the proposed method can provide more efficient path planning with a shorter route and less turn times.

关键词： Automate guide vehicle (AGV) a-star algorithm Floyd algorithm Path planning

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Research on UAV 3D Path Planning with Improved a-star algorithm 17

Research on UAV 3D Path Planning with Improved A-Star Algori...

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17th International Conference on Advanced Computer Theory and Engineering

作者： Shu, Yibo Fan, Shurui Feng, Xiaoli Hebei Univ Technol Sch Elect & Informat Engn Tianjin Peoples R China

ISBN: (纸本)9798331539894;9798331539887

The a-star algorithm faces challenges in 3D path planning, such as low computational efficiency, high number of turning points, and non-smooth paths. Therefore, in view of the characteristics of small steering angle and need to maintain a safe distance from obstacles during the flight of UAVs, an enhanced version of the a-star algorithm has been implemented for the 3D path planning of UAVs. Specifically, under the premise of adding obstacle virtual radius to ensure path safety, the search direction is primarily determined based on the positions of the start and target points, avoiding unnecessary expansion of nodes during the algorithm's search process. Additionally, for the extension search of waypoints, a variable step-size search strategy is proposed, utilizing the distance between waypoints and nearby threat points to determine the search step-size. A suitable flight path is planned by combining the a-star algorithm enhancements with cubic B-spline curve smoothing. The simulation experiments of UAV 3D path planning indicate that the enhanced a-star algorithm exhibits superior search effectiveness, reduced inflection points, and significant improvements.

关键词： 3D path planning a-star algorithm directional search variable step-size

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An Improved a-star algorithm for Path Planning Based on Ant Colony Optimization 2

An Improved A-star Algorithm for Path Planning Based on Ant ...

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

作者： Luo, Yingbo Yao, Meibao Xiao, Xueming Zheng, Bo Jilin Univ Sch Artificial Intelligence IRL Changchun 130012 Peoples R China Minist Educ Engn Res Ctr Knowledge Driven Human Machine Intel Changchun Peoples R China Changchun Univ Sci & Technol CVIR Lab Changchun 130022 Peoples R China Key Lab Optoelect Measurement & Opt Informat Tran Changchun Peoples R China Shanghai Aerosp Control Technol Inst Shanghai 201109 Peoples R China

ISBN: (纸本)9798350357974

Mobile robots are widely used in industrial manufacturing, agricultural production, health care, home services, transportation, and other fields. As the most basic and important research topic in the field of mobile robots, path planning technology has always been the focus of attention. To solve the problems caused by the traditional A* algorithm that the path length is too long and the trajectory is not smooth, This paper proposes an improved A* algorithm based on Ant Colony Optimization. Firstly, use the A* algorithm to roughly find a constrained shortest path. Secondly, extract the key nodes of the shortest path and calculate the distribution of obstacles between these key nodes. Finally, use the improved ant colony algorithm to optimize the searched path to generate the final path. Simulation experiments show that the time complexity and space complexity of the improved A* algorithm are reasonable. The generated path length is shorter, the total turning angle is smaller, the trajectory is smoother, and it is more suitable for the real environment. Compared with the traditional A* algorithm, it has obvious advantages.

关键词： a-star algorithm Ant Colony Optimization Path Planning

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A Routing Method of Ad Hoc Networks Based on a-star algorithm

A Routing Method of Ad Hoc Networks Based on A-star Algorith...

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International Conference on Networks Security, Wireless Communications and Trusted Computing

作者： Dong, Zhanqi Li, Mingxia Nanyang Inst Technol Dept Comp Sci & Technol Nanyang Henan 473004 Peoples R China Nanyang Tech Inst Dept Civil Engn PT-473004 Nanyang Peoples R China

ISBN: (纸本)9780769536101

The paper proposes a geographic routing based on a-star algorithm. The routing applies a-star algorithm after being reformed in ad hoc networks, which can not only resolves the problem of what to do at local minimum node where greedy forwarding fails, but also can avoid the complexity to construct and manage the routing planar graph in the planar graph routing. Simulations show that the proposed routing performs well in routing protocol message cost and packet delivery success rate.

关键词： ad hoc networks a-star algorithm routing

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Investigating an a-star algorithm-based Fitness Function for Mobile Robot Evolution 22

Investigating an A-star Algorithm-based Fitness Function for...

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22nd International Conference on System Theory, Control and Computing (ICSTCC)

作者： Prabhu, Shanker G. R. Kyberd, Peter Wetherall, Jodie Univ Greenwich Dept Engn Sci Chatham ME4 4TB Kent England

ISBN: (纸本)9781538644447

One of the factors that affect the success of Evolutionary Robotics (ER) is the way fitness functions are designed to operate. While needs-based custom fitness functions have been developed, most of the time they have been defined in simpler mathematical functions to reduce the computation time. In this paper, we hypothesize that an incremental fitness function based on established techniques in specific task domains in robotics will aid the evolution process. An a-star algorithm-based fitness function for path planning is designed and implemented for evolving the body plans and controllers of robots for navigation and obstacle avoidance tasks. It has been shown that using this concept, fitter robots have evolved in most cases when compared to simple distance-only based fitness functions. However, due to variable performance of the evolver with the A-star fitness function, the results are inconclusive. We also identify problems associated with the fitness function and make recommendations for designing future fitness functions based on observations of the experiments.

关键词： Evolutionary Robotics Co-evolution Fitness Function a-star algorithm

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Solving Inverse Kinematics Problem of Robot Arm with Adjustable Snap-width a-star algorithm 13

Solving Inverse Kinematics Problem of Robot Arm with Adjusta...

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13th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON)

作者： Chaichawananit, Jirayus Saiyod, Saiyan Khon Kaen Univ Fac Sci Dept Comp Sci Khon Kaen 40002 Thailand

ISBN: (纸本)9781467397490

Playing an important role in our everyday life, robot arms need the controlling systems for effectively moving each part in the desired movement, and their manipulation varies across their physical structures. To be precise, arms of the industrial robots used for welding consist of the sequence of jointed arms called kinematic chains and the arm tip called end effector. Such construction typically leads to problems about inverse kinematics in terms of its calculation for adjusting the angle size of each joint to have the end effector reach the desired target accurately and to minimize the movements in each joint. Therefore, this paper has presented a solution for those problems about inverse kinematics based on gradient following procedure and a-star algorithm in order to achieve the best practice. To suggest a solution, this paper has concerned about the accuracy 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.

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

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