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39th Chinese Control Conference (CCC)

作者： Zhang, Zhe Wu, Jian Dai, Jiyang Ying, Jin He, Cheng Nanchang Hangkong Univ Sch Informat Engn Nanchang 330063 Jiangxi Peoples R China Beihang Univ Sch Reliabil & Syst Engn Beijing 100191 Peoples R China

ISBN: (纸本)9789881563903

This paper addresses a hierarchical structure for the cooperative tactical planning to solve the problem of autonomous control and decision-making of unmanned aerial vehicles(UAVs) in modem air combat. Firstly, the hierarchical relationship between the operational and tactical levels is discussed according to the offline and online operational planning of UAV, and the iterative optimization scheme of operational objectives is proposed. Additionally, some feasible methods of UAV formation cooperative operation are studied in three-dimensional space, which includes the allocation of combat resources, formation cooperative task allocation, and route planning. Further combined with the a-star algorithm, the cooperative combat experiment of UAV formation is carried out in different threat scenarios. Finally, simulation results verify the effectiveness of the tactical planning method.

关键词： Unmanned combat aerial vehicle hierarchical structure task allocation path planning a-star algorithm

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Optimizing Hydrogen Refueling Station Recommendations: A Comparative Analysis Between Genetic algorithm and Particle Swarm Optimization

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SN Computer Science 2024年第8期5卷 991页

作者： Abibou, Soukayna El Bourakadi, Dounia Yahyaouy, Ali Gualous, Hamid LISAC Laboratory Department of Computer Sciences Faculty of Sciences Dhar El Mahraz Sidi Mohammed Ben Abdellah University Fez 30003 Morocco LaMSN- La Maison des Sciences Numériques USPN Paris France LUSAC Laboratory University of Caen Normandy Caen France

One of the key advantages of hydrogen vehicles (HVs) is their eco-friendly and energy-efficient nature. However, a significant challenge arises in identifying suitable hydrogen refueling stations (HRSs). This issue is inherently complex and dynamic, influenced by factors such as station location, hydrogen demand, and user requirements. In this paper, we propose a novel approach to determine the optimal HRS for HV users. We identify the optimal the optimal HRS for a specific vehicle, considering multiple criteria. We address this problem by employing the Pickup and Delivery Problem framework, solved through both the genetic algorithm and particle swarm optimization techniques. To ensure the efficiency of our solution, we also optimize the route between the identified optimal station and the vehicle’s current location using the a-star algorithm, which finds the shortest possible path. All proposed algorithms are tested on a real dataset to evaluate their performance in terms of accuracy and speed. We assume that the proposed method provides better results and is capable of adapting to user preferences and needs. © The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd. 2024.

关键词： a-star algorithm Genetic algorithm Hydrogen refueling station Hydrogen vehicle Optimization problem Particle swarm optimization Pickup and delivery problem

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A New Robust Heuristic for Assigning Substrate Network Resources to Virtual Networks

A New Robust Heuristic for Assigning Substrate Network Resou...

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International Conference on Advanced Networking Distributed Systems and Applications (INDS)

作者： Kareche, Sarah Ductor, Sylvain Guessoum, Zahia Mezghiche, Mohamed Univ MHamed Bougara Boumerdes Fac Sci Dept Comp Sci LIMOSE Lab Boumerdes 35000 Algeria Univ Paris 06 LIP6 Paris France

ISBN: (纸本)9781479951789

Actually used in the Cloud-Computing concept, network virtualization is a promising way to share distant resources, offer multiple services and architectures to multiple heterogeneous Virtual Networks (VNs) on a common Substrate Network (SN). The main challenge in the VN embedding problem is the efficient mapping of virtual nodes and links to the substrate network resources, avoiding network congestion and responding as well to the desired Service Level Agreement(SLA). Faced with this NP-Hard problem, research focused on designing algorithms, processes, and heuristics which had separate node's allocation and links allocation, where the load balancing on the substrate components is not reached. This paper provides a heuristic solution based on a-star algorithm. The heuristic relies on constraints of both nodes and links, and aims to maintain a load balancing upon the SN. The solution is gradually built following this heuristic function values with the possibility of back-tracking to explore the maximum of solution components before selecting the suitable allocation. To validate the proposed solution, we carry out several experiments and compare our results with some classical result's works.

关键词： cloud computing computational complexity virtualisation a-star algorithm NP-hard problem SLA SN VN embedding cloud computing concept heuristic function values network virtualization service level agreement substrate network resources virtual link mapping virtual networks virtual node mapping Bandwidth Heuristic algorithms Load management Network topology Resource management Substrates Tin A-star heuristic resource allocation virtualization Virtualization Virtual networks Tin Heuristics Web resources Service level agreements Nondeterministic polynomial-time hard management of resources load management Heuristic algorithms Network topology Substrates supernovas SLA gene Cloud Computing

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A Fuzzy-Gossip Routing Protocol for an Energy Efficient Wireless Sensor Networks

A Fuzzy-Gossip Routing Protocol for an Energy Efficient Wire...

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11th IEEE Sensors Conference

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

ISBN: (纸本)9781457717666;9781457717659

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.

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

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A Path Planning Framework for Indoor Low-cost Mobile Robots

A Path Planning Framework for Indoor Low-cost Mobile Robots

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IEEE International Conference on Information and Automation (ICIA)

作者： Zuo, Sixiang Ou, Yongsheng Zhu, Xiaorui Shenzhen Inst Adv Technol Ctr Intelligent & Biomimet Syst 1068 Xueyuan Ave Shenzhen Peoples R China Shenzhen Inst Adv Technol CAS Key Lab Human Machine Intelligence Synergy Sy 1068 Xueyuan Ave Shenzhen Peoples R China Harbin Inst Technol HIT Campus Univ Town Shenzhen Shenzhen Peoples R China Chinese Acad Sci Guangdong Prov Key Lab Robot & Intelligent Syst Shenzhen Inst Adv Technol Beijing Peoples R China Chinese Univ Hong Kong Hong Kong Hong Kong Peoples R China

ISBN: (纸本)9781538631546

This paper presents a path planning framework for low-cost mobile robots, which mainly includes three parts: map-processing, collision avoidance and wall following. We change the point cloud maps provided by SLAM to grid maps and filter redundant points in the map-processing procedure. An improved A-star based path planning method and the collision avoidance framework are proposed subsequently. Finally, we propose a local-map-based incremental wall following method without adding extra distance sensors. Experiment results validate the proposed framework on our indoor low-cost mobile robot platform.

关键词： Path planning a-star algorithm wall following mobile robot

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Robust path planning for autonomous vehicle in position uncertainty 11

Robust path planning for autonomous vehicle in position unce...

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11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Yim, Jinkyu Kim, Minsung Shin, Seho Park, Jaeheung Seoul Natl Univ Dept Transdisciplinary Studies Seoul 443270 South Korea Adv Inst Convergence Technol Suwon South Korea

ISBN: (纸本)9781479953332

The abrupt and frequent change of a path for autonomous vehicle might occur in the presence of position uncertainty due to sensor noises or errors in localization. While path planning of an autonomous vehicle utilize multiple sensors to generate the path, it is necessary to not only reduce such errors but also to plan a consistent path. Therefore, we propose a framework that can generate a stable path by considering the history of previous paths. The result of experimental simulations indicates the decrease in rate of switching path directions in three different scenarios in position uncertainty. This framework demonstrates the effectiveness of path generation by applying a history parameter to modify cost function of the A* algorithm.

关键词： Path planning Path re-planning Position uncertainty Path history a-star algorithm

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CareBot: The Automated Caretaker System

CareBot: The Automated Caretaker System

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International Conference On Smart Technologies For Smart Nation (SmartTechCon)

作者： Vishal, V. Gangopadhyay, Sayantan Vivek, D. Sir M Visvesvaraya Inst Technol Elect & Commun Engn Bangalore Karnataka India

ISBN: (纸本)9781538605691

OpenCV is a growing technology, and it has the potential to replace the current technologies used in security systems, space applications, hospitals etc. This paper proposes the use of OpenCV's image-processing feature embedded in an automated robot, which can be used in hospitals and such. Hospitals often require the monitoring of patients at regular intervals, coupled with administering the prescribed medications according to a particular schedule. The proposed robot system can be significantly helpful at hospitals where the number of nurses are not enough to take care of all the patients. Owing to people's forgetfulness due to age and other aspects, they may miss their medication meant to be taken at a specific time. This delay can further deteriorate the health of the patient. The automated robot system analyses the position of each bed and matches the medicine intake using image processing concepts, ensuring that the patient takes his/her dosage according to the schedule specified by the doctor.

关键词： a-star algorithm ATmega2560 Automated CareBot System Convenience Dosage Firebird V Health IR Proximity Sensing Object Detection Path Planning Real-Time Image-Processing XBee

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Research on Cable Collection of Offshore Floating Photovoltaic System 21

Research on Cable Collection of Offshore Floating Photovolta...

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21st IEEE International Conference on Mechatronics and Automation (IEEE ICMA)

作者： Zhang, Liqian Fu, Qiang Wang, Chunjie Tianjin Univ Technol Sch Elect Engn & Automat Tianjin 300384 Peoples R China Tianjin Univ Technol Tianjin Key Lab New Energy Power Convers Transmis Tianjin Peoples R China

ISBN: (纸本)9798350388084;9798350388077

In this paper, for the cable pooling problem of offshore floating photovoltaic system, a path planning study of offshore floating body spanning cable based on improved a-star algorithm is proposed. Cables for power transmission between floats, enabling the networking of photovoltaic systems between multiple floats, thereby increasing the power generation efficiency of the entire system. When spanning cables between floats at sea, it is important to consider not only the material, durability,and economy of the cables, but also the way they are spanned. Under the premise of meeting the normal power generation of the photovoltaic power generation system, this paper is based on the a-star algorithm, which completes the simultaneous planning of multiple paths. This paper finally achieves the features of shortest cable crossing path, economy and simplicity of construction, operation, and maintenance.

关键词： Photovoltaic system a-star algorithm Multiple paths Cable spanning method

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Research on Path Planning Safety of Aircraft Unmanned Tractor Based on DBSCAN algorithm 4

Research on Path Planning Safety of Aircraft Unmanned Tracto...

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

作者： Yu, Hongbin Ren, Yuyi Tiangong University Tianjin China

ISBN: (纸本)9798350359589

In response to the immature problem in the field of unmanned path planning for civil passenger aircraft, in order to improve its safety, this paper proposes obstacle avoidance optimization for the path planning algorithm of unmanned towing vehicles by drawing on the motion planning of intelligent robots in two-dimensional space. Firstly, the DBSCAN clustering algorithm is used to preprocess and optimizes map obstacles in the global path planning stage. Secondly, the a-star algorithm is selected as the base algorithm for unmanned tractor path planning, and combined with the dynamic window method for algorithm fusion, further research is conducted in obstacle avoidance. After writing the code, the verification results were obtained through MATLAB simulation experiments and a conclusion was drawn: the improved a-star algorithm in this article has a significant effect on improving the safety of unmanned tractor path planning. © 2024 IEEE.

关键词： a-star algorithm Civil aircraft K-Means algorithm Path planning Unmanned tractor

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An emergency evacuation model for avoiding high nuclide concentration areas in nuclear accident

An emergency evacuation model for avoiding high nuclide conc...

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14th Conference on Traffic and Granular Flow (TGF)

作者： Zhan, Zhonghao Song, Weiguo Zhang, Jun Huang, Chuanli Univ Sci & Technol China State Key Lab Fire Sci Hefei Peoples R China

ISBN: (纸本)9789819979783;9789819979769;9789819979752

This paper proposes a nuclear accident emergency evacuation model based on nuclide concentration field and traffic flow network model. Gaussian puff model, which describes the instantaneous concentration of nuclide, is widely used to predict the diffusion of radionuclides in nuclear accidents. We adopt a modified Gaussian puff model to preserve the time characteristics of nuclide diffusion, which considers the effects of dry deposition (gravity deposition), wet deposition (rain wash), and nuclide decay on the concentration distribution. An a-star algorithm based on nuclide concentration and traffic pressure cost is proposed to formulate the optimal path planning under nuclear accident. With the expansion of the nuclide concentration field, more and more paths cannot be safely passed through, and evacuation vehicles will also cause congestion on the path. The evacuation model we proposed will regularly update the optimal route according to road traffic conditions and nuclide spatial distribution, so as to obtain an optimized evacuation strategy. This study takes a real road network around the nuclear power plant as the application scenario of evacuation simulation. The computation time of the evacuation model is short, so it can respond quickly in the event of a nuclear emergency. The results show that the evacuation strategy formulated by the model can ensure good evacuation efficiency and avoid areas with high nuclide concentrations during the evacuation process, thereby reducing the radiation exposure of personnel.

关键词： Nuclear accident Emergency evacuation Path-planning a-star algorithm Route optimization

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