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An optimal trajectory planning algorithm for autonomous trucks: Architecture, algorithm, and experiment

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2020年第2期17卷

作者： Zhang, Feng Xia, Ranfei Chen, Xinxing Dongfeng Commercial Vehicle Tech Ctr Dept Adv Commod Dev Wuhan Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Minist Educ Image Proc & Intelligent Control Key Lab Room 115South Bldg 1 Wuhan 430074 Peoples R China

Safe lane changing of the dynamic industrial park and port scenarios with autonomous trucks involves the problem of planning an effective and smooth trajectory. To solve this problem, we propose a new trajectory planning method based on the dijkstra algorithm, which combines the dijkstra algorithm with a cost function model and the Bezier curve. The cost function model is established to filter target trajectories to obtain the optimal target trajectory. The third-order Bezier curve is employed to smooth the optimal target trajectory. Road experiments are carried out with an autonomous truck to illustrate the effectiveness and smoothness of the proposed method. Compared with other conventional methods, the improved method can generate a more effective and smoother trajectory in the truck lane change.

关键词： Autonomous truck trajectory planning dijkstra algorithm cost functional model Bezier curve

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L₁ cheapest paths in "Fjord Scenery"

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EUROPEAN JOURNAL OF OPERATIONAL RESEARCH 2005年第3期161卷 736-753页

作者： Kulpa, W Pordzik, M Socha, L Turzanski, M Cardinal Stefan Wyszynski Univ Coll Sci Fac Math & Nat Sci PL-01815 Warsaw Poland Silesian Tech Univ Inst Transport PL-40019 Katowice Poland

We show a simple proof of the existence of a path on the "border of water and rocks" based on combinatorial induction procedure and we present an algorithm for computing L, shortest path in "Fjord Scenery". The proposed algorithm is a version of the dijkstra technique adapted to a rectangle map with a square network. A few pre-processing modifications of the algorithm following from the combinatorial procedure are included. The validity of this approach is shown by numerical calculations for an example. (C) 2003 Elsevier B.V. All rights reserved.

关键词： the shortest path dijkstra algorithm topographical map with cellular decomposition Poincare theorem

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An integrated optimization model for the layout design of a subsea production system

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APPLIED OCEAN RESEARCH 2018年 77卷 1-13页

作者： Hong, Cheng Estefen, Segen F. Wang, Yuxi Lourenco, Marcelo Igor Univ Fed Rio de Janeiro COPPE Ocean Engn Programe BR-21941972 Rio De Janeiro Brazil

A properly arranged subsea production system reduces costs and contributes to production performance due to favorable hydraulic characteristics and flow assurance. Therefore, the layout design of subsea production systems is very important in offshore field development. The design of these systems mainly includes locating the subsea facilities, determining the subsea topology and identifying the pipe route. Each of these three aspects have been studied, for instance, optimization of the pipe network or identification of the optimal single pipe route. However, the combination of these three aspects has not yet been discussed in detail. This paper presents an integrated optimization model for the layout design of a wellhead-manifold-FPSO system, with the aim of obtaining a minimum total pipe length. There are two key details of this model that distinguish it from other models. The first detail is that the seabed topography and obstacles are taken into consideration. The second detail is that all three above-mentioned aspects are considered together in the model to determine the optimal number of manifolds, manifold and riser base positions, pipe network topology and pipe routes. The simulated annealing and dijkstra algorithms are coupled to solve the model by using a newly proposed process. The application of this method is demonstrated by designing the layout of an oil field with 22 wellheads and one FPSO. The results are compared with the situation that neglects the seabed topography, showing a difference in suggested pipe length. In addition, the pipe route effect on both hydraulic and flow assurance is briefly discussed. The model provides a method to link related issues of interest to the layout design, resulting in a practical subsea layout that can be used to more reliably estimate costs, more accurately describe multiphase flow and help in decision-making for flow assurance.

关键词： Subsea production system Layout design Integrated optimization model dijkstra algorithm Simulated annealing

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Real-Time Seismocardiogram Feature Extraction Using Adaptive Gaussian Mixture Models

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IEEE JOURNAL OF BIOMEDICAL AND HEALTH INFORMATICS 2023年第8期27卷 3889-3899页

作者： Lin, David Jimmy Gazi, Asim Hossain Kimball, Jacob Nikbakht, Mohammad Inan, Omer T. T. Georgia Inst Technol Sch Elect & Comp Engn Atlanta GA 30332 USA Univ Portland Shiley Sch Engn Portland OR 97203 USA

Wearable systems can provide accurate cardiovascular evaluations by estimating hemodynamic indices in real-time. Key hemodynamic parameters can be non-invasively estimated using the seismocardiogram (SCG), a cardiomechanical signal whose features link to cardiac events like aortic valve opening (AO) and closing (AC). However, tracking a single SCG feature is unreliable due to physiological changes, motion artifacts, and external vibrations. This work proposes an adaptable Gaussian Mixture Model (GMM) to track multiple AO/AC correlated features in quasi-real-time from the SCG. The GMM calculates the likelihood of an extremum being an AO/AC feature for each SCG beat. The dijkstra algorithm selects heartbeat-related extrema, and a Kalman filter updates the GMM parameters while filtering features. Tracking accuracy is tested on a porcine hypovolemia dataset with varying noise levels. Blood volume loss estimation accuracy is also evaluated using the tracked features on a previously developed model. Experimental results show a 4.5 ms tracking latency and average root mean square errors (RMSE) of 1.47 ms for AO and 7.67 ms for AC at 10 dB noise, and 6.18 ms for AO and 15.3 ms for AC at -10 dB noise. When considering all AO/AC correlated features, the combined RMSE remains in similar ranges, specifically 2.70 ms for AO and 11.91 ms for AC at 10 dB noise, and 7.50 ms for AO and 16.35 ms for AC at -10 dB noise. The proposed algorithm offers low latency and RMSE for all tracked features, making it suitable for real-time processing. These systems enable accurate, timely extraction of hemodynamic indices for many cardiovascular monitoring applications, including trauma care in field settings.

关键词： Seismocardiogram cardiac time intervals gaussian mixture model dijkstra algorithm real-time processing hypovolemia

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Extracting Flight Plans from Recorded ADS-B Trajectories

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INTERNATIONAL JOURNAL OF AERONAUTICAL AND SPACE SCIENCES 2023年第2期24卷 581-589页

作者： Lee, Hyeonwoong Lee, Hak-Tae Inha Univ Aerosp Engn 36 Gaetbul Ro Incheon 21999 South Korea

Historic aircraft trajectory data are valuable resources for various research in the field of air traffic management. With the widespread use of Automatic Dependent Surveillance-Broadcast (ADS-B), these data are relatively easier to obtain. However, there are instances, where the original flight plans that do not contain controller interventions are necessary, such as developing scenarios for Human-in-The-Loop (HiTL) simulations. Even though the air traffic control system keeps records of the flight plan data, they are more difficult to obtain and often are not in the correct format to be applied to simulations. In this study, an algorithm is developed, which can extract the flight plan from recorded ADS-B trajectory and the Aeronautical Information Publication (AIP) that contains all the route and procedure information. The algorithm was validated against HiTL simulation results, where both the resulting trajectories with controller interventions and the original flight plans are available and showed a 98 percent success rate. The algorithms are applied to find the flight plans of about one million flights in the year 2019 that contain trajectory points inside the Incheon Flight Information Region (FIR). This flight plan extraction algorithm will be useful not only for the fast-time or real-time simulations of the air traffic but also for aviation safety-related research areas, where the controller-pilot interactions are important.

关键词： Original flight plan ADS-B trajectories AIP HiTL simulation dijkstra algorithm

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An Approach for Estimating Disturbance Arrival Time Based on Structural Frame Model

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IEEE TRANSACTIONS ON POWER SYSTEMS 2017年第3期32卷 1741-1750页

作者： Bi, Tianshu Qin, Junda Yan, Yuehao Liu, Hao Martin, Kenneth E. North China Elect Power Univ State Key Lab Alternate Elect Power Syst Renewabl Beijing 102206 Peoples R China State Grid Zhengzhou Power Supply Co Zhengzhou 450006 Peoples R China Elect Power Grp Pasadena CA 91101 USA

With the development of power grid interconnection, disturbance propagation phenomena are more and more apparent in the form of electromechanical waves. Once a disturbance occurs, its propagation might cause cascading events and even large blackouts. With the help of advanced communications networks in smart grids, new event-based protection systems can be devised by the reveal of disturbance propagation mechanisms. In this paper, a widely used measurement-based protection system is analyzed and the idea of event-based protection is proposed. By introducing the inverse process of lumped mass method, the impact scope of generator inertia is proposed. Then, the structural frame model of power networks for disturbance propagation is built, which is sectionalized homogeneously. The spatial heterogeneity of propagation velocity of the electromechanical waves is depicted. According to the constant velocity characteristic of the segments in the structural frame model, a weighted undirected graph is formulated. Then, the dijkstra algorithm based shortest path searching method for arrival time of electromechanical wave is proposed. The simulations are carried out to demonstrate the effectiveness of the proposed electromechanical wave propagation model and disturbance arrival time estimation algorithm. The research work is one of the essential steps for realizing event-based protection strategies.

关键词： dijkstra algorithm discrete inertia model disturbance propagation event based protection power grids structural frame

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Delivery of pedestrian real-time location and routing information to mobile architectural guide

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AUTOMATION IN CONSTRUCTION 2010年第4期19卷 502-517页

作者： Saeed, Ghousia Brown, Andre Knight, Mike Winchester, Martin NWFP Univ Engn & Technol Dept Architecture Abbottabad Pakistan Univ Liverpool Sch Architecture Liverpool L69 7ZN Merseyside England

The research presented in this paper focuses on the use of different computing and wireless techniques and technological systems for real-time navigation support and location based information delivery for a pedestrian user interacting with city architectural information system on a digital handheld device while on the move. In this research case, the use of basic GPS receiver, dijkstra algorithm, Radio Frequency Identification (RFID)/Near Field Communication (NFC) systems and 2 Dimensional (2D) barcode technologies was examined and the potential for the use of WiFi and mobile cells is noted. This paper explores the virtue and shortcomings of each in order to determine the best possible integrated solution. The suggested integration will locate the pedestrian user in the virtual city representation on location, informs the user about buildings and other artefacts relating to the site where s/he is currently located and guide the user to a next point of interest efficiently. (C) 2009 Elsevier B.V. All rights reserved.

关键词： Mobile architectural guide Location and routing awareness GPS 2D barcode NFC RFID dijkstra algorithm

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An automatic route design algorithm for intelligent ships based on a novel environment modeling method

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OCEAN ENGINEERING 2021年 237卷

作者： Pan, Wei Xie, Xin-lian He, Ping Bao, Tian-tian Li, Meng Dalian Maritime Univ Integrated Transport Inst Dalian 116026 Peoples R China Shanghai Jiao Tong Univ Sch Naval Architecture Ocean & Civil Engn Shanghai 200240 Peoples R China Ningbo Univ Fac Maritime & Transportat Ningbo 315211 Peoples R China

An automatic route design algorithm for intelligent ships considering environmental factors impact and navigation safety is proposed. The Delaunay Triangulation Method is used to model chart data. Safe water depth of ship navigation calculation model is proposed, whose result is used to search the forbidden navigation areas in Delaunay Chart Model. The navigation network is created by the Tangent Based Method based on the Delaunay Chart Model. The speed of ship under environmental factors impact is recalculated which is used to modify path weight of the navigable network. The route design scheme is obtained by solving the modified network with the dijkstra algorithm. The experimental results show that the algorithm can provide the adaptive route scheme via ship size and tide height. Moreover, the environmental factors are used as variables to prove that the algorithm can consider the environmental factors and provide an economical navigation scheme.

关键词： Intelligent ships Hydrodynamics Delaunay triangulation method Tangent based method dijkstra algorithm

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Graph Theory-Based Approach to Accomplish Complete Coverage Path Planning Tasks for Reconfigurable Robots

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IEEE ACCESS 2019年 7卷 94642-94657页

作者： Cheng, Ku Ping Elara, Mohan Rajesh Nguyen Huu Khanh Nhan Anh Vu Le Singapore Univ Technol & Design Engn Prod Dev Pillar ROAR Lab Singapore Singapore Ton Duc Thang Univ Fac Elect & Elect Engn Optoelect Res Grp Ho Chi Minh City 700000 Vietnam

Extensive studies regarding complete coverage problems have been conducted, but a few tackle scenarios where the mobile robot is equipped with reconfigurable modules. The reconfigurability of these robots creates opportunities to develop new navigation strategies with higher dexterity;however, it also simultaneously adds in constraints to the direction of movements. This paper aims to develop a valid navigation strategy that allows tetromino-based self-reconfigurable robots to perform complete coverage tasks. To this end, a novel graph theory-based model to simulate the workspace coverage and make use of dynamic programming technique for optimal path searching and adaptive robot morphology shifting algorithms is proposed. Moreover, the influence of algorithms starting variables on workspace coverage outcome is analyzed thoughtfully in this paper. The simulation results showed that the proposed method is capable of generating navigation paths throughout the workspace, which ensures complete workspace coverage while minimizing the total number of actions performed by the robot.

关键词： Complete coverage path planning self-reconfigurable robots graph theory dynamic programming dijkstra algorithm

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Application of rough graph in relationship mining

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Journal of Systems Engineering and Electronics 2008年第4期19卷 742-747页

作者： He Tong Xue Peijun Shi Kaiquan School of Mathematics and System Sciences Shandong Univ. Jinan 250100 P. R. China

Based on the definition of class shortest path in weighted rough graph, class shortest path algorithm in weighted rough graph is presented, which extends classical shortest path algorithm. The application in relations... 详细信息

关键词： rough graph weighted rough graph class shortest path dijkstra algorithm relationship mining

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