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PATH PLANNING FOR ROLLING LOCOMOTION OF POLYHEDRAL TENSEGRITY ROBOTS BASED ON dijkstra algorithm

JOURNAL OF THE INTERNATIONAL ASSOCIATION FOR SHELL AND SPATIAL STRUCTURES 2019年第4期60卷 273-286页

作者： Lu, Yipeng Xu, Xian Luo, Yaozhi Zhejiang Univ Dept Civil Engn A-818 Anzhong Bldg866 Yuhangtang Rd Hangzhou Zhejiang Peoples R China Zhejiang Univ Dept Civil Engn A-725 Anzhong Bldg866 Yuhangtang Rd Hangzhou Zhejiang Peoples R China Zhejiang Univ Dept Civil Engn A-821 Anzhong Bldg866 Yuhangtang Rd Hangzhou Zhejiang Peoples R China

Tensegrity-based locomotive robots have attracted more and more interests from multidisciplinary engineering community. To realize long distance locomotion for tensegrity robots in a given land, path planning is usually needed. This paper proposes a path planning approach for rolling locomotion of polyhedral tensegrity robots. Given the start vertex, target vertex and the directed graph G which indicates the possible paths, the optimal path with lowest cost can be found by dijkstra algorithm. Numerical and experimental examples are carried out with a six-bar tensegrity robot prototype. Both motion distance and terrain characteristics are considered within the cost. The proposed approach is generally verified by the examples. A comparison between the numerical result and the experimental result is also presented.

关键词： Path planning Locomotion Tensegrity robot dijkstra algorithm

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Material Distribution Scheme and Design in Emergencies Based on dijkstra algorithm 7

Material Distribution Scheme and Design in Emergencies Based...

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7th International Conference on Traffic Engineering and Transportation System (ICTETS)

作者： Ding, Lei Wang, Tianrong Zhang, Danling Nanjing City Vocat Coll Nanjing 211200 Jiangsu Peoples R China

ISBN: (纸本)9781510674479

In recent years, the state pays more and more attention to emergencies. When emergencies occur, quick and efficient emergency rescue is the most concerned issue of the state and people. In many emergencies, casualties and property losses are mostly caused by inefficient logistics distribution and incomplete emergency treatment system. The design of material distribution scheme has become a key link in the emergency management system. It is of great significance to study the layout and distribution path of emergency resource center. In this paper, the distribution method and design of class A materials were taken as an example to analyze the distribution of materials. That is, the emergency resource center was modeled first, and the lowest total cost of the emergency resource center was taken as the objective function to build the optimization model of facility layout. Then, the optimal path was selected again considering the damage of different sections suffered from emergencies and the degree of traffic jam at different time nodes. Finally, the reasonableness of the model construction is evaluated through the case analysis of field research in Region B. The research of this topic has practical significance to solve the distribution of class A materials. Starting from the selection of emergency resource center, this paper gradually explores the reasonable layout of emergency resource center and the re-selection of distribution path.

关键词： Materials Distribution Path Optimization dijkstra algorithm

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Double-Sources dijkstra algorithm within Typical Urban Road Networks

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International Conference on Computer Science and Education

作者： Wang, Shiming Xing, Jianping Wu, Yong Wu, Yubing Xu, Wei Meng, Xiangzhan Gao, Liang Shandong Univ Sch Informat Sci & Engn Jinan 250100 Peoples R China Publ Traff Gen Co Ctr Bus Transmit Informat Jinan 250100 Peoples R China

ISBN: (纸本)9783642279447

A Double-Sources shortest path algorithm for urban road networks is proposed in this paper. In typical urban road networks, the probability that the ratio of the shortest path length to the Euclidean distance denoted by vertical bar SD vertical bar between source station and destination station is smaller than 1.414, is larger than 95%. Based on dijkstra algorithm and the characteristics of the typical urban road networks, this algorithm starts at searching for the shortest path from the source station and destination station respectively and simultaneously and ends at having found all stations which are less than 0.702 vertical bar SD vertical bar far from the source station or destination station. Compared to the single-source dijkstra algorithm, theory analysis and experimental results both show that the algorithm can great reduce the time-complexity, especially on condition that stations in urban road networks uniformly distribute.

关键词： dijkstra algorithm Typical urban road networks Double-sources shortest path algorithm Restricted searching area

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Experimental Analysis on Path Planning Strategy using dijkstra algorithm and Follow the Carrot Method for Indoor Mobile Robot Navigation 5

Experimental Analysis on Path Planning Strategy using Dijkst...

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5th International Conference on Informatics and Computational Sciences (ICICoS)

作者： Afrisal, Hadha Syakur, Abdul Riyadi, Munawar Agus Nugraha, Ghanis Kauchya Nanda, Aan Aria Setiawan, Iwan Univ Diponegoro PUI PT CBIOM3S Dept Elect Engn Semarang Indonesia Univ Diponegoro Fac Engn Dept Elect Engn Semarang Indonesia

ISBN: (纸本)9781665438070

This research paper presents experimental analysis of global-local path planning strategy using dijkstra algorithm and Follow the Carrot method implemented in differential drive mobile robot for indoor delivery mechanism. Experiment results show that dijkstra algorithm performed an accurate, precise, and high stability of path planning strategy in supporting our indoor robot navigation. Experimental analysis has been performed to measure maximum positioning error, maneuverability of mobile robot, and accuracy of path tracking algorithm. Our research findings show that the more complicated the map in between the initial position and final position, the measured error rate has increased linearly. With a medium level of mobile robot's speed, which is set to 0.12 m/s, the measured maximum positioning error during path tracking process is 7.5 cm and the average positioning error is 2.5 cm. In terms of maneuverability, our mobile robot has demonstrated capability of coping with a sharp U-turn and eventually can correct its relative position to the targeted path.

关键词： path planning mobile robot dijkstra algorithm Follow the Carrot healthcare assistive robot

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Shortest Path Evaluation with Enhanced Linear Graph and dijkstra algorithm 59

Shortest Path Evaluation with Enhanced Linear Graph and Dijk...

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59th Annual Conference of the Society-of-Instrument-and-Control-Engineers-of-Japan (SICE)

作者： Dudi, Tanishk Singhal, Rahul Kumar, Rajesh Malaviya Natl Inst Technol Dept Mech Engn Jaipur Rajasthan India

ISBN: (纸本)9781728110899

Path planning is one of the vital tasks in the intelligent control of autonomous robots. It is of prime importance from industrial as well as commercial point of view. Various autonomous vehicles are gaining popularity to reduce the on-field intervention of humans. The path planning problem is divided into two sub-problems: finding the feasible node pairs and then evaluate the shortest feasible path from the obtained feasible node pairs. Feasible node pair is the part of the path which do not pass through any obstacle. For the known static arena, the most popular method to solve these kinds of problems is the visibility graph (VGraph), but it is computationally intensive. This paper proposes an Enhanced Linear Graph (ELGraph), a method for finding feasible node pairs. The ELGraph has simplified linear structure which exploits the concept of line segment intersection, which may take low computational time. The simulations were carried out for VGraph and ELGraph to get the feasible node pair, and then dijkstra algorithm evaluates the shortest feasible path. The results obtained shows that ELGraph takes lesser evaluation time and is computationally lesser intensive than VGraph, without compromising on finding the shortest possible feasible path.

关键词： Path planning dijkstra algorithm Visibility graph Shortest path problem Autonomous robot

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Design and implementation of shortest travel path searching based on improved dijkstra algorithm

Design and implementation of shortest travel path searching ...

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International Conference on Mechatronics and Applied Mechanics (ICMAM 2011)

作者： Mo, Taiping Zhao, Huihuang Mo, Wei Xidian Univ Dept Mech & Elect Engn Xidian 710126 Shanxi Peoples R China Hengyang Normal Univ Dept Comp Sci Hunan 421008 Peoples R China Guilin Univ Elect Technol Dept Elect Engn & Automat Guangxi 541004 Peoples R China

ISBN: (纸本)9783037853801

The existing transportation service system in public travel route can not satisfy the people's actual travel need because of various technologies reasons. In our study, we set the tourist attractions as a vertex, and simplified the traditional algorithm for complex network computing. Aim to improve the disadvantage of tradition dijkstra algorithm, an improve algorithm was proposed to improve the path search efficiency. Then the improved dijkstra algorithm was applied to tourism path search. The experimental results have illustrated that the improved dijkstra algorithm can accomplish a better result and improve path search efficiency.

关键词： Shortest path dijkstra algorithm Tourism path search algorithm design

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Global Path Planning for Mobile Robot Based on Improved dijkstra algorithm and Particle Swarm Optimization

Global Path Planning for Mobile Robot Based on Improved Dijk...

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International Conference on Advanced Mechanical Engineering (AME 2010)

作者： Chen, Naichao He, Ping Rui, Xianming Shanghai Univ Elect Power Sch Energy & Environm Engn Shanghai 200090 Peoples R China

ISBN: (纸本)9780878492497

A novel method of improved dijkstra algorithm and particle swarm optimization is proposed to evaluate global path planning for mobile robot. The first step is to make the MAKLINK graph which is used to describe the working space of mobile robot. The limited length value of free linkage line is conducted to substitute the constant weights in the adjacent matrix, which is well correlated with the fact that the number of paths is drastically less than that using the conventional dijkstra method. Then the particle swarm optimization is adopted to investigate the global path from the several possible paths. Therefore, the proposed method facilitates reducing the computing time which enhances the efficiency of particle swarm optimization when performs the global path planning for mobile robot. Furthermore, simulation result is provided to verify the effectiveness and practicability.

关键词： Global path planning Mobile robot dijkstra algorithm Particle swarm optimization

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Bidirectional dijkstra algorithm for best-routing of Urban traffic network

Bidirectional dijkstra algorithm for best-routing of Urban t...

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15th International Conference on Geoinformatics

作者： Chen, Luyao Zhou, Ji Li, Jing Chen, Yunhao Beijing Normal Univ Coll Resources Sci Beijing 100875 Peoples R China Beijing Normal Univ Key Lab Environm Change & Nat Disaster Beijing 100875 Peoples R China

ISBN: (纸本)9780819469144

Best-routing is one of the effective ways to solve the problem of traffic jam in a technical way. Based on the classic dijkstra algorithm, the bidirectional search algorithm is adopted to improve algorithmic efficiency in this paper. And section resistance is also adopted in best-routing model in order to indicate not only the condition of road itself, but also the information like traffic flow, which can make the road information more general and efficient. And cross linked list is adopted to reflect topological information of road net, which ensures the weight keep minimum. The feasibility and efficiency are verified by a study case of local area in Beijing.

关键词： dijkstra algorithm bidirectional search algorithm best-routing section resistance

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An Improved Multi-Channel AODV Routing Protocol Based on dijkstra algorithm 14

An Improved Multi-Channel AODV Routing Protocol Based on Dij...

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14th IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Liu, Chenxi Li, Yong Cheng, Wei Shi, Ge Northwestern Polytech Univ Sch Elect & Informat Xian Peoples R China

ISBN: (纸本)9781538694909

Ad-hoc network is a kind of network which can work autonomously. Every node can transmit and process data packets independently. Routing protocol, as a key technology of Ad-hoc network, has always been the research hotspot. In this paper, an improved routing protocol based on AODV is proposed which uses two channels to transmit data packets and control message separately. Meanwhile the packet reception rate of each link is predicted and dijkstra algorithm is used to select the optimal path. The simulation results show that the proposed routing protocol can substantially improve the packet reception rate even in some poor network environment.

关键词： Ad-hoc network routing protocol AODV dijkstra algorithm packet reception rate

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Optimal Path Planning of Automated Guided Vehicle using dijkstra algorithm under Dynamic Conditions 7

Optimal Path Planning of Automated Guided Vehicle using Dijk...

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7th International Conference on Robot Intelligence Technology and Applications (RiTA)

作者： Kim, Sungkwan Jin, Hojun Seo, Minah Har, Dongsoo Korea Adv Inst Sci & Technol CCS Grad Sch Green Transportat Daejeon South Korea Korea Adv Inst Sci & Technol Daejeon South Korea

ISBN: (纸本)9781728131184

This paper presents an optimal path planning aiming at minimization of energy consumption and decrement of operation time of an automated guided vehicle (AGV) under dynamic operation conditions in a graph containing random slopes and distances. To convey one load to a desired-destination by AGVs is considered common practice in a logistic center. Loads of varying mass are transferred to desired-destinations in a graph composed of vertices and edges. In the graph, slopes and distances required for calculation of weight of edges are randomly given between a pair of vertices. Considering tractive forces of the AGV, a tractive force model is developed and this model is applied to path planning method. Mass variation of the AGV that occurs when it places the loads to each vertex is used for calculation of the energy consumption. According to the mass variation of an AGV and road conditions, the weights between vertices are determined. Based on the graph with the weights, the dijkstra algorithm is applied to get an optimal path for the AGV. Proposed approach demonstrates minimization of AGV's energy consumption and improvement of operation time with the optimal path.

关键词： Automated guided vehicle (AGV) dijkstra algorithm Minimization of energy consumption Optimal path planning Mass variation

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