Global path planning for mobile robot using genetic algorithm and A* algorithm is investigated in this paper. The proposed algorithm includes three steps: the MAKLINK graph theory is adopted to establish the free spac...
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Global path planning for mobile robot using genetic algorithm and A* algorithm is investigated in this paper. The proposed algorithm includes three steps: the MAKLINK graph theory is adopted to establish the free space model of mobile robots firstly, then dijkstra algorithm is utilized for finding a feasible collision-free path, finally the global optimal path of mobile robots is obtained based on the hybrid algorithm of A* algorithm and genetic algorithm. Experimental results indicate that the proposed algorithm has better performance than dijkstra algorithm in term of both solution quality and computational time, and thus it is a viable approach to mobile robot global path planning.
作者：
Jayalakhsmi, V.Anna Univ
Dept Comp Applicat Sudharsan Engn Coll Madras 600025 Tamil Nadu India
Multipath routing in Mobile Ad-hoc Networks (MANET) allow the establishment of multiple paths for routing between a source-destination pair. Multipath routing protocols address the problem of scalability, security, li...
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ISBN:
(纸本)9783642316852
Multipath routing in Mobile Ad-hoc Networks (MANET) allow the establishment of multiple paths for routing between a source-destination pair. Multipath routing protocols address the problem of scalability, security, life time of networks, instability of wireless transmissions, and their adaptation to applications. This paper proposes a multipath protocol called Failure Tolerant and Scalable Multipath Routing FTSMR. This proposed FTSMR protocol uses multipath dijkstra algorithm to obtain multiple paths. The algorithm gains great flexibility and extensibility by employing different link metrics and cost functions. Route recovery and loop detection are also implemented in FTSMR in order to improve quality of service. Simulation based on NS2 simulator is performed in different scenarios. The simulation results reveal that the proposed FTSMR is suitable for mobile, large and dense networks with large traffic, and could satisfy critical multimedia applications with high on time constraints.
A fast clustering routing algorithm based on ant colony optimization and dijkstra algorithm is proposed on account of the router-level network topology simulation. First, FCRSA takes advantages of ant colony optimizat...
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ISBN:
(纸本)9780769549354
A fast clustering routing algorithm based on ant colony optimization and dijkstra algorithm is proposed on account of the router-level network topology simulation. First, FCRSA takes advantages of ant colony optimization to cluster the nodes in the network, then uses the improved dijkstra algorithm to search for the shortest paths in the clusters, reducing the time needed for path selecting in router-level network topology simulation effectively. Experimental results show that the FCRSA-based simulation system of network topology is adequate for topology simulation on router-level.
This paper presents a slope stability analysis method combined with the limit equilibrium and finite element simulation. Based on the simulated stress of a slope, the safety factory of one element can computed with Mo...
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ISBN:
(纸本)9783642293863
This paper presents a slope stability analysis method combined with the limit equilibrium and finite element simulation. Based on the simulated stress of a slope, the safety factory of one element can computed with Mohr-Coulomb criterion, and introduces the dijkstra algorithm of graph theory to search the dangerous slide surface combined with limit equilibrium method. For an examine slope, the simulated results of safety factor and location of dangerous sliding surface is close to the strength reduction method. Sensitivity analysis results show that, the safety factor of slope is decreased with the increasing height and inclination of slope, but decreased with the decreasing cohesion and friction angle.
To manage the campus space information effectively, and provide faster query and browse function to user, a straight line optimization algorithm was proposed. The algorithm regards the target node's situation and ...
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ISBN:
(纸本)9783037854228
To manage the campus space information effectively, and provide faster query and browse function to user, a straight line optimization algorithm was proposed. The algorithm regards the target node's situation and direction as constraint condition when searching map nodes in road network. The algorithm can reduce the number of searched nodes and increase system-search velocity. To prove the algorithm's practical application, a small campus geographical information system is built on a component geographical-information-system development platform. In this system, the algorithm is used to simulate searching the shortest path between two desired nodes. The simulation result indicates that this algorithm can search the path quickly and reliably.
This article makes the surface of airplane into quadrilateral gridding by using the method of discrete gridding generation, and calculates the data of gridding by using the classical dijkstra algorithm (local algorith...
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ISBN:
(纸本)9783037853191
This article makes the surface of airplane into quadrilateral gridding by using the method of discrete gridding generation, and calculates the data of gridding by using the classical dijkstra algorithm (local algorithm) which can seek the shortest path from the start point and the end point. With that we can achieve diffraction ray tracing. This method can be used for any convex surface of the diffraction ray tracing.
Geospatially querying and analyzing large high-resolution spatial networks is critical to most of defense and security applications to support military intelligence. However, the majority of existing solutions either ...
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ISBN:
(纸本)9780819490742
Geospatially querying and analyzing large high-resolution spatial networks is critical to most of defense and security applications to support military intelligence. However, the majority of existing solutions either store the entire network in memory, which is not scalable, or adopt a disk-based network representation (i.e., SNDB), where routing and spatial queries may incur high I/O overhead and hence are inefficient. In this paper, we present a flexible architecture for large spatial network storage using quadtree. In particular, this hybrid approach preserves network connectivity and proximity within each partition for local search while enabling heuristics to minimize the I/O overhead for queries of large scale. We further develop efficient algorithms to process spatial queries based on this hybrid storage schema.
Nodes self-localization and routing are two main research issues in wireless sensor networks. There are quite a few publications about sensor network localization or routing protocols, but seldom person combines them ...
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ISBN:
(纸本)9783037853122
Nodes self-localization and routing are two main research issues in wireless sensor networks. There are quite a few publications about sensor network localization or routing protocols, but seldom person combines them in their research work. In this paper, we combine a novel TOA location technique and a new centralized energy-efficient routing protocol. The performance of the combination is then simulated by software. Simulation results show that the routing based on the positions got by our location algorithm is as good as the routing based on true positions and can afford most application demands.
The four-chamber view of heart plays an important role in clinical diagnosis of cardiac disease. According to the geometric structure of heart, we propose a method to automatic acquisition of the four-chamber view in ...
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ISBN:
(纸本)9783037852699
The four-chamber view of heart plays an important role in clinical diagnosis of cardiac disease. According to the geometric structure of heart, we propose a method to automatic acquisition of the four-chamber view in volume data. First, the contrast-medium enhanced part of dual source CT data is segmented and morphological operations are applied. Second, the dijkstra algorithm considering 3D Euler Distance as weighting factor is introduced to extract the center line of atrium and ventricle. Finally, the four-chamber view of heart is estimated based on the 3D Euclidean Distance and the geometric characteristics of the center line. In this paper, 40 patients (age from 49 to 81) are examined, and the recognition rate is 91.25%.
This article deals with an experimental version of the software used to visualize the network, provide the possibility to simulate topological and configuration changes, analyze and redesign the network. This tool was...
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ISBN:
(纸本)9789537138240;9781467316293
This article deals with an experimental version of the software used to visualize the network, provide the possibility to simulate topological and configuration changes, analyze and redesign the network. This tool was successfully deployed in the HKFree community wireless network, consisting of a large number of routers that use the OSPF routing protocol. Its primary purpose is to assist the network administrators in solving problems, creating and maintaining documentation and designing future changes.
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