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planning algorithm based on constraints propagating

Moshi Shibie yu Rengong Zhineng/Pattern Recognition and Artificial Intelligence 2004年第4期17卷 405-411页

作者： Zhao, Zhikun Shi, Zhongzhi Cao, Hu Sch. of Info. Sci. and Eng. Graduate Sch. Chinese Acad. of Sci. Beijing 100039 China Key Lab. of Intelligent Info. Proc. Inst. of Comp. Technol. Chinese Acad. of Sci. Beijing 100080 China

This paper presents a distributed multi-agent planning algorithm based on constraints propagating. In our algorithm, conflicts are detected and resolved through a special type of negotiation among agents, i.e. consistency checking for constraints. The algorithm is sound under deterministic circumstance. In our algorithm, agents only exchange information about actions, casual links and constraints related to conflicts. It is of less communication, higher security than that exchanging the whole plan.

关键词： Constraints propagating Multi-agent system planning algorithm

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Path planning inside Multi-Storey Buildings: an algorithm for Autonomous Mobile Robot

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IFAC-PapersOnLine 2018年第22期51卷 518-523页

作者： Baltashov, Ilia Semakova, Anna Russian State Scientific Center for Robotics and Technical Cybernetics Saint Petersburg Russia Russian State Scientific Center for Robotics and Technical Cybernetics Peter the Great St. Petersburg Polytechnic University Saint Petersburg Russia

A mobile robot travels inside a multi-storey building. The robot does not know an environment a priory; it explores each floor via lidar and SLAM method. As a result, it has access to the map of the entire building. The robot can also determine staircases and move along them using data from RGB-D camera. The objective is to reach a given location, which is specified by the operator based on the resulting map. We present a navigation and guidance strategy under which the robot autonomously reaches the desired location combining 2D path planning algorithm with staircase overpassing. Effectiveness of such strategy is also confirmed by real-world experiments with tracked robotic platform. © 2018

关键词： Motion planning Control engineering Mobile robots Navigation Robot programming Robotics Stairs Autonomous Mobile Robot Guidance strategy Localization Map Building Multistorey buildings Path planning algorithm Real world experiment Robotic platforms

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Comparison of path planning algorithms for an unmanned aerial vehicle deployment under threats

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IFAC-PapersOnLine 2019年第13期52卷 1978-1983页

作者： Danancier, Kevin Ruvio, Delphine Sung, Inkyung Nielsen, Peter Department of Industrial Engineering Polytech Engineering School of Aix-Marseille University France Operations Research Group Department of Materials and Production Aalborg University Denmark

Following the massive interests in unmanned aerial vehicles (UAVs), various optimization algorithms have been proposed for a path planning problem that allow the units to navigate in a region filled with threats such as a radar detection in air defence systems. Among the algorithms, we address Dijkstra's algorithm and a heuristic algorithm for the path planning of a UAV. The algorithms are compared under various configurations of a region to navigate with respect to the optimality and the computational complexity of the algorithms. © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Intelligent vehicle highway systems Air navigation Aircraft detection Antennas Computational complexity Heuristic algorithms Navigation Operations research Optimization Scheduling Tracking radar Unmanned aerial vehicles (UAV) Air defence systems Dijkstra's algorithms Optimality Optimization algorithms Optimization and control Path planning problems Path planning algorithm Radar detection

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Efficient Path planning algorithms for Unmanned Surface Vehicle

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IFAC-PapersOnLine 2016年第23期49卷 121-126页

作者： Niu, Hanlin Lu, Yu Savvaris, Al Tsourdos, Antonios School of Aerospace Transport and Manufacturing Cranfield University Cranfield United Kingdom

The C-Enduro Unmanned Surface Vehicle (USV) is designed to operate at sea for extended periods of time (up to 3 months). To increase the endurance capability of the USV, an energy efficient path planning algorithm is developed. The proposed path planning algorithm integrates the Voronoi diagram, Visibility algorithm, Dijkstra search algorithm and takes also into account the sea current data. Ten USV simulated mission scenarios at different time of day and start/end points were analysed. The proposed approach shows that the amount of energy saved can be up to 21%. Moreover, the proposed algorithm can be used to calculate a collision free and energy efficient path to keep the USV safe and improve the USV capability. The safety distance between the USV and the coastline can also be configured by the user. © 2016

关键词： Unmanned surface vehicles Collision avoidance Computational geometry Energy efficiency Graphic methods Intelligent vehicle highway systems Motion planning Vehicles Visibility Collision free Efficient path planning Energy efficient Path planning algorithm Safety distances Search algorithms Visibility graphs Voronoi diagrams

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Multi-objective Particle Swarm Optimization algorithm for Feeder Capacity planning of Distribution Network Considering Dynamic Load 3

Multi-objective Particle Swarm Optimization Algorithm for Fe...

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3rd International Conference on New Energy and Power Engineering, ICNEPE 2023

作者： Yin, Xiang Liu, Jian Cheng, Shi Zang, Siqi State Grid Xinjiang Electric Power Co. Ltd. Urumqi830000 China Xinjiang Power Transmission and Transformation Co. Ltd. Urumqi830000 China

ISBN: (纸本)9798350393224

The optimization proportion of distribution network feeder capacity cannot reach the expected standard, so this paper proposes a multi-objective Particle swarm optimization algorithm for distribution network feeder capacity considering dynamic load. The multi-objective method is used to expand the planning scope, the multi-objective Particle swarm optimization feeder capacity planning matrix is set, and the feeder capacity optimization planning calculation model under dynamic load is designed. The experimental results show that the final optimization rate of the feeder capacity in the distribution network can reach over 5, indicating that the designed directional planning algorithm has high measurement accuracy, strong pertinence, and controllable error under dynamic load conditions and has practical application value. © 2023 IEEE.

关键词： Counting and dynamic load Distribution network Feeder capacity Multi-objective particle swarm Optimization planning planning algorithm

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Odor Source Localization in Obstacle Regions Using Switching planning algorithms with a Switching Framework

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SENSORS 2023年第3期23卷 1140页

作者： Luong, Duc-Nhat Kurabayashi, Daisuke Tokyo Inst Technol Dept Syst & Control Engn 2-12-1 OokayamaMeguro ku Tokyo 1528552 Japan

Odor source localization (OSL) robots are essential for safety and rescue teams to overcome the problem of human exposure to hazardous chemical plumes. However, owing to the complicated geometry of environments, it is almost impossible to construct the dispersion model of the odor plume in practical situations to be used for probabilistic odor source search algorithms. Additionally, as time is crucial in OSL tasks, dynamically modifying the robot's balance of emphasis between exploration and exploitation is desired. In this study, we addressed both the aforementioned problems by simplifying the environment with an obstacle region into multiple sub-environments with different resolutions. Subsequently, a framework was introduced to switch between the Infotaxis and Dijkstra algorithms to navigate the agent and enable it to reach the source swiftly. One algorithm was used to guide the agent in searching for clues about the source location, whereas the other facilitated the active movement of the agent between sub-environments. The proposed algorithm exhibited improvements in terms of success rate and search time. Furthermore, the implementation of the proposed framework on an autonomous mobile robot verified its effectiveness. Improvements were observed in our experiments with a robot when the success rate increased 3.5 times and the average moving steps of the robot were reduced by nearly 35%.

关键词： odor source localization planning algorithm olfactory robot algorithm switching

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Probability criterion paging area planning in future mobile communications systems

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COMPUTER COMMUNICATIONS 2004年第7期27卷 581-588页

作者： Kazantzakis, MG Koukoutsidis, IZ Demestichas, PP Theologou, ME Natl Tech Univ Athens Sch Elect & Comp Engn GR-15773 Zografos Greece Univ Piraeus Dept Technol Educ & Digital Syst Piraeus 18534 Greece

Future mobile telecommunications systems are obligated to offer advanced multimedia services to a huge number of users. The burden imposed by the signaling operations supporting these services can severely degrade the system performance and lead to congestion problems in network equipment (switches, databases, gateways, etc.). Paging operations in a mobile cellular network are responsible for a large part of the signaling load and, therefore, the issue of how to efficiently conduct them becomes of critical importance. The key to its solution lies on the application of multiple step paging schemes and on the 'proper' planning of paging areas (PAs). In this paper, we devise and solve a version of the PA-planning problem. In particular, we provide a low complexity probabilistic algorithm capable of reducing paging costs. To improve performance, the algorithm uses additional information regarding the locations of last user-network interactions. Numerical results show that significant savings can be achieved compared to a conventional paging scheme. (C) 2004 Elsevier B.V. All rights reserved.

关键词： mobile network paging areas planning algorithm probability of location signaling load decrease

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An Effective Way to Large-Scale Robot-Path-planning Using a Hybrid Approach of Pre-Clustering and Greedy Heuristic

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APPLIED ARTIFICIAL INTELLIGENCE 2020年第14期34卷 1159-1175页

作者： Wang, W. C. Chen, R. Natl Tsing Hua Univ Dept Power Mech Engn Hsinchu 30013 Taiwan

Robot-path-planning seeks the shortest path to optimize the motion cost for robots. In robot-path-planning, the computational time will significantly increase if the moving targets rise largely, also known as the large-scale TSP. Hence, the current algorithms for the shortest path planning may be ineffective in the large-scale TSP. Aimed at the real-time applications that a robot must achieve as many goals as possible within limited time and the computational time of a robot has to be short enough to provide the next moving signal in time. Otherwise, the robot will be trapped into the idle status. This work proposes a hybrid approach, called the pre-clustering greedy heuristic, to tackle the reduction of computational time cost and achieve the near-optimal solutions. The proposed algorithm demonstrates how to lower the computational time cost drastically via smaller data of a sub-group, divided byk-means clustering, and the intra-cluster path planning. An algorithm is also developed to construct the nearest connections between any two unconnected clusters, ensuring the inter-cluster tour is the shortest. As a result, by utilizing the proposed heuristic, the computational time is significantly reduced and the path length is more efficient than the benchmark algorithms, while the input data grow up to a large scale. In applications, the proposed work can be applied practically to the path planning with large-scale moving targets, for example, the employment for the ball-collecting robot in a court.

关键词： Motion planning K-means clustering planning algorithm Robot

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Humanoid Robot Locomotion and Manipulation Step planning

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ADVANCED ROBOTICS 2012年第10期26卷 1099-1126页

作者： Bouyarmane, Karim Kheddar, Abderrahmane AIST CNRS AIST CRT JRL UMI3218 Tsukuba Ibaraki 3058568 Japan Univ Montpellier 2 CNRS LIRMM UMR5506 F-34095 Montpellier 5 France

We aim at planning multi-contact sequences of stances and postures for humanoid robots. The output sequence defines the contact transitions that allow our robot to realize different kind of tasks, ranging from biped locomotion to dexterous manipulation. The central component of the planning framework is a best-first algorithm that performs a search of the contacts to be added or removed at each step, following an input collision-free guide path, and making calls to an optimization-based inverse kinematics solver under static equilibrium constraints. The planner can handle systems made of multiple robots and/or manipulated objects through a centralized multi-agent approach, opening the way for multi-robot collaborative locomotion and manipulation planning. Results are presented in virtual environments, with discussion on execution on the real robot HRP-2 in an example situation. (c) 2012 Taylor & Francis and The Robotics Society of Japan

关键词： humanoid robot legged locomotion dexterous manipulation inverse kinematics planning algorithm

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Path planning for Rigid Bodies Using Burs of Free C-Space

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IFAC-PapersOnLine 2018年第22期51卷 280-285页

作者： Lacevic, Bakir Osmankovic, Dinko University of Sarajevo Faculty of Electrical Engineering Sarajevo Bosnia and Herzegovina

This paper presents a path planning algorithm designed for rigid, free-flying robots. The algorithm is based on recently proposed structure called bur of free C-space. The bur of free C-space was originally developed to improve the exploration of configuration spaces for articulated robots, which further enabled efficient and fast path planning. In this paper, we extend the notion of bur for configuration spaces of rigid body robots that move in 2D/3D spaces, i.e., for Lie groups SE(2) and SE(3). Such defined bur is then used within a suitable RRT-like algorithm. The numerical study shows measurable performance improvements with respect to classical path planning methods. © 2018

关键词： Motion planning Numerical methods Rigid structures Robot programming Robots Wave functions Articulated robots Configuration space Free flying robots Path planning method Path planning algorithm Performance improvements Rigid body Special Euclidean group

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