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improved dijkstra algorithm for Mobile Robot Path Planning and Obstacle Avoidance

Computers, Materials & Continua 2022年第9期72卷 5939-5954页

作者： Shaher Alshammrei Sahbi Boubaker Lioua Kolsi Department of Mechanical Engineering College of EngineeringUniversity of Ha’ilHa’il2440Saudi Arabia Department of Computer and Network Engineering College of Computer Science and EngineeringUniversity of JeddahJeddah21959Saudi Arabia Research Laboratory of Metrology and Energy Systems National Engineering SchoolEnergy Engineering DepartmentUniversity of MonastirMonastir5000Tunisia

Optimal path planning avoiding obstacles is among the most attractive applications of mobile robots(MRs)in both research and *** this paper,an optimal collision-free algorithm is designed and implemented practically based on an improved dijkstra *** achieve this research objectives,first,the MR obstacle-free environment is modeled as a diagraph including nodes,edges and ***,dijkstra algorithm is used offline to generate the shortest path driving the MR from a starting point to a target *** its movement,the robot should follow the previously obtained path and stop at each node to test if there is an obstacle between the current node and the immediately following *** this aim,the MR was equipped with an ultrasonic sensor used as obstacle *** an obstacle is found,the MR updates its diagraph by excluding the corresponding ***,dijkstra algorithm runs on the modified *** procedure is repeated until reaching the target *** verify the efficiency of the proposed approach,a simulation was carried out on a hand-made MR and an environment including 9 nodes,19 edges and 2 *** obtained optimal path avoiding obstacles has been transferred into motion control and implemented practically using line tracking *** study has shown that the improved dijkstra algorithm can efficiently solve optimal path planning in environments including obstacles and that STEAM-based MRs are efficient cost-effective tools to practically implement the designed algorithm.

关键词： Mobile robot(MR) STEAM path planning obstacle avoidance improved dijkstra algorithm

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System reliability evaluation of 12-pulse series converter station based on improved dijkstra algorithm

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ELECTRIC POWER SYSTEMS RESEARCH 2024年 226卷

作者： Zhao, Jie Li, Songhuan Wu, Fangjie Zhang, Huaixun Shen, Xiaolin Dou, Jinqiu Liang, Yilin Wuhan Univ Hubei Engn & Technol Res Ctr AC DC Intelligent Dis Sch Elect Engn & Automat Wuhan 430072 Peoples R China State Grid Beijing Elect Power Co Econ & Tech Res Beijing 102209 Peoples R China

With the rise of large-scale energy DC transmission system, more and more projects use UHVDC transmission system for long-distance and large-capacity power transmission, in which the converter station is the core of the whole UHV DC transmission system. In this paper, a reliability assessment method based on improved dijkstra's algorithm is proposed for the main wiring system of the converter station of the UHVDC transmission system and for the components in the main wiring. In order to fully consider the different states of components in actual operation, a four-state model is adopted in the study. The model improves the accuracy of the model by comprehensively considering the component's state characteristics, switching sequence, operation mode and other factors. Based on the state model of the components, the main wiring system is calculated in accordance with the theory of complex distribution networks in order to reduce the computational complexity. Finally, the main wiring system of the double 12-pulse converter station is traversed through the minimum paths based on the improved dijkstra search method, and the reliability indexes of the obtained minimum paths are calculated according to the theory of the minimum path cut set. A typical bipolar dual 12-pulse series connection is used to verify the validity of the method, and some guidance is given for practical engineering.

关键词： Reliability improved dijkstra algorithm Four -state model Converter station

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improved dijkstra algorithm for ship weather-routing

Improved Dijkstra algorithm for ship weather-routing

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2016 3nd International Conference on Energy Science and Applied Technology (ESAT 2016)

作者： Z.H.Shen H.B.Wang X.M.Zhu H.J.Lv State Key Laboratory on Integrated Optoelectronics College of Electronic Science and EngineeringJilin University

dijkstra algorithm is the academic foundation of engineering in the shortest path issue,which has also been widely applied to ship *** dijkstra algorithm can find the global optimal route,it also has *** main problem is lower search efficiency which is caused by traversing all weights at each *** search direction is also blind and doesn't consider the position of the end node relative to the starting ***,when the ocean area to be navigated is divided by latitude-longitude line,this paper proposes a new improved dijkstra algorithm which only searches five fixed directions at each *** to the eight weights,the improved dijkstra algorithm reduces three weights search direction at each *** new method is more suitable for convex *** paper also discusses the improved dijkstra algorithm in the case that blockages are concave *** simulation results of improved algorithm show that it can effectively increase the search speed and find the global optimal route.

关键词： improved dijkstra algorithm ship weather-routing optimal route

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Application of improved dijkstra algorithm in Selection of Gas Source Node in Gas Network

Application of Improved Dijkstra Algorithm in Selection of G...

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International Conference on Industrial Control and Electronics Engineering (ICICEE)

作者： Cuan, Ying Chen, Xiaoni Xian Shiyou Univ Sch Comp Sci Xian 710065 Peoples R China

ISBN: (纸本)9780769547923

With the wide usage of natural gas, the layout of gas network is getting more and more important. However, one essential point in the layout of gas network is the selection of gas source node, which, if choosed unappropriately, can directly affect the optimization of gas network's layout. This paper is to study the selection of gas source node by using the improved dijkstra algorithm and provide several solutions as the precondition of the optimization of gas network's layout.

关键词： Gas network Shortcut improved dijkstra algorithm Gas source node

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A Routing-Based Repair Method for Digital Microfluidic Biochips Based on an improved dijkstra and improved Particle Swarm Optimization algorithm

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MICROMACHINES 2020年第12期11卷 1052-1052页

作者： Zheng, Wenbin Shi, Jinlong Wang, Anqi Fu, Ping Jiang, Hongyuan Harbin Inst Technol Sch Elect & Informat Engn Harbin 150001 Peoples R China Harbin Inst Technol Sch Mechatron Engn Harbin 150001 Peoples R China

Digital microfluidic biochips (DMFBs) are attractive instruments for obtaining modern molecular biology and chemical measurements. Due to the increasingly complex measurements carried out on a DMFB, such chips are more prone to failure. To compensate for the shortcomings of the module-based DMFB, this paper proposes a routing-based fault repair method. The routing-based synthesis methodology ensures a much higher chip utilization factor by removing the virtual modules on the chip, as well as removing the extra electrodes needed as guard cells. In this paper, the routing problem is identified as a dynamic path-planning problem and mixed path design problem under certain constraints, and an improved dijkstra and improved particle swarm optimization (ID-IPSO) algorithm is proposed. By introducing a cost function into the dijkstra algorithm, the path-planning problem under dynamic obstacles is solved, and the problem of mixed path design is solved by redefining the position and velocity vectors of the particle swarm optimization. The ID-IPSO routing-based fault repair method is applied to a multibody fluid detection experiment. The proposed design method has a stronger optimization ability than the greedy algorithm. The algorithm is applied to 8x9, 8x8, and 7x8 fault-free chips. The proposed ID-IPSO routing-based chip design method saves 13.9%, 14.3%, and 14.5% of the experiment completion time compared with the greedy algorithm. Compared with a modular fault repair method based on the genetic algorithm, the ID-IPSO routing-based fault repair method has greater advantages and can save 39.3% of the completion time on average in the completion of complex experiments. When the ratio of faulty electrodes is less than 12% and 23%, the modular and ID-IPSO routing-based fault repair methods, respectively, can guarantee a 100% failure repair rate. The utilization rate of the electrodes is 18% higher than that of the modular method, and the average electrode usage time is 17%. T

关键词： DMFB fault repair routing-based improved dijkstra algorithm improved particle swarm optimization algorithm

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Global optimal path planning for mobile robot based onimproved dijkstra algorithm and ant system algorithm

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Journal of Central South University of Technology 2006年第1期13卷 80-86页

作者：谭冠政贺欢 Aaron Sloman School of Information Science and Engineering Central South University Changsha 410083 China School of Computer Science The University of Birmingham Birmingham B15 2TT UK School of Information Science and Engineering Central South University Changsha 410083 China School of Computer Science The University of Birmingham Birmingham B15 2TT UK

A novel method of global optimal path planning for mobile robot was proposed based on the improved dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK graph theory to establish the free space model of the mobile robot, the second step is adopting the improved dijkstra algorithm to find out a sub-optimal collision-free path, and the third step is using the ant system algorithm to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path for the mobile robot. The computer simulation experiment was carried out and the results show that this method is correct and effective. The comparison of the results confirms that the proposed method is better than the hybrid genetic algorithm in the global optimal path planning.

关键词： mobile robot global optimal path planning improved dijkstra algorithm ant system algorithm MAKLINK graph free MAKLINK line

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Three-stage improved algorithm based on clustering decomposition and its application in drone demand and task allocation

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IET COMMUNICATIONS 2022年第16期16卷 1957-1972页

作者： Liu, Zhengyuan Wang, Qinghua Army Logist Univ Dept Mil Logist Chongqing 401331 Peoples R China

This paper proposes a three-stage algorithm based on clustering decomposition and task allocation-improved clustering planning algorithm (iK-iD-N), aiming at the optimization task allocation problem of drones in actual application to meet the task demand constraints. The algorithm solves the problem of the number of drones demanded and the initial delivery range of each drone by introducing dual-objective planning into the clustering decomposition. Combining improved dijkstra algorithm (iK-D) with neighbourhood insertion algorithm into task allocation, to get high-quality solutions and solve efficiently. Compared with the existing ant colony algorithm, the iK-iD-N algorithm proposed in this paper is more efficient and can obtain the best and stable solutions while evenly distributing tasks. Then it is compared with the improved clustering algorithm combined with the basic iK-D to get better solutions of the iK-iD-N algorithm at any time, and compared with the basic clustering algorithm with the improved task allocation algorithm (K-iD-N) that iK- iD-N can get a better solution with high probability. The thesis also simulates and analyzes the impact of uncertainty requirements on the solutions based on drone demand and task allocation models, and discusses the impact of drone load capability and endurance capability constraints on the final solutions.

关键词： iK-iD-N dual-objective planning basic iK-D drone load capability clustering decomposition improved task allocation algorithm pattern clustering resource allocation high-quality solutions neighbourhood insertion algorithm stage improved algorithm optimization task allocation problem three-stage algorithm endurance capability constraints improved dijkstra algorithm drone demand remotely operated vehicles improved clustering planning algorithm ant colony optimisation task demand constraints

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A double-layer isolation mechanism for malicious nodes in wireless sensor networks

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WIRELESS NETWORKS 2021年第4期27卷 2391-2407页

作者： Wang, Zhongmin Zhang, Qing Gao, Cong Xian Univ Posts & Telecommun Sch Comp Sci & Technol Xian 710121 Shaanxi Peoples R China Xian Univ Posts & Telecommun Shaanxi Key Lab Network Data Anal & Intelligent P Xian 710121 Shaanxi Peoples R China

Isolation plays an important role in the security of wireless sensor networks. Existing isolation models for wireless sensor networks possess excessive energy consumption. We propose a double-layer isolation mechanism based on an improved dijkstra algorithm. The number of "optimal" nodes is obtained based on the calculation formula. Two groups of "optimal" nodes are determined by the arrival time difference ranging algorithm and the improved dijkstra algorithm. The first layer isolation and the second layer isolation are constructed by the obtained two groups of "optimal" nodes, respectively. According to the status of receiving and sending data, the "optimal" routing protocol and working mode are selected. Based on the cooperation between two layers of isolation, intruded nodes are isolated from a wireless sensor network. The intrusion source is detected by monitoring the intruded nodes. Simulation results show that the proposed isolation mechanism can effectively reduce the energy consumption of wireless sensor nodes. High transmission efficiency, rapid response, and enhanced security are provided for wireless sensor networks.

关键词： Wireless sensor networks improved dijkstra algorithm Double-layer isolation mechanism Security

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Path Optimization algorithms Based on Graph Theory

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INTERNATIONAL JOURNAL OF GRID AND DISTRIBUTED COMPUTING 2016年第6期9卷 137-147页

作者： Yao, Biyuan Yin, Jianhua Zhou, Hui Wu, Wei Hainan Univ Coll Informat Sci & Technol Haikou 570228 Peoples R China Chinese Acad Sci Inst Deep Sea Sci & Engn Sanya 572000 Peoples R China

Transport with minimum time cost and distance remains to be an important research area in intelligent transport systems. Shortest path algorithms are primary methods to address simplified problems, which could not be well applied in high-dimensional real situations. We realized the minimum cost and maximum flow result via classical iterative algorithm based on graph theory, adjacency matrix is well applied to express the relationship between transport nodes, a topological sorting transport map is adopted to verify these approaches.

关键词： graph theory improved dijkstra algorithm Ford-Fulkerson topological sorting path optimization

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Study of Method on Parking Guidance Based on Video 11

Study of Method on Parking Guidance Based on Video

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IEEE 11th Conference on Industrial Electronics and Applications (ICIEA)

作者： Xie, Liyan Liu, Jihong Miao, Chenchen Liu, Mo Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Liaoning Peoples R China Northeastern Univ Sino Dutch Biomed & Informat Engn Sch Shenyang 110819 Liaoning Peoples R China

ISBN: (纸本)9781467386449

Aiming at the problem that there is an urgent need for an intelligent and efficient parking management system, this paper proposes a kind of design to detect the free parking spaces. The design combines the License Plate detection algorithm with the Gray Level Changes detection algorithm in fixed parking spaces area. It optimizes this algorithm by continuously doing simulation experiments. The paper also uses an improved dijkstra algorithm to determine the shortest path when searching for the parking space. Experimental results indicate that the system can serve as the basis for constructing an intelligent parking guidance system, which has good stability.

关键词： the License Plate detection algorithm the Gray Level Changes detection algorithm fixed parking space area improved dijkstra algorithm

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