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检索条件"主题词=path planning algorithm"

共 67 条记录，以下是51-60 订阅

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Moving Ground Target Tracking in Urban Terrain Using Air/Ground Vehicles

Moving Ground Target Tracking in Urban Terrain Using Air/Gro...

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Globecom Workshops

作者： Owen, Mark Yu, Huili McLain, Tim Beard, Randy BYU Dept Mech Engn Provo UT USA BYU Dept Elect & Comp Engn Provo UT USA

ISBN: (纸本)9781424488650

In this paper, we present a framework for tracking a moving target in urban environments using UAVs in cooperation with UGVs. The framework takes into account occlusions between the sensor and the target. The target state is modeled using the dynamic occupancy grid and the target motion model is built using a second-order Markov chain. Based on the target occupancy grid, we design the path planning algorithm to maneuver the UAV and the UGV to configurations where they can detect the target with high probability. Simulation results show the framework is successful in solving the target tracking problem in urban environments. We also build an indoor hardware platform and successfully implement preliminary tracking algorithms on the platform. Results show the platform can be further used to test more advanced tracking algorithms like the proposed tracking framework.

关键词： Markov processes UAV UGV air-ground vehicle aircraft ground target tracking mobile robots moving target tracking occlusion path planning path planning algorithm probability probability remotely operated vehicles second-order Markov chain target motion mod

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A speed up approach for search and rescue

A speed up approach for search and rescue

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IEEE International Conference on Systems, Man, and Cybernetics (SMC)

作者： Shih, Guan-Rong Tsai, Pei-Hsuan Lin, Chun-Lung Natl Cheng Kung Univ Inst Mfg Informat & Syst Tainan Taiwan Ind Technol Res Inst Dept Informat & Commun Res Labs Chung Hsing Rd Hsinchu Taiwan

ISBN: (纸本)9781538666500

Search and rescue (SAR) is to find and help people who are injured or in danger in difficult environments, such as mountain, marine and rainforest. The time of searching victims should be short to minimize the damage and increase the survival rate. However, searching victim is time-consuming, especially for searching missing people in a large scale area. Many techniques including unmanned aerial vehicle, robot, and auto-car, are applied to assist searching nowadays. This paper proposes a map model with a greedy searching algorithm to guide searchers efficiently finding victims faster and takes UAV as a searching scenario.

关键词： search and rescue UAV path planning algorithm map modeling

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Research on a Behavior Control Technique of Crowd Simulation 11

Research on a Behavior Control Technique of Crowd Simulation

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11th International Conference on Computer Science & Education (ICCSE)

作者： Zheng, Yuhui Gu, Pingping Wu, Meiling Wu, Qingfeng Xiamen Univ Software Sch Xiamen Fujian Peoples R China Xiamen Univ Tan Kah Kee Coll Dept Comp Sci Zhangzhou Fujian Peoples R China

ISBN: (纸本)9781509022182

With its imitating the perception and behaviors, scheming for instance, of human beings in virtual space, the crowd simulation technique aims at a truthful reflecting of crowd characteristics. However, for the crowd simulation, the behavior control is the crux. It introduces functions like perception, cognition, decision-making and so forth into motion control, and builds an autonomy model for virtual human, thus achieving the control of virtual crowd. To begin with, this paper introduces theories of behavior and behavior control. Based on it, the thesis presents a behavior control model, which involves perception model, path planning and behavior model. It goes on with the comparison of several behavior control models, and concludes the related control algorithm. Besides, based on the analysis of relevant researches, this paper ends with the indication about the aspects that more attention should be laid to in the field of crowd simulation in the near future.

关键词： crowd simulation behavior control path planning algorithm

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Energy Efficient Elliptical Concave Visibility Graph algorithm for Unmanned Aerial Vehicle in an Obstacle-rich Environment

Energy Efficient Elliptical Concave Visibility Graph Algorit...

引用

IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS)

作者： Debnath, Sanjoy Kumar Omar, Rosli Bagchi, Susama Nafea, Marwan Naha, Ranesh Kumar Sabudin, Elia Nadira Univ Tun Hussein Onn Malaysia Dept Elect Engn Batu Pahat Malaysia Univ Nottingham Malaysia Dept EEE Semenyih 43500 Selangor Malaysia Univ Tasmania Discipline ICT Hobart Tas Australia

ISBN: (纸本)9781728161334

This paper proposes a path planning algorithm for unmanned aerial vehicle (UAV) called Elliptical Concave Visibility Graph (ECoVG). The algorithm, which is based on visibility graph (VG), overcomes the limitations of VG computation time and hence, it can be applied in real-time and in obstacle-rich environments. An experimental investigation has been done to compare the performance between ECoVG and another VG based method namely Equilateral-Space Oriented VG (ESOVG) in terms of computational time and path length. The investigation was done in identical scenarios through simulation to show that the ECoVG has a better computation time than that of ESOVG for its efficient selection of a region in calculating the path. It is also found that the proposed algorithm is energy efficient and complete since it can find a path if one exists.

关键词： Elliptical Concave Visibility Graph path planning algorithm Computationally Efficient Energy Efficient

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UGV obstacle detection of sensor fusion based on point cloud data segmentation 7

UGV obstacle detection of sensor fusion based on point cloud...

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7th Asia Pacific Conference on Optics Manufacture (APCOM)

作者： Yu Xin Fan Yimei Xu Nana Chen Jinqi Chen Tianding Minnan Normal Univ Sch Comp Zhangzhou 363000 Peoples R China Minnan Normal Univ Sch Phys & Informat Engn Zhangzhou 363000 Peoples R China

ISBN: (数字)9781510652095

ISBN: (纸本)9781510652095;9781510652088

This paper uses the point cloud data extracted by LiDAR as the basis of obstacle detection and proposes an algorithm to reduce the computational complexity of point cloud. Firstly, it removes the points too high or too low from the point cloud data, leaving only the points forming the obstacle interval. Secondly, the point cloud in the interval is projected to the X-Y plane (horizontal plane) and the resolution is reduced by lattice. Finally, the connected component marker clustering method is used to segment and classify obstacles. After identifying the obstacle, the scene information is provided to the path planning algorithm. In the path planning algorithm, Unmanned Ground Vehicle (UGV) moves along the shortest straight line connecting the target point and the starting point. When encountering obstacles, the edge tracking method is used to bypass the obstacle, and then it goes straight again. After planning by the path planning algorithm, UGV can avoid collision and advance to the destination in real time through the motion control system. The experimental result shows that UGV designed by this research has the ability to reach the target point safely, and it can avoid obstacles and move autonomously in real-time conditions and complete outdoor unknown environmental obstacle detection.

关键词： D LiDAR point cloud segmentation obstacle detection path planning algorithm collision avoidance

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AN INTERNET-OF-THINGS BASED FRAMEWORK FOR COLLABORATIVE MANUFACTURING

AN INTERNET-OF-THINGS BASED FRAMEWORK FOR COLLABORATIVE MANU...

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ASME International Mechanical Engineering Congress and Exposition

作者： Krishnamurthy, Rajesh Cecil, J. Perera, Damith Oklahoma State Univ Oklahoma Alliance Mfg Excellence Stillwater OK 74078 USA Oklahoma State Univ Dept Comp Sci Ctr Cyber Phys Syst Stillwater OK 74078 USA Oklahoma State Univ Dept Comp Sci Stillwater OK 74078 USA

ISBN: (纸本)9780791858356

The exchange of data and information among collaborating partners and resources in a distributed manufacturing system assumes significance especially in today's global economy. In recent years, Internet of Things (IoT) and Cyber Physical Systems (CPS) related practices and technologies have emerged as enablers of collaborative manufacturing and engineering practices. Smart technologies involving Virtual Reality and haptic based interactions are continuing to play an important role n concurrent engineering based methods in distributed contexts. he research presented in this paper explores the design of an IoT based framework for electronics manufacturing involving he use of VR based environments and Cloud computing Technologies. The process domain of interest is electronics manufacturing with an emphasis on Surface Mount assembly of printed circuit boards (PCBs). The VR based assembly environment played a key role in this IoT framework as it supported Concurrent Engineering practices by enabling takeholders in this manufacturing system context to obtain a better understanding of the manufacturing process design while providing 'what if' analysis capabilities for changing customer equirements. Another benefit of such VR based IoT frameworks the potential of such 3D environments to provide effective raining of assembly processes as well as facilitating better derstanding of process design issues from distributed cations.

关键词： Virtual Prototyping Surface Mount Technology path planning algorithm Internet of Things Cyber Physical Systems

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Collision Planner - A Probabilistic Single Stage Smooth path Planner for Mobile Robots 23

Collision Planner - A Probabilistic Single Stage Smooth Path...

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23rd International Conference on Robotics in Alpe-Adria-Danube Region (IEEE RAAD)

作者： Synodinos, Aris I. Aspragathos, Nikos A. Univ Patras Fac Mech & Aeronaut Engn Patras 26504 Greece Univ Patras Fac Mech & Aeronaut Engn Patras 26504 Greece

ISBN: (纸本)9781479967988

In this paper a path planning algorithm is proposed for mobile robots. The algorithm utilizes piecewise cubic splines to create a smooth path in the 2D workspace of a mobile robot, while specifying targeted random control points based on the collision detection and penetration characteristics of the candidate paths. The main advantage of the proposed method compared to other probabilistic path planners is that the samples generated are taken only in the free space connecting the start and goal configuration, thus utilizing the geometric characteristics to direct the sampling in proper areas. A wavefront inspired searching algorithm, called collision wave, is used to explore the configuration space, that generates feasible paths that can then be sorted according to a metric. The results show that the directed randomness of the control points reduces the required collision checks and the search space towards high efficiency.

关键词： collision avoidance mobile robots probability splines (mathematics) collision detection collision wave path planning algorithm piecewise cubic splines probabilistic single stage smooth path planner random control points Collision avoidance Mobile robots path planning Probabilistic logic Splines (mathematics) Vectors Mobile robots Collision avoidance path planning Probabilistic logic control point Collision detection Collisions

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Classifying and Passing 3D Obstacles for Autonomous Driving 18

Classifying and Passing 3D Obstacles for Autonomous Driving

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18th IEEE International Conference on Intelligent Transportation Systems

作者： Delp, Michael Nagasaka, Naoki Kamata, Nobuhide James, Michael R. Toyota Res Inst North Amer 1555 Woodridge Ave Ann Arbor MI 48105 USA

ISBN: (纸本)9781467365963

Highly automated driving in real world situations requires perception and planning to account for other forms of human locomotion, principally bicycles, and pedestrians, in addition to vehicles. Here we present a complete perception-planning-control system with high quality perception including object classification and tracking, and a path planning algorithm that makes use of probabilistic classification results. Our classification algorithm is fast enough to provide results for the vast majority of objects in on-line operation, but to ensure output for real-time decision-making the computation and integration of classification results is done using an anytime algorithm. Our focus is on safe driving behavior in the presence of dynamic obstacles on the side of the road, which are typically bicycles, using LIDAR data. Our resulting system is extensively tested in real-world situations, and shows good performance on a large test set of interactions with bicycles.

关键词： bicycles image classification intelligent transportation systems object tracking path planning pedestrians road safety road vehicles 3D obstacles LIDAR data anytime algorithm automated driving autonomous driving classification algorithm dynamic obstacles high quality perception human locomotion object classification path planning algorithm perception-planning-control system probabilistic classification real-time decision-making safe driving behavior vehicles Bicycles Laser radar Radar tracking Robot sensing systems Three-dimensional displays

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Optimization model of food transportation strategy

Optimization model of food transportation strategy

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Chinese Automation Congress (CAC)

作者： Zhao, Jiayu Su, Fuwen Feng, Fan Yang, Zhihui WuHan Univ Technol Sch Automat Wuhan Peoples R China

ISBN: (纸本)9781728176871

There are many problems related to the choice of the best route in real life. For example, the transportation of urban food or urban tourism problems, as well as common express delivery problems. These are all related to the selection of the best route, the maximization, the most effective use of resources. In order to solve the problem of cargo transportation route selection, this paper sets up two scenarios in real life through field investigation. And then the model and manual adjustment are given, finally determines the optimal path.

关键词： Multi-objective dynamic programming Transportation strategy path planning algorithm

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Magnetic field SLAM exploration: frequency domain Gaussian processes and informative route planning

Magnetic field SLAM exploration: frequency domain Gaussian p...

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European Conference on Mobile Robots

作者： Kemppainen, Anssi Vallivaara, Ilari Roning, Juha Univ Oulu Dept Comp Sci & Engn SF-90100 Oulu Finland

ISBN: (纸本)9781467391634

In this paper, we consider magnetic field SLAM exploration using a mobile robot with a magnetometer and wheel encoders. We propose computationally feasible solutions to model magnetic fields using frequency domain Gaussian processes. In addition, we propose a path planning algorithm to efficiently collect a given level of accuracy for magnetic field models. The path planning is based on partition of shortest paths into blocks with similar information content and implementing depth-first search among these blocks. Finally, we propose an exploration-exploitation algorithm enabling real-world mobile robot SLAM exploration solutions with motion uncertainties. SLAM is presented with Rao-Blackwellized particle filters where robot's path hypothesis are presented with particles together with a separate magnetic field model for each particle. We conducted SLAM exploration experiments using real magnetic field data in a simulated environment. Simulation parameters were tuned to approximate ICreate robot's motion uncertainties and MicroMag3 magnetometer's sensor noise, together with the robot's inclination uncertainties. Simulations demonstrated for the first time that we were able to build actual magnetic field SLAM exploration. The results indicate that, with frequency domain Gaussian processes, we are able to obtain desirable convergence of path distribution, although, with the selected particle filter SLAM approach, the localization accuracy was not desirable.

关键词： Gaussian processes SLAM (robots) frequency-domain analysis magnetic sensors magnetometers mobile robots particle filtering (numerical methods) path planning robot vision tree searching ICreate robot motion uncertainties MicroMag3 magnetometer sensor noise Rao-Blackwellized particle filters depth-first search exploration-exploitation algorithm frequency domain Gaussian processes informative route planning magnetic field SLAM exploration mobile robot SLAM exploration path planning algorithm robot inclination uncertainties wheel encoders Frequency-domain analysis Magnetic domains Magnetic separation Magnetometers Simultaneous localization and mapping Yttrium Frequency-domain analysis magnetometers Gaussian processes path planning Depth--first search simultaneous localization and mapping Mobile robots Tree searching supersonic low altitude missile robot vision Magnetic domain Magnetic sensors Magnetic separation Rare earths yttrium

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