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Path Planning Based on A-Star and Dynamic Window Approach Algorithm for Wild Environment

Journal of Shanghai Jiaotong university(Science) 2024年第4期29卷 725-736页

作者： DONG Dejin DONG Shiyin ZHANG Lulu CAI Yunze Department of Automation Shanghai Jiao Tong UniversityShanghai200240China Key Laboratory of System Control and Information Processing Ministry of EducationShanghai200240China Shanghai Electro-Mechanical Engineering Institute Shanghai201109China

The path planning problem of complex wild environment with multiple elements still poses *** paper designs an algorithm that integrates global and local planning to apply to the wild environmental path *** modeling process of wild environment map is *** optimization strategies are designed to improve the A-Star in overcoming the problems of touching the edge of obstacles,redundant nodes and twisting paths.A new weighted cost function is designed to achieve different planning ***,the improved dynamic window approach(DWA)is designed to avoid local optimality and improve time efficiency compared to traditional *** the necessary path re-planning of wild environment,the improved A-Star is integrated with the improved DWA to solve re-planning problem of unknown and moving obstacles in wild environment with multiple *** improved fusion algorithm effectively solves problems and consumes less time,and the simulation results verify the effectiveness of improved algorithms above.

关键词： path planning path re-planning wild environment A-Star algorithm dynamic window approach

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Multi-Objective Loosely Synchronized Search for Multi-Objective Multi-Agent Path Finding with Asynchronous Actions

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Journal of Shanghai Jiaotong university(Science) 2024年第4期29卷 667-677页

作者： DU Haikuo GUO Zhengyu ZHANG Lulu CAI Yunze Department of Automation Shanghai Jiao Tong UniversityShanghai200240China Key Laboratory of System Control and Information Processing Ministry of EducationShanghai200240China China Airborne Missile Academy LuoyangHenan471000China National Key Laboratory of Air-based Information Perception and Fusion LuoyangHenan471000China

In recent years,the path planning for multi-agent technology has gradually matured,and has made breakthrough *** main difficulties in path planning for multi-agent are large state space,long algorithm running time,multiple optimization objectives,and asynchronous action of multiple *** solve the above problems,this paper first introduces the main problem of the research:multi-objective multi-agent path finding with asynchronous action,and proposes the algorithm framework of multi-objective loose synchronous(MO-LS)*** combining A*and M*,MO-LS-A*and MO-LS-M*algorithms are respectively *** completeness and optimality of the algorithm are proved,and a series of comparative experiments are designed to analyze the factors affecting the performance of the algorithm,verifying that the proposed MO-LS-M*algorithm has certain advantages.

关键词： multi-agent path finding multi-objective path planning asynchronous action loosely synchronous search

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AIoT for Aircraft Final Assembly:An Intelligent and Collaborative Framework

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Journal of Communications and information Networks 2024年第3期9卷 262-276页

作者： Cheng Ren Xiaojing Wen Xinping Guan Cailian Chen Yehan Ma Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240China

Aircraft final assembly line(AFAL)involves thousands of processes that must be completed before ***,the heavy reliance on manual labor in most assembly processes affects the quality and prolongs the delivery *** the advent of artificial intelligence of things(AIoT)technologies has introduced advancements in certain AFAL scenarios,systematically enhancing the intelligence level of the AFAL and promoting the widespread deployment of artificial intelligence(AI)technologies remain significant *** address these challenges,we propose the intelligent and collaborative aircraft assembly(ICAA)framework,which integrates AI technologies within a cloud-edge-terminal *** ICAA framework is designed to support AI-enabled applications in the AFAL,with the goal of improving assembly efficiency at both individual and multiple process *** analyze specific demands across various assembly scenarios and introduce corresponding AI technologies to meet these *** three-tier ICAA framework consists of the assembly field,edge data platform,and assembly cloud platform,facilitating the collection of heterogeneous terminal data and the deployment of AI *** framework enhances assembly efficiency by reducing reliance on manual labor for individual processes and fostering collaboration across multiple *** provide detailed descriptions of how AI functions at each level of the ***,we apply the ICAA framework to a real AFAL,focusing explicitly on the flight control system testing *** practical implementation demonstrates the effectiveness of the framework in improving assembly efficiency and promoting the adoption of AIoT technologies.

关键词： intelligent aircraft final assembly line AIoT cloud-edge-terminal framework design

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Online Optimization in Power systems With High Penetration of Renewable Generation:Advances and Prospects

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 839-858页

作者： Zhaojian Wang Wei Wei John Zhen Fu Pang Feng Liu Bo Yang Xinping Guan Shengwei Mei Key Laboratory of System Control and Information Processing Ministry of Education of ChinaDepartment of AutomationShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Power System and the Department of Electrical Engineering Tsinghua UniversityBeijing 100084China Institute of High Performance Computing(IHPC) Agency for Science Technology and Research(A*STAR)Singapore 138632Singapore

Traditionally,offline optimization of power systems is acceptable due to the largely predictable loads and reliable *** increasing penetration of fluctuating renewable generation and internet-of-things devices allowing for fine-grained controllability of loads have led to the diminishing applicability of offline optimization in the power systems domain,and have redirected attention to online optimization ***,online optimization is a broad topic that can be applied in and motivated by different settings,operated on different time scales,and built on different theoretical *** paper reviews the various types of online optimization techniques used in the power systems domain and aims to make clear the distinction between the most common techniques *** particular,we introduce and compare four distinct techniques used covering the breadth of online optimization techniques used in the power systems domain,i.e.,optimization-guided dynamic control,feedback optimization for single-period problems,Lyapunov-based optimization,and online convex optimization techniques for multi-period ***,we recommend some potential future directions for online optimization in the power systems domain.

关键词： optimization Lyapunov optimization online convex optimization online optimization optimization-guided control

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Synthesis of Failure-Robust Plans for Multi-Robot systems Under Temporal Logic Specifications 19

Synthesis of Failure-Robust Plans for Multi-Robot Systems Un...

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19th IEEE International Conference on Automation Science and Engineering, CASE 2023

作者： Huang, Feifei Li, Shaoyuan Yin, Xiang Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Department of Automation Shanghai200240 China

ISBN: (纸本)9798350320695

In this study, we address the multi-robot path planning problem for tasks specified by linear temporal logic (LTL) formulae. Unlike existing studies, we take into account the possibility of robot failures, where a failed robot can no longer contribute to the completion of the LTL task. Our objective is to find a failure-robust path, which ensures that the LTL task can always be fulfilled, even if a maximum number of robots fail at any point during execution. To achieve this, we extend the mixed-integer linear programming (MILP) approach to the failure-robust setting. To overcome the computational complexity, we identify a fragment of LTL formulae called the free-union-closed LTL, which allows for more scalable synthesis without considering the global combinatorial issue. We present case studies to demonstrate our findings. Our approach provides a novel solution to the problem of multi-robot path planning under robot failures, offering a practical and efficient way to achieve robustness in the face of unforeseen events. © 2023 IEEE.

关键词： Multipurpose robots

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control Parameter Adjustment and Transmission Power Optimization for Vehicle Platoons with Communication Outage 41

Control Parameter Adjustment and Transmission Power Optimiza...

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第41届中国控制会议

作者： Qiaoni Han Chang Liu Hongjiu Yang Zhiqiang Zuo School of Electrical and Information Engineering Tianjin University Key Laboratory of System Control and Information Processing Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The advantage of vehicle platoons is reflected in their tighter inter-vehicle ***,under the non-ideal communication environment,communication outage occurs which may cause the distance between adjacent vehicles too close to result in a collision *** the communication outage with predecessor following between vehicles in a platoon,and applying the constant time headway policy,firstly,this paper quantifies the relationship among headway time,control parameter and communication reliability probability while satisfying plant stability and string ***,given a communication reliability probability,the parameter space method is used to obtain the range of the control parameter,so as to ensure platoon ***,we optimize the transmission power of vehicles to minimize the worst outage probability by some transformation and the adoption of the Perron-Frobenius *** this way,an iterative update rule is presented to obtain the optimal transmission ***,the simulation results demonstrate the effectiveness of the proposed control parameter adjustment method and power optimization scheme.

关键词： Plant stability String stability Outage probability Parameter adjustment Power optimization

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A hybrid wind power prediction model based on seasonal feature decomposition and enhanced feature extraction

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Energy and AI 2024年第4期18卷 368-379页

作者： Weipeng Li Yuting Chong Xin Guo Jun Liu School of Automation and Information Engineering Xi’an University of TechnologyNo.5 Jinhua South RoadXi’an710048ShaanxiChina Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing No.5 Jinhua South RoadXi’an710048ShaanxiChina

Efficient and accurate wind power prediction is crucial for enhancing the reliability and safety of power *** data-driven forecasting methods are regarded as an effective ***,the inherent randomness and nonlinearity of wind power systems,along with the abundance of redundant information in measurement data,present challenges to forecasting *** integration of precise and efficient techniques for data feature decomposition and extraction is essential in conjunction with advanced driven data-forecasting *** on the seasonal variation characteristics of wind energy,a hybrid wind power prediction model based on seasonal feature decomposition and enhanced feature extraction is *** effectiveness and superiority of the proposed method in predictive accuracy are demonstrated through comprehensive multi-model experiment comparisons.

关键词： Wind power prediction Data-driven Hybrid model Seasonal feature decomposition Gated recurrent networks Attention mechanism

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Bandwidth-Aware Transmission Scheduling and Event-Triggered Distributed MPC for Vehicle Platoons 41

Bandwidth-Aware Transmission Scheduling and Event-Triggered ...

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第41届中国控制会议

作者： Qiaoni Han Guowen Cheng Hongjiu Yang Zhiqiang Zuo School of Electrical and Information Engineering Tianjin University Key Laboratory of System Control and Information Processing Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper j ointly designs the communication and control schemes for vehicle platoons by taking into consideration of the limited communication and computing resources of *** at achieving the stable tracking of the member vehicles at a desired inter-vehicle distance and the same velocity,while improving the communication and computation efficiency,we propose a bandwidth-aware transmission scheduling(BATS) mechanism and an event-triggered distributed model predictive control(ET-DMPC) scheme for the longitudinal control of a vehicle ***,by introducing bandwidth-aware parameters,the triggering threshold for the event-triggered BATS mechanism is dynamically adjusted according to vehicle and bandwidth ***,an output-based ET-DMPC scheme is designed to ensure that the platoon tracks a reference velocity and maintains the desired inter-vehicle ***,extensive simulations are carried out and the results demonstrate the effectiveness of the proposed BATS mechanism and ET-DMPC scheme in terms of adaptive communication scheduling and low computational burden.

关键词： Vehicle Platoon Longitudinal control Communication Efficiency Computational Burden MPC

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Development of a Bio-inspired Tailless FWMAV with High-Frequency Flapping Wings Trajectory Tracking control

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Journal of Bionic Engineering 2024年第5期21卷 2145-2166页

作者： Qingcheng Guo Chaofeng Wu Yichen Zhang Feng Cui Wu Liu Xiaosheng Wu Junguo Lu National Key Laboratory of Advanced Micro and Nano Manufacture Technology Shanghai Jiao Tong UniversityShanghai200240China Department of Micro/Nano Electronics School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai200240China Department of Automation Shanghai Jiao Tong UniversityShanghai200240China The Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China

The development of a tailless Flapping Wing Micro Aerial Vehicle(FWMAV)inspired by the hummingbird is presented in this *** implementing mechanical simplifications,it is possible to use planar machining technology for manufacturing of the FWMAV’s body,greatly reducing assembly ***,studies on flapping wing aircraft are limited to open-loop wing kinematics *** this work,an instantaneous closed-loop wing trajectory tracking control system is introduced to minimize wings’trajectory tracking *** control system is based on Field-Oriented control(FOC)with a loop shaping compensation technique near the flapping *** frequency analysis,the loop shaping compensator ensures the satisfactory bandwidth and performance for the closed-loop flapping *** implement the proposed controller,a compact autopilot board integrated with FOC hardware is designed,weighing only 2.5 *** utilizing precise wing trajectory tracking control,the hummingbird-inspired FWMAV demonstrates superior ability to resist external disturbances and exhibits reduced attitude tracking errors during hovering flight compared to the open-loop wing motion.

关键词： Flapping Wing Micro Aerial Vehicle(FWMAV) Bio-inspired robotics Trajectory control Loop shaping compensator Field-Oriented control(FOC)

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MAGPNet: Multi-Domain Attention-Guided Pyramid Network for Infrared Small Object Detection

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Journal of Shanghai Jiaotong University (Science) 2024年 1-18页

作者： Ding, Leqi Wang, Biyun Yao, Lixiu Cai, Yunze Department of Automation Shanghai Jiao Tong UniversityKey Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China National Key Laboratory of Air-based Information Perception and Fusion Henan Luoyang471009 China Shanghai Institute of Aerospace Control Technology Infrared Detection Technology R&D Center of China Aerospace Science and Technology Corporation Shanghai201109 China

To overcome the obstacles of poor feature extraction and little prior information on the appearance of infrared dim small targets, we propose a multi-domain attention-guided pyramid network (MAGPNet). Specifically, we design three modules to ensure that salient features of small targets can be acquired and retained in the multi-scale feature maps. To improve the adaptability of the network for targets of different sizes, we design a kernel aggregation attention block with a receptive field attention branch and weight the feature maps under different perceptual fields with attention mechanism. Based on the research on human vision system, we further propose an adaptive local contrast measure module to enhance the local features of infrared small targets. With this parameterized component, we can implement the information aggregation of multi-scale contrast saliency maps. Finally, to fully utilize the information within spatial and channel domains in feature maps of different scales, we propose the mixed spatial-channel attention-guided fusion module to achieve high-quality fusion effects while ensuring that the small target features can be preserved at deep layers. Experiments on public datasets demonstrate that our MAGPNet can achieve a better performance over other state-of-the-art methods in terms of the intersection of union, Precision, Recall, and F-measure. In addition, we conduct detailed ablation studies to verify the effectiveness of each component in our network. © 2024, Shanghai Jiao Tong University.

关键词： Software engineering

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