Papers by Keyword: Path Planning

Abstract: Automatic route design will help to develop electronic chart intelligence, hence to improve safety, economy and reliability of the route. In the paper rasterizing charts are used to expressed the navigation environment of the ship and the modified A* algorithm is used to compute the near optimum trajectory of a ship in given environment based on electronic chart dispiay and information system (ECDIS). By tracing Safety contours, computing obstacle areas and taking into account certain boundaries of the manoeuvring region, the problem of avoiding collisions at sea was reduced to optimization task with static constrains. Simulation using MATLAB is conducted to verify the proposed ship path planning method. The good results show the promise of this method for ship at sea.

Abstract: High-speed tray seedling transplanting robot was developed which used two-DOF parallel mechanism as transplanting mechanism, and pneumatic manipulator as the end-effector, so it can achieve high speed of transplanting. According to transplanting seedlings from high-density plug to the low-density plug, a type of transplanting path was put forward which consists of rise, translation and decline, in this paper, it was called three-stage trajectory. Analysis the movement characteristic of each stage, make sure the stability of transplanting, then the sine motion law, quintic polynomial motion law and septic polynomial motion law were put forward as the Transplanting movement function according the analysis of movement characteristic. Compared the transplanting efficiency and stability of the three motion law through their velocity, acceleration and saltus, finally, quintic polynomial motion law was preferred as transplanting robot motion law. Transplanting experiment was taken on the developed prototype, the transplanting frequency was more than 60 per minute and the qualified rate can reach 92.71%.

Abstract: A repair method for damaged parts based on laser robot system is proposed. First, to obtain 3D point cloud in the robot coordinate system, damaged part surfaces are scanned with binocular stereo vision system, including camera calibration and image matching. Secondly, with the point cloud data and laser processing parameters, system accomplishes path planning, generates robot programs. Experimental results show that system can effectively achieves 3D reconstruction and path planning, which further enable high precision remanufacturing.

Abstract: Path planning algorithm is an important research content of robotic. In order to improve its performance, we use earth move’s distance(EMD) and fuzzy logic as base tools, combine with distance feature vector matching and partial matching tech，by use the algorithms based on EMD and feature vector, we can get more faster and more accurate outcome, and at the same time, the algorithm could decrease the increase velocity of the search space from the scale of secondary power into the the scale of linearity.

Abstract: River Formation Dynamics is a heuristic optimization algorithm based on the manner, in which drops of water form the river bed. The idea is to imitate the movement of drops on the edges between given nodes thus performing a search based on their height, which is modified through the mechanism of soil erosion and sediment deposition. In this way decreasing gradients are constructed, and these are followed by subsequent drops to compose new gradients and reinforce the best ones. This paper presents implementation of the method in wheeled mobile robot path searching task in an environment with obstacles. At first, a concise introduction to the RFD algorithm is presented, along with the problems requirements. In the main part a simulation test has been performed using the algorithm to find the shortest route from the starting point to the goal. The tests were made with different landscape layouts, measuring the computation time. The last section presents a real life implementation of the algorithm using a Pioneer P3-DX mobile robot. The validity of this solution is discussed, as well as any modifications, along with a brief comparison with a similar, popular search path algorithm.

Abstract: Finding a way through an unexplored environment belongs to actual problems in many artificial agent systems. Common algorithms as state-space searching or rapidly exploring random trees are used when the map of given environment is known. In this paper we present simulation experiments with multi agent system represented as artificial ant colony.

Abstract: In this research, we present a Case-Based Reasoning framework for planning the best path of navigation robot. That is to adopt the combination of the Case-Based Reasoning method and ontology approach to disambiguate the cases in the context. The details of realizing the best path planning of robot by using this architecture was illustrated. Our approach for realizing case-based reasoning implies the representation of metadata characterizations of the features of cases and semantic formalization of these characterizations.

Abstract: We present the path planning techniques of the fire escaping system using multiple mobile robots for intelligent building. The controller of the mobile robot is MCS-51 microchip, and acquires the detection signal from flame sensor through I/O pins, and receives the command from the supervised compute via wireless RF interface. The mobile robot transmits ID code, detection signal, location and orientation of the mobile robots to the supervised computer via wireless RF interface. We proposed A* searching algorithm to program escaping motion paths to guard peoples moving to the safety area using mobile robots, and develop user interface on the supervised computer for the fire escaping system. In the experimental results, the supervised computer locates the positions of fire sources by mobile robots, and programs the escaping paths on the user interface, and transmits the motion command to the mobile robots. The mobile robot guards peoples leaving the fire sources.

Abstract: Since the limited space and complicated environment, we can't solve this problem by traditional path planning method which taking the aircraft as a particle. Aim at this problem, we introduce the pseudospectral method from the field of optimal control, and indicate the feasibility and advantage based on theory discussion. To simulate the actual path planning on flight deck, we build a carrier deck space environment, establish the collision detecting mechanism based on polar coordinates transforming. Finally an aircraft dynamic model and a simplified obstacle model are designed, thus the path planning constraint equation is given. The veracity and convergence of this method is verified by experiment simulation results.

Abstract: This paper represented the method of obstacle avoidance for robotic wheelchair based on the multi-sensor information fusion. The installing angle of sensor was analyzed. Path planning was discussed in global or local environment separately. Dijkstra algorithm and fuzzy control algorithm were proposed to solve the problem of global and local path tracking. The simulation had provided an easy-used method for designing and validating the algorithms.