Papers by Keyword: Path Planning

Abstract: The optimal path planning plays an important role in the satellite navigation system. This paper uses the Dijkstra algorithm, which gives a shortest path first, to find a more effective travel decision. The decision combines the Dijkstra algorithm with the real-time traffic information and gives an effective travel plan. This system is developed under C# environment, achieves the goals of travel path planning and traffic guidance, and can supply a variety of travel plan to the traveler according to the difference influence factors.

Abstract: In order to improve the intelligent level of path planning in coordinate measurement, the algorithm of path planning based on theory of polychromatic sets and ant colony algorithm is proposed. The model of the relation about measured geometrical features, probe angles and inspection planes is established, and the sub path is got by grouping for the global path on the basis of conjunctive operation of polychromatic sets. The global path is optimized by planning the sub paths with ant colony algorithm. The practical example verified the validity and reliability of the proposed method.

Abstract: Flexible manufacturing cell (FMC) was the extension of the CNC machining center,which consisted of three portions , a CNC machining center , an industrial robot and unified by a the background computer programmable control. In order to guarantee the rationality and feasibility of the automatic operation loading and unloading workpieces , the simulation object was based on the KUKA robot of flexible manufacturing cell in this paper, which based on MATLAB/GUI and combinated of VRML language and information transmission method development between MATLAB and the simulation system of flexible manufacturing unit. According to the set up parameters and angles, the model was implemented. Through the control panel and the robot's real-time interactive simulation, 3d visualization window can be real-time display of the robot simulation, and validated the path planning. According to the simulation results of the model , it could provide reference to the actual movement of the KUKA robot trajectory planning, provided the better fully automated feasibility analysis of flexible manufacturing cell, and proved the improvement of flexible manufacturing unit operation scientifically and reasonably.

Abstract: Mobile robot path planning is about finding a movement from one position to another without collision. The wavefront is typically used for path planning jobs and appreciated for its efficiency, but it needs full wave expansion which takes significant amount of time and process in large scale environment. This study compared wavefront algorithm and modified wavefront algorithm for mobile robots to move efficiently in a collision free grid based static environment. The algorithms are compared in regards to parameters such as execution time of the algorithm and planned path length which is carried out using Player/Stage simulation software. Results revealed that modified wavefront algorithm is a much better path planning algorithm compared to normal wavefront algorithm in static environment.

Abstract: Mobile robots frequently find themselves in a circumstance where they need to find a trajectory to another position in their environment, subject to constraints postured by obstacles and the capabilities of the robot itself. This study compared path planning algorithms for mobile robots to move efficiently in a collision free grid based static environment. Two algorithms have been selected to do the comparison namely wavefront algorithm and bug algorithm. The wavefront algorithm involves a breadth-first search of the graph beginning at the goal position until it reaches the start position. The bug algorithm uses obstacles borders as guidance toward a goal with restricted details about the environment. The algorithms are compared in terms of parameters such as execution time of the algorithm and planned path length by using Player/Stage simulation software. Results shown that wavefront algorithm is a better path planning algorithm compared to bug algorithm in static environment.

Abstract: This paper proposes a new path planning algorithm based on the CNN model. The path planning problem is completed with the dynamics of CNN by establishing a relationship between path control points and CNN cells. Based on the analysis of one dimensional space of CNN algorithm, a CNN equation is constructed and the path updating algorithm under the curvature constraint is obtained, then the stability of the algorithm is discussed. Path planning simulation based on two-dimensional space shows that this algorithm can avoid re-planning or falling into the local minimum, which means it can be successfully used in the path planning and maintenance of robots on the ground in dynamic environment.

Abstract: With the development of science, the scope of application of robot is more and more extensive. The path planning problem of mobile robot ,has been always an important research content of intelligent robot .In this paper , firstly we can construct feasible work space mode , through the random grid method to given the starting point ,end point and each obstacle .Then we can use the improved AFSA for path optimization .In the algorithm ,we ignore the congestion factor ,it is based on the preying behavior ,supplemented by the following behavior and swarm behavior .

Abstract: Optimal path planning is considered to be the key area, which gives much attention to researchers in the field of robotic research community. In this paper, a comprehensive simulation study was made on applying heuristic based optimal path planning algorithm of a mobile robot agent in an dynamic environment. This study aims on the behavioural aspects, exploration and navigational aspects along with optimal path analysis of a mobile robot agent. The behaviour selection of a mobile robot agent is considered to be the key challenge for designing a control architecture system, in which it is highly suitable for dynamically changing environment. A mobile robot agent participating for mission critical application will explore into an known environment without any discrepancy, but exploring into an unknown environment will be a challenging criterion, considering its constraints such as time, cost, energy, exploration distance etc., This paper aims on navigational study of the mobile robot agent participating in dynamically changing environments, using heuristic approach. The System evaluation is validated using Graphical User Interface (GUI) based test-bed for Robots called RoboSim and the efficiency of the system is measured, via Simulation Results. Simulation results prove that applying A* algorithm in an unknown environment explores much faster than other path planning algorithms.

Abstract: The study of cooperative fighting between jammer and fighter aircraft is helpful to improve the ability of penetration attack. Firstly, the conception of path point threat assessment is given, based on the jamming troop model. Secondly, the jammer free fly region conception, relative theorem and the resolving strategy are given, and as a result, the dynamic searching space can be got. Thirdly, by improving Sparse A* Search (SAS) algorithm and applying it in cooperative path planning of jammer formation, the realizing process is designed. At last, simulation is made. The results show that the strategy can quickly get the best cooperative path of jammer formation whatever fighter aircraft’s penetration attack task.

Abstract: The key part of the deep sea product system has high demand for the detecting system. The paper makes deep research in extracting the detection feature information of the facilities, path planning, data processing. Improve the detecting efficiency and the detecting precision.