Multi-goal real-time global path planning for an autonomous land vehicle using a high-speed graph search processor

2005 ◽  
Author(s):  
A. Parodi
Keyword(s):  
Path Planning ◽  
Real Time ◽  
High Speed ◽  
Graph Search ◽  
Land Vehicle ◽  
Global Path Planning

scholarly journals Intelligent Optimization Algorithm-Based Path Planning for a Mobile Robot

2021 ◽  
Vol 2021 ◽  
pp. 1-17
Author(s):  
Qisong Song ◽  
Shaobo Li ◽  
Jing Yang ◽  
Qiang Bai ◽  
Jianjun Hu ◽  
...  
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Path Length ◽  
Decision Model ◽  
Ant Colony ◽  
Global Path Planning ◽  
Local Path Planning ◽  
Local Path ◽  
Safe Path

The purpose of mobile robot path planning is to produce the optimal safe path. However, mobile robots have poor real-time obstacle avoidance in local path planning and longer paths in global path planning. In order to improve the accuracy of real-time obstacle avoidance prediction of local path planning, shorten the path length of global path planning, reduce the path planning time, and then obtain a better safe path, we propose a real-time obstacle avoidance decision model based on machine learning (ML) algorithms, an improved smooth rapidly exploring random tree (S-RRT) algorithm, and an improved hybrid genetic algorithm-ant colony optimization (HGA-ACO). Firstly, in local path planning, the machine learning algorithms are used to train the datasets, the real-time obstacle avoidance decision model is established, and cross validation is performed. Secondly, in global path planning, the greedy algorithm idea and B-spline curve are introduced into the RRT algorithm, redundant nodes are removed, and the reverse iteration is performed to generate a smooth path. Then, in path planning, the fitness function and genetic operation method of genetic algorithm are optimized, the pheromone update strategy and deadlock elimination strategy of ant colony algorithm are optimized, and the genetic-ant colony fusion strategy is used to fuse the two algorithms. Finally, the optimized path planning algorithm is used for simulation experiment. Comparative simulation experiments show that the random forest has the highest real-time obstacle avoidance prediction accuracy in local path planning, and the S-RRT algorithm can effectively shorten the total path length generated by the RRT algorithm in global path planning. The HGA-ACO algorithm can reduce the iteration number reasonably, reduce the search time effectively, and obtain the optimal solution in path planning.

scholarly journals Efficient Path Planning Method of USV for Intelligent Target Search

2019 ◽  
Vol 3 (2) ◽  
Author(s):  
Jing Zhang ◽  
Fan Zhang ◽  
Zengyuan Liu ◽  
Yunsong Li
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Prior Information ◽  
Planning Method ◽  
Target Search ◽  
Global Path Planning ◽  
Local Path ◽  
Real Time Information ◽  
Time Information

AbstractIn order to accomplish a target search task safely and efficiently and make full use of prior information and real-time information, a path planning method of unmanned surface vehicle (USV) for intelligent target search is proposed. The overall strategy is divided into three parts: global path planning based on prior information, local path planning based on real-time information, and improved A* obstacle avoidance algorithm. Before the start of the task, the global path planning is carried out based on prior information such as the initial position of USV, the predicted position of the target and range of search area. After the start of the task, if USV finds suspicious targets, in order to further approach these suspicious targets, it will enter different local path planning modes according to the characteristics of these targets. During task execution, if obstacles are encountered, an improved A* obstacle avoidance algorithm is adopted. The simulation results show that the proposed method can improve the efficiency of target recognition and reduce the turning cost of USV when encountering obstacles. So, for USV intelligent target search, the proposed path planning method can save resources and improve search efficiency.

High speed interferometric device for real-time correction of aero-optic effects

1995 ◽  
Author(s):  
Rod Clark ◽  
John Karpinsky ◽  
Gregg Borek ◽  
Eric Johnson
Keyword(s):  
Real Time ◽  
High Speed ◽  
Time Correction

Electrical Probing and Surface Imaging of Deep Sub-Micron Integrated Circuits

1999 ◽  
Author(s):  
Kenneth Krieg ◽  
Richard Qi ◽  
Douglas Thomson ◽  
Greg Bridges
Keyword(s):  
High Resolution ◽  
Integrated Circuits ◽  
Real Time ◽  
High Speed ◽  
Time Signal ◽  
Surface Imaging ◽  
Atomic Force ◽  
Submicron Structures ◽  
High Resolution Images ◽  
Capacitive Loading

Abstract A contact probing system for surface imaging and real-time signal measurement of deep sub-micron integrated circuits is discussed. The probe fits on a standard probe-station and utilizes a conductive atomic force microscope tip to rapidly measure the surface topography and acquire real-time highfrequency signals from features as small as 0.18 micron. The micromachined probe structure minimizes parasitic coupling and the probe achieves a bandwidth greater than 3 GHz, with a capacitive loading of less than 120 fF. High-resolution images of submicron structures and waveforms acquired from high-speed devices are presented.

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