scholarly journals Efficient UAV Path Planning with Multiconstraints in a 3D Large Battlefield Environment

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Weiwei Zhan ◽  
Wei Wang ◽  
Nengcheng Chen ◽  
Chao Wang

This study introduces an improvedA*algorithm for the real-time path planning of Unmanned Air Vehicles (UAVs) in a 3D large-scale battlefield environment to solve the problem that UAVs require high survival rates and low fuel consumption. The algorithm is able to find the optimal path between two waypoints in the target space and comprehensively takes factors such as altitude, detection probability, and path length into account. It considers the maneuverability constraints of the UAV, including the safety altitude, climb rate, and turning radius, to obtain the final flyable path. Finally, the authors test the algorithm in an approximately 2,500,000 square meter area containing radars, no-fly zones, and extreme weather conditions to measure its feasibility, stability, and efficiency.

2017 ◽  
Vol 14 (2) ◽  
pp. 172988141666366 ◽  
Author(s):  
Imen Chaari ◽  
Anis Koubaa ◽  
Hachemi Bennaceur ◽  
Adel Ammar ◽  
Maram Alajlan ◽  
...  

This article presents the results of the 2-year iroboapp research project that aims at devising path planning algorithms for large grid maps with much faster execution times while tolerating very small slacks with respect to the optimal path. We investigated both exact and heuristic methods. We contributed with the design, analysis, evaluation, implementation and experimentation of several algorithms for grid map path planning for both exact and heuristic methods. We also designed an innovative algorithm called relaxed A-star that has linear complexity with relaxed constraints, which provides near-optimal solutions with an extremely reduced execution time as compared to A-star. We evaluated the performance of the different algorithms and concluded that relaxed A-star is the best path planner as it provides a good trade-off among all the metrics, but we noticed that heuristic methods have good features that can be exploited to improve the solution of the relaxed exact method. This led us to design new hybrid algorithms that combine our relaxed A-star with heuristic methods which improve the solution quality of relaxed A-star at the cost of slightly higher execution time, while remaining much faster than A* for large-scale problems. Finally, we demonstrate how to integrate the relaxed A-star algorithm in the robot operating system as a global path planner and show that it outperforms its default path planner with an execution time 38% faster on average.


2021 ◽  
Vol 12 ◽  
Author(s):  
Deborah Knapp ◽  
Bieito Fernández Castro ◽  
Daniel Marty ◽  
Eugen Loher ◽  
Oliver Köster ◽  
...  

Planktothrix rubescens is a harmful planktonic cyanobacterium, forming concentrated metalimnetic populations in deep oligo- and mesotrophic lakes, even after successful restoration. In Lake Zurich (Switzerland), P. rubescens emerged as a keystone species with annual mass developments since the 1970s. Its success was partly attributed to effects of lake warming, such as changes in thermal stratification and seasonal deep mixing. However, recent observations based on a biweekly monitoring campaign (2009–2020) revealed two massive breakdowns and striking seasonal oscillations of the population. Here, we disentangle positive from negative consequences of secular lake warming and annual variations in weather conditions on P. rubescens dynamics: (i) despite the high survival rates of overwintering populations (up to 25%) during three consecutive winters (2014–2016) of incomplete deep convective mixing, cyanobacterial regrowth during the following stratified season was moderate and not overshooting a distinct standing stock threshold. Moreover, we recorded a negative trend for annual population maxima and total population size, pointing to a potential nutrient limitation after a series of incomplete winter mixing. Thus, the predication of steadily increasing blooms of P. rubescens could not be confirmed for the last decade. (ii) The seasonal reestablishment of P. rubescens was strongly coupled with a timely formation of a stable metalimnion structure, where the first positive net growth in the following productive summer season was observed. The trigger for the vertical positioning of filaments within the metalimnion was irradiance and not maximal water column stability. Repetitive disruptions of the vernal metalimnion owing to unstable weather conditions, as in spring 2019, went in parallel with a massive breakdown of the standing stock and marginal regrowth during thermal stratification. (iii) Driven by light intensity, P. rubescens was entrained into the turbulent epilimnion in autumn, followed by a second peak in population growth. Thus, the typical bimodal growth pattern was still intact during the last decade. Our long-term study highlights the finely tuned interplay between climate-induced changes and variability of thermal stratification dynamics and physiological traits of P. rubescens, determining its survival in a mesotrophic temperate lake.


2012 ◽  
Vol 229-231 ◽  
pp. 2019-2024 ◽  
Author(s):  
Zhi Qiang Zhao ◽  
Zhi Hua Liu ◽  
Jia Xin Hao

In the process of ground simulation object maneuver simulation in large-scale operation simulation, an efficient path planning method based on A*algorithm is proposed. By means of introducing all kind of geography factors and security factors into heuristic function, the plan reaching method solves the problem of finding an optimal path under acquiring enemy's situation and terrain data. Experiment results show that it has effectively raised path planning speed of A* algorithm and the scheme is practical and feasible.


2022 ◽  
Vol 13 (2) ◽  
pp. 0-0

This paper investigates sensing data acquisition issues from large-scale hazardous environments using UAVs-assisted WSNs. Most of the existing schemes suffer from low scalability, high latency, low throughput, and low service time of the deployed network. To overcome these issues, we considered a clustered WSN architecture in which multiple UAVs are dispatched with assigned path knowledge for sensing data acquisition from each cluster heads (CHs) of the network. This paper first presents a non-cooperative Game Theory (GT)-based CHs selection algorithm and load balanced cluster formation scheme. Next, to provide timely delivery of sensing information using UAVs, hybrid meta-heuristic based optimal path planning algorithm is proposed by combing the best features of Dolphin Echolocation and Crow Search meta-heuristic techniques. In this research work, a novel objective function is formulated for both load-balanced CHs selection and for optimal the path planning problem. Results analyses demonstrate that the proposed scheme significantly performs better than the state-of-art schemes.


2007 ◽  
Vol 34 (6) ◽  
pp. 437 ◽  
Author(s):  
Marissa L. Parrott ◽  
Simon J. Ward ◽  
Peter D. Temple-Smith ◽  
Lynne Selwood

Extreme weather conditions, such as drought, significantly decrease the survival and breeding success of numerous species. Despite the frequent occurrence of such conditions in Australia, little is known about the effects of changing environmental conditions on the native small mammals. This study, conducted from 2002 to 2004, focussed on sympatric wild populations of the agile antechinus (Antechinus agilis), with more limited information on the dusky antechinus (A. swainsonii) and the bush rat (Rattus fuscipes). Bodyweights of agile antechinus before and during the breeding season were significantly lower in 2003 (drought) than in 2002 or 2004. Survival of female agile antechinus and the number of young per litter also decreased significantly during drought. In contrast, the dusky antechinus showed no difference in mean bodyweights between years, high survival rates of females and similar litter sizes in 2002 and 2003. There was also no difference in bodyweight of bush rats between years. Low rainfall was recorded during pregnancy and lactation in the agile antechinus, but rainfall was higher during pregnancy and lactation in the dusky antechinus. The survival and breeding success of the agile antechinus may have been adversely affected by a combination of interspecific competition, timing of the breeding season and severity of the drought.


Entropy ◽  
2020 ◽  
Vol 22 (2) ◽  
pp. 162
Author(s):  
Kai Xu ◽  
Yue Hu ◽  
Yunxiu Zeng ◽  
Quanjun Yin ◽  
Mei Yang

Deceptive path-planning is the task of finding a path so as to minimize the probability of an observer (or a defender) identifying the observed agent’s final goal before the goal has been reached. Magnitude-based deceptive path-planning takes advantage of the quantified deceptive values upon each grid or position to generate paths that are deceptive. Existing methods using optimization techniques cannot satisfy the time constraints when facing with the large-scale terrain, as its computation time grows exponentially with the size of road maps or networks. In this work, building on recent developments in the optimal path planner, the paper proposes a hybrid solution between map scaling and hierarchical abstractions. By leading the path deception information down into a general purpose but highly-efficient path-planning formulation, the paper substantially speeds up the task upon large scale terrains with an admissible loss of deception.


2015 ◽  
Vol 41 (1) ◽  
pp. 63-69 ◽  
Author(s):  
Charles A. Babbush ◽  
Ali Kanawati

Along with the widespread use of dental implants, regenerative procedures have become an indispensable tool for implant surgeons in managing residual ridges and the surrounding bone. Putty bone grafts have significantly superior handling characteristics in comparison to particulates. These include ease of placement, enhanced particle containment, and a viscous consistency that has allowed for unique delivery systems to be developed. The aim of this study was to report the clinical efficacy of calcium phosphosilicate (CPS) putty in a wide variety of indications related to implant reconstruction and to report the survival rate of implants placed in these grafted sites. The CPS putty was used as the graft material of choice. Treatments were categorized into following groups: extraction graft, extraction with immediate implant placement, all-on-four concept, peri-implantitis treatment, bone augmentation before implant placement, implant replacement graft, and grafting around implant placed in resorbed ridges. Included in the analysis were 65 patients (36 men, 29 women) with a mean age of 63 ± 12 years. In total, 262 implants were placed. Four implants were diagnosed with peri-implantitis and were treated as described in category 4, for a total of 266 grafted sites. Two implants from the extraction graft category and 3 implants from the all-on-four group were lost and replaced with successfully osseointegrated implants during a mean study follow-up period of 12.24 ± 2.32 months. The implant success rate at 1 year was 98.1% (257/262). Based on results of this large-scale, retrospective study we conclude that (1) the use of putty bone grafts can simplify bone-grafting procedures and reduce intraoperative time in various grafting indications, (2) this study verified the efficacy of a CPS putty bone graft biomaterial in a large array of implant-related surgical indications, and (3) implants placed in sites grafted with CPS putty yield very high survival rates.


Robotica ◽  
2013 ◽  
Vol 32 (1) ◽  
pp. 77-95 ◽  
Author(s):  
Saeid Asadi ◽  
Vahid Azimirad ◽  
Ali Eslami ◽  
Saeid Karimian Eghbal

SUMMARYIn this paper an optimal path planning method based on a new evolutionary algorithm is presented for higher order robotic systems. It is a combination of immune system and wavelet mutation. By increasing the system's dimensions, the complexity of algorithm grows linearly. The obtained results have been compared with other optimal path producing algorithms, and its excellence in terms of optimality has been proved. Strengths of this method are simplicity in large-scale path planning, being free of most of the common deadlocks in usual method, and ability to obtain more optimized results than other similar methods. The effectiveness of this approach on simulation case studies for a three-link planar robot and 5 degrees of freedom mobile manipulators as well as an experiment for a mobile robot called K-joniour is shown.


2008 ◽  
Vol 54 (No. 2) ◽  
pp. 78-88 ◽  
Author(s):  
M. Trnka ◽  
M. Trnka ◽  
J. Fialová ◽  
V. Koutecký ◽  
M. Fajman ◽  
...  

Fast-growing woody plants that can be grown under short-rotation systems offer an alternative to food production on arable land, and serve as a potential source of renewable energy. In order to establish the feasibility of future large scale production under the conditions of the Czech-Moravian highland, a high density experimental field plantation including a range of available clones of <I>Populus</I> sp. and <I>Salix</I> sp. with the total area of 1.5 ha was established in early 2001 in Domanínek (Czech Republic, 49°32'N, 16°15'E and altitude 530 m). The clone experiment of <I>Populus </I> sp. covered 0.3 ha in the center of the plantation and included 13 clones in total, with hardwood cuttings of only 6 clones available in numbers allowing 4-replicate experiment. The plantation was established on agricultural land and the trees were planted in a double row design with a density of 10 000 trees/ha. The trial was weeded by mechanical methods, and no irrigation, fertilization, or herbicides were applied. The experiment site was harvested at the end of 2006. It was found that the biomass yields of the tested clones of <I>Populus</I> sp. were in the higher range of results from national and European studies in case of hybrid clones. The satisfactory survival rate in the first year, when mortality tends to be highest, was supported by relatively wet weather conditions after plantation establishment. At the end of the first rotation, the highest yields were obtained from clones J-105 and J-104 (<I>P. nigra</I> × <I>P. maximowiczii</I>) and P-494 (<I>P. maximowiczii</I> × <I>P. berolinensis</I>) with J-105 showing a mean annual increment of dry matter close to 14 t/ha. Additional experiments seem to suggest that well managed poplar plantation might produce even better values if higher survival rates can be achieved.


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