Goal Directed Approach to Autonomous Motion Planning for Unmanned Vehicles

2016 ◽  
Vol 67 (1) ◽  
pp. 45 ◽  
Author(s):  
E. David Boon Moses ◽  
G. Anitha
Keyword(s):  
Data Structure ◽  
Motion Planning ◽  
Real Time ◽  
Unmanned Vehicles ◽  
Military Applications ◽  
Autonomous Motion ◽  
Goal Direction ◽  
Planning Problems ◽  
Random State ◽  
Selection Of

<p>Advancement in the field of autonomous motion planning has enabled the realisation of fully autonomous unmanned vehicles. Sampling based motion planning algorithms have shown promising prospects in generating fast, effective and practical solutions to different motion planning problems in unmanned vehicles for both civilian and military applications. But the goal bias introduced by heuristic probability shaping to generate faster solution may result in local collisions. A simple, real-time method is proposed for goal direction by preferential selection of a state from a sampled pair of random state, based on the distance to goal. This limits the graph motions resulting in smaller data structure, making the algorithm optimised for time and solution length. This would enable unmanned vehicles to take shorter paths and avoid collisions in obstacle rich environment. The approach is analysed on a sampling based algorithm, rapidly-exploring random tree (RRT) which computes motion plans under constrain of time. This paper proposes an algorithm called ’goal directed RRT (GRRT)’ building on the basic RRT algorithm, providing an alternative to probabilistic goal biasing, thereby avoiding local collision. The approach is evaluated by benchmarking it with RRT algorithm for kinematic car, dynamic car and a quadrotor and the results show improvements in length of the motion plans and the time of computing.</p>

scholarly journals Real-Time Search-based Planning in Structure Environments

2020 ◽  
Author(s):  
Than Le
Keyword(s):  
Motion Planning ◽  
Open Source ◽  
Real Time ◽  
Open Source Software ◽  
Humanoid Robot ◽  
Operation System ◽  
Computing Architecture ◽  
Planning Problems ◽  
The Way

<div>In this paper, we address the data sending and visualization in search-based planning using the open source software based on motion planning problems. First, we explore the computing architecture of software where we can communicate with other devices or sensors. It also is to understand the finding path problem by using the A-Start algorithm. By the way, it is</div><div>integrated to ROS (Robot Operation System) and implemented</div><div>in Nao Humanoid Robot based on solving the optimize the</div><div>trajectories.</div>

scholarly journals Real-Time Search-based Planning in Structure Environments

2020 ◽  
Author(s):  
Than Le
Keyword(s):  
Motion Planning ◽  
Open Source ◽  
Real Time ◽  
Open Source Software ◽  
Humanoid Robot ◽  
Operation System ◽  
Computing Architecture ◽  
Planning Problems ◽  
The Way

<div>In this paper, we address the data sending and visualization in search-based planning using the open source software based on motion planning problems. First, we explore the computing architecture of software where we can communicate with other devices or sensors. It also is to understand the finding path problem by using the A-Start algorithm. By the way, it is</div><div>integrated to ROS (Robot Operation System) and implemented</div><div>in Nao Humanoid Robot based on solving the optimize the</div><div>trajectories.</div>

scholarly journals Drone-Based Autonomous Motion Planning System for Outdoor Environments under Object Detection Uncertainty

2021 ◽  
Vol 13 (21) ◽  
pp. 4481
Author(s):  
Juan Sandino ◽  
Frederic Maire ◽  
Peter Caccetta ◽  
Conrad Sanderson ◽  
Felipe Gonzalez
Keyword(s):  
Motion Planning ◽  
Real Time ◽  
Precision Agriculture ◽  
Modular Design ◽  
Planning System ◽  
Sensing Applications ◽  
Autonomous Motion ◽  
Outdoor Environments ◽  
Cognitive Power ◽  
Computationally Intensive

Recent advances in autonomy of unmanned aerial vehicles (UAVs) have increased their use in remote sensing applications, such as precision agriculture, biosecurity, disaster monitoring, and surveillance. However, onboard UAV cognition capabilities for understanding and interacting in environments with imprecise or partial observations, for objects of interest within complex scenes, are limited, and have not yet been fully investigated. This limitation of onboard decision-making under uncertainty has delegated the motion planning strategy in complex environments to human pilots, which rely on communication subsystems and real-time telemetry from ground control stations. This paper presents a UAV-based autonomous motion planning and object finding system under uncertainty and partial observability in outdoor environments. The proposed system architecture follows a modular design, which allocates most of the computationally intensive tasks to a companion computer onboard the UAV to achieve high-fidelity results in simulated environments. We demonstrate the system with a search and rescue (SAR) case study, where a lost person (victim) in bushland needs to be found using a sub-2 kg quadrotor UAV. The navigation problem is mathematically formulated as a partially observable Markov decision process (POMDP). A motion strategy (or policy) is obtained once a POMDP is solved mid-flight and in real time using augmented belief trees (ABT) and the TAPIR toolkit. The system’s performance was assessed using three flight modes: (1) mission mode, which follows a survey plan and used here as the baseline motion planner; (2) offboard mode, which runs the POMDP-based planner across the flying area; and (3) hybrid mode, which combines mission and offboard modes for improved coverage in outdoor scenarios. Results suggest the increased cognitive power added by the proposed motion planner and flight modes allow UAVs to collect more accurate victim coordinates compared to the baseline planner. Adding the proposed system to UAVs results in improved robustness against potential false positive readings of detected objects caused by data noise, inaccurate detections, and elevated complexity to navigate in time-critical applications, such as SAR.

Network Selection in Wireless Heterogeneous Environment Based on Available Bandwidth Estimation

2019 ◽  
Vol 12 ◽  
Author(s):  
Kiran Ahuja ◽  
Brahmjit Singh ◽  
Rajesh Khanna
Keyword(s):  
Real Time ◽  
Estimation Error ◽  
Network Selection ◽  
Bandwidth Estimation ◽  
Heterogeneous Environment ◽  
Bootstrap Approximation ◽  
Available Bandwidth ◽  
Internet Connection ◽  
Available Bandwidth Estimation ◽  
Selection Of

Background: With the availability of multiple options in wireless network simultaneously, Always Best Connected (ABC) requires dynamic selection of the best network and access technologies. Objective: In this paper, a novel dynamic access network selection algorithm based on the real time is proposed. The available bandwidth (ABW) of each network is required to be estimated to solve the network selection problem. Method: Proposed algorithm estimates available bandwidth by taking averages, peaks, low points and bootstrap approximation for network selection. It monitors real-time internet connection and resolves the selection issue in internet connection. The proposed algorithm is capable of adapting to prevailing network conditions in heterogeneous environment of 2G, 3G and WLAN networks without user intervention. It is implemented in temporal and spatial domains to check its robustness. Estimation error, overhead, estimation time with the varying size of traffic and reliability are used as the performance metrics. Results: Through numerical results, it is shown that the proposed algorithm’s ABW estimation based on bootstrap approximation gives improved performance in terms of estimation error (less than 20%), overhead (varies from 0.03% to 83%) and reliability (approx. 99%) with respect to existing techniques. Conclusion: Our proposed methodology of network selection criterion estimates the available bandwidth by taking averages, peaks, and low points and bootstrap approximation method (standard deviation) for the selection of network in the wireless heterogeneous environment. It monitors real-time internet connection and resolves internet connections selection issue. All the real-time usage and test results demonstrate the productivity and adequacy of available bandwidth estimation with bootstrap approximation as a practical solution for consistent correspondence among heterogeneous wireless networks by precise network selection for multimedia services.

scholarly journals Graph-Based Construction of 3D Korean Giwa House Models

Buildings ◽  
2019 ◽  
Vol 9 (3) ◽  
pp. 68
Author(s):  
Mankyu Sung
Keyword(s):  
Data Structure ◽  
Computer Graphics ◽  
Real Time ◽  
Texture Image ◽  
Time Rate ◽  
Commercial Software ◽  
Spline Curve ◽  
High Level ◽  
Complicated Part ◽  
Different Parts

This paper proposes a graph-based algorithm for constructing 3D Korean traditional houses automatically using a computer graphics technique. In particular, we target designing the most popular traditional house type, a giwa house, whose roof is covered with a set of Korean traditional roof tiles called giwa. In our approach, we divided the whole design processes into two different parts. At a high level, we propose a special data structure called ‘modeling graphs’. A modeling graph consists of a set of nodes and edges. A node represents a particular component of the house and an edge represents the connection between two components with all associated parameters, including an offset vector between components. Users can easily add/ delete nodes and make them connect by an edge through a few mouse clicks. Once a modeling graph is built, then it is interpreted and rendered on a component-by-component basis by traversing nodes in a procedural way. At a low level, we came up with all the required parameters for constructing the components. Among all the components, the most beautiful but complicated part is the gently curved roof structures. In order to represent the sophisticated roof style, we introduce a spline curve-based modeling technique that is able to create curvy silhouettes of three different roof styles. In this process, rather than just applying a simple texture image onto the roof, which is widely used in commercial software, we actually laid out 3D giwa tiles on the roof seamlessly, which generated more realistic looks. Through many experiments, we verified that the proposed algorithm can model and render the giwa house at a real time rate.

scholarly journals Evaluation of Optimal Vibrotactile Feedback for Force-Controlled Upper Limb Myoelectric Prostheses

Sensors ◽  
2019 ◽  
Vol 19 (23) ◽  
pp. 5209 ◽  
Author(s):  
Andrea Gonzalez-Rodriguez ◽  
Jose L. Ramon ◽  
Vicente Morell ◽  
Gabriel J. Garcia ◽  
Jorge Pomares ◽  
...  
Keyword(s):  
Real Time ◽  
Upper Limb ◽  
Closed Loop ◽  
Fine Tuning ◽  
Vibrotactile Feedback ◽  
Loop Control ◽  
Myoelectric Prostheses ◽  
Amplitude Level ◽  
Real Time Application ◽  
Selection Of

The main goal of this study is to evaluate how to optimally select the best vibrotactile pattern to be used in a closed loop control of upper limb myoelectric prostheses as a feedback of the exerted force. To that end, we assessed both the selection of actuation patterns and the effects of the selection of frequency and amplitude parameters to discriminate between different feedback levels. A single vibrotactile actuator has been used to deliver the vibrations to subjects participating in the experiments. The results show no difference between pattern shapes in terms of feedback perception. Similarly, changes in amplitude level do not reflect significant improvement compared to changes in frequency. However, decreasing the number of feedback levels increases the accuracy of feedback perception and subject-specific variations are high for particular participants, showing that a fine-tuning of the parameters is necessary in a real-time application to upper limb prosthetics. In future works, the effects of training, location, and number of actuators will be assessed. This optimized selection will be tested in a real-time proportional myocontrol of a prosthetic hand.

Real-time Approximation of Photometric Polygonal Lights

2020 ◽  
Vol 3 (1) ◽  
pp. 1-18
Author(s):  
Christian Luksch ◽  
Lukas Prost ◽  
Michael Wimmer
Keyword(s):  
Real Time ◽  
Specular Reflection ◽  
Near Field ◽  
Measurement Data ◽  
Data Sets ◽  
Photometric Measurement ◽  
Integration Technique ◽  
Time Approximation ◽  
Light Emitter ◽  
Selection Of

We present a real-time rendering technique for photometric polygonal lights. Our method uses a numerical integration technique based on a triangulation to calculate noise-free diffuse shading. We include a dynamic point in the triangulation that provides a continuous near-field illumination resembling the shape of the light emitter and its characteristics. We evaluate the accuracy of our approach with a diverse selection of photometric measurement data sets in a comprehensive benchmark framework. Furthermore, we provide an extension for specular reflection on surfaces with arbitrary roughness that facilitates the use of existing real-time shading techniques. Our technique is easy to integrate into real-time rendering systems and extends the range of possible applications with photometric area lights.

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