scholarly journals OPTIMIZATION OF HORIZONTAL HIGHWAY ALIGNMENT USING A PATH PLANNER METHOD

2017 ◽  
Author(s):  
SUSHMA MB ◽  
AVIJIT MAJI
Keyword(s):  
Path Planner ◽  
Highway Alignment

Environmental Measurements Path Planner (EMPath) User's Manual

2012 ◽  
Author(s):  
Kevin D. Heaney ◽  
Richard L. Campbell ◽  
Richard H. Stroop ◽  
Lucy F. Smedstad ◽  
Germana Peggion
Keyword(s):  
Path Planner

scholarly journals Modules and Techniques for Motion Planning: An Industrial Perspective

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 420
Author(s):  
Stefano Quer ◽  
Luz Garcia
Keyword(s):  
Data Fusion ◽  
Autonomous Driving ◽  
Random Trees ◽  
Approximation Techniques ◽  
Main Research ◽  
Autonomous Cars ◽  
Critical Issues ◽  
Relative Errors ◽  
Path Planner ◽  
Many Core

Research on autonomous cars has become one of the main research paths in the automotive industry, with many critical issues that remain to be explored while considering the overall methodology and its practical applicability. In this paper, we present an industrial experience in which we build a complete autonomous driving system, from the sensor units to the car control equipment, and we describe its adoption and testing phase on the field. We report how we organize data fusion and map manipulation to represent the required reality. We focus on the communication and synchronization issues between the data-fusion device and the path-planner, between the CPU and the GPU units, and among different CUDA kernels implementing the core local planner module. In these frameworks, we propose simple representation strategies and approximation techniques which guarantee almost no penalty in terms of accuracy and large savings in terms of memory occupation and memory transfer times. We show how we adopt a recent implementation on parallel many-core devices, such as CUDA-based GPGPU, to reduce the computational burden of rapidly exploring random trees to explore the state space along with a given reference path. We report on our use of the controller and the vehicle simulator. We run experiments on several real scenarios, and we report the paths generated with the different settings, with their relative errors and computation times. We prove that our approach can generate reasonable paths on a multitude of standard maneuvers in real time.

scholarly journals Collision-free path planning for welding manipulator via hybrid algorithm of deep reinforcement learning and inverse kinematics

2021 ◽  
Author(s):  
Jie Zhong ◽  
Tao Wang ◽  
Lianglun Cheng
Keyword(s):  
Reinforcement Learning ◽  
Path Planning ◽  
Free Path ◽  
Inverse Kinematics ◽  
Multiple Dimensions ◽  
Continuous State ◽  
Planning Algorithm ◽  
Convergence Performance ◽  
Path Planner ◽  
Action Spaces

AbstractIn actual welding scenarios, an effective path planner is needed to find a collision-free path in the configuration space for the welding manipulator with obstacles around. However, as a state-of-the-art method, the sampling-based planner only satisfies the probability completeness and its computational complexity is sensitive with state dimension. In this paper, we propose a path planner for welding manipulators based on deep reinforcement learning for solving path planning problems in high-dimensional continuous state and action spaces. Compared with the sampling-based method, it is more robust and is less sensitive with state dimension. In detail, to improve the learning efficiency, we introduce the inverse kinematics module to provide prior knowledge while a gain module is also designed to avoid the local optimal policy, we integrate them into the training algorithm. To evaluate our proposed planning algorithm in multiple dimensions, we conducted multiple sets of path planning experiments for welding manipulators. The results show that our method not only improves the convergence performance but also is superior in terms of optimality and robustness of planning compared with most other planning algorithms.

Design and validation testing of a complete paddy field-coverage path planner for a fully autonomous tillage tractor

2021 ◽  
Vol 208 ◽  
pp. 79-97
Author(s):  
Chan-Woo Jeon ◽  
Hak-Jin Kim ◽  
Changho Yun ◽  
Xiongzhe Han ◽  
Jung Hun Kim
Keyword(s):  
Paddy Field ◽  
Path Planner ◽  
Validation Testing

An Evolutionary-Optimized Surgical Path Planner for a Programmable Bevel-Tip Needle

2021 ◽  
pp. 1-12
Author(s):  
Alberto Favaro ◽  
Alice Segato ◽  
Federico Muretti ◽  
Elena De Momi
Keyword(s):  
Path Planner

Sight distance red zones on combined horizontal and sag vertical curves

1998 ◽  
Vol 25 (4) ◽  
pp. 621-630 ◽  
Author(s):  
Yasser Hassan ◽  
Said M Easa
Keyword(s):  
Quantitative Analysis ◽  
Three Dimensional ◽  
The Other ◽  
Two Dimensional ◽  
Horizontal Curve ◽  
Sight Distance ◽  
Stopping Sight Distance ◽  
Three Dimensional Models ◽  
Highway Alignment ◽  
Current Standards

Coordination of highway horizontal and vertical alignments is based on subjective guidelines in current standards. This paper presents a quantitative analysis of coordinating horizontal and sag vertical curves that are designed using two-dimensional standards. The locations where a horizontal curve should not be positioned relative to a sag vertical curve (called red zones) are identified. In the red zone, the available sight distance (computed using three-dimensional models) is less than the required sight distance. Two types of red zones, based on stopping sight distance (SSD) and preview sight distance (PVSD), are examined. The SSD red zone corresponds to the locations where an overlap between a horizontal curve and a sag vertical curve should be avoided because the three-dimensional sight distance will be less than the required SSD. The PVSD red zone corresponds to the locations where a horizontal curve should not start because drivers will not be able to perceive it and safely react to it. The SSD red zones exist for practical highway alignment parameters, and therefore designers should check the alignments for potential SSD red zones. The range of SSD red zones was found to depend on the different alignment parameters, especially the superelevation rate. On the other hand, the results showed that the PVSD red zones exist only for large values of the required PVSD, and therefore this type of red zones is not critical. This paper should be of particular interest to the highway designers and professionals concerned with highway safety.Key words: sight distance, red zone, combined alignment.

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