scholarly journals Improving the Scalability of the Magnitude-Based Deceptive Path-Planning Using Subgoal Graphs

Entropy ◽  
2020 ◽  
Vol 22 (2) ◽  
pp. 162
Author(s):  
Kai Xu ◽  
Yue Hu ◽  
Yunxiu Zeng ◽  
Quanjun Yin ◽  
Mei Yang
Keyword(s):  
Path Planning ◽  
Large Scale ◽  
Optimal Path ◽  
Computation Time ◽  
General Purpose ◽  
Optimization Techniques ◽  
Hybrid Solution ◽  
Recent Developments ◽  
Road Maps ◽  
Path Planner

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.

scholarly journals Design and performance analysis of global path planning techniques for autonomous mobile robots in grid environments

2017 ◽  
Vol 14 (2) ◽  
pp. 172988141666366 ◽  
Author(s):  
Imen Chaari ◽  
Anis Koubaa ◽  
Hachemi Bennaceur ◽  
Adel Ammar ◽  
Maram Alajlan ◽  
...  
Keyword(s):  
Path Planning ◽  
Execution Time ◽  
Large Scale ◽  
Optimal Path ◽  
Heuristic Methods ◽  
Solution Quality ◽  
Good Trade ◽  
And Performance ◽  
Path Planner ◽  
The Cost

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.

Optimal path planning of a disinfection mobile robot against COVID-19 in a ROS-based research platform

2021 ◽  
Vol 16 (4) ◽  
pp. 405-417
Author(s):  
L. Banjanovic-Mehmedovic ◽  
I. Karabegovic ◽  
J. Jahic ◽  
M. Omercic
Keyword(s):  
Path Planning ◽  
Optimal Path ◽  
Pso Algorithm ◽  
Optimal Path Planning ◽  
Localization And Mapping ◽  
Increasing Demand ◽  
Window Approach ◽  
Path Planner ◽  
Hardware Platforms ◽  
Reactive Collision

Due to COVID-19 pandemic, there is an increasing demand for mobile robots to substitute human in disinfection tasks. New generations of disinfection robots could be developed to navigate in high-risk, high-touch areas. Public spaces, such as airports, schools, malls, hospitals, workplaces and factories could benefit from robotic disinfection in terms of task accuracy, cost, and execution time. The aim of this work is to integrate and analyse the performance of Particle Swarm Optimization (PSO) algorithm, as global path planner, coupled with Dynamic Window Approach (DWA) for reactive collision avoidance using a ROS-based software prototyping tool. This paper introduces our solution – a SLAM (Simultaneous Localization and Mapping) and optimal path planning-based approach for performing autonomous indoor disinfection work. This ROS-based solution could be easily transferred to different hardware platforms to substitute human to conduct disinfection work in different real contaminated environments.

scholarly journals Real - Time Trajectory and Velocity Planning for Autonomous Vehicles

2021 ◽  
Vol 10 (5) ◽  
pp. 439-448
Author(s):  
Hrishikesh Dey ◽  
Rithika Ranadive ◽  
Abhishek Chaudhari
Keyword(s):  
Path Planning ◽  
Velocity Profile ◽  
Real Time ◽  
Autonomous Vehicle ◽  
Optimal Path ◽  
Autonomous Driving ◽  
Navigation Algorithm ◽  
Velocity Planning ◽  
Planning Algorithm ◽  
Path Planner

Path planning algorithm integrated with a velocity profile generation-based navigation system is one of the most important aspects of an autonomous driving system. In this paper, a real-time path planning solution to obtain a feasible and collision-free trajectory is proposed for navigating an autonomous car on a virtual highway. This is achieved by designing the navigation algorithm to incorporate a path planner for finding the optimal path, and a velocity planning algorithm for ensuring a safe and comfortable motion along the obtained path. The navigation algorithm was validated on the Unity 3D Highway-Simulated Environment for practical driving while maintaining velocity and acceleration constraints. The autonomous vehicle drives at the maximum specified velocity until interrupted by vehicular traffic, whereas then, the path planner, based on the various constraints provided by the simulator using µWebSockets, decides to either decelerate the vehicle or shift to a more secure lane. Subsequently, a splinebased trajectory generation for this path results in continuous and smooth trajectories. The velocity planner employs an analytical method based on trapezoidal velocity profile to generate velocities for the vehicle traveling along the precomputed path. To provide smooth control, an s-like trapezoidal profile is considered that uses a cubic spline for generating velocities for the ramp-up and ramp-down portions of the curve. The acceleration and velocity constraints, which are derived from road limitations and physical systems, are explicitly considered. Depending upon these constraints and higher module requirements (e.g., maintaining velocity, and stopping), an appropriate segment of the velocity profile is deployed. The motion profiles for all the use-cases are generated and verified graphically.

scholarly journals Optimization-based approach to path planning for closed chain robot systems

2011 ◽  
Vol 21 (4) ◽  
pp. 659-670 ◽  
Author(s):  
Wojciech Szynkiewicz ◽  
Jacek Błaszczyk
Keyword(s):  
Path Planning ◽  
Large Scale ◽  
Inequality Constraints ◽  
Optimization Techniques ◽  
Planning Problem ◽  
Closed Chain ◽  
Robot Systems ◽  
Equality And Inequality Constraints ◽  
Primal Dual ◽  
The Given

Optimization-based approach to path planning for closed chain robot systems An application of advanced optimization techniques to solve the path planning problem for closed chain robot systems is proposed. The approach to path planning is formulated as a "quasi-dynamic" NonLinear Programming (NLP) problem with equality and inequality constraints in terms of the joint variables. The essence of the method is to find joint paths which satisfy the given constraints and minimize the proposed performance index. For numerical solution of the NLP problem, the IPOPT solver is used, which implements a nonlinear primal-dual interior-point method, one of the leading techniques for large-scale nonlinear optimization.

scholarly journals An Intelligent Gain based Ant Colony Optimisation Method for Path Planning of Unmanned Ground Vehicles

2019 ◽  
Vol 69 (2) ◽  
pp. 167-172 ◽  
Author(s):  
Sangeetha Viswanathan ◽  
K. S. Ravichandran ◽  
Anand M. Tapas ◽  
Sellammal Shekhar
Keyword(s):  
Path Planning ◽  
Optimal Path ◽  
Computation Time ◽  
Ant Colony ◽  
Ant Colony Optimisation ◽  
Ground Vehicles ◽  
Optimal Path Planning ◽  
Military Applications ◽  
The Military ◽  
Reduction Cost

 In many of the military applications, path planning is one of the crucial decision-making strategies in an unmanned autonomous system. Many intelligent approaches to pathfinding and generation have been derived in the past decade. Energy reduction (cost and time) during pathfinding is a herculean task. Optimal path planning not only means the shortest path but also finding one in the minimised cost and time. In this paper, an intelligent gain based ant colony optimisation and gain based green-ant (GG-Ant) have been proposed with an efficient path and least computation time than the recent state-of-the-art intelligent techniques. Simulation has been done under different conditions and results outperform the existing ant colony optimisation (ACO) and green-ant techniques with respect to the computation time and path length.

Path Planning for Ground Simulation Objiect Based on A* Algorithm

2012 ◽  
Vol 229-231 ◽  
pp. 2019-2024 ◽  
Author(s):  
Zhi Qiang Zhao ◽  
Zhi Hua Liu ◽  
Jia Xin Hao
Keyword(s):  
Path Planning ◽  
Large Scale ◽  
Optimal Path ◽  
Planning Method ◽  
Heuristic Function ◽  
A Algorithm

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.

scholarly journals Review on path planning algorithm for unmanned aerial vehicles

2021 ◽  
Vol 24 (2) ◽  
pp. 1017
Author(s):  
Nurul Saliha Amani Ibrahim ◽  
Faiz Asraf Saparudin
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Optimal Path ◽  
Computation Time ◽  
Planning Problem ◽  
Aerial Vehicles ◽  
Planning Algorithm ◽  
Path Planning Algorithm

The path planning problem has been a crucial topic to be solved in autonomous vehicles. Path planning consists operations to find the route that passes through all of the points of interest in a given area. Several algorithms have been proposed and outlined in the various literature for the path planning of autonomous vehicle especially for unmanned aerial vehicles (UAV). The algorithms are not guaranteed to give full performance in each path planning cases but each one of them has their own specification which makes them suitable in sophisticated situation. This review paper evaluates several possible different path planning approaches of UAVs in terms optimal path, probabilistic completeness and computation time along with their application in specific problems.

scholarly journals A Swarm Intelligence Graph-Based Pathfinding Algorithm Based on Fuzzy Logic (SIGPAF): A Case Study on Unmanned Surface Vehicle Multi-Objective Path Planning

2021 ◽  
Vol 9 (11) ◽  
pp. 1243
Author(s):  
Charis Ntakolia ◽  
Dimitrios V. Lyridis
Keyword(s):  
Fuzzy Logic ◽  
Path Planning ◽  
Swarm Intelligence ◽  
Optimal Path ◽  
Computation Time ◽  
Computational Effort ◽  
Unmanned Vehicles ◽  
Maritime Transportation ◽  
Solution Quality ◽  
Multi Objective

Advances in robotic motion and computer vision have contributed to the increased use of automated and unmanned vehicles in complex and dynamic environments for various applications. Unmanned surface vehicles (USVs) have attracted a lot of attention from scientists to consolidate the wide use of USVs in maritime transportation. However, most of the traditional path planning approaches include single-objective approaches that mainly find the shortest path. Dynamic and complex environments impose the need for multi-objective path planning where an optimal path should be found to satisfy contradicting objective terms. To this end, a swarm intelligence graph-based pathfinding algorithm (SIGPA) has been proposed in the recent literature. This study aims to enhance the performance of SIGPA algorithm by integrating fuzzy logic in order to cope with the multiple objectives and generate quality solutions. A comparative evaluation is conducted among SIGPA and the two most popular fuzzy inference systems, Mamdani (SIGPAF-M) and Takagi–Sugeno–Kang (SIGPAF-TSK). The results showed that depending on the needs of the application, each methodology can contribute respectively. SIGPA remains a reliable approach for real-time applications due to low computational effort; SIGPAF-M generates better paths; and SIGPAF-TSK reaches a better trade-off among solution quality and computation time.

scholarly journals UAV Path Planning under Dynamic Threats Using an Improved PSO Algorithm

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Jong-Jin Shin ◽  
Hyochoong Bang
Keyword(s):  
Path Planning ◽  
Optimal Path ◽  
Computation Time ◽  
Pso Algorithm ◽  
Cost Evaluation ◽  
Processing Unit ◽  
Dijkstra Algorithm ◽  
Flight Direction ◽  
Map Generation ◽  
The Cost

This paper presents the method to solve the problem of path planning for an unmanned aerial vehicle (UAV) in adversarial environments including radar-guided surface-to-air missiles (SAMs) and unknown threats. SAM lethal envelope and radar detection for SAM threats and line-of-sight (LOS) calculation for unknown threats are considered to compute the cost for path planning. In particular, dynamic SAM lethal envelope is taken into account for path planning in that SAM lethal envelope does change its direction according to the flight direction of UAV. In addition, terrain masking, nonisotropic radar cross section (RCS), and dynamic constraints of UAV are considered to determine the cost of the path. An improved particle swarm optimization (PSO) algorithm is proposed for finding an optimal path. The proposed algorithm is composed of preprocessing steps, multi-swarm PSO algorithm, and postprocessing steps. The Voronoi diagram and Dijkstra algorithm as preprocessing steps provide the initial path for the multi-swarm PSO algorithm which uses multiple swarms with sub-swarms for the balance between exploration and exploitation. Postprocessing steps include waypoint insertion and 3D path smoothing. The computation time is reduced by using the map generation, the coordinate transformation, and the graphic processing unit (GPU) implementation of the algorithm. Various simulations are carried out to compare the performance of the proposed method according to the number of iterations, the number of swarms, and the number of cost evaluation points. The t -test results show that the suggested method is statistically better than existing methods.

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