scholarly journals Validation of a Dynamic Planning Navigation Strategy Applied to Mobile Terrestrial Robots

Sensors ◽  
2018 ◽  
Vol 18 (12) ◽  
pp. 4322 ◽  
Author(s):  
Caroline Silva ◽  
Átila de Oliveira ◽  
Marcelo Fernandes
Keyword(s):  
Genetic Algorithm ◽  
Population Size ◽  
Autonomous Navigation ◽  
Genetic Parameters ◽  
Dynamic Environments ◽  
Dynamic Planning ◽  
Navigation Algorithm ◽  
Navigation Strategy ◽  
Terrestrial Environments ◽  
Simulation Results

This work describes the performance of a DPNA-GA (Dynamic Planning Navigation Algorithm optimized with Genetic Algorithm) algorithm applied to autonomous navigation in unknown static and dynamic terrestrial environments. The main aim was to validate the functionality and robustness of the DPNA-GA, with variations of genetic parameters including the crossover rate and population size. To this end, simulations were performed of static and dynamic environments, applying the different conditions. The simulation results showed satisfactory efficiency and robustness of the DPNA-GA technique, validating it for real applications involving mobile terrestrial robots.

scholarly journals Reactive Autonomous Navigation of UAVs for Dynamic Sensing Coverage of Mobile Ground Targets

Sensors ◽  
2020 ◽  
Vol 20 (13) ◽  
pp. 3720 ◽  
Author(s):  
Hailong Huang ◽  
Andrey V. Savkin ◽  
Xiaohui Li
Keyword(s):  
Autonomous Navigation ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Complex Case ◽  
Multiple Targets ◽  
Video Cameras ◽  
Sensing Coverage ◽  
Navigation Algorithm ◽  
Multiple Uavs ◽  
Simulation Results

This paper addresses a problem of autonomous navigation of unmanned aerial vehicles (UAVs) for the surveillance of multiple moving ground targets. The ground can be flat or uneven. A reactive real-time sliding mode control algorithm is proposed that navigates a team of communicating UAVs, equipped with ground-facing video cameras, towards moving targets to increase some measure of sensing coverage of the targets by the UAVs. Moreover, the Voronoi partitioning technique is adopted to reduce the movement range of the UAVs and decrease the revisit times of the targets. Extensive computer simulations, from the simple case with one UAV and multiple targets to the complex case with multiple UAVs and multiple targets, are conducted to demonstrate the performance of the developed autonomous navigation algorithm. The scenarios where the terrain is uneven are also considered. As shown in the simulation results, although the additional VP technique leads to some extra computation burden, the usage of the VP technique considerably reduces the target revisit time compared to the algorithm without this technique.

scholarly journals Exponential Fields Formulation for WMR Navigation

2012 ◽  
Vol 9 (4) ◽  
pp. 375-397 ◽  
Author(s):  
Edgar A. Martínez-García ◽  
Rafael Torres-Cordoba
Keyword(s):  
Autonomous Navigation ◽  
Sensory Information ◽  
Dynamic Environments ◽  
Force Model ◽  
Social Force ◽  
Wheeled Mobile Robots ◽  
Navigation Algorithm ◽  
The Social ◽  
Planning Scheme ◽  
Fast Dynamic

In this manuscript, an autonomous navigation algorithm for wheeled mobile robots (WMR) operating in dynamic environments (indoors or structured outdoors) is formulated. The planning scheme is of critical importance for autonomous navigational tasks in complex dynamic environments. In fast dynamic environments, path planning needs algorithms able to sense simultaneously a diversity of obstacles, and use such sensory information to improve real-time navigation control, while moving towards a desired goal destination. The framework tackles 4 issues. 1) Reformulation of the Social Force Model (SFM) adapted to WMR; 2) the cohesion of a general inertial scheme to represents motion in any coordinate system; 3) control of actuators rotational speed as a general model regardless kinematic restrictions; 4) assuming detection of features (obstacles/goals), adaptive numeric weights are formulated to affect navigational exponential components. Simulation and experimental outdoors results are presented to show the feasibility of the proposed framework.

scholarly journals Genetic Network Programming with Rules

2009 ◽  
Vol 13 (1) ◽  
pp. 16-24 ◽  
Author(s):  
Fengming Ye ◽  
◽  
Lu Yu ◽  
Shingo Mabu ◽  
Kaoru Shimada ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Directed Graphs ◽  
Genetic Network ◽  
Dynamic Environments ◽  
Network Programming ◽  
Optimal Solutions ◽  
Simulation Environment ◽  
Simulation Results ◽  
Genetic Network Programming ◽  
Conventional Algorithm

Genetic Network Programming (GNP) is an evolutionary approach which can evolve itself and find the optimal solutions. It is based on the idea of Genetic Algorithm and uses the data structure of directed graphs. Many papers have demonstrated that GNP can deal with complex problems in the dynamic environments very efficiently and effectively. As a result, recently, GNP is getting more and more attentions and is being used in many different areas such as data mining, extracting trading rules of stock markets, elevator systems, etc and GNP has obtained some outstanding results. In order to improve GNP's performance further, this paper proposes a new method called GNP with Rules. The aim of the proposed method is to balance exploitation and exploration of GNP, that is, to strengthen exploitation ability by using the exploited information extensively during the evolution process of GNP. The proposed method consists of 4 steps: rule extraction, rule selection, individual reconstruction and individual replacement. These 4 steps are added to the conventional algorithm of GNP. In order to measure the performance of the proposed method, the tileworld was used as the simulation environment. The simulation results show some advantages of GNP with Rules over conventional GNPs.

scholarly journals Genetic Scheduling and Reinforcement Learning in Multirobot Systems for Intelligent Warehouses

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Jiajia Dou ◽  
Chunlin Chen ◽  
Pei Yang
Keyword(s):  
Genetic Algorithm ◽  
Reinforcement Learning ◽  
State Of The Art ◽  
Dynamic Environments ◽  
Search Method ◽  
Multirobot Systems ◽  
Evolutionary Search ◽  
Hybrid Solution ◽  
Overall Efficiency ◽  
Simulation Results

A new hybrid solution is presented to improve the efficiency of intelligent warehouses with multirobot systems, where the genetic algorithm (GA) based task scheduling is combined with reinforcement learning (RL) based path planning for mobile robots. Reinforcement learning is an effective approach to search for a collision-free path in unknown dynamic environments. Genetic algorithm is a simple but splendid evolutionary search method that provides very good solutions for task allocation. In order to achieve higher efficiency of the intelligent warehouse system, we design a new solution by combining these two techniques and provide an effective and alternative way compared with other state-of-the-art methods. Simulation results demonstrate the effectiveness of the proposed approach regarding the optimization of travel time and overall efficiency of the intelligent warehouse system.

The Design and Optimization of PID Suspension Controller Based on Genetic Algorithm

2017 ◽  
Vol 865 ◽  
pp. 492-495
Author(s):  
Rong Rong Song
Keyword(s):  
Genetic Algorithm ◽  
Population Size ◽  
Suspension System ◽  
Strong Nonlinearity ◽  
Design And Optimization ◽  
Proportional Integral ◽  
Mutation Probability ◽  
Crossover Probability ◽  
Simulation Results ◽  
Taylor's Formula

In order to improve the strong nonlinearity and uncertainty of the suspension system, the suspension system was transformed into two different linear subsystems by the Taylor’s formula and the proportional-integral-differential controller based on genetic algorithm was designed in this article. Optimizing the code, the population size, the crossover probability, the mutation probability and the maximum number of iteration, we obtained respectively the optimized parameters of the controllers of the electromagnet 1 and the electromagnet 2. The simulation results showed that the optimized suspension system had a good robustness.

Task scheduling algorithm based on improved genetic algorithm in cloud computing environment

2020 ◽  
Vol 13 ◽  
Author(s):  
Ge Weiqing ◽  
Cui Yanru
Keyword(s):  
Genetic Algorithm ◽  
Cloud Computing ◽  
Task Scheduling ◽  
Scheduling Algorithm ◽  
Task Completion ◽  
Improved Genetic Algorithm ◽  
Fitness Functions ◽  
Task Scheduling Algorithm ◽  
Simulation Results

Background: In order to make up for the shortcomings of the traditional algorithm, Min-Min and Max-Min algorithm are combined on the basis of the traditional genetic algorithm. Methods: In this paper, a new cloud computing task scheduling algorithm is proposed, which introduces Min-Min and Max-Min algorithm to generate initialization population, and selects task completion time and load balancing as double fitness functions, which improves the quality of initialization population, algorithm search ability and convergence speed. Results: The simulation results show that the algorithm is superior to the traditional genetic algorithm and is an effective cloud computing task scheduling algorithm. Conclusion: Finally, this paper proposes the possibility of the fusion of the two quadratively improved algorithms and completes the preliminary fusion of the algorithm, but the simulation results of the new algorithm are not ideal and need to be further studied.

scholarly journals Thermal prediction of turbulent forced convection of nanofluid using computational fluid dynamics coupled genetic algorithm with fuzzy interface system

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Meisam Babanezhad ◽  
Iman Behroyan ◽  
Ali Taghvaie Nakhjiri ◽  
Mashallah Rezakazemi ◽  
Azam Marjani ◽  
...  
Keyword(s):  
Fluid Dynamics ◽  
Genetic Algorithm ◽  
Computational Fluid Dynamics ◽  
Kinetic Energy ◽  
Population Size ◽  
Turbulent Kinetic Energy ◽  
Forced Convection ◽  
Inlet Temperature ◽  
Fluid Temperature ◽  
Interface System

AbstractComputational fluid dynamics (CFD) simulating is a useful methodology for reduction of experiments and their associated costs. Although the CFD could predict all hydro-thermal parameters of fluid flows, the connections between such parameters with each other are impossible using this approach. Machine learning by the artificial intelligence (AI) algorithm has already shown the ability to intelligently record engineering data. However, there are no studies available to deeply investigate the implicit connections between the variables resulted from the CFD. The present investigation tries to conduct cooperation between the mechanistic CFD and the artificial algorithm. The genetic algorithm is combined with the fuzzy interface system (GAFIS). Turbulent forced convection of Al2O3/water nanofluid in a heated tube is simulated for inlet temperatures (i.e., 305, 310, 315, and 320 K). GAFIS learns nodes coordinates of the fluid, the inlet temperatures, and turbulent kinetic energy (TKE) as inputs. The fluid temperature is learned as output. The number of inputs, population size, and the component are checked for the best intelligence. Finally, at the best intelligence, a formula is developed to make a relationship between the output (i.e. nanofluid temperatures) and inputs (the coordinates of the nodes of the nanofluid, inlet temperature, and TKE). The results revealed that the GAFIS intelligence reaches the highest level when the input number, the population size, and the exponent are 5, 30, and 3, respectively. Adding the turbulent kinetic energy as the fifth input, the regression value increases from 0.95 to 0.98. This means that by considering the turbulent kinetic energy the GAFIS reaches a higher level of intelligence by distinguishing the more difference between the learned data. The CFD and GAFIS predicted the same values of the nanofluid temperature.

scholarly journals A Method for Autonomous Navigation and Positioning of UAV Based on Electric Field Array Detection

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1146 ◽  
Author(s):  
Yincheng Li ◽  
Wenbin Zhang ◽  
Peng Li ◽  
Youhuan Ning ◽  
Chunguang Suo
Keyword(s):  
Mathematical Model ◽  
Power Systems ◽  
Transmission Lines ◽  
Autonomous Navigation ◽  
Strength Distribution ◽  
Field Source ◽  
Navigation Algorithm ◽  
Safety Warning ◽  
Positioning Algorithm ◽  
Navigation Equipment

At present, the method of using unmanned aerial vehicles (UAVs) with traditional navigation equipment for inspection of overhead transmission lines has the limitations of expensive sensors, difficult data processing, and vulnerable to weather and environmental factors, which cannot ensure the safety of UAV and power systems. Therefore, this paper establishes a mathematical model of spatial distribution of transmission lines to study the field strength distribution information around transmission lines. Based on this, research the navigation and positioning algorithm. The data collected by the positioning system are input into the mathematical model to complete the identification, positioning, and safety distance diagnosis of the field source. The detected data and processing results can provide reference for UAV obstacle avoidance navigation and safety warning. The experimental results show that the positioning effect of the positioning navigation algorithm is obvious, and the positioning error is within the range of use error and has good usability and application value.

scholarly journals Sensor Fusion-Based Approach to Eliminating Moving Objects for SLAM in Dynamic Environments

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 230
Author(s):  
Xiangwei Dang ◽  
Zheng Rong ◽  
Xingdong Liang
Keyword(s):  
State Estimation ◽  
Autonomous Navigation ◽  
Moving Objects ◽  
Physical Simulation ◽  
Point Clouds ◽  
Dynamic Environments ◽  
Accurate Localization ◽  
Novel Approach ◽  
Localization And Mapping ◽  
Real World Datasets

Accurate localization and reliable mapping is essential for autonomous navigation of robots. As one of the core technologies for autonomous navigation, Simultaneous Localization and Mapping (SLAM) has attracted widespread attention in recent decades. Based on vision or LiDAR sensors, great efforts have been devoted to achieving real-time SLAM that can support a robot’s state estimation. However, most of the mature SLAM methods generally work under the assumption that the environment is static, while in dynamic environments they will yield degenerate performance or even fail. In this paper, first we quantitatively evaluate the performance of the state-of-the-art LiDAR-based SLAMs taking into account different pattens of moving objects in the environment. Through semi-physical simulation, we observed that the shape, size, and distribution of moving objects all can impact the performance of SLAM significantly, and obtained instructive investigation results by quantitative comparison between LOAM and LeGO-LOAM. Secondly, based on the above investigation, a novel approach named EMO to eliminating the moving objects for SLAM fusing LiDAR and mmW-radar is proposed, towards improving the accuracy and robustness of state estimation. The method fully uses the advantages of different characteristics of two sensors to realize the fusion of sensor information with two different resolutions. The moving objects can be efficiently detected based on Doppler effect by radar, accurately segmented and localized by LiDAR, then filtered out from the point clouds through data association and accurate synchronized in time and space. Finally, the point clouds representing the static environment are used as the input of SLAM. The proposed approach is evaluated through experiments using both semi-physical simulation and real-world datasets. The results demonstrate the effectiveness of the method at improving SLAM performance in accuracy (decrease by 30% at least in absolute position error) and robustness in dynamic environments.

A novel identification approach for shearer running status through integration of rough sets and improved wavelet neural network

2016 ◽  
Vol 230 (16) ◽  
pp. 2792-2805 ◽  
Author(s):  
Lei Si ◽  
Zhongbin Wang ◽  
Xinhua Liu
Keyword(s):  
Neural Network ◽  
Genetic Algorithm ◽  
Rough Sets ◽  
Particle Swarm Optimization Algorithm ◽  
Wavelet Neural Network ◽  
Decision Table ◽  
Swarm Optimization ◽  
Novel Approach ◽  
Identification Approach ◽  
Simulation Results

In order to accurately and conveniently identify the shearer running status, a novel approach based on the integration of rough sets (RS) and improved wavelet neural network (WNN) was proposed. The decision table of RS was discretized through genetic algorithm and the attribution reduction was realized by MIBARK algorithm to simply the samples of WNN. Furthermore, an improved particle swarm optimization algorithm was proposed to optimize the parameters of WNN and the flowchart of proposed approach was designed. Then, a simulation example was provided and some comparisons with other methods were carried out. The simulation results indicated that the proposed approach was feasible and outperforming others. Finally, an industrial application example of mining automation production was demonstrated to verify the effect of proposed system.

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