scholarly journals Determination of An Optimal Return-Path on Road Attributes for Mobile Robot Recharging

10.5772/50901 ◽  
2011 ◽  
Vol 8 (5) ◽  
pp. 58 ◽  
Author(s):  
Fei Liu ◽  
Shan Liang ◽  
Xiaodong Xian
Keyword(s):  
Surface Roughness ◽  
Mobile Robot ◽  
Optimal Path ◽  
Idle Time ◽  
The Road ◽  
Optimal Path Planning ◽  
Road Grade ◽  
Return Path ◽  
The Cost

Optimal path-planning for mobile robot recharging is a very vital requirement in real applications. This paper proposes a strategy of determining an optimal return-path in consideration of road attributes which include length, surface roughness, road grade and the setting of speed-control hump. The road in the environment is partitioned into multiple segments, and for each one, a model of cost that the robot will pay for is established under the constraints of the attributes. The cost consists of energy consumption and the influence of vibration on mobile robot that is induced by motion. The return-path is constituted by multiple segments and its cost is defined to be the sum of the cost of each segment. The idle time, deduced from the cost, is firstly used as the decision factor for determining the optimal return-path. Finally, the simulation is given and the results prove the effectiveness and superiority of the strategy.

scholarly journals On the Road: Route Proposal from Radar Self-Supervised by Fuzzy LiDAR Traversability

AI ◽  
2020 ◽  
Vol 1 (4) ◽  
pp. 558-585
Author(s):  
Michael Broome ◽  
Matthew Gadd ◽  
Daniele De Martini ◽  
Paul Newman
Keyword(s):  
Autonomous Vehicle ◽  
Optimal Path ◽  
Extreme Environments ◽  
Point Clouds ◽  
Learning Approaches ◽  
Weak Supervision ◽  
The Road ◽  
Optimal Path Planning ◽  
Rule Set ◽  
On The Road

This is motivated by a requirement for robust, autonomy-enabling scene understanding in unknown environments. In the method proposed in this paper, discriminative machine-learning approaches are applied to infer traversability and predict routes from Frequency-Modulated Contunuous-Wave (FMCV) radar frames. Firstly, using geometric features extracted from LiDAR point clouds as inputs to a fuzzy-logic rule set, traversability pseudo-labels are assigned to radar frames from which weak supervision is applied to learn traversability from radar. Secondly, routes through the scanned environment can be predicted after they are learned from the odometry traces arising from traversals demonstrated by the autonomous vehicle (AV). In conjunction, therefore, a model pretrained for traversability prediction is used to enhance the performance of the route proposal architecture. Experiments are conducted on the most extensive radar-focused urban autonomy dataset available to the community. Our key finding is that joint learning of traversability and demonstrated routes lends itself best to a model which understands where the vehicle should feasibly drive. We show that the traversability characteristics can be recovered satisfactorily, so that this recovered representation can be used in optimal path planning, and that an end-to-end formulation including both traversability feature extraction and routes learned by expert demonstration recovers smooth, drivable paths that are comprehensive in their coverage of the underlying road network. We conclude that the proposed system will find use in enabling mapless vehicle autonomy in extreme environments.

Finding the Shortest Path for a Mobile Robot With Two Actuated Spoke Wheels Based on Variable Kinematic Configurations

2010 ◽  
Author(s):  
Ya Wang ◽  
Dennis Hong
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Shortest Path ◽  
Optimal Path ◽  
Curvature Radius ◽  
Planning Strategy ◽  
Optimal Path Planning ◽  
Path Geometry ◽  
Motion Characteristics ◽  
Motion Strategy

Strategies for finding the shortest path for a mobile robot with two actuated spoke wheels based on variable kinematic configurations are presented in this paper. The optimal path planning strategy proposed here integrate the traditional constrained path planning tools and the unique kinematic configuration spaces of the mobile robot IMPASS (Intelligent Mobility Platform with Actuated Spoke System). IMPASS utilizes a unique mobility concept of stretching in or out individually actuated spokes in order to perform variable curvature radius steering using changing kinematic configuration during its movement. Due to this unique motion strategy, various kinematic topologies produce specific motion characteristics in the way of curvature radius-variable steering. Instead of traditional differential drive or Ackerman steering locomotion, combinational path geometry methods, Dubins’ curve and Reeds and Shepp’s curve are applied to classify optimal paths into known permutations of sequences consisting of various kinematic configurations. Numerical simulation is given to verify the analytical solutions provided by using Lagrange Multiplier.

scholarly journals Formation of the freight trains with a fixed train schedule

2021 ◽  
Vol 264 ◽  
pp. 05040
Author(s):  
Aleksandr Svetashev ◽  
Shokhrukh Kamaletdinov ◽  
Nargiza Svetasheva ◽  
Guldora Mustaeva
Keyword(s):  
Research Methodology ◽  
Idle Time ◽  
Detailed Consideration ◽  
Scientific Results ◽  
The Cost

The hypothesis of the study consists of the detailed consideration of the process of accumulation of wagons, taking into account the arrival of individual groups of wagons, determination of options for freight trains with a fixed train schedule and substantiation of analytical dependencies that determine the cost of wagon-hours for accumulating trains and obtaining new scientific results on this basis. Their practical use will make it possible to more accurately and reasonably normalize the idle time of cars under accumulation, as well as to clarify the methodology for calculating the train formation plan. The research methodology is based on existing methods and methods of forming freight trains for a rational way of implementing the train schedule. Results of the study: the methods of standardizing the idle time of cars under accumulation were stated, the regulations of idleness of cars at the sorting yard were clarified, and options for optimizing the plan for the formation of trains were proposed.

DETERMINATION OF THE OPTIMAL TRANSPORT DISTANCE AND THE RATIONAL SPEED OF THE COMMUNICATION ON THE ROAD

2016 ◽  
Vol 3 (1) ◽  
pp. 389-393
Author(s):  
Чирков ◽  
E. Chirkov ◽  
Дорохин ◽  
S. Dorokhin ◽  
Скрыпников ◽  
...  
Keyword(s):  
Optimal Transport ◽  
Road Transport ◽  
Urban Transit ◽  
Cost Performance ◽  
The Road ◽  
Transport Distance ◽  
Optimal Value ◽  
On The Road ◽  
The Cost

This article describes the relevance of road transport under current conditions in the region of a transport hub. Established transit factor, let-conductive to determine the optimal value of the extra-urban transit from the total intensity-sti movement. Submitted economic calculations of the cost of work on transportation, taking into account speed limits. Recommended cost performance of all modes of transport that are formed on the main roads

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