Study on optimal velocity selection using velocity obstacle (OVVO) in dynamic and crowded environment

2015 ◽  
Vol 40 (8) ◽  
pp. 1459-1470 ◽  
Author(s):  
Mingeuk Kim ◽  
Jun-Ho Oh
Keyword(s):  
Optimal Velocity ◽  
Velocity Obstacle ◽  
Velocity Selection ◽  
Crowded Environment

On velocity selection for needle-crystals in a fully non-local model of solidification

1987 ◽  
Vol 48 (4) ◽  
pp. 547-552 ◽  
Author(s):  
B. Caroli ◽  
C. Caroli ◽  
C. Misbah ◽  
B. Roulet
Keyword(s):  
Local Model ◽  
Non Local ◽  
Selection For ◽  
Velocity Selection

scholarly journals Swarm Robotic Interactions in an Open and Cluttered Environment: A Survey

Designs ◽  
2021 ◽  
Vol 5 (2) ◽  
pp. 37
Author(s):  
Maxime Vaidis ◽  
Martin J.-D. Otis
Keyword(s):  
Literature Review ◽  
Research Trends ◽  
Cluttered Environment ◽  
Advantages And Disadvantages ◽  
Population Migrations ◽  
New Research ◽  
Interaction Strategy ◽  
Crowded Environment

Recent population migrations have led to numerous accidents and deaths. Little research has been done to help migrants in their journey. For this reason, a literature review of the latest research conducted in previous years is required to identify new research trends in human-swarm interaction. This article presents a review of techniques that can be used in a robots swarm to find, locate, protect and help migrants in hazardous environment such as militarized zone. The paper presents a swarm interaction taxonomy including a detailed study on the control of swarm with and without interaction. As the interaction mainly occurs in cluttered or crowded environment (with obstacles) the paper discussed the algorithms related to navigation that can be included with an interaction strategy. It focused on comparing algorithms and their advantages and disadvantages.

scholarly journals Characterization of a Novel FRET Probe in a Crowded Environment using Time-Resolved Anisotropy

2017 ◽  
Vol 112 (3) ◽  
pp. 346a
Author(s):  
Hannah Leopold ◽  
Megan Currie ◽  
Jacob Schwarz ◽  
Arnold J. Boersma ◽  
Erin D. Sheets ◽  
...  
Keyword(s):  
Time Resolved ◽  
Crowded Environment

scholarly journals Dynamic Optimization Method for Broadband ADCP Waveform with Environment Constraints

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3768
Author(s):  
Yongshou Yang ◽  
Shiliang Fang
Keyword(s):  
Distance Estimation ◽  
Acoustic Doppler Current Profiler ◽  
Optimization Method ◽  
Measurement Range ◽  
Velocity Estimation ◽  
Estimation Accuracy ◽  
Dynamic Configuration ◽  
Optimal Velocity ◽  
Flood Warning ◽  
The Impact

Broadband acoustic Doppler current profiler (ADCP) is widely used in agricultural water resource explorations, such as river discharge monitoring and flood warning. Improving the velocity estimation accuracy of broadband ADCP by adjusting the waveform parameters of a phase-encoded signal will reduce the velocity measurement range and water stratification accuracy, while the promotion of stratification accuracy will degrade the velocity estimation accuracy. In order to minimize the impact of these two problems on the measurement results, the ADCP waveform optimization problem that satisfies the environment constraints while keeping high velocity estimation accuracy or stratification accuracy is studied. Firstly, the relationship between velocity or distance estimation accuracy and signal waveform parameters is studied by using an ambiguity function. Secondly, the constraints of current velocity range, velocity distribution and other environmental characteristics on the waveform parameters are studied. For two common measurement applications, two dynamic configuration methods of waveform parameters with environmental adaptability and optimal velocity estimation accuracy or stratification accuracy are proposed based on the nonlinear programming principle. Experimental results show that compared with the existing methods, the velocity estimation accuracy of the proposed method is improved by more than 50%, and the stratification accuracy is improved by more than 22%.

scholarly journals Path Planning for Autonomous Ships: A Hybrid Approach Based on Improved APF and Modified VO Methods

2021 ◽  
Vol 9 (7) ◽  
pp. 761
Author(s):  
Liang Zhang ◽  
Junmin Mou ◽  
Pengfei Chen ◽  
Mengxia Li
Keyword(s):  
Path Planning ◽  
Local Minimum ◽  
Hybrid Approach ◽  
Artificial Potential Field ◽  
Whole Process ◽  
International Regulations ◽  
Local Path ◽  
Velocity Obstacle ◽  
Global And Local

In this research, a hybrid approach for path planning of autonomous ships that generates both global and local paths, respectively, is proposed. The global path is obtained via an improved artificial potential field (APF) method, which makes up for the shortcoming that the typical APF method easily falls into a local minimum. A modified velocity obstacle (VO) method that incorporates the closest point of approach (CPA) model and the International Regulations for Preventing Collisions at Sea (COLREGS), based on the typical VO method, can be used to get the local path. The contribution of this research is two-fold: (1) improvement of the typical APF and VO methods, making up for previous shortcomings, and integrated COLREGS rules and good seamanship, making the paths obtained more in line with navigation practice; (2) the research included global and local path planning, considering both the safety and maneuverability of the ship in the process of avoiding collision, and studied the whole process of avoiding collision in a relatively entirely way. A case study was then conducted to test the proposed approach in different situations. The results indicate that the proposed approach can find both global and local paths to avoid the target ship.

scholarly journals Purcell’s Three-Link Swimmer: Assessment of Geometry and Gaits for Optimal Displacement and Efficiency

Mathematics ◽  
2021 ◽  
Vol 9 (10) ◽  
pp. 1088
Author(s):  
Cristina Nuevo-Gallardo ◽  
José Emilio Traver ◽  
Inés Tejado ◽  
Blas M. Vinagre
Keyword(s):  
Reynolds Number ◽  
Multiobjective Optimization ◽  
The Other ◽  
Optimal Method ◽  
Optimal Velocity ◽  
Motion Primitives ◽  
Motion Primitive ◽  
Control Objective ◽  
Optimal Efficiency ◽  
The One

This paper studies the displacement and efficiency of a Purcell’s three-link microswimmer in low Reynolds number regime, capable of moving by the implementation of a motion primitive or gait. An optimization is accomplished attending to the geometry of the swimmer and the motion primitives, considering the shape of the gait and its amplitude. The objective is to find the geometry of the swimmer, amplitude and shape of the gaits which make optimal the displacement and efficiency, in both an individual way and combined (the last case will be referred to as multiobjective optimization). Three traditional gaits are compared with two primitives proposed by the authors and other three gaits recently defined in the literature. Results demonstrate that the highest displacement is obtained by the Tam and Hosoi optimal velocity gait, which also achieves the best efficiency in terms of energy consumption. The rectilinear and Tam and Hosoi optimal efficiency gaits are the second optimum primitives. Regarding the multiobjective optimization and considering the two criteria with the same weight, the optimum gaits turn out to be the rectilinear and Tam and Hosoi optimal efficiency gaits. Thus, the conclusions of this study can help designers to select, on the one hand, the best swimmer geometry for a desired motion primitive and, on the other, the optimal method of motion for trajectory tracking for such a kind of Purcell’s swimmers depending on the desired control objective.

scholarly journals The Influence of Operating Strategies regarding an Energy Optimized Driving Style for Electrically Driven Railway Vehicles

Energies ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 583
Author(s):  
Lukas Pröhl ◽  
Harald Aschemann ◽  
Roberto Palacin
Keyword(s):  
Load Distribution ◽  
Optimization Approach ◽  
Total Energy Consumption ◽  
Driving Style ◽  
Optimal Velocity ◽  
Railway Vehicles ◽  
Operating Modes ◽  
Detailed Simulation ◽  
Operating Strategies ◽  
Optimal Driving

The aim of this paper is the optimization of velocity trajectories for electrical railway vehicles with the focus on total energy consumption. On the basis of four fundamental operating modes—acceleration, cruising, coasting, and braking—energy-optimal trajectories are determined by optimizing the sequence of the operating modes as well as the corresponding switching points. The optimization approach is carried out in two consecutive steps. The first step ensures compliance with the given timetable, regarding both time and position constraints. In the second step, the influence of different operating strategies, such as load distribution and the switch-off of traction components during low loads, are analyzed to investigate the characteristics of the energy-optimal velocity trajectory. A detailed simulation model has been developed to carry out the analysis, including an assessment of its capabilities and advantages. The results suggest that the application of load-distribution techniques, either by a switch-off of parallel traction units or by a load-distribution between active units, can affect the energy-optimal driving style.

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