Two-stage Hybrid A* path-planning in large petrochemical complexes

2017 ◽  
Author(s):  
A. U. Shamsudin ◽  
K. Ohno ◽  
R. Hamada ◽  
S. Kojima ◽  
N. Mizuno ◽  
...  
Keyword(s):  
Path Planning ◽  
Two Stage

A Novel Approach for Two-Stage UAV Path Planning in Pipeline Network Inspection

2020 ◽  
Author(s):  
Rui Qiu ◽  
Yongtu Liang
Keyword(s):  
Path Planning ◽  
Large Scale ◽  
Flight Path ◽  
Mixed Integer ◽  
Optimization Approach ◽  
Two Stage ◽  
Calculation Time ◽  
Pipeline Network ◽  
Second Stage ◽  
Computational Performance

Abstract Currently, unmanned aerial vehicle (UAV) provides the possibility of comprehensive coverage and multi-dimensional visualization of pipeline monitoring. Encouraged by industry policy, research on UAV path planning in pipeline network inspection has emerged. The difficulties of this issue lie in strict operational requirements, variable flight missions, as well as unified optimization for UAV deployment and real-time path planning. Meanwhile, the intricate structure and large scale of the pipeline network further complicate this issue. At present, there is still room to improve the practicality and applicability of the mathematical model and solution strategy. Aiming at this problem, this paper proposes a novel two-stage optimization approach for UAV path planning in pipeline network inspection. The first stage is conventional pre-flight planning, where the requirement for optimality is higher than calculation time. Therefore, a mixed integer linear programming (MILP) model is established and solved by the commercial solver to obtain the optimal UAV number, take-off location and detailed flight path. The second stage is re-planning during the flight, taking into account frequent pipeline accidents (e.g. leaks and cracks). In this stage, the flight path must be timely rescheduled to identify specific hazardous locations. Thus, the requirement for calculation time is higher than optimality and the genetic algorithm is used for solution to satisfy the timeliness of decision-making. Finally, the proposed method is applied to the UAV inspection of a branched oil and gas transmission pipeline network with 36 nodes and the results are analyzed in detail in terms of computational performance. In the first stage, compared to manpower inspection, the total cost and time of UAV inspection is decreased by 54% and 56% respectively. In the second stage, it takes less than 1 minute to obtain a suboptimal solution, verifying the applicability and superiority of the method.

Two-Stage Sector Partition Path Planning Method for Automated Fiber Placement on Complex Surfaces

2021 ◽  
Vol 132 ◽  
pp. 102983
Author(s):  
Jiaxin Gao ◽  
Weiwei Qu ◽  
Di Yang ◽  
Weidong Zhu ◽  
Yinglin Ke
Keyword(s):  
Path Planning ◽  
Planning Method ◽  
Complex Surfaces ◽  
Two Stage ◽  
Fiber Placement ◽  
Automated Fiber Placement

A Two-Stage Approach to Path Planning and Collision Avoidance of Multibridge Machining Systems

2017 ◽  
Vol 47 (7) ◽  
pp. 1039-1049 ◽  
Author(s):  
Jun Li ◽  
Xianghu Meng ◽  
MengChu Zhou ◽  
Xianzhong Dai
Keyword(s):  
Path Planning ◽  
Collision Avoidance ◽  
Two Stage

scholarly journals A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots

Sensors ◽  
2020 ◽  
Vol 20 (23) ◽  
pp. 6919
Author(s):  
Tao Song ◽  
Xiang Huo ◽  
Xinkai Wu
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Search Time ◽  
Optimal Solution ◽  
Corner Detection ◽  
Planning Problem ◽  
Complete Coverage ◽  
Two Stage ◽  
Set Up ◽  
Target Searching

The path planning for target searching in mobile robots is critical for many applications, such as warehouse inspection and caring and surveillance for elderly people in the family scene. To ensure visual complete coverage from the camera equipped in robots is one of the most challenging tasks. To tackle this issue, we propose a two-stage optimization model to efficiently obtain an approximate optimal solution. In this model, we first develop a method to determine the key locations for visual complete coverage of a two-dimensional grid map, which is constructed by drawing lessons from the method of corner detection in the image processing. Then, we design a planning problem for searching the shortest path that passes all key locations considering the frequency of target occurrence. The testing results show that the proposed algorithm can achieve the significantly shorter search path length and the shorter target search time than the current Rule-based Algorithm and Genetic Algorithm (GA) in various simulation cases. Furthermore, the results show that the improved optimization algorithm with the priori known frequency of occurrence of the target can further improve the searching with shorter searching time. We also set up a test in a real environment to verify the feasibility of our algorithm.

scholarly journals A Two-Stage Method for UCAV TF/TA Path Planning Based on Approximate Dynamic Programming

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Hao-xiang Chen ◽  
Ying Nan ◽  
Yi Yang
Keyword(s):  
Optimal Control ◽  
Dynamic Programming ◽  
Path Planning ◽  
Approximate Dynamic Programming ◽  
Optimal Solution ◽  
Planning Problem ◽  
Optimization Approach ◽  
Two Stage ◽  
Control Approach ◽  
Optimal Control Approach

We present a two-stage method for solving the terrain following (TF)/terrain avoidance (TA) path-planning problem for unmanned combat air vehicles (UCAVs). The 1st stage of planning takes an optimization approach for generating a 2D path on a horizontal plane with no collision with the terrain. In the 2nd stage of planning, an optimal control approach is adopted to generate a 3D flyable path for the UCAV that is as close as possible to the terrain. An approximate dynamic programming (ADP) algorithm is used to solve the optimal control problem in the 2nd stage by training an action network to approximate the optimal solution and training a critical network to approximate the value function. Numerical simulations indicate that ADP can determine the optimal control variables for UCAVs; relative to the conventional optimization method, the optimal control approach with ADP shows a better performance under the same conditions.

scholarly journals A Two-Stage Path Planning Method for the Rearrangement Problem in Modular Puzzle-Based Storage System

2021 ◽  
Vol 2021 ◽  
pp. 1-16
Author(s):  
Penghui Guo ◽  
Fei Xiao ◽  
Wanzhi Rui ◽  
Zhengrong Jia ◽  
Jin Xu
Keyword(s):  
Path Planning ◽  
Storage System ◽  
Planning Method ◽  
Initial State ◽  
Two Stage ◽  
Multiple Input ◽  
Multiple Orders ◽  
Simultaneous Movement ◽  
Two Stages ◽  
Merging Method

The modular puzzle-based storage system consists of multiple storage modules. The system has multiple input/output (IO) points which can simultaneously deal with multiple orders in one batch. When a batch of orders comes in advance, it is necessary to rearrange the items near each IO point to reduce the picking time of customers. To complete the rearrangement quickly, this paper proposes a two-stage path planning method considering the simultaneous movement of multiple items. This method includes two stages: planning single moves and merging single moves. In the first stage, the sequence of single moves of each module needs to be obtained so as to convert the system from an initial state to a target state. In the second stage, the single moves in the sequence are merged into block moves and parallel moves to reduce the steps of movement. The simulation results show that the single move planning method can be used to solve the rearrangement problem stably and effectively and that the single move merging method can greatly optimize the experimental results with the optimization rate more than 50% in different configurations.

A kind of two-stage RRT algorithm for robotic path planning

2013 ◽  
Vol 6 (1) ◽  
pp. 34 ◽  
Author(s):  
Yingying Kong ◽  
Yuqi Pan ◽  
Xiong Chen
Keyword(s):  
Path Planning ◽  
Two Stage
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