Integrated Mapping and Path Planning for Very Large-Scale Robotic (VLSR) Systems

2019 ◽  
Author(s):  
Julian Morelli ◽  
Pingping Zhu ◽  
Bryce Doerr ◽  
Richard Linares ◽  
Silvia Ferrari
Keyword(s):  
Path Planning ◽  
Large Scale

A Novel Static Path Planning Method for Mobile Anchor-Assisted Localization in Wireless Sensor Networks

2020 ◽  
Vol 10 ◽  
Author(s):  
Abdelhady M. Naguib ◽  
Shahzad Ali
Keyword(s):  
Wireless Sensor Networks ◽  
Sensor Networks ◽  
Path Planning ◽  
Sensor Node ◽  
Large Scale ◽  
Performance Metrics ◽  
Wireless Sensor ◽  
Anchor Node ◽  
Mobile Anchor ◽  
Planning Methods

Background: Many applications of Wireless Sensor Networks (WSNs) require awareness of sensor node’s location but not every sensor node can be equipped with a GPS receiver for localization, due to cost and energy constraints especially for large-scale networks. For localization, many algorithms have been proposed to enable a sensor node to be able to determine its location by utilizing a small number of special nodes called anchors that are equipped with GPS receivers. In recent years a promising method that significantly reduces the cost is to replace the set of statically deployed GPS anchors with one mobile anchor node equipped with a GPS unit that moves to cover the entire network. Objectives: This paper proposes a novel static path planning mechanism that enables a single anchor node to follow a predefined static path while periodically broadcasting its current location coordinates to the nearby sensors. This new path type is called SQUARE_SPIRAL and it is specifically designed to reduce the collinearity during localization. Results: Simulation results show that the performance of SQUARE_SPIRAL mechanism is better than other static path planning methods with respect to multiple performance metrics. Conclusion: This work includes an extensive comparative study of the existing static path planning methods then presents a comparison of the proposed mechanism with existing solutions by doing extensive simulations in NS-2.

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.

Step Ring Based 3D Path Planning via GPU Simulation for Subtractive 3D Printing

2016 ◽  
Author(s):  
Zhengkai Wu ◽  
Thomas M. Tucker ◽  
Chandra Nath ◽  
Thomas R. Kurfess ◽  
Richard W. Vuduc
Keyword(s):  
3D Printing ◽  
Path Planning ◽  
Large Scale ◽  
Cnc Machining ◽  
Scale Model ◽  
Material Surface ◽  
Processing Unit ◽  
Cad Model ◽  
Set Partition ◽  
Central Processing

In this paper, both software model visualization with path simulation and associated machining product are produced based on the step ring based 3-axis path planning to demo model-driven graphics processing unit (GPU) feature in tool path planning and 3D image model classification by GPU simulation. Subtractive 3D printing (i.e., 3D machining) is represented as integration between 3D printing modeling and CNC machining via GPU simulated software. Path planning is applied through material surface removal visualization in high resolution and 3D path simulation via ring selective path planning based on accessibility of path through pattern selection. First, the step ring selects critical features to reconstruct computer aided design (CAD) design model as STL (stereolithography) voxel, and then local optimization is attained within interested ring area for time and energy saving of GPU volume generation as compared to global all automatic path planning with longer latency. The reconstructed CAD model comes from an original sample (GATech buzz) with 2D image information. CAD model for optimization and validation is adopted to sustain manufacturing reproduction based on system simulation feedback. To avoid collision with the produced path from retraction path, we pick adaptive ring path generation and prediction in each planning iteration, which may also minimize material removal. Moreover, we did partition analysis and g-code optimization for large scale model and high density volume data. Image classification and grid analysis based on adaptive 3D tree depth are proposed for multi-level set partition of the model to define no cutting zones. After that, accessibility map is computed based on accessibility space for rotational angular space of path orientation to compare step ring based pass planning verses global all path planning. Feature analysis via central processing unit (CPU) or GPU processor for GPU map computation contributes to high performance computing and cloud computing potential through parallel computing application of subtractive 3D printing in the future.

scholarly journals Path Planning of Pattern Transfer Based on Dual-Operator and a Dual-Population Ant Colony Algorithm for Digital Mask Projection Lithography

Entropy ◽  
2020 ◽  
Vol 22 (3) ◽  
pp. 295 ◽  
Author(s):  
Yingzhi Wang ◽  
Tailin Han ◽  
Xu Jiang ◽  
Yuhan Yan ◽  
Hong Liu
Keyword(s):  
Path Planning ◽  
Large Scale ◽  
Ant Colony Algorithm ◽  
Ant Colony ◽  
Pattern Transfer ◽  
Dual Operator ◽  
Solution Quality ◽  
Large Scale Data ◽  
Projection Lithography ◽  
Concept Of Information

In the process of digital micromirror device (DMD) digital mask projection lithography, the lithography efficiency will be enhanced greatly by path planning of pattern transfer. This paper proposes a new dual operator and dual population ant colony (DODPACO) algorithm. Firstly, load operators and feedback operators are used to update the local and global pheromones in the white ant colony, and the feedback operator is used in the yellow ant colony. The concept of information entropy is used to regulate the number of yellow and white ant colonies adaptively. Secondly, take eight groups of large-scale data in TSPLIB as examples to compare with two classical ACO and six improved ACO algorithms; the results show that the DODPACO algorithm is superior in solving large-scale events in terms of solution quality and convergence speed. Thirdly, take PCB production as an example to verify the time saved after path planning; the DODPACO algorithm is used for path planning, which saves 34.3% of time compared with no path planning, and is about 1% shorter than the suboptimal algorithm. The DODPACO algorithm is applicable to the path planning of pattern transfer in DMD digital mask projection lithography and other digital mask lithography.

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.

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