Robust path planning implementation based on a hierarchical optimization approach towards optimal solution

2021 ◽  
Author(s):  
Peng Duan ◽  
Zhenao Yu ◽  
Xianbiao Guo ◽  
Qun Sun
Keyword(s):  
Path Planning ◽  
Optimal Solution ◽  
Hierarchical Optimization ◽  
Optimization Approach ◽  
Planning Implementation

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 Exploring the application of machine learning to the assembly line feeding problem

2021 ◽  
Author(s):  
Moretti Emilio ◽  
Tappia Elena ◽  
Limère Veronique ◽  
Melacini Marco
Keyword(s):  
Machine Learning ◽  
Assembly Line ◽  
Optimal Solution ◽  
Product Variety ◽  
Supervised Machine Learning ◽  
Assembly System ◽  
Optimization Approach ◽  
Feeding Problem ◽  
Managerial Implications ◽  
Multiple Feeding

AbstractAs a large number of companies are resorting to increased product variety and customization, a growing attention is being put on the design and management of part feeding systems. Recent works have proved the effectiveness of hybrid feeding policies, which consist in using multiple feeding policies in the same assembly system. In this context, the assembly line feeding problem (ALFP) refers to the selection of a suitable feeding policy for each part. In literature, the ALFP is addressed either by developing optimization models or by categorizing the parts and assigning these categories to policies based on some characteristics of both the parts and the assembly system. This paper presents a new approach for selecting a suitable feeding policy for each part, based on supervised machine learning. The developed approach is applied to an industrial case and its performance is compared with the one resulting from an optimization approach. The application to the industrial case allows deepening the existing trade-off between efficiency (i.e., amount of data to be collected and dedicated resources) and quality of the ALFP solution (i.e., closeness to the optimal solution), discussing the managerial implications of different ALFP solution approaches and showing the potential value stemming from machine learning application.

scholarly journals Towards an Efficient CNN Inference Architecture Enabling In-Sensor Processing

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 1955
Author(s):  
Md Jubaer Hossain Pantho ◽  
Pankaj Bhowmik ◽  
Christophe Bobda
Keyword(s):  
Power Consumption ◽  
High Speed ◽  
Image Sensor ◽  
Machine Learning Algorithms ◽  
Hierarchical Optimization ◽  
Computation Method ◽  
Optimization Approach ◽  
Efficient Computation ◽  
Feature Maps ◽  
Dynamic Power

The astounding development of optical sensing imaging technology, coupled with the impressive improvements in machine learning algorithms, has increased our ability to understand and extract information from scenic events. In most cases, Convolution neural networks (CNNs) are largely adopted to infer knowledge due to their surprising success in automation, surveillance, and many other application domains. However, the convolution operations’ overwhelming computation demand has somewhat limited their use in remote sensing edge devices. In these platforms, real-time processing remains a challenging task due to the tight constraints on resources and power. Here, the transfer and processing of non-relevant image pixels act as a bottleneck on the entire system. It is possible to overcome this bottleneck by exploiting the high bandwidth available at the sensor interface by designing a CNN inference architecture near the sensor. This paper presents an attention-based pixel processing architecture to facilitate the CNN inference near the image sensor. We propose an efficient computation method to reduce the dynamic power by decreasing the overall computation of the convolution operations. The proposed method reduces redundancies by using a hierarchical optimization approach. The approach minimizes power consumption for convolution operations by exploiting the Spatio-temporal redundancies found in the incoming feature maps and performs computations only on selected regions based on their relevance score. The proposed design addresses problems related to the mapping of computations onto an array of processing elements (PEs) and introduces a suitable network structure for communication. The PEs are highly optimized to provide low latency and power for CNN applications. While designing the model, we exploit the concepts of biological vision systems to reduce computation and energy. We prototype the model in a Virtex UltraScale+ FPGA and implement it in Application Specific Integrated Circuit (ASIC) using the TSMC 90nm technology library. The results suggest that the proposed architecture significantly reduces dynamic power consumption and achieves high-speed up surpassing existing embedded processors’ computational capabilities.

scholarly journals Strategies for Improving Optimal Positioning of Quality Sensors in Urban Drainage Systems for Non-Conservative Contaminants

Water ◽  
2021 ◽  
Vol 13 (7) ◽  
pp. 934
Author(s):  
Mariacrocetta Sambito ◽  
Gabriele Freni
Keyword(s):  
Treatment Plant ◽  
Optimal Solution ◽  
Monitoring Network ◽  
Computational Effort ◽  
Bayesian Optimization ◽  
Urban Drainage ◽  
Optimization Approach ◽  
Sensor Location ◽  
Contamination Source ◽  
Monitoring Point

In the urban drainage sector, the problem of polluting discharges in sewers may act on the proper functioning of the sewer system, on the wastewater treatment plant reliability and on the receiving water body preservation. Therefore, the implementation of a chemical monitoring network is necessary to promptly detect and contain the event of contamination. Sensor location is usually an optimization exercise that is based on probabilistic or black-box methods and their efficiency is usually dependent on the initial assumption made on possible eligibility of nodes to become a monitoring point. It is a common practice to establish an initial non-informative assumption by considering all network nodes to have equal possibilities to allocate a sensor. In the present study, such a common approach is compared with different initial strategies to pre-screen eligible nodes as a function of topological and hydraulic information, and non-formal 'grey' information on the most probable locations of the contamination source. Such strategies were previously compared for conservative xenobiotic contaminations and now they are compared for a more difficult identification exercise: the detection of nonconservative immanent contaminants. The strategies are applied to a Bayesian optimization approach that demonstrated to be efficient in contamination source location. The case study is the literature network of the Storm Water Management Model (SWMM) manual, Example 8. The results show that the pre-screening and ‘grey’ information are able to reduce the computational effort needed to obtain the optimal solution or, with equal computational effort, to improve location efficiency. The nature of the contamination is highly relevant, affecting monitoring efficiency, sensor location and computational efforts to reach optimality.

scholarly journals Improving Energy Efficiency Fairness of Wireless Networks: A Deep Learning Approach

Energies ◽  
2019 ◽  
Vol 12 (22) ◽  
pp. 4300 ◽  
Author(s):  
Hoon Lee ◽  
Han Seung Jang ◽  
Bang Chul Jung
Keyword(s):  
Energy Efficiency ◽  
Wireless Networks ◽  
Deep Learning ◽  
Power Control ◽  
Control Method ◽  
Optimal Solution ◽  
Control Policy ◽  
Maximization Problem ◽  
Optimization Approach ◽  
Conventional Optimization

Achieving energy efficiency (EE) fairness among heterogeneous mobile devices will become a crucial issue in future wireless networks. This paper investigates a deep learning (DL) approach for improving EE fairness performance in interference channels (IFCs) where multiple transmitters simultaneously convey data to their corresponding receivers. To improve the EE fairness, we aim to maximize the minimum EE among multiple transmitter–receiver pairs by optimizing the transmit power levels. Due to fractional and max-min formulation, the problem is shown to be non-convex, and, thus, it is difficult to identify the optimal power control policy. Although the EE fairness maximization problem has been recently addressed by the successive convex approximation framework, it requires intensive computations for iterative optimizations and suffers from the sub-optimality incurred by the non-convexity. To tackle these issues, we propose a deep neural network (DNN) where the procedure of optimal solution calculation, which is unknown in general, is accurately approximated by well-designed DNNs. The target of the DNN is to yield an efficient power control solution for the EE fairness maximization problem by accepting the channel state information as an input feature. An unsupervised training algorithm is presented where the DNN learns an effective mapping from the channel to the EE maximizing power control strategy by itself. Numerical results demonstrate that the proposed DNN-based power control method performs better than a conventional optimization approach with much-reduced execution time. This work opens a new possibility of using DL as an alternative optimization tool for the EE maximizing design of the next-generation wireless networks.

Robot Path Planning and Obstacle Avoidance: A Design Optimization Approach

1989 ◽  
Author(s):  
E. Sandgren ◽  
S. Venkataraman
Keyword(s):  
Path Planning ◽  
Design Optimization ◽  
Dynamic Programming Algorithm ◽  
Three Dimensional ◽  
Programming Algorithm ◽  
Optimization Approach ◽  
Robot Arm ◽  
Robot Path Planning ◽  
Real Time Control ◽  
Robot Path

Abstract A design optimization approach to robot path planning in a two dimensional workplace is presented. Obstacles are represented as a series of rectangular regions and collision detection is performed by an operation similar to clipping in computer graphics. The feasible design space is approximated by a discrete set of robot arm and gripper positions. Control is applied directly through the angular motion of each link. Feasible positions which are located between the initial and final robot link positions are grouped into stages. A dynamic programming algorithm is applied to locate the best state within each stage which minimizes the overall path length. An example is presented involving a three link planar manipulator. Extensions to three dimensional robot path planning and real time control in a dynamically changing workplace are discussed.

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.

scholarly journals A two-stage evolutionary optimization approach for an irrigation system design

2016 ◽  
Vol 19 (1) ◽  
pp. 115-122 ◽  
Author(s):  
Milan Cisty ◽  
Zbynek Bajtek ◽  
Lubomir Celar
Keyword(s):  
Water Distribution ◽  
Irrigation System ◽  
Optimal Solution ◽  
Water Distribution Network ◽  
Search Space ◽  
Optimization Method ◽  
Global Optimum ◽  
Optimization Approach ◽  
Nsga Ii ◽  
Irrigation Network

In this work, an optimal design of a water distribution network is proposed for large irrigation networks. The proposed approach is built upon an existing optimization method (NSGA-II), but the authors are proposing its effective application in a new two-step optimization process. The aim of the paper is to demonstrate that not only is the choice of method important for obtaining good optimization results, but also how that method is applied. The proposed methodology utilizes as its most important feature the ensemble approach, in which more optimization runs cooperate and are used together. The authors assume that the main problem in finding the optimal solution for a water distribution optimization problem is the very large size of the search space in which the optimal solution should be found. In the proposed method, a reduction of the search space is suggested, so the final solution is thus easier to find and offers greater guarantees of accuracy (closeness to the global optimum). The method has been successfully tested on a large benchmark irrigation network.

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