Sliding-Window Informed RRT*: A Method for Speeding Up the Optimization and Path Smoothing

Author(s):  
Chenming Li ◽  
Chaoqun Wang ◽  
Jiankun Wang ◽  
Yutian Shen ◽  
Max Q.-H. Meng
Author(s):  
Muhammad Aria

Abstrak – Pada penelitian ini dirancang algoritma alternatif untuk perencanaan jalur kendaraan otonom. Algoritma yang diusulkan adalah hibridisasi dari algoritma Breadth First Search (BFS) dan algoritma path smoothing (BFS – path smoothing). Berdasarkan pengamatan dari hasil pengujian, keuntungan dari algoritma BFS adalah dapat memberikan solusi yang menuju solusi optimal, tetapi memiliki kelemahan dari waktu komputasi yang tinggi. Agar diperoleh solusi yang optimal, maka jalur yang dihasilkan oleh algoritma BFS akan diproses lebih lanjut oleh algoritma path smoothing. Walaupun algoritma BFS - path smoothing memiliki waktu komputasi yang tinggi, tetapi untuk tujuan mendapatkan solusi yang optimal, waktu komputasi BFS – path smoothing masih lebih rendah daripada algoritma RRT* untuk mendapatkan solusi yang optimal. Algoritma RRT* adalah salah satu algoritma yang umum digunakan untuk perencanaan jalur pada kendaraan otonom. Proses hibridisasi ini dilakukan dengan cara menjalankan algoritma BFS terlebih dahulu untuk memberikan solusi awal. Solusi awal tersebut kemudian ditingkatkan kualitasnya menggunakan algoritma path smoothing untuk memperoleh solusi yang optimal. Pengujian algoritma BFS-path smoothing ini dilakukan secara simulasi menggunakan beberapa kasus benchmark yang ada, yaitu lingkungan narrow, maze, trap dan clutter. Kriteria optimalitas yang dibandingkan adalah biaya jalur dan waktu komputasi. Pada pengujian, performansi dari algoritma BFS-path smoothing dibandingkan dengan performansi dari algoritma RRT*. Kami menunjukkan bahwa algoritma yang diusulkan dapat menghasilkan output jalur dengan kualitas yang lebih tinggi daripada jalur yang diproduksi oleh RRT*.   Kata Kunci : Beadth First Search, path smoothing, perencanaan jalur, pengujian simulasi, RRT*


2013 ◽  
Vol 33 (12) ◽  
pp. 3608-3610 ◽  
Author(s):  
Liping CHEN ◽  
Xiangzen KONG ◽  
Zhi ZHENG ◽  
Xinqi LIN ◽  
Xiaoshan ZHAN

2013 ◽  
Vol 33 (1) ◽  
pp. 88-91 ◽  
Author(s):  
Bo CHEN ◽  
Jianlin MAO ◽  
Guanhua QIAO ◽  
Ning DAI
Keyword(s):  

2020 ◽  
Author(s):  
Hsiao-Ko Chang ◽  
Hui-Chih Wang ◽  
Chih-Fen Huang ◽  
Feipei Lai

BACKGROUND In most of Taiwan’s medical institutions, congestion is a serious problem for emergency departments. Due to a lack of beds, patients spend more time in emergency retention zones, which make it difficult to detect cardiac arrest (CA). OBJECTIVE We seek to develop a pharmaceutical early warning model to predict cardiac arrest in emergency departments via drug classification and medical expert suggestion. METHODS We propose a new early warning score model for detecting cardiac arrest via pharmaceutical classification and by using a sliding window; we apply learning-based algorithms to time-series data for a Pharmaceutical Early Warning Scoring Model (PEWSM). By treating pharmaceutical features as a dynamic time-series factor for cardiopulmonary resuscitation (CPR) patients, we increase sensitivity, reduce false alarm rates and mortality, and increase the model’s accuracy. To evaluate the proposed model we use the area under the receiver operating characteristic curve (AUROC). RESULTS Four important findings are as follows: (1) We identify the most important drug predictors: bits, and replenishers and regulators of water and electrolytes. The best AUROC of bits is 85%; that of replenishers and regulators of water and electrolytes is 86%. These two features are the most influential of the drug features in the task. (2) We verify feature selection, in which accounting for drugs improve the accuracy: In Task 1, the best AUROC of vital signs is 77%, and that of all features is 86%. In Task 2, the best AUROC of all features is 85%, which demonstrates that thus accounting for the drugs significantly affects prediction. (3) We use a better model: For traditional machine learning, this study adds a new AI technology: the long short-term memory (LSTM) model with the best time-series accuracy, comparable to the traditional random forest (RF) model; the two AUROC measures are 85%. (4) We determine whether the event can be predicted beforehand: The best classifier is still an RF model, in which the observational starting time is 4 hours before the CPR event. Although the accuracy is impaired, the predictive accuracy still reaches 70%. Therefore, we believe that CPR events can be predicted four hours before the event. CONCLUSIONS This paper uses a sliding window to account for dynamic time-series data consisting of the patient’s vital signs and drug injections. In a comparison with NEWS, we improve predictive accuracy via feature selection, which includes drugs as features. In addition, LSTM yields better performance with time-series data. The proposed PEWSM, which offers 4-hour predictions, is better than the National Early Warning Score (NEWS) in the literature. This also confirms that the doctor’s heuristic rules are consistent with the results found by machine learning algorithms.


Sign in / Sign up

Export Citation Format

Share Document