A Multi-Purpose Off-Line Path Planner Based on an A* Search Algorithm

1996 ◽  
Author(s):  
Arturo L. Rankin ◽  
Carl D. Crane
Keyword(s):  
Search Algorithm ◽  
Piecewise Linear ◽  
Autonomous Mobile Robot ◽  
Linear Path ◽  
Shortest Distance ◽  
Computer Controlled ◽  
Turning Radius ◽  
Minimum Turning Radius ◽  
Path Planner ◽  
Line Path

Abstract Efficient navigation of an autonomous mobile robot through a well-defined environment requires the ability of the robot to plan paths. An efficient and reliable planar off-line path planner has been developed that is based on the A* search method. Using this method, two types of planning are accomplished. The first uses a map of all known obstacles to determine the shortest-distance path from a start to goal configuration. The second determines the shortest path along a network of predefined roads. For the most complicated environment of obstacles and roads, a near-optimal piecewise-linear path is found within a few seconds. The planner can generate paths for robots capable of rotation about a point as well as car-like robots that have a minimum turning radius. For car-like robots, the planner can generate forward and reverse paths. This software is currently implemented on a computer controlled Kawasaki Mule 500 all-terrain vehicle and a computer controlled John Deere 690 excavator.

scholarly journals Automated Parking Space Allocation during Transition with both Human-Operated and Autonomous Vehicles

2021 ◽  
Vol 11 (2) ◽  
pp. 855
Author(s):  
Mingkang Wu ◽  
Haobin Jiang ◽  
Chin-An Tan
Keyword(s):  
Autonomous Vehicles ◽  
Transition Period ◽  
Search Algorithm ◽  
Parking Space ◽  
Key Factors ◽  
Comprehensive Method ◽  
Space Allocation ◽  
Shortest Distance ◽  
Parking Lot ◽  
Ranking Order

As fully automated valet parking systems are being developed, there is a transition period during which both human-operated vehicles (HVs) and autonomous vehicles (AVs) are present in the same parking infrastructure. This paper addresses the problem of allocation of a parking space to an AV without conflicting with the parking space chosen by the driver of a HV. A comprehensive assessment of the key factors that affect the preference and choice of a driver for a parking space is established by the fuzzy comprehensive method. The algorithm then generates a ranking order of the available parking spaces to first predict the driver’s choice of parking space and then allocate a space for the AV. The Floyd algorithm of shortest distance is used to determine the route for the AV to reach its parking space. The proposed allocation and search algorithm is applied to the examples of a parking lot with three designed scenarios. It is shown that parking space can be reasonably allocated for AVs.

Bio-inspired on-line path planner for cooperative exploration of unknown environment by a Multi-Robot System

2019 ◽  
Vol 112 ◽  
pp. 32-48 ◽  
Author(s):  
João Paulo Lima Silva de Almeida ◽  
Renan Taizo Nakashima ◽  
Flávio Neves-Jr ◽  
Lúcia Valéria Ramos de Arruda
Keyword(s):  
Robot System ◽  
Unknown Environment ◽  
On Line ◽  
Path Planner ◽  
Line Path ◽  
Cooperative Exploration ◽  
Multi Robot

scholarly journals PSO based path planner of an autonomous mobile robot

2012 ◽  
Vol 2 (2) ◽  
Author(s):  
B. Deepak ◽  
Dayal Parhi
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Fitness Function ◽  
Optimal Path ◽  
Mobile Robot Navigation ◽  
Autonomous Mobile Robot ◽  
Swarm Optimization ◽  
Novel Approach ◽  
Fitness Value ◽  
Path Planner

AbstractA novel approach based on particle swarm optimization has been presented in this paper for solving mobile robot navigation task. The proposed technique tries to optimize the path generated by an intelligent mobile robot from its source position to destination position in its work space. For solving this problem, a new fitness function has been modelled, which satisfies the obstacle avoidance and optimal path traversal conditions. From the obtained fitness values of each particle in the swarm, the robot moves towards the particle which is having optimal fitness value. Simulation results are provided to validate the feasibility of the developed methodology in various unknown environments.

Size-dependent behavior of laminates with curvilinear fibers made by automated fiber placement

2015 ◽  
Vol 22 (2) ◽  
pp. 157-163 ◽  
Author(s):  
Mahdi Arian Nik ◽  
Larry Lessard ◽  
Damiano Pasini
Keyword(s):  
Variable Stiffness ◽  
Buckling Load ◽  
Fiber Placement ◽  
Plate Size ◽  
Load Increase ◽  
Automated Fiber Placement ◽  
Fiber Path ◽  
Turning Radius ◽  
Curvilinear Fibers ◽  
Minimum Turning Radius

AbstractVariable stiffness laminates can be manufactured using curvilinear fiber paths. A curvilinear fiber path is generally defined based on the plate size and has a curvature that is dependent on the plate size. In practice, however, the fiber path must satisfy manufacturing constraints, such as the minimum turning radius imposed by the automated fiber placement machine, thereby limiting the possible amount of fiber steering. In this work, we studied the effect of the plate size on the structural properties of a plate manufactured with curvilinear fibers. We considered four plate sizes, which were designed by a constant curvature fiber path. We optimized the plates for both maximum buckling load and in-plane stiffness. The results showed that the in-plane stiffness of the plate was not controlled by the plate size, whereas the buckling load was highly affected by the curvature of the fiber path. Hence, the potential of a buckling load increase reduced for plate sizes smaller than the minimum turning radius. In addition, for a given maximum curvature of the fiber path, the influence of a complex layup on the buckling load was marginal.

Main Parameters Calculation and Performance Test of 7YGS-45 Type Self-Propelled Dual-Track Orchard Transport

2012 ◽  
Vol 499 ◽  
pp. 232-237
Author(s):  
Jun Jun Xing ◽  
Shan Jun Li ◽  
Yan Lin Zhang
Keyword(s):  
Power Consumption ◽  
Performance Test ◽  
Slope Angle ◽  
Operation Performance ◽  
Running Speed ◽  
Turning Radius ◽  
And Performance ◽  
Minimum Turning Radius ◽  
Parameters Calculation

Targeting mountain orchards, which slope from 25 degrees to 45 degrees, the 7YGS-45 type self-propelled dual-track orchard transport was developed. Through designing，optimize the following key parameters such as power consumption、running speed、turning radius and slope angle, and have real operation performance test for dual-track orchard transport. The test shows that the transport’s maximum climbing slope is 47°, minimum turning radius is 8m, and it can satisfy the steady running with the speed of 1.1m/s-1.3m/s and capacity of 300kg. The 7YGS-45 type self-propelled dual-track orchard transport is not only suitable for transporting the fruits and fertilizers in mountain orchards, but also can be equipped with spraying and pruning machines to work.

The Turning Radius Analysis for Pneumatic Beam Transport Trailer of Principal and Subordinated Vehicle Model with Combination of Four-Wheel Steering and Articulated Frame

2012 ◽  
Vol 253-255 ◽  
pp. 2181-2187
Author(s):  
Zhen Jun Sun ◽  
Xiao Fei Yan ◽  
Li Jun Han
Keyword(s):  
Calculation Formula ◽  
Beam Transport ◽  
Vehicle Model ◽  
Turning Radius ◽  
Minimum Turning Radius

This paper put forward a struction model of pneumatic beam transport trailer of principal and subordinated vehicle model with combination of four-wheel steering and articulated frame. Its steering conditions are analyzed. The steering condition and the method of determining of the minimum turning radius and the calculation formula of turning radius are obtained.

Construction of Barrier in a Three-Player Pursuit-Evasion Game

2016 ◽  
Vol 04 (01) ◽  
pp. 41-49 ◽  
Author(s):  
Xinxing Li ◽  
Zhihong Peng ◽  
Wenzhong Zha ◽  
Jie Chen
Keyword(s):  
Explicit Form ◽  
Optimal Strategies ◽  
The State ◽  
Capture Zone ◽  
Pursuit Evasion ◽  
Evasion Game ◽  
Target Set ◽  
Turning Radius ◽  
Minimum Turning Radius

This paper addresses a particular pursuit-evasion game with two pursuers with slower speed but smaller minimum turning radius and a faster evader with bigger minimum turning radius. This is a game of kind, and what interests us is how to construct the barrier that separates the state zone into capture zone and escape zone, and what the optimal strategies for the players are on the barrier. Under some mild assumptions, we give the explicit form of the barrier near the BUP (i.e., the boundary of the usable part on the boundary of the target set) by using Isaacs’ method, and a procedure to construct the barrier when the retrogressive time is big enough by determining the optimal strategies for the players on the BUP. Then we prove that the optimal strategies remain unchanged near some special parts on the BUP, and we give two examples to illustrate these situations.

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