scholarly journals Feedback-Dubins-RRT Recovery Path Planning of UUV in an Underwater Obstacle Environment

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Bing Hao ◽  
Zheping Yan ◽  
Xuefeng Dai ◽  
Qi Yuan
Keyword(s):  
Path Planning ◽  
Data Storage ◽  
Local Structure ◽  
Underwater Vehicle ◽  
Target Area ◽  
Practical Application ◽  
Environmental Characteristic ◽  
Structure Diagram ◽  
Orientation Information ◽  
Simulation Results

In this paper, a UUV (Unmanned Underwater Vehicle) recovery path planning method of a known starting vector and end vector is studied. The local structure diagram is designed depending on the distance and orientation information about the obstacles. According to the local structure diagram, a Rapidly exploring Random Tree (RRT) method with feedback is used to generate a 3D Dubins path that approaches the target area gradually, and the environmental characteristic of UUV reaching a specific target area is discussed. The simulation results demonstrate that this method can effectively reduce the calculation time and the amount of data storage required for planning. Meanwhile, the smooth spatial path generated can be used further to improve the feasibility of the practical application of UUV.

scholarly journals The Local Triangle Structure Centrality Method to Rank Nodes in Networks

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-16 ◽  
Author(s):  
Xiaojian Ma ◽  
Yinghong Ma
Keyword(s):  
Real World ◽  
Local Structure ◽  
Sir Model ◽  
Evaluation Methods ◽  
Ranking Method ◽  
Information Propagation ◽  
Practical Application ◽  
H Index ◽  
Simulation Results ◽  
Important Nodes

Detecting influential spreaders had become a challenging and crucial topic so far due to its practical application in many areas, such as information propagation inhibition and disease dissemination control. Some traditional local based evaluation methods had given many discussions on ranking important nodes. In this paper, ranking nodes of networks continues to be discussed. A semilocal structures method for ranking nodes based on the degree and the neighbors’ connections of the node is presented. The semilocal structures are regarded as the number of neighbors of the nodes and the connections between the node and its neighbors. We combined the triangle structure and the degree information of the neighbors to define the inner-outer spreading ability of the nodes and then summed the node neighbors’ inner-outer spreading ability to be used as the local triangle structure centrality (LTSC). The LTSC avoids the defect “pseudo denser connections” in measuring the structure of neighbors. The performance of the proposed LTSC method is evaluated by comparing the spreading ability on both real-world and synthetic networks with the SIR model. The simulation results of the discriminability and the correctness compared with pairs of ranks (one is generated by SIR model and the others are generated by central nodes measures) show that LTSC outperforms some other local or semilocal methods in evaluating the node’s influence in most cases, such as degree, betweenness, H-index, local centrality, local structure centrality, K-shell, and S-shell. The experiments prove that the LTSC is an efficient and accurate ranking method which provides a more reasonable evaluating index to rank nodes than some previous approaches.

A Novel Path Planning Algorithm for Autonomous Underwater Vehicle

2013 ◽  
Vol 446-447 ◽  
pp. 1271-1278
Author(s):  
Bo Yin ◽  
Bing Liu ◽  
Jing Cao
Keyword(s):  
Path Planning ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Planning Algorithm ◽  
Simulation Results ◽  
Moving Simulation ◽  
Path Planning Algorithm

A path planning algorithm based on sector scanning for AUV was proposed in this paper. By reducing the frequency of the calculation of the path planning, this method solved the problem that AUV can not respond to the frequent control instructions of path planning because of AUV’s poor flexibility. Meanwhile, by making the path more clear and reliable, the algorithm improved the operability of responding to the path planning results and operating the controlling of AUV’s moving. Simulation results show that this method is feasible and efficient.

The Application of Bayesian Statistics in Calculating Project Buffer

2011 ◽  
Vol 58-60 ◽  
pp. 1018-1024
Author(s):  
Feng Ye ◽  
Gui Chen Xu ◽  
Di Kang Zhu
Keyword(s):  
Bayesian Statistics ◽  
Statistical Approach ◽  
Implementation Process ◽  
Current Method ◽  
Practical Application ◽  
Great Flexibility ◽  
Crystal Ball ◽  
Simulation Results ◽  
The Stability

This paper reviews several current methods of calculating buffer on the basis of pointing out each merits and pitfalls and then introduces Bayesian statistical approach to CCS / BM domain to calculate the size of the project buffer, to overcome that the current method of the buffer calculation is too subjective and the defect on lacking of practical application. In Crystal Ball, we compare the simulation results of implementation process on the benchmark of C&PM, RESM and SM. The results show that the buffer using this method can ensure the stability of the project’s completion probability, and this method has great flexibility.

scholarly journals Effects of Motion Compensation Residual Error and Polarization Distortion on UAV-Borne PolInSAR

2021 ◽  
Vol 13 (4) ◽  
pp. 618
Author(s):  
Zexin Lv ◽  
Fangfang Li ◽  
Xiaolan Qiu ◽  
Chibiao Ding
Keyword(s):  
Motion Compensation ◽  
Residual Error ◽  
Synthetic Aperture ◽  
Interferometric Synthetic Aperture Radar ◽  
Practical Application ◽  
Aerial Vehicle ◽  
Application Potential ◽  
Large Motion ◽  
Simulation Results ◽  
Interferometric Sar

Polarimetric Interferometric Synthetic Aperture Radar (PolInSAR) can improve interferometric coherence and phase quality, which has good application potential. With the development of the Mini-SAR system, Unmanned Aerial Vehicle borne (UAV-borne) PolInSAR systems became a reality. However, UAV-borne PolInSAR is easily affected by air currents and other factors, which may cause large motion errors and polarization distortion inevitably exists. However, there are few pieces of research which are about motion compensation residual error (MCRE) and polarization distortion effects on PolInSAR. Though the effects of MCRE on Interferometric SAR (InSAR) and polarization distortion on PolInSAR were studied, respectively, these two parts are independently modeled and analyzed. In this paper, a model that simultaneously considers the effects of these two kinds of errors is proposed, and simulation results are given to validate the model. Then, a quantitative analysis based on a real Quadcopter UAV PolInSAR system is performed according to the model, which is valuable for system design and practical application of the UAV-borne PolInSAR system.

Sound absorption based on Micro-perforated panels and Acoustic Black Hole principle

2021 ◽  
Vol 263 (6) ◽  
pp. 548-555
Author(s):  
Xiaoqi Zhang ◽  
Li Cheng
Keyword(s):  
Black Holes ◽  
Black Hole ◽  
Sound Absorption ◽  
Practical Application ◽  
Inner Radius ◽  
Simulation Results ◽  
Structural Configurations ◽  
Acoustic Black Holes ◽  
Sound Reduction ◽  
Bending Wave

Acoustic black holes (ABHs) have been so far investigated mainly for bending wave ma-nipulation in mechanical structures such as beams or plates. The investigations on ABHs for sound wave manipulation, referred to as Sonic black holes (SBHs) are scarce. Existing SBH structure for sound reduction in air is typically formed by putting a set of rings inside a duct wall with decreasing inner radius according to a power law. As such, the structure is very complex and difficult to be practically realized, which hampers the practical application of SBHs for sound reduction. This study explores the possibilities of achieving SBH effects using other types of structural configurations. In particular, micro-perforated panels are proposed to be introduced into the conventional SBH structure, and the simulation results show that the new formed SBH structure is simpler in configuration in terms of number of rings and more efficient in terms of sound energy trapping and dissipation.

Collaborative Scheduling of Algorithms for Path Planning of Unmanned Systems

2021 ◽  
Vol 01 ◽  
Author(s):  
Ying Li ◽  
Chubing Guo ◽  
Jianshe Wu ◽  
Xin Zhang ◽  
Jian Gao ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Reinforcement Learning ◽  
Path Planning ◽  
Unmanned Systems ◽  
Ant Colony Optimization Algorithm ◽  
A Algorithm ◽  
Collaborative Scheduling ◽  
Simulation Results ◽  
Planning Problems ◽  
Effective Path

Background: Unmanned systems have been widely used in multiple fields. Many algorithms have been proposed to solve path planning problems. Each algorithm has its advantages and defects and cannot adapt to all kinds of requirements. An appropriate path planning method is needed for various applications. Objective: To select an appropriate algorithm fastly in a given application. This could be helpful for improving the efficiency of path planning for Unmanned systems. Methods: This paper proposes to represent and quantify the features of algorithms based on the physical indicators of results. At the same time, an algorithmic collaborative scheme is developed to search the appropriate algorithm according to the requirement of the application. As an illustration of the scheme, four algorithms, including the A-star (A*) algorithm, reinforcement learning, genetic algorithm, and ant colony optimization algorithm, are implemented in the representation of their features. Results: In different simulations, the algorithmic collaborative scheme can select an appropriate algorithm in a given application based on the representation of algorithms. And the algorithm could plan a feasible and effective path. Conclusion: An algorithmic collaborative scheme is proposed, which is based on the representation of algorithms and requirement of the application. The simulation results prove the feasibility of the scheme and the representation of algorithms.

scholarly journals Constrained path planning of autonomous underwater vehicle using selectively-hybridized particle swarm optimization algorithms

2019 ◽  
Vol 52 (21) ◽  
pp. 315-322 ◽  
Author(s):  
Hui Sheng Lim ◽  
Shuangshuang Fan ◽  
Christopher K.H. Chin ◽  
Shuhong Chai ◽  
Neil Bose ◽  
...  
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Autonomous Underwater Vehicle ◽  
Optimization Algorithms ◽  
Particle Swarm ◽  
Underwater Vehicle ◽  
Swarm Optimization
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