scholarly journals Path Planning of Anti ship Missile based on Voronoi Diagram and Binary Tree Algorithm

2019 ◽  
Vol 69 (4) ◽  
pp. 369-377
Author(s):  
Yan Shi ◽  
Lihua Zhang ◽  
Shouquan Dong
Keyword(s):  
Path Planning ◽  
Voronoi Diagram ◽  
Binary Tree ◽  
Dijkstra Algorithm ◽  
Tree Algorithm ◽  
Multiple Missiles ◽  
Intractable Problem ◽  
The Relationship

The path planning of anti-ship missile should be considered both cruising in safety and striking in quick, which is an intractable problem. In particular, it is difficult to consider the safety of each missile path in the path planning of multiple missiles. To solve this problem, the “AREA Algorithm” is presented to divide the relative relations of areas：relative security area of the threat areas and fast-attack area of target approaching. Specifically，it is a way to achieve area division through the relationship between the target and the center of the operational area. The Voronoi diagram topology network, Dijkstra algorithm and binary tree algorithm have been used in the above process as well. Finally, Simulations have verified the feasibility and obvious advantages of “AREA Algorithm” compared with the single algorithm, and the tactical meaning in path planning of multiple missiles.

Path planning with obstacle avoidance based on visibility binary tree algorithm

2013 ◽  
Vol 61 (12) ◽  
pp. 1440-1449 ◽  
Author(s):  
Abdulmuttalib Turky Rashid ◽  
Abduladhem Abdulkareem Ali ◽  
Mattia Frasca ◽  
Luigi Fortuna
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Binary Tree ◽  
Tree Algorithm

scholarly journals Path Planning and Obstacles Avoidance in Dynamic Workspace Using Polygon Shape Tangents Algorithm

2021 ◽  
Vol 17 (1) ◽  
pp. 1-10
Author(s):  
Duaa Ramadhan ◽  
Auday Al-Mayyahi ◽  
Moofed Rashid
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Shortest Path ◽  
Binary Tree ◽  
The Other ◽  
Planning System ◽  
Time Of Arrival ◽  
Tree Algorithm ◽  
Robot Trajectory ◽  
Destination Point

This paper presents the design of a path planning system in an environment that contains a set of static and dynamic polygon obstacles localized randomly. In this paper, an algorithm so-called (Polygon shape tangents algorithm) is proposed to move a mobile robot from a source point to a destination point with no collision with surrounding obstacles using the visibility binary tree algorithm. The methodology of this algorithm is based on predicting the steps of a robot trajectory from the source to the destination point. The polygon shapes tangent algorithm is compared with the virtual circles' tangents algorithm for different numbers of static and dynamic polygon obstacles for the time of arrival and the length of the path to the target. The obtained result shows that the used algorithm has better performance than the other algorithms and gets less time of arrival and shortest path with free collision.

scholarly journals Distributed Path Planning of Unmanned Aerial Vehicle Communication Chain Based on Dual Decomposition

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Xiaohua Wei ◽  
Jianliang Xu
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicle ◽  
Voronoi Diagram ◽  
Ant Colony Algorithm ◽  
Original Method ◽  
Path Selection ◽  
Ant Colony ◽  
Dijkstra Algorithm ◽  
Dual Decomposition ◽  
Aerial Vehicle

Limited by the insufficiency of single UAV’s load and flight time capabilities, the multi-UAV (unmanned aerial vehicle) collaboration to improve mission efficiency and expand mission functions has become the focus of current UAV theory and application research. In this paper, the research on UAV global path planning is carried out using the ant colony algorithm, and an indoor UAV path planning model based on the ant colony algorithm is constructed. In order to improve the efficiency of the algorithm, enhance the adaptability and robustness of the algorithm, a distributed path planning algorithm based on the dual decomposition UAV communication chain is proposed. This algorithm improves the basic ant colony algorithm from the aspects of path selection, pheromone update, and rollback strategy in view of the inherent shortcomings of the ant colony algorithm. In order to achieve the best performance of the algorithm, this paper analyzes each parameter in the ant colony algorithm in depth and obtains the optimal combination of parameters. The construction method of the Voronoi diagram was improved, and the method was simulated to verify that the method can obtain a Voronoi diagram path that is safer than the original method under certain time conditions. Through the principle analysis and simulation verification of the Dijkstra algorithm and the dual decomposition ant colony algorithm, it is concluded that the dual decomposition ant colony algorithm is more efficient in pathfinding. Finally, through simulation, it was verified that the dual decomposition ant colony algorithm can plan a safe and reasonable flight path for multiple UAV formation flights in an offline state and achieve offline global obstacle avoidance for multiple UAVs.

Research on pull-type multi-AGV system dynamic path optimization based on time window

2021 ◽  
pp. 095440702098271
Author(s):  
Hongying Shan ◽  
Chuang Wang ◽  
Cungang Zou ◽  
Mengyao Qin
Keyword(s):  
Path Planning ◽  
Time Window ◽  
Planning Problem ◽  
Dijkstra Algorithm ◽  
Before And After ◽  
Common Planning ◽  
Planning Algorithm ◽  
Dynamic Path ◽  
Set Up ◽  
Path Planning Algorithm

This paper is a study of the dynamic path planning problem of the pull-type multiple Automated Guided Vehicle (multi-AGV) complex system. First, based on research status at home and abroad, the conflict types, common planning algorithms, and task scheduling methods of different AGV complex systems are compared and analyzed. After comparing the different algorithms, the Dijkstra algorithm was selected as the path planning algorithm. Secondly, a mathematical model is set up for the shortest path of the total driving path, and a general algorithm for multi-AGV collision-free path planning based on a time window is proposed. After a thorough study of the shortcomings of traditional single-car planning and conflict resolution algorithms, a time window improvement algorithm for the planning path and the solution of the path conflict covariance is established. Experiments on VC++ software showed that the improved algorithm reduces the time of path planning and improves the punctual delivery rate of tasks. Finally, the algorithm is applied to material distribution in the OSIS workshop of a C enterprise company. It can be determined that the method is feasible in the actual production and has a certain application value by the improvement of the data before and after the comparison.

scholarly journals A Generalized Dynamic Potential Energy Model for Multiagent Path Planning

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Liu He ◽  
Haoning Xi ◽  
Tangyi Guo ◽  
Kun Tang
Keyword(s):  
Path Planning ◽  
Potential Energy ◽  
Multiagent System ◽  
Small Time ◽  
Energy Model ◽  
Dijkstra Algorithm ◽  
Energy Field ◽  
Space Potential ◽  
Dynamic Potential ◽  
Planning Decision

Path planning for the multiagent, which is generally based on the artificial potential energy field, reflects the decision-making process of pedestrian walking and has great importance on the field multiagent system. In this paper, after setting the spatial-temporal simulation environment with large cells and small time segments based on the disaggregation decision theory of the multiagent, we establish a generalized dynamic potential energy model (DPEM) for the multiagent through four steps: (1) construct the space energy field with the improved Dijkstra algorithm, and obtain the fitting functions to reflect the relationship between speed decline rate and space occupancy of the agent through empirical cross experiments. (2) Construct the delay potential energy field based on the judgement and psychological changes of the multiagent in the situations where the other pedestrians have occupied the bottleneck cell. (3) Construct the waiting potential energy field based on the characteristics of the multiagent, such as dissipation and enhancement. (4) Obtain the generalized dynamic potential energy field by superposing the space potential energy field, delay potential energy field, and waiting potential energy field all together. Moreover, a case study is conducted to verify the feasibility and effectiveness of the dynamic potential energy model. The results also indicate that each agent’s path planning decision such as forward, waiting, and detour in the multiagent system is related to their individual characters and environmental factors. Overall, this study could help improve the efficiency of pedestrian traffic, optimize the walking space, and improve the performance of pedestrians in the multiagent system.

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