Path Planning and Control for a Flexible Transfer System

2000 ◽  
Vol 12 (2) ◽  
pp. 103-109 ◽  
Author(s):  
Naoyuki Kubota ◽  
◽  
Yusuke Nojima ◽  
Fumio Kojima ◽  
Toshio Fukuda ◽  
...  
Keyword(s):  
Decision Making ◽  
Path Planning ◽  
Intelligent Control ◽  
Manufacturing System ◽  
Fuzzy Inference ◽  
Transfer System ◽  
Learning Automaton ◽  
Planning And Control ◽  
Manufacturing Line ◽  
And Control

We studied intelligent control of self-organizing manufacturing system (SOMS) composed of modules that self-organize based on time-series information from other modules and environment. Modules create output through interaction with other modules. We discuss intelligent control and path planning in a manufacturing line of conveyer units and machining centers. Genetic algorithm are applied to conveyor pallet path planning in global decision making and learning automaton is applied to local conveyer decision making. We use simplified fuzzy inference to control pallets providing interval, verifying its feasibility by simulation.

scholarly journals A Hierarchical Control System for Autonomous Driving towards Urban Challenges

2020 ◽  
Vol 10 (10) ◽  
pp. 3543 ◽  
Author(s):  
Nam Dinh Van ◽  
Muhammad Sualeh ◽  
Dohyeong Kim ◽  
Gon-Woo Kim
Keyword(s):  
Decision Making ◽  
Control System ◽  
Path Planning ◽  
Hierarchical Control ◽  
Longitudinal Direction ◽  
High Definition ◽  
Planning And Control ◽  
Local Path Planning ◽  
Local Path ◽  
And Control

In recent years, the self-driving car technologies have been developed with many successful stories in both academia and industry. The challenge for autonomous vehicles is the requirement of operating accurately and robustly in the urban environment. This paper focuses on how to efficiently solve the hierarchical control system of a self-driving car into practice. This technique is composed of decision making, local path planning and control. An ego vehicle is navigated by global path planning with the aid of a High Definition map. Firstly, we propose the decision making for motion planning by applying a two-stage Finite State Machine to manipulate mission planning and control states. Furthermore, we implement a real-time hybrid A* algorithm with an occupancy grid map to find an efficient route for obstacle avoidance. Secondly, the local path planning is conducted to generate a safe and comfortable trajectory in unstructured scenarios. Herein, we solve an optimization problem with nonlinear constraints to optimize the sum of jerks for a smooth drive. In addition, controllers are designed by using the pure pursuit algorithm and the scheduled feedforward PI controller for lateral and longitudinal direction, respectively. The experimental results show that the proposed framework can operate efficiently in the urban scenario.

Fusion of Fuzzy Multi-Criteria Decision Making Approaches for Discriminating Risk with Relate to Software Project Performance

2021 ◽  
pp. 346-373
Author(s):  
Arun Kumar Sangaiah ◽  
Vipul Jain
Keyword(s):  
Decision Making ◽  
Project Performance ◽  
Software Project ◽  
Multi Criteria Decision Making ◽  
Assessment Framework ◽  
Planning And Control ◽  
Project Complexity ◽  
Software Project Performance ◽  
And Performance ◽  
And Control

The prediction and estimation software risks ahead have been key predictor for evaluating project performance. Discriminating risk is vital in software project management phase, where risk and performance has been closely inter-related to each other. This chapter aims at hybridization of fuzzy multi-criteria decision making approaches for building an assessment framework that can be used to evaluate risk in the context of software project performance in following dimensions: 1) user, 2) requirements, 3) project complexity, 4) planning and control, 5) team, and 6) organizational environment. For measuring the risk for effectiveness of project performance, we have integrated Fuzzy Multi-Criteria Decision Making (FMCDM) and Fuzzy Technique for Order of Preference by Similarity to Ideal Solution (TOPSIS) approaches. Moreover the fusion of FMCDM and TOPSIS has not been adequately investigated in the exiting studies.

scholarly journals A review on carrier aircraft dispatch path planning and control on deck

2020 ◽  
Author(s):  
Xinwei WANG ◽  
Jie LIU ◽  
Xichao SU ◽  
Haijun PENG ◽  
Xudong ZHAO ◽  
...  
Keyword(s):  
Path Planning ◽  
Planning And Control ◽  
And Control
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