scholarly journals Matlab-Realized Visual A* Path Planning Teaching Platform

2018 ◽  
Vol 13 (10) ◽  
pp. 196
Author(s):  
Mingfeng Luo
Keyword(s):  
Path Planning ◽  
Teaching Method ◽  
Search Space ◽  
Planning Method ◽  
Simulation Platform ◽  
Parameter Setting ◽  
A Algorithm ◽  
Teaching Platform ◽  
Multimedia Teaching ◽  
Algorithm Search

Path planning in the global known environment is one of the main prob-lems in the field of mobile robots. Based on the characteristics of A* search method, this paper designs a simulation platform which is visible during the op-eration process to achieve graphicalization of the A* algorithm search process. The simulation platform is implemented by Matlab GUI method, which provides multi-parameter setting function, and outputs the specific traversal process of the planning method in the search space into the RGB space. The results of applying simulation platform to the teaching environment shows that this platform can provide an intuitive description of the path planning method. By extracting sam-ple data from the actual audience, the simulation platform proposed in this paper is compared with the platformless dissemination method. The experimental re-sults show that the simulation platform given in this paper can effectively im-prove the dissemination effect of the conventional multimedia teaching method.

Global Path Planning for Full-Area Coverage Robotic Systems by Employing an Active Genetic Algorithm

2011 ◽  
Vol 328-330 ◽  
pp. 1881-1886
Author(s):  
Cen Zeng ◽  
Qiang Zhang ◽  
Xiao Peng Wei
Keyword(s):  
Genetic Algorithm ◽  
Path Planning ◽  
High Performance ◽  
Search Space ◽  
Area Coverage ◽  
Robotic Systems ◽  
Genetic Operators ◽  
A Algorithm ◽  
Coverage Path Planning ◽  
Search Spaces

Genetic algorithm (GA), a kind of global and probabilistic optimization algorithms with high performance, have been paid broad attentions by researchers world wide and plentiful achievements have been made.This paper presents a algorithm to develop the path planning into a given search space using GA in the order of full-area coverage and the obstacle avoiding automatically. Specific genetic operators (such as selection, crossover, mutation) are introduced, and especially the handling of exceptional situations is described in detail. After that, an active genetic algorithm is introduced which allows to overcome the drawbacks of the earlier version of Full-area coverage path planning algorithms.The comparison between some of the well-known algorithms and genetic algorithm is demonstrated in this paper. our path-planning genetic algorithm yields the best performance on the flexibility and the coverage. This meets the needs of polygon obstacles. For full-area coverage path-planning, a genotype that is able to address the more complicated search spaces.

A Method of Ship’s Path Planning at Sea

2013 ◽  
Vol 321-324 ◽  
pp. 2038-2041
Author(s):  
Yuan Liang Zhang
Keyword(s):  
Information System ◽  
Path Planning ◽  
Planning Method ◽  
A Algorithm ◽  
Optimum Trajectory ◽  
Optimization Task ◽  
Route Design ◽  
Electronic Chart

Automatic route design will help to develop electronic chart intelligence, hence to improve safety, economy and reliability of the route. In the paper rasterizing charts are used to expressed the navigation environment of the ship and the modified A* algorithm is used to compute the near optimum trajectory of a ship in given environment based on electronic chart dispiay and information system (ECDIS). By tracing Safety contours, computing obstacle areas and taking into account certain boundaries of the manoeuvring region, the problem of avoiding collisions at sea was reduced to optimization task with static constrains. Simulation using MATLAB is conducted to verify the proposed ship path planning method. The good results show the promise of this method for ship at sea.

A Reasonable Path Planning via Path Energy Minimization

2014 ◽  
Vol 26 (2) ◽  
pp. 236-244 ◽  
Author(s):  
Masashi Yokozuka ◽  
◽  
Osamu Matsumoto
Keyword(s):  
Path Planning ◽  
Energy Minimization ◽  
Planning Method ◽  
Motion Prediction ◽  
A Algorithm ◽  
Near Misses ◽  
Shortest Distance ◽  
Path Switching ◽  
Dynamic Obstacle ◽  
Minimum Curvature

This paper presents a path planning method by path energy minimizing that enables mobile robots to move smoothly in the real world with optimizing path shape for shortest distance or minimum curvature. It also enables robots to travel safely toward a destination because pedestrian motion prediction is embedded in path planning. This path planning method is based on problems experienced in a robot competition called Tsukuba Challenge. The problems involved nonsmooth motion arising from finite path patterns in A* algorithm, stuck motion arising from frequently path switching, and near misses arising from nonpredictive planning. Our path planning method minimizes pathshape energy defined as the connection between path points. Minimizing energy provides smooth paths and avoids path switching. We propose a path planning method with prediction of dynamic obstacle motion embedded to avoid near misses. Experimental results showed improvements in solving these problems.

scholarly journals Construction of Inductive Explanation Technology in Multimedia Teaching System of Introduction to Physical Education

2016 ◽  
Vol 11 (09) ◽  
pp. 9
Author(s):  
Zhengmei Jin ◽  
Youguo Shi
Keyword(s):  
Physical Education ◽  
New Technologies ◽  
Teaching Method ◽  
Rapid Development ◽  
Sensor Technology ◽  
Teaching System ◽  
Teaching Platform ◽  
Multimedia Teaching ◽  
Thinking Ability ◽  
Learning Interest

rapid development of multimedia teaching technology makes modern teaching forms more and more diversified. Especially in recent years, mutual integration of some new technologies and multimedia technology has improved diversity of multimedia teaching ecological system. Based on the above background, this paper designed a multimedia teaching system based on inductive technology. This system takes SCM, CAN bus and sensor technology as the core and forms a full set of intelligent and inductive multimedia teaching platform through construction of peripheral circuit. This paper adopted experiment teaching method to study the application of this system in the course of Introduction to Physical Education. The results verify that, this system has a significant effect on improving students’ learning interest, active thinking ability, generalization and summarization ability, and examination scores, so it can be further promoted in other courses of college PE specialty.

Path Planning for Ground Simulation Objiect Based on A* Algorithm

2012 ◽  
Vol 229-231 ◽  
pp. 2019-2024 ◽  
Author(s):  
Zhi Qiang Zhao ◽  
Zhi Hua Liu ◽  
Jia Xin Hao
Keyword(s):  
Path Planning ◽  
Large Scale ◽  
Optimal Path ◽  
Planning Method ◽  
Heuristic Function ◽  
A Algorithm

In the process of ground simulation object maneuver simulation in large-scale operation simulation, an efficient path planning method based on A*algorithm is proposed. By means of introducing all kind of geography factors and security factors into heuristic function, the plan reaching method solves the problem of finding an optimal path under acquiring enemy's situation and terrain data. Experiment results show that it has effectively raised path planning speed of A* algorithm and the scheme is practical and feasible.

Experimental Research on Integration Teaching of inside and outside Aerobics Classes Based on Multimedia Technology

2013 ◽  
Vol 380-384 ◽  
pp. 2109-2113 ◽  
Author(s):  
Lin Ying Du
Keyword(s):  
Creative Thinking ◽  
Teaching Method ◽  
Experimental Studies ◽  
Control Program ◽  
Traditional Teaching ◽  
Teaching Platform ◽  
Experimental Teaching ◽  
Multimedia Teaching ◽  
Teaching Content ◽  
Platform System

With the development of multimedia and information network technology, physical education has broken the traditional teaching mode. Furthermore, teaching method and content have also been innovated. The process of sports teaching has not only been confined to the classroom. The class also implements the multimedia teaching process outside. Under this background, this paper has designed the manufacturing operation of aerobics multimedia teaching content by taking advantage of the WEB and VRML technology. At the same time, the vc++ programming software has also been used to control program so as to develop the multimedia network and interactive teaching platform for aerobics. In addition, it also gives the basic framework and module of multimedia teaching platform and realizes the process of integrating in-and-out-of-class teaching. Finally, this paper evaluates the feasibility and stability of the experimental teaching platform system. Experimental studies have shown that this kind of teaching is beneficial to exercise the students multi-dimensional thinking ability, and can develop their creative thinking, thus achieving the teaching effect that gym and learning can be unified.

scholarly journals Fault-Tolerant Path Planning of the Space Manipulator with Single Joint Failure Based on the Dexterity Space

2018 ◽  
Vol 160 ◽  
pp. 05010
Author(s):  
Jia-Yi Tan ◽  
Gang Chen ◽  
Yu-Qi Wang
Keyword(s):  
Path Planning ◽  
Fault Tolerant ◽  
Planning Method ◽  
A Algorithm ◽  
Joint Failure ◽  
Space Manipulator

To enable the space manipulator to complete the original task efficiently after any single joint fails, a fault-tolerant path planning method for the manipulator with single joint failure is proposed based on dexterity space in this paper. On the base of solving the degraded workspace, the dexterity space of the manipulator with single joint failure is established by constructing the dexterity index, and then the traditional A* algorithm is improved to complete fault-tolerant path planning in the dexterity space. The correctness and validity of fault-tolerant path planning based on improved A* algorithm are verified by simulating experiments with 7R manipulator.

A path planning method of 6-DOF robot for mirror therapy based on A* algorithm

2021 ◽  
pp. 1-12
Author(s):  
Zhenyu Xu ◽  
Shuai Guo ◽  
Leigang Zhang
Keyword(s):  
Path Planning ◽  
Population Aging ◽  
Planning Method ◽  
Motion Path ◽  
Mirror Therapy ◽  
A Algorithm ◽  
Acceptable Error ◽  
Rehabilitation System ◽  
Motion Performance ◽  
Kinematic Transformation

BACKGROUND: With the population aging, post-stroke patients suffering from hemiplegia are also rapidly increasing. It is essential to provide valid rehabilitation methods for hemiplegia patients. Mirror therapy is an effective rehabilitation method and is widely applied in many rehabilitation robots. OBJECTIVE: The aim of this paper is to present a path planning method to guarantee the robot’s motion performance during mirror therapy. METHODS: The kinematic framework of the proposed rehabilitation system is detailed, then the reference motion path of the manipulator is calculated according to kinematic transformation. The concept of manipulability is introduced to describe the motion performance of the manipulator. Based on the above work, a path planning method based on A* algorithm is proposed to quantitatively analyze and optimize the motion performance of the manipulator. RESULTS: Preliminary experiments with the proposed rehabilitation system are conducted to verify the proposed path planning method. The characteristics of the proposed method are analyzed through two typical situations. The results showed that the proposed method can build a new path for manipulator, which can ensure the robot’s motion performance and is highly consistent with the reference path. CONCLUSION: The results showed that the manipulator could achieve the task with acceptable error, which indicates the potential of the proposed path planning method for mirror therapy.

scholarly journals Path Planning for Laser Cladding Robot on Artificial Joint Surface Based on Topology Reconstruction

Algorithms ◽  
2020 ◽  
Vol 13 (4) ◽  
pp. 93 ◽  
Author(s):  
Yuanjin Li ◽  
Tao Chen ◽  
Defu Liu
Keyword(s):  
Path Planning ◽  
Laser Cladding ◽  
Teaching Method ◽  
Complex Surface ◽  
Planning Method ◽  
Joint Surface ◽  
Machining Accuracy ◽  
Artificial Joint ◽  
Acetabular Cup ◽  
Artificial Joints

Artificial joint surface coating is a hot issue in the interdisciplinary fields of manufacturing, materials and biomedicine. Due to the complex surface characteristics of artificial joints, there are some problems with efficiency and precision in automatic cladding path planning for coating fabrication. In this study, a path planning method for a laser cladding robot for artificial joints surface was proposed. The key of this method was the topological reconstruction of the artificial joint surface. On the basis of the topological relation, a set of parallel planes were used to intersect the CAD model to generate a set of continuous, directed and equidistant surface transversals on the artificial joint surface. The arch height error method was used to extract robot interpolation points from surface transversal lines according to machining accuracy requirements. The coordinates and normal vectors of interpolation points were used to calculate the position and pose of the robot tool center point (TCP). To ensure that the laser beam was always perpendicular to the artificial joint surface, a novel laser cladding set-up with a robot was designed, of which the joint part clamped by a six-axis robot moved while the laser head was fixed on the workbench. The proposed methodology was validated with the planned path on the surface of an artificial acetabular cup using simulation and experimentation via an industrial NACHI robot. The results indicated that the path planning method based on topological reconstruction was feasible and more efficient than the traditional robot teaching method.

Sign in / Sign up

Export Citation Format

Share Document