scholarly journals PEDESTRIAN PATHFINDING IN URBAN ENVIRONMENTS: PRELIMINARY RESULTS

2017 ◽  
Vol IV-5/W1 ◽  
pp. 35-41 ◽  
Author(s):  
G. López-Pazos ◽  
J. Balado ◽  
L. Díaz-Vilariño ◽  
P. Arias ◽  
M. Scaioni
Keyword(s):  
Path Planning ◽  
Spatial Information ◽  
Point Clouds ◽  
Urban Environments ◽  
Dijkstra Algorithm ◽  
Starting Point ◽  
Outdoor Environments ◽  
Main Components ◽  
Representative Points ◽  
Reduced Mobility

With the rise of urban population, many initiatives are focused upon the <i>smart city</i> concept, in which mobility of citizens arises as one of the main components. Updated and detailed spatial information of outdoor environments is needed to accurate path planning for pedestrians, especially for people with reduced mobility, in which physical barriers should be considered. This work presents a methodology to use point clouds to direct path planning. The starting point is a classified point cloud in which ground elements have been previously classified as roads, sidewalks, crosswalks, curbs and stairs. The remaining points compose the obstacle class. The methodology starts by individualizing ground elements and simplifying them into representative points, which are used as nodes in the graph creation. The region of influence of obstacles is used to refine the graph. Edges of the graph are weighted according to distance between nodes and according to their accessibility for wheelchairs. As a result, we obtain a very accurate graph representing the as-built environment. The methodology has been tested in a couple of real case studies and Dijkstra algorithm was used to pathfinding. The resulting paths represent the optimal according to motor skills and safety.

scholarly journals FEASIBILITY OF SMARTPHONE BASED PHOTOGRAMMETRIC POINT CLOUDS FOR THE GENERATION OF ACCESSIBILITY MAPS

2018 ◽  
Vol XLII-2 ◽  
pp. 35-41 ◽  
Author(s):  
E. Angelats ◽  
M. E. Parés ◽  
P. Kumar
Keyword(s):  
Feasible Solution ◽  
Image Acquisition ◽  
Point Clouds ◽  
Test Cases ◽  
Public Parks ◽  
Real Situation ◽  
Starting Point ◽  
Smartphone Technology ◽  
Near Term ◽  
Reduced Mobility

Accessible cities with accessible services are an old claim of people with reduced mobility. But this demand is still far away of becoming a reality as lot of work is required to be done yet. First step towards accessible cities is to know about real situation of the cities and its pavement infrastructure. Detailed maps or databases on street slopes, access to sidewalks, mobility in public parks and gardens, etc. are required. In this paper, we propose to use smartphone based photogrammetric point clouds, as a starting point to create accessible maps or databases. This paper analyses the performance of these point clouds and the complexity of the image acquisition procedure required to obtain them. The paper proves, through two test cases, that smartphone technology is an economical and feasible solution to get the required information, which is quite often seek by city planners to generate accessible maps. The proposed approach paves the way to generate, in a near term, accessibility maps through the use of point clouds derived from crowdsourced smartphone imagery.

scholarly journals DISTRIBUTED DIMENSONALITY-BASED RENDERING OF LIDAR POINT CLOUDS

2015 ◽  
Vol XL-3/W3 ◽  
pp. 559-564 ◽  
Author(s):  
M. Brédif ◽  
B. Vallet ◽  
B. Ferrand
Keyword(s):  
Scale Up ◽  
Principal Component ◽  
Point Clouds ◽  
Urban Environments ◽  
Local Geometry ◽  
3D Scene ◽  
Rendering Pipeline ◽  
Geometry Analysis ◽  
Static Visualization ◽  
Reduced Mobility

Mobile Mapping Systems (MMS) are now commonly acquiring lidar scans of urban environments for an increasing number of applications such as 3D reconstruction and mapping, urban planning, urban furniture monitoring, practicability assessment for persons with reduced mobility (PRM)... MMS acquisitions are usually huge enough to incur a usability bottleneck for the increasing number of non-expert user that are not trained to process and visualize these huge datasets through specific softwares. A vast majority of their current need is for a simple 2D visualization that is both legible on screen and printable on a static 2D medium, while still conveying the understanding of the 3D scene and minimizing the disturbance of the lidar acquisition geometry (such as lidar shadows). The users that motivated this research are, by law, bound to precisely georeference underground networks for which they currently have schematics with no or poor absolute georeferencing. A solution that may fit their needs is thus a 2D visualization of the MMS dataset that they could easily interpret and on which they could accurately match features with their user datasets they would like to georeference. Our main contribution is two-fold. First, we propose a 3D point cloud stylization for 2D static visualization that leverages a Principal Component Analysis (PCA)-like local geometry analysis. By skipping the usual and error-prone estimation of a ground elevation, this rendering is thus robust to non-flat areas and has no hard-to-tune parameters such as height thresholds. Second, we implemented the corresponding rendering pipeline so that it can scale up to arbitrary large datasets by leveraging the Spark framework and its Resilient Distributed Dataset (RDD) and Dataframe abstractions.

scholarly journals Research on the Path Planning Algorithm of a Manipulator Based on GMM/GMR-MPRM

2021 ◽  
Vol 11 (16) ◽  
pp. 7599
Author(s):  
Qiang Cheng ◽  
Wei Zhang ◽  
Hongshuai Liu ◽  
Ying Zhang ◽  
Lina Hao
Keyword(s):  
Path Planning ◽  
Spline Interpolation ◽  
Optimal Solution ◽  
Gaussian Mixture ◽  
Target Point ◽  
Dijkstra Algorithm ◽  
Probabilistic Roadmap ◽  
Smooth Path ◽  
Starting Point ◽  
Feasible Path

Autonomous, flexible, and human–robot collaboration are the key features of the next-generation robot. Such unstructured and dynamic environments bring great challenges in online adaptive path planning. The robots have to avoid dynamic obstacles and follow the original task path as much as possible. A robust and efficient online path planning method is required accordingly. A method based on the Gaussian Mixture Model (GMM), Gaussian Mixture Regression (GMR), and the Probabilistic Roadmap (PRM) is proposed to overcome the above difficulties. During the offline stage, the GMM was used to model teaching data, and it can represent the offline-demonstrated motion and constraints. The optimal solution was encoded in the mean value, while the environmental constraints were encoded in the variance value. The GMR generated a smooth path with variance as the resample space according to the GMM of the teaching data. This representation isolated the old environment model with the novel obstacle. During the online stage, a Modified Probabilistic Roadmap (MPRM) was used to plan the motion locally. Because the GMM provides the distribution of all the feasible motion, the sampling space of the MPRM was generated by the variable density resampling method, and then, the roadmap was constructed according to the Euclidean and Probability Distance (EPD). The Dijkstra algorithm was used to search for the feasible path between the starting point and the target point. Finally, shortcut pruning and B-spline interpolation were used to generate a smooth path. During the simulation experiment, two obstacles were added to the recurrent scene to indicate the difference from the teaching scene, and the GMM/GMR-MPRM algorithm was used for path planning. The result showed that it can still plan a feasible path when the recurrent scene is not the same as the teaching scene. Finally, the effectiveness of the algorithm was verified on the IRB1200 robot experiment platform.

Implementasi Algoritma Dijkstra Pada Game Pacman

CCIT Journal ◽  
2019 ◽  
Vol 12 (2) ◽  
pp. 170-176
Author(s):  
Anggit Dwi Hartanto ◽  
Aji Surya Mandala ◽  
Dimas Rio P.L. ◽  
Sidiq Aminudin ◽  
Andika Yudirianto
Keyword(s):  
Artificial Intelligence ◽  
Greedy Algorithm ◽  
Dijkstra Algorithm ◽  
Testing Phase ◽  
A Value ◽  
Route Problem ◽  
Starting Point ◽  
The Greedy Algorithm

Pacman is one of the labyrinth-shaped games where this game has used artificial intelligence, artificial intelligence is composed of several algorithms that are inserted in the program and Implementation of the dijkstra algorithm as a method of solving problems that is a minimum route problem on ghost pacman, where ghost plays a role chase player. The dijkstra algorithm uses a principle similar to the greedy algorithm where it starts from the first point and the next point is connected to get to the destination, how to compare numbers starting from the starting point and then see the next node if connected then matches one path with the path). From the results of the testing phase, it was found that the dijkstra algorithm is quite good at solving the minimum route solution to pursue the player, namely by getting a value of 13 according to manual calculations

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.

scholarly journals Automated Measurement of Heart Girth for Pigs Using Two Kinect Depth Sensors

Sensors ◽  
2020 ◽  
Vol 20 (14) ◽  
pp. 3848
Author(s):  
Xinyue Zhang ◽  
Gang Liu ◽  
Ling Jing ◽  
Siyao Chen
Keyword(s):  
Mirror Symmetry ◽  
Point Cloud ◽  
Point Clouds ◽  
Depth Image ◽  
View Point ◽  
Important Indicator ◽  
Depth Sensors ◽  
Starting Point ◽  
Feature Based ◽  
Girth Measurement

The heart girth parameter is an important indicator reflecting the growth and development of pigs that provides critical guidance for the optimization of healthy pig breeding. To overcome the heavy workloads and poor adaptability of traditional measurement methods currently used in pig breeding, this paper proposes an automated pig heart girth measurement method using two Kinect depth sensors. First, a two-view pig depth image acquisition platform is established for data collection; the two-view point clouds after preprocessing are registered and fused by feature-based improved 4-Point Congruent Set (4PCS) method. Second, the fused point cloud is pose-normalized, and the axillary contour is used to automatically extract the heart girth measurement point. Finally, this point is taken as the starting point to intercept the circumferential perpendicular to the ground from the pig point cloud, and the complete heart girth point cloud is obtained by mirror symmetry. The heart girth is measured along this point cloud using the shortest path method. Using the proposed method, experiments were conducted on two-view data from 26 live pigs. The results showed that the heart girth measurement absolute errors were all less than 4.19 cm, and the average relative error was 2.14%, which indicating a high accuracy and efficiency of this method.

Path Planning for Spheres in Three Dimensional Environments With Low Interference Index

1994 ◽  
Author(s):  
Duane W. Storti ◽  
Debasish Dutta
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Configuration Space ◽  
Local Knowledge ◽  
Three Dimensional ◽  
Target Point ◽  
Planning Problem ◽  
Spherical Object ◽  
Starting Point ◽  
Path Planning Problem

Abstract We consider the path planning problem for a spherical object moving through a three-dimensional environment composed of spherical obstacles. Given a starting point and a terminal or target point, we wish to determine a collision free path from start to target for the moving sphere. We define an interference index to count the number of configuration space obstacles whose surfaces interfere simultaneously. In this paper, we present algorithms for navigating the sphere when the interference index is ≤ 2. While a global calculation is necessary to characterize the environment as a whole, only local knowledge is needed for path construction.

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