Path Planning for Automatic Guided Vehicles (AGVs) Fusing MH-RRT with Improved TEB

In this paper, an AGV path planning method fusing multiple heuristics rapidly exploring random tree (MH-RRT) with an improved two-step Timed Elastic Band (TEB) is proposed. The modified RRT integrating multiple heuristics can search a safer, optimal and faster converge global path within a short time, and the improved TEB can optimize both path smoothness and path length. The method is composed of a global path planning procedure and a local path planning procedure, and the Receding Horizon Planning (RHP) strategy is adopted to fuse these two modules. Firstly, the MH-RRT is utilized to generate a state tree structure as prior knowledge, as well as the global path. Then, a receding horizon window is established to select the local goal point. On this basis, an improved two-step TEB is designed to optimize the local path if the current global path is feasible. Various simulations both on static and dynamic environments are conducted to clarify the performance of the proposed MH-RRT and the improved two-step TEB. Furthermore, real applicative experiments verified the effectiveness of the proposed approach.

Potential Review on Palmyra (Borassus flabellifer L.)

The state tree of Tamil Nadu, Borassus flabellifer L. is a nature’s gift to the mankind. It is plant that serves various ecological, medicinal, economical and sociological benefits to the society. It a plant of heaven that could sustain adverse climatic conditions and withstand natural calamities. It is one among the most beneficial species that has economical and medicinal value for each and every part. It found widely in tropical and arid countries ranging from India through South-East Asia to New Guinea. The plant has a very close connection with the rural livelihood and cottage and agro based industries of Indian economy. The utility of the plant could be widely classified into Non-edible, edible and value addition based uses. This paper attempts to give a birds eye view about palmyra’s distribution, nutritional and medicinal properties, different utility forms and the impact on rural livelihood.