A Method of Enhancing Rapidly-Exploring Random Tree Robot Path Planning Using Midpoint Interpolation

It is difficult to guarantee optimality using the sampling-based rapidly-exploring random tree (RRT) method. To solve the problem, this paper proposes the post triangular processing of the midpoint interpolation method to minimize the planning time and shorten the path length of the sampling-based algorithm. The proposed method makes a path that is closer to the optimal path and somewhat solves the sharp path problem through the interpolation process. Experiments were conducted to verify the performance of the proposed method. Applying the method proposed in this paper to the RRT algorithm increases the efficiency of optimization by minimizing the planning time.

An Enhancement Method of Rapidly-exploring Random Tree Robot Path Planning using Midpoint Interpolation

To solve the problem that sampling-based Rapidly-exploring Random Tree (RRT) method is difficult to guarantee optimality. This paper proposed the Post Triangular Processing of Midpoint Interpolation method minimized the planning time and shorter path length of the sampling-based algorithm. The proposed Post Triangular Processing of Midpoint Interpolation method makes a closer to the optimal path and somewhat solves the sharp path problem through the interpolation process. The experiments were conducted to verify the performance of the proposed method. Applying the method proposed in this paper to the RRT algorithm increases the efficiency of optimization compared to the planning time.

Trace Interpolation with Partial CRS-Stacks

This bachelor thesis is about seismic trace interpolation, data regularization and extrapolation using partial CRS stacks. I edit the underlying synthetic data record to create sparse data and prepare for extrapolation. The gaps appear randomly in mid-offset and specifically in near-offset. Subsequently, I compare the results of the interpolation with the traces I deleted from the record, examine data regularization and analyze the extrapolation. The interpolation process preserves arrival times and frequencies very well. Especially the arrival times in near-offset are within minimum tolerance. However some trace contain lowintensity noise over the entire frequency bandwidth. The results show an interpolation error for the direct wave. This error occurs because the linear move-out of the direct wave cannot be approximated by the hyperbolic approach of the partial CRS stack.Data regularization is interpolation for equally spaced intervals. These intervals can be defined precisely and therefore hold the accuracy of the interpolation process.Extrapolation issues a challenge to the partial CRS algorithm. The Fresnel zone defines physical boundaries for the partial CRS apertures. I calculated the extrapolation for more than double of these limitations. Thus, I expect extrapolation artifacts such as amplitude escalation and signal splitting. These expectations are answered by amplitude escalation, smearing and signal splitting, appearing at 1.5 times the Fresnel zone. Nevertheless, extrapolation supplies a reliable extension of the reflection events. For the sake of extrapolation artifacts limitations by the Fresnel zone ought not be breached.In conclusion, I validate seismic trace interpolation and data regularization processes of the partial CRS stack and I point out boundaries of the extrapolation process

An Optical Flow-Based Approach for Minimally Divergent Velocimetry Data Interpolation

Three-dimensional (3D) biomedical image sets are often acquired with in-plane pixel spacings that are far less than the out-of-plane spacings between images. The resultant anisotropy, which can be detrimental in many applications, can be decreased using image interpolation. Optical flow and/or other registration-based interpolators have proven useful in such interpolation roles in the past. When acquired images are comprised of signals that describe the flow velocity of fluids, additional information is available to guide the interpolation process. In this paper, we present an optical-flow based framework for image interpolation that also minimizes resultant divergence in the interpolated data.

Research on a Algorithm of Adaptive Interpolation for NURBS Curve

The article briefly deals with a algorithm of adaptive interpolation for NURBS curve which NURBS curve reache any point, while, the feed rate can keep costant as during the whole interpolation process. The interpolation of NURBS curve should be finished. The simulation results show that the algorithm is correct; it is consistent with a NURBS curve interpolation requirements.