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This paper presents a method of map building and path planning in an unknown environment. The method employs Light Detection And Ranging (LiDAR) to construct the 2D grid map, on which Anytime D* (AD*) and Dynamic Window Approach (DWA) are used for path planning. The global path is generated by AD* algorithm while DWA is responsible for dynamic obstacle avoidance. Simulation and experiments verify...
While most of work on task-resource matching in centreless network has focus on evaluating multi-QoS constraints in quantity, our work addresses this problem from types of QoS constraints, objectivity of matching process, and concurrency of multiple matches. An algorithm of matching resources for multi-tasks synchronously, MRMT, is presented. Firstly, an improved analytic hierarchy process (AHP) method...
To improve the performance of center-less network, appropriate strategies and algorithms of task-resource matching are of importance. Some of QoS guided algorithms based on Min-Min have been investigated while flexibility and multi-QoS constraints of them need to be further researched. Firstly, task-resource matching methods in center-less network are reviewed. Secondly, a multi-QoS constrained task-resource...
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