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This paper presents a preliminary study on multi-swarm sharing scenario for particle swarm optimization, MSSPSO, to deal with uncertain-dimension factor space optimization problems. The proposed MSSPSO can provide more wide capability for unknown solution space exploration. In this paper, the MSSPSO is applied to UAV path planning problem. Based on characteristic number of different paths, it has...
A novel approach of path planning for unmanned aerial vehicle(UAV) is presented based on immune genetic algorithm(IGA) with elitist. IGA introduces immune operator and concentration mechanism which improve the inherent defects of premature and slow convergence speed existing in genetic algorithm (GA). Simulation results show that an ideal flight path can be more quickly searched using IGA, under conditions...
This paper focuses on the development of intelligent path planning algorithm for unmanned vehicles automatic guidance such as the shortest path, the stable path in a terrain with a single destination and multiple waypoints. The experiment results show that the proposed algorithm can not only reduce the uncertainty of the evolutionary computation caused by the probability model, but also avoid the...
This paper presents a novel approach for maneuvering target tracking with mobile robot in unknown clutter environments. This issue involves both simultaneous localization and mapping (SLAM) in dynamic environments and maneuvering objects tracking (MOT), and it is referred to as the SLAMMOT problem. Our approach derived by Integrating the full covariance extend Kalman filter based SLAM (EKFSLAM) algorithm...
The purpose of this paper is to develop particle swarm optimizer (PSO) based controller for vehicle navigation system (VNS). This paper regards the mathematical model of car-like mobile robot as the vehicle dynamics behavior to develop the controller for VNS. VNS controls the vehicle via two actual control values, one is the degree variation of the front wheel and the other is the acceleration variation...
The purpose of this paper is to search the best flight route efficiently for unmanned aerial vehicle (UAV) in the 3-dimention complicated topography. The proposed method for the best flight route is mainly utilizing evolutionary algorithm, and give the proper initial population of evolutionary algorithm through skeletonization, efficient pre-processing procedure. In order to provide a smooth flight...
The complexity in 3-D path planning can be overcome by means of making multi-cage 3-D circuit map. And the path planning is transformed into current computing and tracing in circuit map. The resistors in a circuit map are determined by obstacles, risk areas, current or swirl, which have interference on AUVs or flying robots. The branches with the largest current constitute the path segments. This...
A novel path planning approach based on Floyd algorithm for intelligence transportation system (ITS) is presented in this paper. For the route net can be converted into a topology, the optimal path in the route net of transportation system can be treated as the shortest path in a topology as well. So Floyd algorithm, which solves the shortest path in topology perfectly, is developed to solve the optimal...
The nonholonomic constraint in path planning of wheeled mobile robot is described by setting virtual obstacles in circuit map. Virtual obstacles arc supposed to limit the motion direction and posture in the directions that the robots or vehicles cannot move under nonholonomic constraints. The results of path planning based on virtual obstacle are kinematics traceable. And the parking posture and parallel...
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