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This paper presents some key components of a semi-autonomous parking assist system designed for a passenger car without any automatic gear. Four subsystems are detailed: the state estimation, the map construction, the path planning and the tracking controller modules. The tasks of these systems are addressed in this work, and the main steps of their algorithms are described. This parking assist system...
The design of a hierarchical planning system in which each level operates in parallel and communicates asynchronously is presented. It is shown that this parallel hierarchical replanner is both reactive, and as close to optimal over all information in the state space as is possible given finite computational power. A comparison with three other hierarchical methods is presented, which demonstrates...
When operating in partially-known environments, autonomous vehicles must constantly update their maps and plans based on new sensor information. Much focus has been placed on developing efficient incremental planning algorithms that are able to efficiently replan when the map and associated cost function changes. However, much less attention has been placed on efficiently updating the cost function...
This paper addresses the problem of communication range limitations for decentralized multi-vehicle mapping. We present a novel integrated communication and planning protocol that enables all vehicles to form a common global map. The fusion of mapping information is facilitated through the Information Filter and performed over a connected acyclic wireless communication network with limited communication...
Classical motion planners and most of navigation routines discard dynamics of the system and therefore fail in some special conditions. If a robot is moving towards an obstacle with a high acceleration and speed, collision is inevitable because the obstacles are taken into account only either once they are in range, or a physical collision is reported by detection routines. In this paper, we have...
To meet the demand of urban parking and decrease the parking cost, the study of a location model about the curb parking facilities and the off-street parking facilities by analyzing the matching relationship is necessary. It surely can improve the overall efficiency of urban dynamic and static traffic. Firstly, comparison of the off-street parking with the curb parking about characteristics of parking...
In this paper, a 2-D mission planning approach is developed for UAV applications. The main contribution of the paper is the development of an extension to the Bellman Ford algorithm that enables incorporation of constraints directly into the algorithm during run time. The dynamical constraints of the vehicle, such as its angle of turn, can therefore be catered for. Furthermore, a procedure for computing...
This paper proposes to realize the multiple air vehicle cooperative initial route planning and the renewal of the threat degree replanning ability for smart air vehicle. For the threat in part of the battlefield the air vehicle had foreseen, we made the sparse roadmap based on the delineation of different kinds of threat degree and search the initial route through genetic algorithm. To ensure the...
The small and medium-sized cities (SMSC) in China are in the rapid urbanization process. The urban growth and economic development may lead to traffic, energy and environmental problems. This paper focused on developing an appropriate transit mode in SMSC in order to abate these problems. For this purpose, the paper firstly discussed the relationship between land use pattern and transit modes, and...
We develop a robust method for planning an undersea search by unmanned vehicles; the goal of which is to find groups of objects that may be placed randomly or arranged in predefined patterns on the ocean floor. This approach revolves around the computation of target pattern priors that describe the underlying geometrical structure of the expected group of objects. These priors are updated based on...
A simple algorithm for planning the optimal path for a car-like vehicle operating in outdoor environments is presented. The algorithm is based on the well-known A* approach, which is applied in the vehicle's "configuration space" and is adapted to take into account constraints that are specific to the type of vehicle and environment considered: limited steering angle, limited range of pitch...
In this article we present an application of the multiobjective ant colony system (MACS) algorithm to the uninhabited aerial vehicles (UAVs) route planning problem based on Voronoi diagram. First, we construct the objective functions: minimize the route length and danger exposure. Then the MACS algorithm concept is introduced and modified to accommodate the route planning situation. The computational...
In this paper, author comes up with a new optimization algorithm about distribution routing planning. This method is used to make the best distribution route according to vehiclepsilas load capacity, distance from distribution centre and various client demand as well as cargo priority etc. The result could be displayed in electronic map. Proved by instances, this method can help managers to reduce...
The article presents an adaptive hybrid planning system or the interactive solution of multi-objective vehicle routing problems. A general framework was built, being able to handle various components of general vehicle routing problems, e.g. the simultaneous consideration of six optimization criteria. Solutions are constructed and improved in real time allowing the user to adapt his articulated preference...
This paper proposes a novel approach for autonomous mission plan recovery for maintaining operability of unmanned underwater vehicles. It combines the benefits of knowledge-based ontology representation, autonomous partial ordering plan repair and robust mission execution. The approach uses the potential of ontology reasoning in order to orient the planning algorithms adapting the mission plan of...
We present a decentralized approach used to coordinate several flexible automated guided vehicles (AGVs) operating in flexible manufacturing systems (FMSs). The decentralized coordination is based on a control policy for planning the collision-free motion, which takes into account kinematics and safety constrains. Besides this, in order to avoid deadlocks in critical zones, such as doors and corridors,...
The joined travelling of vehicles is an important instrument of cost reduction in the innovative RailCab concept. While the problem of joining groups of vehicles into convoys and determining convoy routes can be easily understood as optimization problem, the distributed nature and large number of vehicles and stops inhibits the direct application of operations research methods and problems. In this...
The paper describes the software architecture of an autonomous mobile outdoor robot (AMOR). The robot is intended for robust operation in heavy terrain under arbitrary weather condition. The software is implemented in a layered architecture, possessing behaviour based and model based components. The multitude of different sensors is unified by a virtualisation layer, which allows easy reconfiguration...
This paper addresses the problem of optimizing the navigation of an intelligent mobile in a real world environment, described by a map. The map is composed of features representing natural landmarks in the environment. The vehicle is equipped with a sensor which allows it to obtain range and bearing measurements from observed landmarks during the execution. These measurements are correlated with the...
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