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Network Planning and Fault Location, Isolation and Supply Restoration (FLISR) are important functions of power distribution automation systems. We model these functions as a combinatorial optimization graph problem called the Capacitated Spanning Forest Problem (CSF), defined as the problem of creating a spanning forest with a capacity constraint on each tree bounding its total weight. We present...
In this paper, we propose a novel method based on Dijkstra algorithm for parking lot to find an optimal route and solve the difficulties in finding parking spaces and traffic congestion nowadays. Firstly, by means of the traditional Dijkstra algorithm, which is a common way to solve the shortest path problem, we combine it with the impedance function model to obtain the dynamic time of the route....
In Bike-Sharing System (BSS), great efforts have been devoted to performing resources prediction, redistribution and trip planning to alleviate the unbalance of resources and inconvenience of bike utilization caused by the explosion of users. However, there is few work in trip planning noticing that the complete trip composes of three segments: from user's start point to a start station, from the...
This paper presents an algorithm for Distributed Generation (DG) allocation planning, using fuzzy set theory and fuzzy multi criteria decision making based on the Bellman-Zadeh method. The proposed model considers power losses and investment deferral values on one side (goals) and line currents, node voltages and short circuit power values on the other (constraints). The objective of this work is...
Aiming at the lack of stability and slow convergence of rapidly random-exploring trees (RRT) algorithm, an improved RRT path planning algorithm is proposed. Firstly, based on bidirectional search path planning algorithm, an improved combination strategy is proposed. The combination strategy combines target point search strategy with random search strategy, which not only improve the efficiency of...
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the robot is rarely static, and it often has many moving obstacles. The robot may encounter one, or many of these unknown and unpredictable moving obstacles. The robot...
This paper deals with the ofï-line route planning of Automated Guided Vehicles (AGVs). We propose a conflict-free route planning approach for the AGVs' control system in a warehouse system. The candidate routes are determined by using the improved Dijkstra's algorithm. The potential conflicts are detected and classified upon the comparison of node coordinates and occupancy times. A self-adaptive strategy...
With the rapid development of e-commerce, warehousing and logistics industry has entered a period of rapid development. New logistics demand is not different from traditional commodity transport, with the features of small batches, variety, high speed and low cost. Flexible warehousing technology based on small mobile handing robots is rising rapidly. The article proposes a flexible warehouse space...
The twenty-first century is the era of information technology, route planning play an important role in the field of navigation. An improved algorithm for route planning based on A∗ algorithm is presented in this paper. A certain number of turning points for route planning are set firstly by sorting out and analyzing the s-57 charts ENC data. Secondly, a database is established to store route points...
Trajectory planning in airborne networks is a primary application of Unmanned Aerial Vehicle (UAV) communication. The literature contains algorithms focusing on collision avoidance, intelligent task assignment and path planning among UAVs. Cooperative schemes exist in which the UAVs communicate with each other to reach a consensus on how each vehicle will take up one trajectory at a time efficiently...
In several applications, a robot moving from a start to a goal location is required to gather data along its path (e.g., a video feed in a monitoring scenario). The robot can have at its disposal only a limited amount of memory to store the collected data, in order to contain costs or to avoid that sensible data fall into the hands of an attacker. This poses the need of periodically delivering the...
This paper introduces the planning algorithm Sa-feRRT, which extends the rapidly-exploring random tree (RRT) algorithm by using feedback control and positively invariant sets to guarantee collision-free closed-loop path tracking. The SafeRRT algorithm steers the output of a system from a feasible initial value to a desired goal, while satisfying input constraints and non-convex output constraints...
In context of human-machine-interaction trajectories need to be rerouted or re-planned with reduced dynamical constraints in order to avoid collisions. This requires online feasible algorithm for trajectory planning in space. In this paper a new method for planning time-optimal trajectories subject to dynamic and geometrical constraints is proposed. Distinctively to other work, both spatial and temporal...
We are interested in the persistent surveillance of an area of interest comprised of heterogeneous tasks (or targets) that need to be completed (or visited) in a repeated manner subject to constraints on time between successive visits. The task is undertaken by a set of heterogeneous UAVs which autonomously execute the mission. In addition to geographically distributed tasks, the mission may also...
In this paper, we offer a virtual bronchoscopy simulator as an assistance exploration tool and diagnosis of peripheral lung nodule lesions. We present a proposal for motion planning to a interest region in the lung nodule based on RRT (Rapidly-Exploring Random Trees). Navigation will be guided by this path in a 3d virtual lung reconstructed from CT images. We compare several RRT-algorithm looking...
In recent years, many tourist attractions have suffered heavy traffic problems during vacations or holidays due to the convenience of various kinds of transportation and the growing popularity of leisure activities. However, according to some common experience, different recreational attractions are not necessary located along a single route in a given tourist area. If all the recreational attractions...
Multi robot path planning is a rising field in the zone of robotics because of its broad true applications like distribution center applications, pursuit and safeguard, military activities, and so forth. The significant favorable position of multi robot path planning is its simultaneousness, which is extremely helpful for reducing the time required for an operation. Coordination among different robots...
The Information-Centric Network (ICN) is very promising in the area of Complex Active Networks (CANs), where the data-centric approach is useful in reducing the data retrieval latency as well as the network traffic of active networking services. Also, the in-network caching and processing capabilities in ICN limits the massive data access to the data producers and so relaxes the need of continuous...
Selecting the most interesting tourist attractions and planning optimal sightseeing tours can be a difficult task for individuals visiting unfamiliar tourist destinations. On the other hand, the massive amounts of tourists in big cities can collapse certain areas causing transport inefficiency, unbalanced economic growth and nuisance among tourists and citizens. Therefore, the tourist trip planning...
Recently, rapidly-exploring random trees(RRT) is widely used in path planning for its nature of single-query. The optimized algorithm RRT∗ extends RRT algorithm to find the optimal path, but it needs to search every state from the initial state to the global scope asymptotically. This method is not only inefficient, but also contrary to the single-query of RRT. In this paper, a new variant of RRT∗-Gb...
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