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Modern logistics receives increasing attention for planning and scheduling operations of transport systems that have to be resource efficient and environmentally sustainable. This paper reviews the state-of-art of one of the main problems describing logistic issues, i.e., the Dynamic Vehicle Routing Problem (DVRP). In particular, DVRP consists in assigning routes at minimal costs, to a fleet of vehicles...
Multiple objective navigation is commonly found in practice, where a path for an autonomous vehicle needs to be generated to simultaneously optimize a number of different objectives such as distance, safety, and visibility. Objectives can be weighted to solve a single objective optimization problem but appropriate weights may not be known a priori. In this paper, we formulate a series of missions...
We present a motion planning algorithm for autonomous aggressive vehicle maneuvers. The motion planner takes advantages of the sparse stable trees (SST), the RRT* algorithm and the model predictive control (MPC) design. The use of the sparsity property helps to reduce the computational burden of the RRT* method by removing non-useful nodes in each iteration (i.e., rewiring) and therefore to quickly...
Chance-constrained control is a difficult problem even if the considered system dynamics are linear. The difficulty stems from the facts that the chance constraints are difficult to evaluate and that the control law is nonlinear due to the constraints. In this paper, we present a novel approach to chance-constrained control, where we solve the unconstrained control problem first and then use a progressive...
In many routing planning problems of the real world the available information about the problem is imprecise, vague or uncertain. In addition, decision makers work with decisions with some subjectivity. This work formulates the Team Orienteering Problem (TOP) where the scores and travel time constraints are fuzzy. The soft computing methodology proposed to solve the problem integrates fuzzy optimization...
This paper extends the performance assessment of an underwater glider path planning approach recently proposed for constrained sub-mesoscale eddy border sampling conditions, for situations benefiting from extended mission planning time. The aim of addressing such situations is to improve the glider vehicle capabilities through improving its off-board controller, which computes an improved trajectory...
Increasing the level of autonomy facilitates a vehicle in performing long-range operations with minimum supervision. This paper shows that the ability of Autonomous Underwater Vehicles (AUVs) to fulfill mission objectives is directly influenced by route planning and task assignment system performance. This paper proposes an efficient task-assign route-planning model in a semi-dynamic network, where...
Logistics network optimization plays a critical role in contemporary logistics planning and supply chain network designs, and the vehicle route planning is essential for logistics network optimizations. In this paper, we present an efficient and effective approach for vehicle route planning. The new approach has utilized multiple spanning trees as a criterion to categorize the customers into several...
A probabilistic framework for online motion planning of vehicles in dynamic environments is proposed. We develop a sampling-based motion planner that incorporates prediction of obstacle motion. A key feature is the introduction of task specifications as artificial measurements. This allows us to cast the exploration phase in the planner as a nonlinear, possibly multimodal, estimation problem, which...
A Hopfield-type neural networks (HNN) algorithm associated with histogram navigation method is proposed in this paper for real-time map building and path planning for multiple goals applications. In real world applications such as rescue robots, service robots, mining mobile robots, and mine searching robots, etc., an autonomous vehicle needs to reach multiple goals with a shortest path that, in this...
When the autonomous vehicle is running in complex unstructured road and the reference path to guide the vehicle could not be obtained directly, at this time, only sparse task list point left as the reference information. To generate a safe and smooth path in this situation for autonomous vehicle to run, we propose an improved heuristic graph search path planning algorithm to solve the problem by considering...
The complex public traffic environment requires an autonomous vehicle to have the ability of planning and executing a sequence of different maneuvers, such as maintaining cruising speed, changing speed to follow a vehicle in front or to lead a vehicle in the rear, and changing a lane when necessary and possible. This paper presents a hierarchical hybrid predictive control framework that integrates...
Route planning system of smart vehicles based on monocular vision could be applied to monitor the production line in industrial field. This system has achieved much functionality including image processing, monocular vision range finding, virtual map generating, global route planning and obstacle avoiding, etc. In this paper, we present an optimized ant colony algorithm based on ground colors and...
Path planning technology is one of the important problems in intelligent robot. Firstly, based on the characteristics of intelligent mowing robot and traditional circuitous path planning algorithm, a new "p-d" circuitous path planning algorithm was proposed in the rectangular work region, which solves the problem of the best mowing coverage. Then the geographic coordinate system was transformed...
This paper presents a framework that integrates vector field based motion planning techniques with an optimal path planner. The main motivation for this integration is the solution of UAVs' motion planning problems that are easily and intuitively solved using vector fields, but are very difficult to be even posed as optimal motion planning problems, mainly due to the lack of clear cost functions....
Emergency service decision makers are facing the following problems: where to locate the ambulance facility and how many ambulance vehicles should allocate to the station in order to meet the patient needs effectively. In this paper, we study the problem of joint planning of emergency medical services management, which typically consist of emergency location planning and patients assignment to hospitals...
Several approaches can be identified in the literature for area decomposition: Grid based methods, Cellular decomposition and Boustrophedon (or Morse) decomposition. This paper proposes a novel discretization method for the area based on computational geometry approaches. By using a Constrained Delaunay Triangulation, a complex area is segmented in cells which have the size of the projected field...
Examination of the control of a high-speed vehicle is essential to achieve autonomous navigation on high speed roads. Velocity profile generation is one of the challenging problems. In this paper we analyze the efficiency of an on-line velocity profiler algorithm. The presented method is based on a receding horizon implementation in which the vehicle executes part of the computed optimal trajectory,...
The raising concerns of energy consumption and air pollution advance the development of electric vehicle technologies and promote the increased deployment of Electric Vehicles (EVs) towards electric transportation. The increasing number of EVs on the road network leads to a growing challenge of electricity management for the power grid to promptly supply electricity to EVs. In order to address this...
We suggest an approach to solve the dynamic patrolling problem as the variation of periodic vehicle routing problem with time windows. In order to do this, firstly a set of waypoints (targets) should be located in space in such way that their spherical neighborhoods, which corresponds to the size of the robots vision/detections fields, would form a complete coverage of the protected perimeter. Regular...
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