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Tytuł:
Path Planning for Multiple Mobile Robots Using A* Algorithm
Autorzy:
Hüseyin Filiz, İ.
Olguner, S.
Evyapan, E.
Powiązania:
https://bibliotekanauki.pl/articles/1031600.pdf
Data publikacji:
2017-09
Wydawca:
Polska Akademia Nauk. Instytut Fizyki PAN
Tematy:
02.60.Pn
Opis:
This study presents optimization of planetary gear train in a specific configuration. General characteristics of planetary gear trains are discussed briefly. A compound configuration for planetary gear train is selected and an optimization study is performed for this configuration. For the given input power, motor speed and overall gear ratio, modules, facewidths, teeth numbers of gears are found, satisfying the condition of minimum kinetic energy of the gear trains. In optimization, the objective is set to minimization of kinetic energy. Allowable bending stress and allowable contact stress are considered as design constraints. Minimum teeth number for a given pressure angle, center distance, recommendation on the facewidth, limitations on teeth ratios are considered as geometrical and kinematical constraints. The Matlab® Optimtool optimization toolbox is used. Results for certain operating conditions are obtained and tabulated.
Źródło:
Acta Physica Polonica A; 2017, 132, 3; 728-733
0587-4246
1898-794X
Pojawia się w:
Acta Physica Polonica A
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Path Planning for Multiple Mobile Robots Using A* Algorithm
Autorzy:
Batik Garip, Z.
Karayel, D.
Ozkan, S.
Atali, G.
Powiązania:
https://bibliotekanauki.pl/articles/1031599.pdf
Data publikacji:
2017-09
Wydawca:
Polska Akademia Nauk. Instytut Fizyki PAN
Tematy:
42.30.Tz
45.40.Ln
87.85.St
87.55.de
87.55.K-
87.55.kd
Opis:
One of the main problems in path planning for multiple mobile robots is to find the optimal path between two points so that robots can follow the shortest path and consume the least energy. Also, motion planning is important to avoid collisions if multiple mobile robots are running together within environments with obstacles. In this study, motion planning for multiple robots has been proposed. It is desired that robots could move in coordination with each other from the starting point to the destination point on a plane. The coordinates of the objects and mobile robots have been acquired using image processing with a single ceiling camera. The path planning for the shortest distance has been performed using A* algorithm in dynamic frame between robot-object and object-target point, respectively. A graphical user interface has been developed based on MATLAB GUI. It is hoped that the developed system will have a wide area of applications in industry and will make important contributions for the improvement of manufacturing, assembly, transportation and storage technologies.
Źródło:
Acta Physica Polonica A; 2017, 132, 3; 685-688
0587-4246
1898-794X
Pojawia się w:
Acta Physica Polonica A
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The idea of using the A* algorithm for route planning an unmanned vehicle “Edredon”
Autorzy:
Naus, K.
Wąż, M.
Powiązania:
https://bibliotekanauki.pl/articles/359690.pdf
Data publikacji:
2013
Wydawca:
Akademia Morska w Szczecinie. Wydawnictwo AMSz
Tematy:
A* algorithm
navigation system
route planning
electronic chart
vehicle „Edredon”
Opis:
This article presents the concept of algorithm A* functioning in a navigation system equipped with electronic navigational chart for autonomous planning the shortest and safest route crossing an offshore unmanned vehicle “Edredon”. The first part describes the general technical architecture and functionality of the vehicle's navigation system. In the second part shows in detail the modules of the system responsible for the planning of the road and how to implement them in the A* algorithm. The third part describes the proper operation of testing whether the A* algorithm in the navigation system, while the task of planning the route of the autonomous vehicle. Final part is a discussion of the results obtained from tests carried out in order to evaluate the applicability of the A* algorithm for route planning in autonomous navigation systems.
Źródło:
Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2013, 36 (108) z. 2; 143-147
1733-8670
2392-0378
Pojawia się w:
Zeszyty Naukowe Akademii Morskiej w Szczecinie
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A routing algorithm and a router architecture for 3D NoC
Autorzy:
Kanagasabapathi, Somasundaram
Calicut, Chythanya
Powiązania:
https://bibliotekanauki.pl/articles/305713.pdf
Data publikacji:
2019
Wydawca:
Akademia Górniczo-Hutnicza im. Stanisława Staszica w Krakowie. Wydawnictwo AGH
Tematy:
3D topology
router
network on chip
routing algorithm
Opis:
In recent years, the enhancement of microchip technologies has enabled large scale Systems-on-Chip (SoC). Due to sharp increase in number of processing elements, SoC faces various challenges in design and testing. Network on Chip (NoC) is an alternative technology to overcome the challenges in SoC design and testing. NoC emerged as a key architecture that allows one to optimize the parameters like power and area. In spite of its applications, NoC faces some real time challenges like designing an optimum topology, routing scheme and application mappings. In this paper, we address the main three issues on NoC, namely, designing of an optimal topology, routing algorithm and a router design for the topology. First, we propose a topology and a routing algorithm. We prove that our recursive network topology is Hamiltonian connected and we propose an algorithm for data packet transmissions, which is free from cyclic deadlocks and the algorithm maximizes the congestion factor. Our experimental results show that the proposed topology gives better performance in terms of average latency and power than the other topologies. Finally, we propose a router architecture for our 3D-NoC. The router architecture is based on shared buffers. Also, our experimental results indicate that the proposed router architecture consumes less area and power than the Virtual Channel architecture.
Źródło:
Computer Science; 2019, 20 (3); 369-383
1508-2806
2300-7036
Pojawia się w:
Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Sequential Classification of Palm Gestures Based on A* Algorithm and MLP Neural Network for Quadrocopter Control
Autorzy:
Wodziński, M.
Krzyżanowska, A.
Powiązania:
https://bibliotekanauki.pl/articles/221525.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
machine learning
shortest path
sequential data
quadrocopter
GPU
CUDA
Opis:
This paper presents an alternative approach to the sequential data classification, based on traditional machine learning algorithms (neural networks, principal component analysis, multivariate Gaussian anomaly detector) and finding the shortest path in a directed acyclic graph, using A* algorithm with a regression-based heuristic. Palm gestures were used as an example of the sequential data and a quadrocopter was the controlled object. The study includes creation of a conceptual model and practical construction of a system using the GPU to ensure the realtime operation. The results present the classification accuracy of chosen gestures and comparison of the computation time between the CPU- and GPU-based solutions.
Źródło:
Metrology and Measurement Systems; 2017, 24, 2; 265-276
0860-8229
Pojawia się w:
Metrology and Measurement Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A mesh algorithm for principal quadratic forms
Autorzy:
Polak, A.
Powiązania:
https://bibliotekanauki.pl/articles/106252.pdf
Data publikacji:
2011
Wydawca:
Uniwersytet Marii Curie-Skłodowskiej. Wydawnictwo Uniwersytetu Marii Curie-Skłodowskiej
Tematy:
mesh algorithm
quadratic form
quadratic diophantine equation
Opis:
In 1970 a negative solution to the tenth Hilbert problem, concerning the determination of integral solutions of diophantine equations, was published by Y. W. Matiyasevich. Despite this result, we can present algorithms to compute integral solutions (roots) to a wide class of quadratic diophantine equations of the form q(x) = d, where q : Z is a homogeneous quadratic form. We will focus on the roots of one (i.e., d = 1) of quadratic unit forms (q11 = ... = qnn = 1). In particular, we will describe the set of roots Rq of positive definite quadratic forms and the set of roots of quadratic forms that are principal. The algorithms and results presented here are successfully used in the representation theory of finite groups and algebras. If q is principal (q is positive semi-definite and Ker q={v ∈ Zn; q(v) = 0}= Z · h) then |Rq| = ∞. For a given unit quadratic form q (or its bigraph), which is positive semi-definite or is principal, we present an algorithm which aligns roots Rq in a Φ-mesh. If q is principal (|Rq| is less than ∞), then our algorithm produces consecutive roots in Rq from finite subset of Rq, determined in an initial step of the algorithm.
Źródło:
Annales Universitatis Mariae Curie-Skłodowska. Sectio AI, Informatica; 2011, 11, 1; 23-31
1732-1360
2083-3628
Pojawia się w:
Annales Universitatis Mariae Curie-Skłodowska. Sectio AI, Informatica
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A Numerical Algorithm for Filtering and State Observation
Autorzy:
Ibrir, S.
Powiązania:
https://bibliotekanauki.pl/articles/908263.pdf
Data publikacji:
1999
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
krzywa składana
różniczkowanie numeryczne
obserwator
spline functions
numerical differentiation
observers
smooth filters
Opis:
This paper deals with a numerical method for data fitting and estimation of continuous higher-order derivatives of a given signal from its non-exactsampled data. The proposed algorithm is a generalization of the algorithm proposed by Reinsch (1967). This algorithm is conceived as a key element in the structure of the numerical observer discussed in our recent papers. Satisfactory results are obtained which prove the efficiency of the proposed approach.
Źródło:
International Journal of Applied Mathematics and Computer Science; 1999, 9, 4; 855-869
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A new algorithm for generation of decision trees
Autorzy:
Grzymała-Busse, J. W.
Hippe, Z. S.
Knap, M.
Mroczek, T.
Powiązania:
https://bibliotekanauki.pl/articles/1965778.pdf
Data publikacji:
2004
Wydawca:
Politechnika Gdańska
Tematy:
artificial intelligence
supervised machine learning
decision trees
Bayes networks
Opis:
A new algorithm for development of quasi-optimal decision trees, based on the Bayes theorem, has been created and tested. The algorithm generates a decision tree on the basis of Bayesian belief networks, created prior to the formation of the decision tree. The efficiency of this new algorithm was compared with three other known algorithms used to develop decision trees. The data set used for the experiments was a set of cases of skin lesions, histopatolgically verified.
Źródło:
TASK Quarterly. Scientific Bulletin of Academic Computer Centre in Gdansk; 2004, 8, 2; 243-247
1428-6394
Pojawia się w:
TASK Quarterly. Scientific Bulletin of Academic Computer Centre in Gdansk
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A quick algorithm for planning a path for a biomimetic autonomous underwater vehicle
Autorzy:
Praczyk, T.
Powiązania:
https://bibliotekanauki.pl/articles/135094.pdf
Data publikacji:
2016
Wydawca:
Akademia Morska w Szczecinie. Wydawnictwo AMSz
Tematy:
path planning
underwater vehicle
autonomy
collision avoidance
automatic control
effective planning algorithm
Opis:
Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with specialized software. The task of the software is to move the vehicle along a trajectory while avoiding collisions. In its role of avoiding obstacles, the vehicle may sometimes encounter situations in which it is very difficult to determine what the next movement should be from an ad hoc perspective. When such a situation occurs, a planning component of the vehicle software should be run with the task of charting a safe trajectory between nearby obstacles. This paper presents a new path planning algorithm for a Biomimetic Autonomous Underwater Vehicle. The main distinguishing feature of the algorithm is its high speed compared with such classic planning algorithms as A*. In addition to presenting the algorithm, this paper also summarizes preliminary experiments intended to assess the effectiveness of the proposed algorithm.
Źródło:
Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2016, 45 (117); 23-28
1733-8670
2392-0378
Pojawia się w:
Zeszyty Naukowe Akademii Morskiej w Szczecinie
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-10 z 2863

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