A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, ...A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, it uses straight lines as long as possible to construct a path graph, so the final path obtained from the graph is relatively shorter and straighter. Experimental results show the efficiency of the algorithm in finding shorter paths in sparse environment.展开更多
This paper presents a 3D path planning algorithm for an unmanned aerial vehicle （UAV） in complex environments. In this algorithm, the environments are divided into voxels by octree algorithm. In order to satisfy the...This paper presents a 3D path planning algorithm for an unmanned aerial vehicle （UAV） in complex environments. In this algorithm, the environments are divided into voxels by octree algorithm. In order to satisfy the safety requirement of the UAV, free space is represented by free voxels, which have enough space margin for the UAV to pass through. A bounding box array is created in the whole 3D space to evaluate the free voxel connectivity. The probabilistic roadmap method （PRM） is improved by random sampling in the bounding box array to ensure a more efficient distribution of roadmap nodes in 3D space. According to the connectivity evaluation, the roadmap is used to plan a feasible path by using A＊ algorithm. Experimental results indicate that the proposed algorithm is valid in complex 3D environments.展开更多
Current studies on cable harness layouts have mainly focused on cable harness route planning.However,the topological structure of a cable harness is also extremely complex,and the branch structure of the cable harness...Current studies on cable harness layouts have mainly focused on cable harness route planning.However,the topological structure of a cable harness is also extremely complex,and the branch structure of the cable harness can affect the route of the cable harness layout.The topological structure design of the cable harness is a key to such a layout.In this paper,a novel multi-branch cable harness layout design method is presented,which unites the probabilistic roadmap method(PRM)and the genetic algorithm.First,the engineering constraints of the cable harness layout are presented.An obstacle-based PRM used to construct non-interference and near to the surface roadmap is then described.In addition,a new genetic algorithm is proposed,and the algorithm structure of which is redesigned.In addition,the operation probability formula related to fitness is proposed to promote the efficiency of the branch structure design of the cable harness.A prototype system of a cable harness layout design was developed based on the method described in this study,and the method is applied to two scenarios to verify that a quality cable harness layout can be efficiently obtained using the proposed method.In summary,the cable harness layout design method described in this study can be used to quickly design a reasonable topological structure of a cable harness and to search for the corresponding routes of such a harness.展开更多
文摘A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, it uses straight lines as long as possible to construct a path graph, so the final path obtained from the graph is relatively shorter and straighter. Experimental results show the efficiency of the algorithm in finding shorter paths in sparse environment.
基金supported by National Natural Science Foundation of China(No.61305128)Fundamental Research Funds for the Central Universities,and U.S.Army Research Ofce(No.W911NF-091-0565)
文摘This paper presents a 3D path planning algorithm for an unmanned aerial vehicle （UAV） in complex environments. In this algorithm, the environments are divided into voxels by octree algorithm. In order to satisfy the safety requirement of the UAV, free space is represented by free voxels, which have enough space margin for the UAV to pass through. A bounding box array is created in the whole 3D space to evaluate the free voxel connectivity. The probabilistic roadmap method （PRM） is improved by random sampling in the bounding box array to ensure a more efficient distribution of roadmap nodes in 3D space. According to the connectivity evaluation, the roadmap is used to plan a feasible path by using A＊ algorithm. Experimental results indicate that the proposed algorithm is valid in complex 3D environments.
基金Supported by National Natural Science Foundation of China(Grant No.51675050).
文摘Current studies on cable harness layouts have mainly focused on cable harness route planning.However,the topological structure of a cable harness is also extremely complex,and the branch structure of the cable harness can affect the route of the cable harness layout.The topological structure design of the cable harness is a key to such a layout.In this paper,a novel multi-branch cable harness layout design method is presented,which unites the probabilistic roadmap method(PRM)and the genetic algorithm.First,the engineering constraints of the cable harness layout are presented.An obstacle-based PRM used to construct non-interference and near to the surface roadmap is then described.In addition,a new genetic algorithm is proposed,and the algorithm structure of which is redesigned.In addition,the operation probability formula related to fitness is proposed to promote the efficiency of the branch structure design of the cable harness.A prototype system of a cable harness layout design was developed based on the method described in this study,and the method is applied to two scenarios to verify that a quality cable harness layout can be efficiently obtained using the proposed method.In summary,the cable harness layout design method described in this study can be used to quickly design a reasonable topological structure of a cable harness and to search for the corresponding routes of such a harness.
