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AUV Path Planning in 3D Seabed Environment Using Genetic Algorithm

Hao Yanling,Zhang Jingjuan

Strategic Study of CAE 2003, Volume 5, Issue 11,   Pages 56-60

Abstract:

The path-planning algorithm of AUV in 3D seabed environment is studied. For 3D environment, the optimal paths are classified into three different types. The optimal paths of each type are obtained flexibly by using genetic algorithm, especially the incorporating of problem-specific knowledge and penalty function. Simulation results show the feasibility and reliability of the path-planning algorithm, which has considerable value on the safe navigation of AUV in seabed environment.

Keywords： 3D path planning     genetic algorithm     seabed terrain     underwater vehicle    

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The Shortest Path for Mobile Robots in Obstacle Avoidance

Guo Ge

Strategic Study of CAE 2003, Volume 5, Issue 5,   Pages 70-75

Abstract:

An obstacle avoidance strategy for mobile robot is presented based on obstacle position and size information. Furthermore, rational robot paths in obstacle avoidance are discussed in detail, which leads to the final important result of optimal path for mobile robot to avoid an obstacle. Simple as the results are, they have been shown by simulations te be effective and convenient in implementation. A good application prospect of the result can thus be expected.

Keywords： mobile robot     ultrasonic sensor     obstacle avoidance     path planning     optimal path    

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Robust global route planning for an autonomous underwater vehicle in a stochastic environment Research Article

Jiaxin ZHANG, Meiqin LIU, Senlin ZHANG, Ronghao ZHENG

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 11,   Pages 1658-1672 doi: 10.1631/FITEE.2200026

Abstract:

This paper describes a route planner that enables an to selectively complete part of the predetermined tasks in the operating ocean area when the local path cost is stochastic. The problem is formulated as a variant of the . Based on the (GA), we propose the greedy strategy based GA (GGA) which includes a novel rebirth operator that maps infeasible individuals into the feasible solution space during evolution to improve the efficiency of the optimization, and use a differential evolution planner for providing the deterministic local path cost. The uncertainty of the local path cost comes from unpredictable obstacles, measurement error, and trajectory tracking error. To improve the robustness of the planner in an uncertain environment, a sampling strategy for path evaluation is designed, and the cost of a certain route is obtained by multiple sampling from the probability density functions of local paths. Monte Carlo simulations are used to verify the superiority and effectiveness of the planner. The promising simulation results show that the proposed GGA outperforms its counterparts by 4.7%–24.6% in terms of total profit, and the sampling-based GGA route planner (S-GGARP) improves the average profit by 5.5% compared to the GGA route planner (GGARP).

Keywords： Autonomous underwater vehicle     Route planning     Genetic algorithm     Orienteering problem     Stochastic path cost    

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An improved immunity path planning algorithm for mobile robots based on the guidance weight of artificial potential field

Wang Sunan,Wu Canyang

Strategic Study of CAE 2013, Volume 15, Issue 1,   Pages 73-78

Abstract:

To solve the path planning problem of mobile robots in complicated environments, combining the small computational amount of artificial potential field and the adaptive regulation ability of artificial immune network, an improved immunity path planning algorithm is presented. To further improve the search ability and convergence of immune network, the planning results of artificial potential field are taken as the prior knowledge to construct the guidance weight, and the antibody instruction definition and distance changes after the antibody transition are taken as the variables to construct the antibody transmission probability operator. Compared with the correlative planning algorithms, simulation results indicate that the optimal planning ability and network convergence of proposed algorithm is highly improved.

Keywords： immune network     artificial potential field     mobile robots     path planning    

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Study on Algorithm A* Based on Dynamic Representation of Binary Tree for Environment and Robotic Path Planning

Tang Ping,Yang Yimin

Strategic Study of CAE 2002, Volume 4, Issue 9,   Pages 50-53

Abstract:

This paper deals with a way of representing dynamic environment based on binary-tree. A new algorithm A* , which plans the path of soccer robots in complicated environments is presented. With the soccer game's environments represented by dynamic binary-tree, optimal results were obtained in a simulation of the soccer game.

Keywords： dynamic binary-tree     algorithm A*     path planning    

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Parameter value selection strategy for complete coverage path planning based on the Lü system to perform specific types of missions Research Article

Caihong LI, Cong LIU, Yong SONG, Zhenying LIANG

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 2,   Pages 231-244 doi: 10.1631/FITEE.2200211

Abstract: We propose a novel for the ; to construct a chaotic robot to accomplish the task. The algorithm can meet the requirements of high randomness and coverage rate to perform specific types of missions. First, we roughly determine the value range of the parameter of the ; to meet the requirement of being a dissipative . Second, we calculate the s to narrow the value range further. Next, we draw the phase planes of the to approximately judge the topological distribution characteristics of its trajectories. Furthermore, we calculate the of the variable for those good ones to judge its random characteristics. Finally, we construct a chaotic robot using variables with the determined parameter values and simulate and test the coverage rate to study the relationship between the coverage rate and the random characteristics of the variables. The above selection strategy gradually narrows the value range of the parameter according to the randomness requirement of the coverage trajectory. Using the proposed strategy, proper variables can be chosen with a larger to construct a chaotic robot with a higher coverage rate. Another chaotic , the Lorenz , is used to verify the feasibility and effectiveness of the designed strategy. The proposed strategy for enhancing the coverage rate of the mobile robot can improve the efficiency of accomplishing CCPP tasks under specific types of missions.

Keywords： Chaotic mobile robot     Lü     system     Complete coverage path planning (CCPP)     Parameter value selection strategy     Lyapunov exponent     Pearson correlation coefficient    

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Design and verification of a transfer path optimization method for an aircraft on the aircraft carrier flight deck Research Articles

Weichao Si, Tao Sun, Chao Song, Jie Zhang,luckydevilsi@163.com,luckydevilhan@163.com,sxwxc.1984@163.com,zhangjie9886@126.com

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 9,   Pages 1221-1233 doi: 10.1631/FITEE.2000251

Abstract: This paper studies the problem for safe transfer of an aircraft on the aircraft carrier under a poor visibility condition or at night. First, we analyze the problem for carrier-based aircraft on the , and define the objective to be optimized and the constraints to be met. Second, to solve this problem, the mathematical support models for the , entity, entity extension, entity posture, entity conflict detection, and path smoothing are established, as they provide the necessary basis for of the aircraft on the aircraft carrier. Third, to enable automatic , we design a multi-habitat parallel chaos algorithm (called KCMPSO), and use it as the optimization method for . Finally, we take the Kuznetsov aircraft carrier as a verification example, and conduct simulations. The simulation results show that compared with particle swarm optimization, this method can solve the problem for an aircraft on the aircraft carrier better.

Keywords： 舰载机；飞行甲板；转运路径规划；KCMPSO算法；方法设计与验证    

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Overall Framework and Development Path of National Land Space Resilience Planning and Construction

Wang Wei, Zhu Junyi, Fei Zhitao, Ma Donghui, Du Xiuli

Strategic Study of CAE 2023, Volume 25, Issue 3,   Pages 209-218 doi: 10.15302/J-SSCAE-2023.03.017

Abstract:

Given the frequent occurrence of natural disasters and public emergencies, China’s land space security is facing severe challenges, especially in terms of disaster risk prevention and control as well as the planning and development of land space resilience. It is imperative to integrate resilience planning with national land space planning, to improve land space’s capacity for disaster prevention and mitigation and satisfy the country’s requirements for high-quality development of the national land. This study analyzes the current status and existing problems in the planning and construction of China’s land space resilience, proposes the objectives and general ideas, and constructs an overall framework for the planning and construction of national space resilience. A development path is also summarized from the aspects of technology methods, spatial governance, and working system. Furthermore, countermeasures are suggested from three aspects, namely, optimizing the legal and regulatory system, policy system, and technical standards system, to provide a decision-making reference for the research and practice of land space resilience planning and construction in China.

Keywords： land space     resilience planning     framework     resilient city     disaster prevention and mitigation     hazard control    

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A Flexible Multi-Layer Map Model Designed for Lane-Level Route Planning in Autonomous Vehicles Article

Kun Jiang, Diange Yang, Chaoran Liu, Tao Zhang, Zhongyang Xiao

Engineering 2019, Volume 5, Issue 2,   Pages 305-318 doi: 10.1016/j.eng.2018.11.032

Abstract:

An increasing number of drivers are relying on digital map navigation systems in vehicles or mobile phones to select optimal driving routes in order to save time and improve safety. In the near future, digital map navigation systems are expected to play more important roles in transportation systems. In order to extend current navigation systems to more applications, two fundamental problems must be resolved: the lane-level map model and lane-level route planning. This study proposes solutions to both problems. The current limitation of the lane-level map model is not its accuracy but its flexibility; this study proposes a novel seven-layer map structure, called as Tsinghua map model, which is able to support autonomous driving in a flexible and efficient way. For lane-level route planning, we propose a hierarchical route-searching algorithm to accelerate the planning process, even in the presence of complicated lane networks. In addition, we model the travel costs allocated for lane-level road networks by analyzing vehicle maneuvers in traversing lanes, changing lanes, and turning at intersections. Tests were performed on both a grid network and a real lane-level road network to demonstrate the validity and efficiency of the proposed algorithm.

Keywords： Lane-level     Route planning     Tsinghua map model     Travel cost model    

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Strategy and Route-Planning Research on China’s Engineering Science and Technology Development

Task Force for the Research on China’s Engineering Science and Technology Development Strategy 2035 Comprehensive Research Group

Strategic Study of CAE 2017, Volume 19, Issue 1,   Pages 27-33 doi: 10.15302/J-SSCAE-2017.01.005

Abstract:

Engineering science and technology is strongly linked with production, and is the most direct driving force for the Two Centenary Goals of China. The main tasks of medium- and long-term strategic research on engineering science and technology are to design a development route for China's engineering science and technology aim toward scientific and technological power, based on China's situation and development requirement analyses. This paper introduces the methodology applied in our project for medium- and long-term development strategy research on engineering science and technology, and proposes a general idea and strategic framework for China's engineering science and technology development to 2035.

Keywords： 2035     China’s engineering science and technology development     strategic framework     route planning     strategic research method     technology foresight     requirement analysis    

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Complete coverage path planning for an Arnold system based mobile robot to perform specific types of missions Regular Article

Cai-hong Li, Chun Fang, Feng-ying Wang, Bin Xia, Yong Song,lich@sdut.edu.cn

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 11,   Pages 1530-1542 doi: 10.1631/FITEE.1800616

Abstract: We propose a algorithm to plan a complete coverage trajectory for a mobile robot to accomplish specific types of missions based on the Arnold dynamical system. First, we construct a chaotic mobile robot by combining the variable of the Arnold equation and the kinematic equation of the robot. Second, we construct the s including the initial points with a relatively high coverage rate of the constructed mobile robot. Then the trajectory is contracted to the current position of the robot based on the designed strategy, to form a continuous complete coverage trajectory to execute the specific types of missions. Compared with the traditional method, the designed algorithm requires no obstacle avoidance to the boundary of the given workplace, possesses a high coverage rate, and keeps the chaotic characteristics of the produced coverage trajectory relatively unchanged, which enables the robot to accomplish special missions with features of completeness, randomness, or unpredictability.

Keywords： 混沌机器人；Arnold动力学系统；压缩变换；全覆盖遍历路径；候选集    

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Dynamic value iteration networks for the planning of rapidly changing UAV swarms Research Articles

Wei Li, Bowei Yang, Guanghua Song, Xiaohong Jiang,li2ui2@zju.edu.cn,boweiy@zju.edu.cn,ghsong@zju.edu.cn,jiangxh@zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 5,   Pages 615-766 doi: 10.1631/FITEE.1900712

Abstract: In an unmanned aerial vehicle ad-hoc network (UANET), sparse and rapidly mobile unmanned aerial vehicles (UAVs)/nodes can dynamically change the UANET topology. This may lead to UANET service performance issues. In this study, for planning rapidly changing UAV swarms, we propose a dynamic value iteration network (DVIN) model trained using the method with the connection information of UANETs to generate a state value spread function, which enables UAVs/nodes to adapt to novel physical locations. We then evaluate the performance of the DVIN model and compare it with the non-dominated sorting genetic algorithm II and the exhaustive method. Simulation results demonstrate that the proposed model significantly reduces the decision-making time for UAV/node with a high average success rate.

Keywords： 动态值迭代网络；场景式Q学习；无人机自组网；NSGA-II；路径规划    

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A distributed variable density path search and simplification method for industrial manipulators with end-effector’s attitude constraints Research Article

Jin WANG, Shengjie LI, Haiyun ZHANG, Guodong LU, Yichang FENG, Peng WANG, Jituo LI,dwjcom@zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 4,   Pages 536-552 doi: 10.1631/FITEE.2200353

Abstract: In many robot operation scenarios, the end-effector’s of movement are indispensable for the task process, such as robotic welding, spraying, handling, and stacking. Meanwhile, the inverse kinematics, collision detection, and space search are involved in the procedure under , making it difficult to achieve satisfactory efficiency and effectiveness in practice. To address these problems, we propose a distributed variable density method with (DVDP-AC) for . First, a position– reconstruction (PACR) approach is proposed in the inverse kinematic solution. Then, the (DSDF) model with single-step safety sphere (SSS) is designed to improve the efficiency of collision detection. Based on this, the variable density path search method is adopted in the Cartesian space. Furthermore, a novel forward sequential (FSPS) approach is proposed to adaptively eliminate redundant path points considering path accessibility. Finally, experimental results verify the performance and effectiveness of the proposed DVDP-AC method under end-effector’s , and its characteristics and advantages are demonstrated by comparison with current mainstream methods.

Keywords： Path planning     Industrial robots     Distributed signed-distance-field     Attitude constraints     Path simplification    

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Promoting the Construction of Xiongan New Area Through Energy Revolution: General Idea and Implementation Route

Ma Lianxiang, Jiang Ming, Lei Zhongmin, Li Changsheng, Deng Yuyong, Wang Zepeng, Tian Zhen

Strategic Study of CAE 2021, Volume 23, Issue 1,   Pages 32-41 doi: 10.15302/J-SSCAE-2021.01.007

Abstract:

Based on the strategic background, positioning, and objectives of the planning and construction of the Xiongan New Area, an analysis model framework is established for the requirements for energy revolution during the planning and construction of this area. We conclude that energy revolution can actively promote the construction of the Xiongan New Area. Specifically, energy technology revolution can aid the Xiongan New Area to become a global energy innovation center; the energy operation mode of this area can be reformed through energy system revolution; the planning and construction requirements of the Xiongan New Area can be satisfied through energy consumption revolution; and a safe and efficient energy supply system can be ensured through energy supply revolution. Furthermore, an urban energy supply system that is green, safe, efficient, smart-friendly, and future-leading can be created in the Xiongan New Area through the energy revolution, particularly through key projects regarding energy integrated operation systems, energy Internet, green and smart transportation systems, ultra-low-energy buildings, and energy saving and emission reduction.

Keywords： energy revolution，demand analysis，Xiongan New Area，planning and construction    

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The Path Dependence of Chinese Corporate Governance——Theoretical and Positive Analysis

Bing Hongyan

Strategic Study of CAE 2004, Volume 6, Issue 2,   Pages 82-87

Abstract:

Building on reviewing the theories of path dependence, this paper analyses the two sources of the path dependence of corporate governance, i. e. Structure-driven path dependence and rule-driven path dependence,and reveals the effect of the path dependence in corporate governance. At last, this paper analyses the developing process of Chinese corporate governance, and points out three kinds of path dependence influencing Chinese corporate governance.

Keywords： Chinese corporate governance     path dependence     structure-driven path dependence     rule-driven path dependence    

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Title Author Date Type Operation

AUV Path Planning in 3D Seabed Environment Using Genetic Algorithm

Hao Yanling,Zhang Jingjuan

Journal Article

The Shortest Path for Mobile Robots in Obstacle Avoidance

Guo Ge

Journal Article

Robust global route planning for an autonomous underwater vehicle in a stochastic environment

Jiaxin ZHANG, Meiqin LIU, Senlin ZHANG, Ronghao ZHENG

Journal Article

An improved immunity path planning algorithm for mobile robots based on the guidance weight of artificial potential field

Wang Sunan,Wu Canyang

Journal Article

Study on Algorithm A* Based on Dynamic Representation of Binary Tree for Environment and Robotic Path Planning

Tang Ping,Yang Yimin

Journal Article

Parameter value selection strategy for complete coverage path planning based on the Lü system to perform specific types of missions

Caihong LI, Cong LIU, Yong SONG, Zhenying LIANG

Journal Article

Design and verification of a transfer path optimization method for an aircraft on the aircraft carrier flight deck

Weichao Si, Tao Sun, Chao Song, Jie Zhang,luckydevilsi@163.com,luckydevilhan@163.com,sxwxc.1984@163.com,zhangjie9886@126.com

Journal Article

Overall Framework and Development Path of National Land Space Resilience Planning and Construction

Wang Wei, Zhu Junyi, Fei Zhitao, Ma Donghui, Du Xiuli

Journal Article

A Flexible Multi-Layer Map Model Designed for Lane-Level Route Planning in Autonomous Vehicles

Kun Jiang, Diange Yang, Chaoran Liu, Tao Zhang, Zhongyang Xiao

Journal Article

Strategy and Route-Planning Research on China’s Engineering Science and Technology Development

Task Force for the Research on China’s Engineering Science and Technology Development Strategy 2035 Comprehensive Research Group

Journal Article

Complete coverage path planning for an Arnold system based mobile robot to perform specific types of missions

Cai-hong Li, Chun Fang, Feng-ying Wang, Bin Xia, Yong Song,lich@sdut.edu.cn

Journal Article

Dynamic value iteration networks for the planning of rapidly changing UAV swarms

Wei Li, Bowei Yang, Guanghua Song, Xiaohong Jiang,li2ui2@zju.edu.cn,boweiy@zju.edu.cn,ghsong@zju.edu.cn,jiangxh@zju.edu.cn

Journal Article

A distributed variable density path search and simplification method for industrial manipulators with end-effector’s attitude constraints

Jin WANG, Shengjie LI, Haiyun ZHANG, Guodong LU, Yichang FENG, Peng WANG, Jituo LI,dwjcom@zju.edu.cn

Journal Article

Promoting the Construction of Xiongan New Area Through Energy Revolution: General Idea and Implementation Route

Ma Lianxiang, Jiang Ming, Lei Zhongmin, Li Changsheng, Deng Yuyong, Wang Zepeng, Tian Zhen

Journal Article

The Path Dependence of Chinese Corporate Governance——Theoretical and Positive Analysis

Bing Hongyan

Journal Article