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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
Keywords： 舰载机；飞行甲板；转运路径规划；KCMPSO算法；方法设计与验证
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
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
Tang Ping,Yang Yimin
Strategic Study of CAE 2002, Volume 4, Issue 9, Pages 50-53
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
Nonlinear programming control using differential aerodynamic drag for CubeSat formation flying Article
Sheng-chao DENG, Tao MENG, Zhong-he JIN
Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 7, Pages 867-881 doi: 10.1631/FITEE.1500493
Keywords： QB50 ZJUCubeSat Atmospheric drag Formation flying
Zero-failure accelerated reliability demonstration test method based on degradation model
Zhang Huirui
Strategic Study of CAE 2015, Volume 17, Issue 5, Pages 31-37
Traditional life demonstration test is conducted under normal conditions and fails to use degradation observations，thus requires large amount of time and money. We can employ degradation data to predict whether a unit will pass the test by the end of test，and the test can be terminated early when this prediction does not cost unacceptable risk. Also higher stress can accelerate the degradation of the unit to cut down the test time. Thus it is necessary to propose a method that take advantage of both degradation data and accelerated test to reduce the test time and cost，which is done by this article. In particular，the article propose an approach to analyses and calculate the additional risks caused by early termination of the test and applying higher stress based on degradation model，then the minimum sample size of different test time can be picked. The article also use optimal plan to give expected test time and give deciding rules of terminating the test for each unit. At last，the method is illustrated by an example， showing that the method is efficient in reducing test time.
Keywords： degradation model；accelerated testing；life demonstration；risk analysis；optimum plan
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
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
Wang Sunan,Wu Canyang
Strategic Study of CAE 2013, Volume 15, Issue 1, Pages 73-78
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
A surrogate-based optimization algorithm for network design problems Article
Meng LI, Xi LIN, Xi-qun CHEN
Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 11, Pages 1693-1704 doi: 10.1631/FITEE.1601403
Keywords： Network design problem Surrogate-based optimization Transportation planning Heuristics
Robot Pilot: A New Autonomous System Toward Flying Manned Aerial Vehicles Article
Zibo Jin, Daochun Li, Jinwu Xiang
Engineering 2023, Volume 27, Issue 8, Pages 242-253 doi: 10.1016/j.eng.2022.10.018
The robot pilot is a new concept of a robot system that pilots a manned aircraft, thereby forming a new type of unmanned aircraft system (UAS) that makes full use of the platform maturity, load capacity, and airworthiness of existing manned aircraft while greatly expanding the operation and application fields of UASs. In this research, the implementation and advantages of the robot pilot concept are discussed in
detail, and a helicopter robot pilot is proposed to fly manned helicopters. The robot manipulators are designed according to the handling characteristics of the helicopter-controlling mechanism. Based on a kinematic analysis of the robot manipulators, a direct-driving method is established for the robot flight controller to reduce the time delay and control error of the robot servo process. A supporting ground station
is built to realize different flight modes and the functional integration of the robot pilot. Finally, a prototype of the helicopter robot pilot is processed and installed in a helicopter to carry out flight tests. The test results show that the robot pilot can independently fly the helicopter to realize forward flight, backward flight, side flight, and turning flight, which verifies the effectiveness of the helicopter robot pilot.
Keywords： Helicopter Robot pilot Flight control Unmanned system
Efficient Configuration Space Construction and Optimization for Motion Planning Article
Jia Pan, Dinesh Manocha
Engineering 2015, Volume 1, Issue 1, Pages 46-57 doi: 10.15302/J-ENG-2015009
The configuration space is a fundamental concept that is widely used in algorithmic robotics. Many applications in robotics, computer-aided design, and related areas can be reduced to computational problems in terms of configuration spaces. In this paper, we survey some of our recent work on solving two important challenges related to configuration spaces: ① how to efficiently compute an approximate representation of high-dimensional configuration spaces; and ② how to efficiently perform geometric proximity and motion planning queries in high-dimensional configuration spaces. We present new configuration space construction algorithms based on machine learning and geometric approximation techniques. These algorithms perform collision queries on many configuration samples. The collision query results are used to compute an approximate representation for the configuration space, which quickly converges to the exact configuration space. We also present parallel GPU-based algorithms to accelerate the performance of optimization and search computations in configuration spaces. In particular, we design efficient GPU-based parallel k-nearest neighbor and parallel collision detection algorithms and use these algorithms to accelerate motion planning.
Keywords： configuration space motion planning GPU parallel algorithm
Conference Date: 1 Jun 2019
Conference Place: 中国/北京/朝阳
Administered by: 中国农业工程学会标准化专业委员会
A-STC: auction-based spanning tree coverage algorithm formotion planning of cooperative robots Research Article
Guan-qiang GAO, Bin XIN
Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 1, Pages 18-31 doi: 10.1631/FITEE.1800551
The multi-robot coverage motion planning (MCMP) problem in which every reachable area must be covered is common in multi-robot systems. To deal with the MCMP problem, we propose an efficient, complete, and off-line algorithm, named the “auction-based spanning tree coverage (A-STC)” algorithm. First, the configuration space is divided into mega cells whose size is twice the minimum coverage range of a robot. Based on connection relationships among mega cells, a graph structure can be obtained. A robot that circumnavigates a spanning tree of the graph can generate a coverage trajectory. Then, the proposed algorithm adopts an auction mechanism to construct one spanning tree for each robot. In this mechanism, an auctioneer robot chooses a suitable vertex of the graph as an auction item from neighboring vertexes of its spanning tree by heuristic rules. A bidder robot submits a proper bid to the auctioneer according to the auction vertexes’ relationships with the spanning tree of the robot and the estimated length of its trajectory. The estimated length is calculated based on vertexes and edges in the spanning tree. The bidder with the highest bid is selected as a winner to reduce the makespan of the coverage task. After auction processes, acceptable coverage trajectories can be planned rapidly. Computational experiments validate the effectiveness of the proposed MCMP algorithm and the method for estimating trajectory lengths. The proposed algorithm is also compared with the state-of-the-art algorithms. The comparative results show that the A-STC algorithm has apparent advantages in terms of the running time and the makespan for large crowded configuration spaces.
Keywords： Coverage motion planning Multi-robot system Auction algorithm Spanning tree coverage algorithm
The Shortest Path for Mobile Robots in Obstacle Avoidance
Guo Ge
Strategic Study of CAE 2003, Volume 5, Issue 5, Pages 70-75
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
Lateral Vibration Analyses of Flying Vehicle under Thrust and Drag
Song Jian
Strategic Study of CAE 2000, Volume 2, Issue 10, Pages 63-72
In this paper, the influence of thrust and air drag on rocket lateral vibration is studied, and the frequency reduction under the thrust and drag is analyzed. The formulas for evaluation of the changes of frequencies and vibration modes are obtained. The equations of transverse movement when nozzle connected rigidly with rocket and related boundary conditions form the basis for analyses. The conclusions obtained are applicable for active accelerating and passive decelerating parts of trajectory as well as the cruise flight when thrust and drag are balanced. The analyses show that for small thrust and small axial overload, the discrepancy resulted from different calculation methods is not big, whereas for the heavy overloaded case a more accurate solution is extremely necessary.
Keywords： aircraft rocket lateral vibration thrust and drag vibration mode and frequency
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
Keywords： Path planning Industrial robots Distributed signed-distance-field Attitude constraints Path simplification
Title Author Date Type Operation
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
AUV Path Planning in 3D Seabed Environment Using Genetic Algorithm
Hao Yanling,Zhang Jingjuan
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
Nonlinear programming control using differential aerodynamic drag for CubeSat formation flying
Sheng-chao DENG, Tao MENG, Zhong-he JIN
Journal Article
Zero-failure accelerated reliability demonstration test method based on degradation model
Zhang Huirui
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
A surrogate-based optimization algorithm for network design problems
Meng LI, Xi LIN, Xi-qun CHEN
Journal Article
Robot Pilot: A New Autonomous System Toward Flying Manned Aerial Vehicles
Zibo Jin, Daochun Li, Jinwu Xiang
Journal Article
Efficient Configuration Space Construction and Optimization for Motion Planning
Jia Pan, Dinesh Manocha
Journal Article
农业规划设计与标准规范研讨会
1 Jun 2019
Conference Information
A-STC: auction-based spanning tree coverage algorithm formotion planning of cooperative robots
Guan-qiang GAO, Bin XIN
Journal Article
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