Application of A* Algorithm for Real-time Path Re-planning of an Unmanned Surface Vehicle Avoiding Underwater Obstacles

This paper describes path re-planning techniques and underwater obstacle avoidance for unmanned surface vehicle(USV) based on multi-beam forward looking sonar(FLS). Near-optimal paths in static and dynamic environments with underwater obstacles are computed using a numerical solution procedure based on an A* algorithm. The USV is modeled with a circular shape in 2 degrees of freedom(surge and yaw). In this paper, two-dimensional(2-D) underwater obstacle avoidance and the robust real-time path re-planning technique for actual USV using multi-beam FLS are developed. Our real-time path re-planning algorithm has been tested to regenerate the optimal path for several updated frames in the field of view of the sonar with a proper update frequency of the FLS. The performance of the proposed method was verified through simulations, and sea experiments. For simulations, the USV model can avoid both a single stationary obstacle, multiple stationary obstacles and moving obstacles with the near-optimal trajectory that are performed both in the vehicle and the world reference frame. For sea experiments, the proposed method for an underwater obstacle avoidance system is implemented with a USV test platform. The actual USV is automatically controlled and succeeded in its real-time avoidance against the stationary undersea obstacle in the field of view of the FLS together with the Global Positioning System(GPS) of the USV.

On-line real-time path planning of mobile robots in dynamic uncertain environment

A new path planning method for mobile robots in globally unknown environment with moving obstacles is pre- sented. With an autoregressive (AR) model to predict the future positions of moving obstacles, and the predicted position taken as the next position of moving obstacles, a motion path in dynamic uncertain environment is planned by means of an on-line real-time path planning technique based on polar coordinates in which the desirable direction angle is taken into consideration as an optimization index. The effectiveness, feasibility, high stability, perfect performance of obstacle avoidance, real-time and optimization capability are demonstrated by simulation examples.

Investigating path loss characteristics of UWB signals in vacancy indoor environment based on time-domain technique

The path loss analysis model based on 5 rays in vacancy indoor environment is proposed. The relationship between multipath overlapping and the path loss is analyzed mathematically. Time-domain technique is introduced to compute reflection coefficient in a very short time interval. A 5 rays path loss calculation method, which is satisfactory accurate, is developed. 5 typical environments are involved to analyze and generalize the common path loss characteristics in vacancy indoor environment. The simulation result shows that the path loss can be characterized as 3 zones with different path loss exponent as distance between transmitter and receiver increasing.

Cooperative path planning for multi-AUV in time-varying ocean flows

For low-speed underwater vehicles, the ocean currents has a great influence on them, and the changes in ocean currents is complex and continuous, thus whose impact must be taken into consideration in the path planning. There are still lack of authoritative indicator and method for the cooperating path planning. The calculation of the voyage time is a difficult problem in the time-varying ocean, for the existing methods of the cooperating path planning, the computation time will increase exponentially as the autonomous underwater vehicle（AUV） counts increase, rendering them unfeasible. A collaborative path planning method is presehted for multi-AUV under the influence of time-varying ocean currents based on the dynamic programming algorithm. Each AUV cooperates with the one who has the longest estimated time of sailing, enabling the arrays of AUV to get their common goal in the shortest time with minimum timedifference. At the same time, they could avoid the obstacles along the way to the target. Simulation results show that the proposed method has a promising applicability.

Weighted Time-Based Global Hierarchical Path Planning in Dynamic Environment

A weighted time-based global hierarchical path planning method is proposed to obtain the global optimal path from the starting point to the destination with time optimal control. First, the grid-or graph-based modeling is performed and the environment is divided into a set of grids or nodes. Then two time-based features of time interval and time cost are presented. The time intervals for each grid are built, during each interval the condition of the grid remains stable, and a time cost of passing through the grid is defined and assigned to each interval. Furthermore, the weight is introduced for taking both time and distance into consideration, and thus a sequence of multiscale paths with total time cost can be achieved. Experimental results show that the proposed method can handle the complex dynamic environment, obtain the global time optimal path and has the potential to be applied to the autonomous robot navigation and traffic environment.

The Algorithm of the Time-Dependent Shortest Path Problem with Time Windows

In this paper, we present a new algorithm of the time-dependent shortest path problem with time windows. Give a directed graph , where V is a set of nodes, E is a set of edges with a non-negative transit-time function . For each node , a time window ?within which the node may be visited and ?, is non-negative of the service and leaving time of the node. A source node s, a destination node d and a departure time?t0, the time-dependent shortest path problem with time windows asks to find an s, d-path that leaves a source node s at a departure time t0;and minimizes the total arrival time at a destination node d. This formulation generalizes the classical shortest path problem in which ce are constants. Our algorithm of the time windows gave the generalization of the ALT algorithm and A* algorithm for the classical problem according to Goldberg and Harrelson [1], Dreyfus [2] and Hart et al. [3].

Nearly time-optimal paths for a ground vehicle

It is well known that the sufficient family of time-optimal paths for both Dubins' as well as Reeds-Shepp' s car models consist of the concatenation of circular arcs with maximum curvature and straight line segments, all tangentially connected. These time-optimal solutions suffer from some drawbacks. Their discontinuous curvature profile, together with the wear and impairment on the control equipment that the bang-bang solutions induce, calls for ' smoother' and more supple reference paths to follow. Avoiding the bang-bang solutions also raises the robustness with respect to any possible uncertainties. In this paper, our main tool for generating these “nearly time-optimal” , but nevertheless continuous-curvature paths, is to use the Pontryagin Maximum Principle (PMP) and make an appropriate and cunning choice of the Lagrangian function. Despite some rewarding simulation results, this concept turns out to be numerically divergent at some instances. Upon a more careful investigation, it can be concluded that the problem at hand is nearly singular. This is seen by applying the PMP to Dubins car and studying the corresponding two point boundary value problem, which turn out to be singular. Realizing this, one is able to contradict the widespread belief that all the information about the motion of a mobile platform lies in the initial values of the auxiliary variables associated with the PMP. Keywords Time-optimal paths - Motion planning - Optimal control - Pontryagin maximum principle - UGV

Short Baseline Positioning with an Improved Time Reversal Technique in a Multi-path Channel

在水下面的一条多路径隧道的存在极大地减少放系统的短基线的精确性。在这份报纸，到放系统的短基线的一面时间颠倒镜子的申请被调查。时间颠倒镜子技术允许声学的信号更好集中在未知环境，它有效地减少了多路径的扩大声学的信号象一样改进了集中的信号。时间颠倒操作员的 signal-to-noise 比率(SNR ) 极大地增加了并且能被 ensonifying 获得水。这种技术被环境并且因此少些影响对复杂的浅水环境更适用。数字模拟和水池实验被用来表明这种技术的效率。

Real-time accurate hand path tracking and joint trajectory planning for industrial robots(Ⅰ)

Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot′s hand and does not change the number of the path′s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots.

Optimal paths planning in dynamic transportation networks with random link travel times

A theoretical study was conducted on finding optimal paths in transportation networks where link travel times were stochastic and time-dependent(STD). The methodology of relative robust optimization was applied as measures for comparing time-varying, random path travel times for a priori optimization. In accordance with the situation in real world, a stochastic consistent condition was provided for the STD networks and under this condition, a mathematical proof was given that the STD robust optimal path problem can be simplified into a minimum problem in specific time-dependent networks. A label setting algorithm was designed and tested to find travelers' robust optimal path in a sampled STD network with computation complexity of O(n2+n·m). The validity of the robust approach and the designed algorithm were confirmed in the computational tests. Compared with conventional probability approach, the proposed approach is simple and efficient, and also has a good application prospect in navigation system.

Minimum-time trajectory planning based on the shortest path for the wheeled mobile robot

The time-optimal trajectory planning is proposed under kinematic and dynamic constraints for a 2-DOF wheeled robot. In order to make full use of the motor’s capacity, we calculate the maximum torque and the minimum torque by considering the maximum heat-converted power generated by the DC motor. The shortest path is planned by using the geometric method under kinematic constraints. Under the bound torques, the velocity limits and the maximum acceleration (deceleration) are obtained by combining with the dynamics. We utilize the phase-plane analysis technique to generate the time optimal trajectory based on the shortest path. At last, the computer simulations for our laboratory mobile robot were performed. The simulation results prove the proposed method is simple and effective for practical use.

Optimal Path Finding Method Study Based on Stochastic Travel Time

Finding optimal path in a given network is an important content of intelligent transportation information service. Static shortest path has been studied widely and many efficient searching methods have been developed, for example Dijkstra’s algorithm, Floyd-Warshall, Bellman-Ford, A* et al. However, practical travel time is not a constant value but a stochastic value. How to take full use of the stochastic character to find the shortest path is a significant problem. In this paper, GPS floating car is used to detect road section’s travel time. The probability distribution of travel time is estimated according to Bayes estimation method. The combined probability distribution of a feasible route is calculated according to probability operation. The objective function is to find the route that has the biggest probability to arrive for desired time thresholds. Improved Genetic Algorithm is used to calculate the optimal path. The efficiency of the proposed method is illustrated with a practical example.

Real-time accurate hand path tracking and joint trajectory planning for industrial robots(Ⅱ)

Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method resulted in the heavier on line computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real time accurate hand path tracking and joint trajectory planning method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and a cosinoidal function to the joint displacement equation of each segment, this method can raise the path tracking accuracy of robot′s hand greatly but does not increase the computational burden of robot controller markedly.

网络文明建设的时代语境、重要特征和实现路径

网络文明是伴随人类进入互联网时代而产生的一种新的文明形式,是人类文明的重要组成部分和重要标志,是社会发展进步的重要体现。加强网络文明建设是实施文化强国和网络强国战略的重要内容。当前,纷繁复杂的国际话语格局、风谲云诡的社会思潮持续威胁我国网络文明建设进程。基于人类文明新形态的时代语境,网络文明建设不仅是社会主义精神文明建设的现实需要,更是推进网络强国战略向纵深发展的重要抓手。网络文明建设应深刻把握党性与人民性统一的价值特征、技术驱动性与发展融合性统一的发展特征、共建性与共享性统一的实践特征和系统性与前瞻性统一的战略特征。为了高质量建设网络文明,须从顶层设计优化、内容生态建设、网络道德建设、网络法治建设和聚力科技赋能五个维度精准把握,坚持制度引领、政治导向、以德促管、依法治网和强化智治支撑,凝聚强大发展合力,构筑积极健康、向上向善的网络文化,为中国式现代化提供风清气正的网络空间与健康和谐的网络生态。

机场群场面碳排放时空特征和驱动因素分析

以减少场面碳排放为目标,为航空器滑行路径优化提供理论依据,对川渝地区机场群场面碳排放量的时空特征及驱动因素进行了分析,并提出相应的减排策略。基于历史航班数据采用局部空间关联指数时间路径模型对机场群场面碳排放的时空特征进行了分析,得出机场群场面碳排放的空间结构动态趋势;利用对数平均狄氏指数分解法对天府机场场面碳排放的驱动因素进行驱动效应分析,得到场面碳排放受客均座位数和城市连通数作用显著的结论。所提方法为机场场面滑行路径优化以及航班时刻的合理调整提供了理论研究基础,也可为机场相关单位提供节能减排策略的依据。

改进蚁群算法的送餐机器人路径规划

蚁群算法拥有良好的全局性、自组织性、鲁棒性,但传统蚁群算法存在许多不足之处。为此,针对算法在路径规划问题中的缺陷,在传统蚁群算法的状态转移公式中,引入目标点距离因素和引导素,加快算法收敛性和改善局部最优缺陷。在带时间窗的车辆路径问题(vehicle routing problem with time windows,VRPTW)上,融合蚁群算法和遗传算法,并将顾客时间窗宽度以及机器人等待时间加入蚁群算法状态转移公式中,以及将蚁群算法的解作为遗传算法的初始种群,提高遗传算法的初始解质量,然后进行编码,设置违反时间窗约束和载重量的惩罚函数和适应度函数,在传统遗传算法的交叉、变异操作后加入了破坏-修复基因的操作来优化每一代新解的质量,在Solomon Benchmark算例上进行仿真,对比算法改进前后的最优解,验证算法可行性。最后在餐厅送餐问题中把带有障碍物的仿真环境路径规划问题和VRPTW问题结合,使用改进后的算法解决餐厅环境下送餐机器人对顾客服务配送问题。

新时代我国民族传统体育文化的时代价值、现实挑战与行动路径研究

文章运用文献资料法和逻辑分析法等研究方法,对新时代我国民族传统体育文化进行研究。研究认为:助力实施体育强国战略,促进国际化交流与合作,铸牢中华民族共同体意识,提升人民群众幸福感是新时代赋予民族传统体育文化的时代价值;民族传统体育文化同时也面临生存土壤流失、项目参与度不高、文化内涵失真、传承后继乏人等诸多现实挑战,严重阻碍了自身价值的发挥。建议:面对现实挑战,倡导民族传统体育全民健身化;拓展民族传统体育文化传承新路径;加快民族传统体育文化产业融合发展;促进民族传统体育文化国际交流与传播,体现新时代民族传统体育文化时代价值。

德育一体化的时代转向与可行路径——专访北京师范大学韩震教授

德育是塑造国家认同,即公民的同一性、共同性和“我们感”的重要渠道。加强大中小学德育工作一直是党和国家教育事业的重要任务。新时代背景下,大中小学德育一体化更具高度、广度与深度等特点。就高度而言,新时代德育一体化是党和国家从培养担当中华民族伟大复兴使命的时代新人的高度提出来的理念;就广度而言,新时代德育一体化是从全社会、全员、全过程、全方位参与的角度进行设计的体系;就深度而言,新时代德育一体化是在借助新的教育教学研究成果以及中国特色社会主义建设成果基础上对德育工作进行深入探索的结果。因此,开展新时代德育一体化建设可以推进和深化对德育规律的认识。未来,大中小学德育一体化建设要坚持系统观念、直面问题、守正创新,并进一步在管理机制、教材建设以及教师教学等方面狠下功夫。

补偿声波测井扩径校正方法

准确的声波测井数据对地震资料时—深转换、合成记录制作、地震反演、油藏建模等具有重要作用。双发双收补偿声波测井能够较好地消除井径及泥浆的影响,消除记录点与测量点之间的深度误差,但当井径扩径大于校正门限时,产生的异常无法消除。文中从双发双收补偿声波测井仪器参数出发,基于费马时间最小原理,分析了井眼不同扩径状况下声波首波的传播路径,并推导了三种情况对应的声波时差校正公式。研究结果表明:应用推导的校正公式对实际声波时差数据进行处理校正,得到的声波时差更合理,更接近于地层的真实值。最后通过应用实例验证了方法的有效性。

大运河沿线省市文旅商产业融合发展研究——基于耦合协调、时空演进与发展路径分析

推动大运河沿线省市文旅商产业融合和高质量发展,是有效衔接国家重大发展战略的重要抓手。通过构建文旅商产业评价指标体系,测算大运河沿线省市2012-2020年文旅商产业耦合协调度,分析空间演化特征和影响路径。研究发现:研究期内大运河沿线省市文旅商融合水平整体呈现出逐年上升趋势;文旅商融合水平不同,且具有空间集聚性;在政策保障基础上及文旅商相关因素影响下,文旅商产业通过交叉、渗透和重组,从而实现产业协同发展形成文旅商产业综合体。因此,应采取差异化文旅商融合发展策略,以区域协同发展为基础,以大运河文化带建设为抓手,进一步推动大运河沿线省市形成全域统筹、区域协同的文旅商融合发展格局,实现大运河沿线省市经济社会文化高质量发展。