Rotary unmanned aerial vehicles path planning in rough terrain based on multi-objective particle swarm optimization

This paper presents a path planning approach for rotary unmanned aerial vehicles(R-UAVs)in a known static rough terrain environment.This approach aims to find collision-free and feasible paths with minimum altitude,length and angle variable rate.First,a three-dimensional(3D)modeling method is proposed to reduce the computation burden of the dynamic models of R-UAVs.Considering the length,height and tuning angle of a path,the path planning of R-UAVs is described as a tri-objective optimization problem.Then,an improved multi-objective particle swarm optimization algorithm is developed.To render the algorithm more effective in dealing with this problem,a vibration function is introduced into the collided solutions to improve the algorithm efficiency.Meanwhile,the selection of the global best position is taken into account by the reference point method.Finally,the experimental environment is built with the help of the Google map and the 3D terrain generator World Machine.Experimental results under two different rough terrains from Guilin and Lanzhou of China demonstrate the capabilities of the proposed algorithm in finding Pareto optimal paths.

Multi-objective evolutionary optimization for geostationary orbit satellite mission planning

In the past few decades, applications of geostationary orbit (GEO) satellites have attracted increasing attention, and with the development of optical technologies, GEO optical satellites have become popular worldwide. This paper proposes a general working pattern for a GEO optical satellite, as well as a target observation mission planning model. After analyzing the requirements of users and satellite control agencies, two objectives are simultaneously considered: maximization of total profit and minimization of satellite attitude maneuver angle. An NSGA-II based multi-objective optimization algorithm is proposed, which contains some heuristic principles in the initialization phase and mutation operator, and is embedded with a traveling salesman problem (TSP) optimization. The validity and performance of the proposed method are verified by extensive numerical simulations that include several types of point target distributions.

Multi-objective Transmission Expansion Planning Considering Life Cycle Cost

为克服目前全寿命周期成本（life cycle cost,LCC）技术的应用局限于设备运行或维护阶段的不足,针对输电网整体建立一个3维LCC层级模型,包括时间维度、元件维度和费用维度。费用维度进一步分解为设备级、系统级、外部环境成本。研究了以可靠性为中心的维护手段的应用对维护成本的影响,利用电量不足期望值计算故障成本。在此基础上,对风电等4种不确定因素进行建模,建立以LCC成本最小和切负荷量最小为多目标的输电网机会约束规划模型。采用正态边界交点算法联合改进小生境遗传算法,对模型有效求解。最后,分别对18节点系统和77节点系统进行算例分析。研究结果给出了帕累托解集及推荐的最优规划方案;此外,LCC费用分解图表明了各费用的比重和影响,有利于指导未来资产管理。

Multi-objective route planning approach for timely searching tasks of a supervised robot

To performance efficient searching for an operator-supervised mobile robot, a multiple objectives route planning approach is proposed considering timeliness and path cost. An improved fitness function for route planning is proposed based on the multi-objective genetic algorithm （MOGA） for multiple objectives traveling salesman problem （MOTSP）. Then, the path between two route nodes is generated based on the heuristic path planning method A ＊. A simplified timeliness function for route nodes is proposed to represent the timeliness of each node. Based on the proposed timeliness function, experiments are conducted using the proposed two-stage planning method. The experimental results show that the proposed MOGA with improved fitness function can perform the searching function well when the timeliness of the searching task needs to be taken into consideration.

Multi-Objective Production Planning Using Lexicographic Procedure

This paper presents a multi-objective production planning model for a factory operating under a multi-product, and multi-period environment using the lexicographic (pre-emptive) procedure. The model objectives are to maximize the profit, minimize the total cost, and maximize the Overall Service Level (OSL) of the customers. The system consists of three potential suppliers that serve the factory to serve three customers/distributors. The performance of the developed model is illustrated using a verification example. Discussion of the results proved the efficacy of the model. Also, the effect of the deviation percentages on the different objectives is discussed.

General Optimal Trajectory Planning:Enabling Autonomous Vehicles with the Principle of Least Action

This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently.Firstly,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline.Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve.Considering the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system.Furthermore,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and adaptability.Extensive simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants.Moreover,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.

Improved Fuzzification Method for Multi-Objective Decision-Making and Its Application in Evaluation of Highway Planning

A new fuzzification method for multi-objective decision-making and selective sorting is proposed on the basis of the fuzzy consistent relation, and the specific algorithm is presented. The method is applied to the evaluation of highway planning of Zhanjiang city. To decrease the subjectivity in the process of decision-making, the LOWA operator is introduced, and a discussion on how to select appropriate weights involved in multi-objective sorting is made. It is concluded that it is feasible to apply the fuzzy consistent relation to multi-objective decision-making analysis, and the improved fuzzication method is workable.

Real-Time Indoor Path Planning Using Object Detection for Autonomous Flying Robots

Unknown closed spaces are a big challenge for the navigation of robots since there are no global and pre-defined positioning options in the area.One of the simplest and most efficient algorithms,the artificial potential field algorithm(APF),may provide real-time navigation in those places but fall into local mini-mum in some cases.To overcome this problem and to present alternative escape routes for a robot,possible crossing points in buildings may be detected by using object detection and included in the path planning algorithm.This study utilized a proposed sensor fusion method and an improved object classification method for detecting windows,doors,and stairs in buildings and these objects were classified as valid or invalid for the path planning algorithm.The performance of the approach was evaluated in a simulated environment with a quadrotor that was equipped with camera and laser imaging detection and ranging(LIDAR)sensors to navigate through an unknown closed space and reach a desired goal point.Inclusion of crossing points allows the robot to escape from areas where it is con-gested.The navigation of the robot has been tested in different scenarios based on the proposed path planning algorithm and compared with other improved APF methods.The results showed that the improved APF methods and the methods rein-forced with other path planning algorithms were similar in performance with the proposed method for the same goals in the same room.For the goals outside the current room,traditional APF methods were quite unsuccessful in reaching the goals.Even though improved methods were able to reach some outside targets,the proposed method gave approximately 17%better results than the most success-ful example in achieving targets outside the current room.The proposed method can also work in real-time to discover a building and navigate between rooms.

Two-Phase Multi Objective Fuzzy Linear Programming Approach for Sustainable Irrigation Planning

The objective of the present study is to develop the irrigation planning model and to apply the same in the form of Two-Phase Multi Objective Fuzzy Linear Programming (TPMOFLP) approach for crop planning in command area of Jayakwadi Project Stage I, Maharashtra State, India. The development of TPMOFLP model is on the basis of various Linear Programming (LP) models and Multi Objective Fuzzy Linear Programming (MOFLP) models, these models have been applied for maximization of the Net Benefits (NB), Crop production (CP), Employment Generation (EG) and Manure Utilization (MU) respectively. The significant increase in the value of level of satisfaction (λ) has been found from 0.58 to 0.65 by using the TPMOFLP approach as compare to that of MOFLP model based on maxmin approach. The two-phase approach solution provides NB = 1503.56 Million Rupees, CP = 335729.30 Tons, EG = 29.74 Million Man days and MU = 160233.70 Tons respectively. The proposed model will be helpful for the Decision Maker (DM) to take a decision under conflicting situation while planning for different conflicting objectives simultaneously and has potential to find out an integrated irrigation planning with prime consideration for economic, social and environmental issue.

Optimal Irrigation Planning and Operation of Multi Objective Reservoir Using Fuzzy Logic

In the present study the MOFLP models have been developed for the optimal cropping pattern planning which maximizes the four objectives such as Net Benefits (NB), Crop Production (CP), Employment Generation (EG) and Manure Utilization (MU) under conflicting situation and also, for maximization of Releases for Irrigation (RI) and Releases for Power (RP) simultaneously under uncertainty by considering the fuzziness in the objective functions. The developed models have been applied using the LINGO 13 (Language for Interactive General Optimization) optimization software to the case study of the Jayakwadi Project Stage-II across Sindhphana River, in the State of Maharashtra India. The various constraints have been taken into consideration like sowing area, affinity to crop, labour availability, manure availability, water availability for optimal cropping pattern planning. Similarly constraints to find the optimal reservoir operating policy are releases for power and turbine capacity, irrigation demand, reservoir storage capacity, reservoir storage continuity. The level of satisfaction for a compromised solution of optimal cropping pattern planning for four conflicting objectives under fuzzy environment is worked out to be λ = 0.68. The MOFLP compromised solution provides NB = 1088.46 (Million Rupees), CP = 241003 (Tons), EG = 23.13 (Million Man days) and MU = 111454.70 (Tons) respectively. The compromised solution for optimal operation of multi objective reservoir yields the level of satisfaction (λ) = 0.533 for maximizing the releases for irrigation and power simultaneously by satisfying the constraint of the system under consideration. The compromised solution provides the optimal releases, i.e. RI = 348.670 Mm3 and RP = 234.285 Mm3 respectively.

A Multi-Objective Hybrid Genetic Based Optimization for External Beam Radiation

A multi-objective hybrid genetic based optimization algorithm is proposed according to the multi-objective property of inverse planning. It is based on hybrid adaptive genetic algorithm which combines the simulated annealing, uses adaptive crossover and mutation, and adopts niched tournament selection. The result of the test calculation demonstrates that an excellent converging speed can be achieved using this approach.

Objectives of China's Light Industry Under the Ninth Five-Year Plan

Through the last 17 years of development,China’s light industry has basicallyresolved the short supply of consumergoods,with market demand having been metin quantity,but not in quality.How to adaptto the changes on both the domestic and theinternational markets,speed up structuraladjustment and optimization,promotetechnical progress,develop new products,improve quality,and raise grades andprocessing standards,is the main task for thedevelopment of the light industry in the next15 years.

A New Genetic Algorithm Applied to Multi-Objectives Optimal of Upgrading Infrastructure in NGWN

A problem of upgrading to the Next Generation Wireless Network (NGWN) is backward compatibility with pre-existing networks, the cost and operational benefit of gradually enhancing networks, by replacing, upgrading and installing new wireless network infrastructure elements that can accommodate both voice and data demand. In this paper, we propose a new genetic algorithm has double population to solve Multi-Objectives Optimal of Upgrading Infrastructure (MOOUI) problem in NGWN. We modeling network topology for MOOUI problem has two levels in which mobile users are sources and both base stations and base station controllers are concentrators. Our objective function is the sources to concentrators connectivity cost as well as the cost of the installation, connection, replacement, and capacity upgrade of infrastructure equipment. We generate two populations satisfy constraints and combine them to build solutions and evaluate the performance of my algorithm with data randomly generated. Numerical results show that our algorithm is a promising approach to solve this problem.

Auto-Planning在直肠癌容积旋转调强自动计划中的优化性能评估

目的:评估Pinnacle3 V9.10治疗计划系统的Auto-Planning(AP)模块在直肠癌容积旋转调强放射治疗(VMAT)自动计划中的优化性能。方法:采用随机数表法选取20例直肠癌患者,临床治疗计划均使用Pinnacle3 V9.10治疗计划系统的手动设计容积旋转调强(M-VMAT)计划,处方剂量为50 Gy/25 F。采集M-VMAT计划的剂量-体积直方图(DVH)参数作为计划优化参数进行自动优化VMAT(AP-VMAT)计划。将AP-VMAT计划与M-VMAT计划进行剂量学比较,评估AP模块优化性能。结果:AP-VMAT计划结果优于M-VMAT计划结果,靶区均匀指数和靶区适形指数具有统计学差异(t=0.036,t=0.006;P<0.05);膀胱平均剂量D(mean、肠V30、肠V15、肠平均剂量Dmean、左股骨头平均剂量Dmean和右股骨头结果存在统计学差异(t=0.048,t=0.012,t=0.002,t=0.001,t=0.045,t=0.004;P<0.05)。AP-VMAT计划剂量分布存在剂量外溢,略差于M-VMAT计划。结论:Auto-planning自动优化模块具有良好的自动优化性能,在精准的剂量预测条件下,可以通过使用剂量预测所得目标函数,实现直肠癌VMAT的精确自动优化。

Evolutionary Trajectory Planning for an Industrial Robot

This paper presents a novel general method for computing optimal motions of an industrial robot manipulator （AdeptOne XL robot） in the presence of fixed and oscillating obstacles. The optimization model considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacle avoidance. The problem has 6 objective functions, 88 variables, and 21 constraints. Two evolutionary algorithms, namely, elitist non-dominated sorting genetic algorithm （NSGA-II） and multi-objective differential evolution （MODE）, have been used for the optimization. Two methods （normalized weighting objective functions and average fitness factor） are used to select the best solution tradeoffs. Two multi-objective performance measures, namely solution spread measure and ratio of non-dominated individuals, are used to evaluate the Pareto optimal fronts. Two multi-objective performance measures, namely, optimizer overhead and algorithm effort, are used to find the computational effort of the optimization algorithm. The trajectories are defined by B-spline functions. The results obtained from NSGA-II and MODE are compared and analyzed.

Potential gains from spatially-explicit coordinated planning between two large public ownerships in Minnesota

Background: Many forested landscapes throughout the world involve a mix of public forest ownerships. This study explores how coordinated planning between two large public ownerships in Minnesota impact landscape-level trade-offs between timber production and production of core area of older forest (COF) for the region. COF is an important metric for wildlife habitat. Emphasis is on better understanding potential gains from both coordinated planning at the site-level where ownerships share stand boundaries and from coordinated planning at a broader policy level involving assumed values of COF by the public. The study area involves over 300,000 ha, 150,000 analysis units and a 100-year planning horizon. Methods: The concept of influence zones in modeling spatial interdependencies is described and implemented. The estimated total area of COF is assumed an important landscape metric for forest wildlife habitat condition for each forest planning period. COF has a surrounding buffer protecting it from edge effects. Differences are recognized between COF condition requirements and condition requirements for its surrounding buffer. A spatially-explicit harvest scheduling model is applied in conjunction with moving-windows techniques of GIS to find near-optimal management schedules for the large landscape. Multiple model runs are examined to help better understand both potential gains from coordinated planning and the tradeoffs between timber and COF production. Results: Results demonstrate the ability to incorporate detailed site-level COF production into management scheduling models for broad, landscape-level planning. For the study area and the assumed COF definitions, substantially larger gains are possible by coordinating COF value assumptions across ownerships, as compared to possible gains from coordinating on-the-ground management activities in areas involving shared stand boundaries. Although a general map of the study area shows a definite intertwining mosaic of ownership by the two large public agencies, a detailed breakdown of influence zone information shows that a low percentage of the land is influenced by both of these ownerships for COF production. Conclusions: This research helps illuminate potential large gains from coordinated planning at a broad policy level by large public ownerships through coordination of assumed COF values. For the study area, these gains are substantially greater than gains from combined modeling efforts addressing spatial detail and shared stand boundaries or neighborhoods. From a practical standpoint, this is important, as spatial detail adds substantially to model size, making combined analysis a major undertaking. Detailed site-level coordination also presents operational challenges in schedule implementation.

Novel Approach for Motion Planning of Multiple Distributed Agent-based Robotic

In this paper, the Distributed Agent based Multirobots Assembly System(DAMAS) is introduced. Then, on the baseis of survey of previous research work on motion planning of multiple robots, a novel approach for the motion planning of multi cooperating robots is presented. This approach takes advantages of the Agent theory and the authors built computer network environment, together with the distributed object technology provided and supported by Windows NT and Visual C++.

Optimization of train plan for urban rail transit in the multi-routing mode

The train plan of urban rail transit under multi-routing mode can be divided into three parts： train formation, train operation periods and corresponding train counts of each routing in each period. Based on the analysis of passen- ger＇s general travel expenses and operator＇s benefits, the constraints and objective functions are defined and the multiobjective optimization model for the train plan of urban rail transit is presented. Factors considered in the multi- objective optimization model include transport capacity, the requirements of traffic organization, corporation benefits, passenger demands, and passenger choice behavior under multi-train-routing mode. According to the characteristics of this model and practical planning experience, a three-phase solution was designed to gradually optimize the train formarion, train counts as well as operation periods. The instance of Changsha Metro Line 2 validates the feasibility and efficiency of this approach.

Auto-planning在乳腺癌根治术后A-VMAT中的优化性能评估及临床应用

目的对基于Auto-planning(AP)技术的乳腺癌根治术后自动容积旋转调强放疗计划(Automated Volumetric Modulated Arc Therapy,A-VMAT)的优化性能与临床应用价值进行综合评估。方法选择24例乳腺癌根治术后患者,采用Pinnacle39.10计划系统手动设计容积旋转调强计划(Manual-VMAT,M-VMAT),采集其剂量体积直方图参数作为AP的优化参数以实现A-VMAT计划,分别比较两组计划靶区和危及器官的各项参数,评估AP技术的优化性能。结果左、右两侧乳腺癌A-VMAT计划的CI及HI结果均优于M-VMAT计划(t=5.53、-4.42;t=3.94、5.61;P<0.05)。健侧肺:A-VMAT计划V_(5)及以上的体积参数均低于M-VMAT计划,且仅V_(5)差异有统计学意义(t=3.64,2.32;P<0.05);而患侧肺仅V_(40)低于M-VMAT计划。心脏:左、右两侧乳腺癌A-VMAT计划的V_(2)高于M-VMAT计划;而右侧乳腺癌V_(5)以上的各参数则呈现相反趋势,仅V_(20)、V_(30)的差异有统计学意义(P<0.05)。A-VMAT计划的平均MUs值均小于M-VMAT计划,但无统计学差异。结论对于乳腺癌根治术后患者,与M-VMAT计划相比,A-VMAT计划具有更佳的靶区剂量分布及更低的正常组织受量。