Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based on Inverse Reinforcement Learning Theory

The forward design of trajectory planning strategies requires preset trajectory optimization functions,resulting in poor adaptability of the strategy and an inability to accurately generate obstacle avoidance trajectories that conform to real driver behavior habits.In addition,owing to the strong time-varying dynamic characteristics of obstacle avoidance scenarios,it is necessary to design numerous trajectory optimization functions and adjust the corresponding parameters.Therefore,an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenarios is proposed.First,numerous expert-demonstrated trajectories are extracted from the HighD natural driving dataset.Subsequently,a trajectory expectation feature-matching algorithm is proposed that uses maximum entropy inverse reinforcement learning theory to learn the extracted expert-demonstrated trajectories and achieve automatic acquisition of the optimization function of the expert-demonstrated trajectory.Furthermore,a mapping model is constructed by combining the key driving scenario information that affects vehicle obstacle avoidance with the weight of the optimization function,and an anthropomorphic obstacle avoidance trajectory planning strategy for adaptive driving scenarios is proposed.Finally,the proposed strategy is verified based on real driving scenarios.The results show that the strategy can adjust the weight distribution of the trajectory optimization function in real time according to the“emergency degree”of obstacle avoidance and the state of the vehicle.Moreover,this strategy can generate anthropomorphic trajectories that are similar to expert-demonstrated trajectories,effectively improving the adaptability and acceptability of trajectories in driving scenarios.

Adaptive Space Expansion for Fast Motion Planning

The sampling process is very inefficient for sam-pling-based motion planning algorithms that excess random sam-ples are generated in the planning space.In this paper,we pro-pose an adaptive space expansion(ASE)approach which belongs to the informed sampling category to improve the sampling effi-ciency for quickly finding a feasible path.The ASE method enlarges the search space gradually and restrains the sampling process in a sequence of small hyper-ellipsoid ring subsets to avoid exploring the unnecessary space.Specifically,for a con-structed small hyper-ellipsoid ring subset,if the algorithm cannot find a feasible path in it,then the subset is expanded.Thus,the ASE method successively does space exploring and space expan-sion until the final path has been found.Besides,we present a particular construction method of the hyper-ellipsoid ring that uniform random samples can be directly generated in it.At last,we present a feasible motion planner BiASE and an asymptoti-cally optimal motion planner BiASE*using the bidirectional exploring method and the ASE strategy.Simulations demon-strate that the computation speed is much faster than that of the state-of-the-art algorithms.The source codes are available at https://github.com/shshlei/ompl.

Climate change vulnerability assessment in the new urban planning process in Tanzania

Climate change vulnerability assessment is an essential tool for identifying regions that are most susceptible to the impacts of climate change and designing effective adaptation actions that can reduce vulnerability and enhance long-term resilience of these regions.This study explored a framework for climate change vulnerability assessment in the new urban planning process in Jangwani Ward,Tanzania.Specifically,taking flood as an example,this study highlighted the steps and methods for climate change vulnerability assessment in the new urban planning process.In the study area,95 households were selected and interviewed through purposeful sampling.Additionally,10 respondents(4 females and 6 males)were interviewed for Focus Group Discussion(FGD),and 3 respondents(1 female and 2 males)were selected for Key Informant Interviews(KII)at the Ministry of Lands,Housing and Human Settlements Development.This study indicated that climate change vulnerability assessment framework involves the assessment of climatic hazards,risk elements,and adaptive capacity,and the determination of vulnerability levels.The average hazard risk rating of flood was 2.3.Socioeconomic and livelihood activities and physical infrastructures both had the average risk element rating of 3.0,and ecosystems had the average risk element rating of 2.9.Adaptive capacity ratings of knowledge,technology,economy or finance,and institution were 1.6,1.9,1.4,and 2.2,respectively.The vulnerability levels of socioeconomic and livelihood activities and physical infrastructure were very high(4.0).Ecosystems had a high vulnerability level(3.8)to flood.The very high vulnerability level of socioeconomic and livelihood activities was driven by high exposure and sensitivity to risk elements and low adaptive capacity.The study recommends adoption of the new urban planning process including preparation,planning,implementation,and monitoring-evaluation-review phases that integrates climate change vulnerability assessment in all phases.

Path Planning for Robotic Arms Based on an Improved RRT Algorithm

The burgeoning robotics industry has catalyzed significant strides in the development and deployment of industrial and service robotic arms, positioning path planning as a pivotal facet for augmenting their operational safety and efficiency. Existing path planning algorithms, while capable of delineating feasible trajectories, often fall short of achieving optimality, particularly concerning path length, search duration, and success likelihood. This study introduces an enhanced Rapidly-Exploring Random Tree (RRT) algorithm, meticulously designed to rectify the issues of node redundancy and the compromised path quality endemic to conventional RRT approaches. Through the integration of an adaptive pruning mechanism and a dynamic elliptical search strategy within the Informed RRT* framework, our algorithm efficiently refines the search tree by discarding branches that surpass the cost of the optimal path, thereby refining the search space and significantly boosting efficiency. Extensive comparative analysis across both two-dimensional and three-dimensional simulation settings underscores the algorithm’s proficiency in markedly improving path precision and search velocity, signifying a breakthrough in the domain of robotic arm path planning.

Energy hub-based optimal planning for integrated energy systems considering part-load characteristics and synergistic effect of equipment

Integrated energy systems(lESs)represent a promising energy supply model within the energy internet.However,multi-energy flow coupling in the optimal configuration of IES results in a series of simplifications in the preliminary planning,affecting the cost,efficiency,and environmental performance of IES.A novel optimal planning method that considers the part-load characteristics and spatio-temporal synergistic effects of IES components is proposed to enable a rational design of the structure and size of IES.An extended energy hub model is introduced based on the“node of energy hub”concept by decomposing the IES into different types of energy equipment.Subsequently,a planning method is applied as a two-level optimization framework-the upper level is used to identify the type and size of the component,while the bottom level is used to optimize the operation strategy based on a typical day analysis method.The planning problem is solved using a two-stage evolutionary algorithm,combing the multiple-mutations adaptive genetic algorithm with an interior point optimization solver,to minimize the lifetime cost of the IES.Finally,the feasibility of the proposed planning method is demonstrated using a case study.The life cycle costs of the IES with and without consideration of the part-load characteristics of the components were$4.26 million and$4.15 million,respectively,in the case study.Moreover,ignoring the variation in component characteristics in the design stage resulted in an additional 11.57%expenditure due to an energy efficiency reduction under the off-design conditions.

Green Space System Planning in Shuangcheng City and Creation of the City's Characteristics

Characteristic urban construction has already become a trend of modern social development,in this context,components of characteristic urban green spaces,and ways of demonstrating features of urban green space system were analyzed.Shuangcheng City in Heilongjiang Province was taken for example to analyze planning objectives and principles of characteristic urban green space system.Moreover,the green space layout of "A Hundred Years Old Castle,A Hundred of Enterprises and A Hundred of Gardens" was introduced.It was proposed that green space system planning suited to the development features and ecological conditions of the city should be developed from the perspective of greater regional environment,historical and cultural deposits,urban development pattern and lifestyle of the locals,so as to create urban green space system with regional features.

Research on Traditional Village Protection Development Planning Based on Value Characteristics——Taking Heshe Village in Jiangxi Province As An Example

Traditional villages are the foundation of human history, the crystallization of agricultural civilization, the important carder of homeland feelings, and the spiritual homeland of the Chinese nation. In the important period of attaching importance to the protection of traditional villages and making active plans for the protection and development of traditional villages, the planning of conservation has been stereotyped, which only cares about quantity and speed. Every traditional village has its unique value and soul, and ignoring its internal cultural connotation and value characteristics can result in the lack of scientific and comprehensive planning, making it unable not be implemented in practice. In this paper, taking Heshe Village in Jiangxi Province as an example, the value characteristics oriented planning strategy for traditional villages were proposed through the refinement of its value characteristics based on the scientific planning principles.

Water environmental planning considering the influence of non-linear characteristics

In practical water environmental planning, the influence of the non-linear characteristics on the benefit of environmental investment was seldom taken into consideration. This paper demonstrates that there exist a lot of non-linear behaviors in water environment by emphatically analyzing the influence of the non-linear characteristics of the economic scale, the meandering river and the model on water environmental planning, which will make a certain impact on the water environmental planning that sometimes cannot be neglected. This paper also preliminarily explores how to integrate the non-linear characteristics into water environmental planning. The results showed that compared with traditional methods, water environmental planning considering non-linear characteristics has its prevalence and it is necessary to develop the relevant planning theories and methods.

Study on the Planning of Garden Greening Tree Species in Liuzhou City

By analyzing the application situation of greening tree species in Liuzhou City,this study aimed to put forward several strategies and suggestions for garden tree species planning in Liuzhou City according to relevant theories and principles.

Creation of "Regional Characteristic" in Planning and Design of Farmers' Residential Area at the South of Lower Reaches of the Yangtze River

After analysis of location feature of the south of lower reaches of Yangtze River and its construction of urban and rural integration,the paper pointed out harmonious combination between natural and artificial factors had been neglected in planning and design of farmers' residential area at the south of lower reaches of Yangtze River,"regional characteristic" losing,residential area in the form of "city community" and buildings in European style.In view of these problems,relevant planning and design thoughts and methods had been proposed as to how to create "regional characteristic" from the perspective of planning,architecture and landscape design.It discussed with emphasis the importance of construction base type and combination of environment with residential area construction;inspirations and design methods obtained from traditional architectures;and the content of landscape overall planning and specific design.It was hoped to enlighten designers to shoulder social and historical responsibility,make exploration unremittingly,and construct beautiful homelands for people.

Garden Features in Tang Dynasty and Urban Planning and Construction of Xi'an City

By taking gardens in Tang Dynasty which play an important historical role in Chinese garden development history as case study,garden features in Tang Dynasty had been described from the aspects of cultural,ecological and planning characteristics,so as to explore the development trace of Tang garden culture,based on which relevant problems in urban planning and construction of Xi'an were discussed;and some countermeasures and suggestions on cultural,ecological and planning construction in the preservation of this ancient city were put forward.

Adaptive genetic algorithm for path planning of loosely coordinated multi-robot manipulators

Adaptive genetic algorithm A SA GA, a novel algorithm, which can dynamically modify the parameters of Genetic Algorithms in terms of simulated annealing mechanism, is proposed for path planning of loosely coordinated multi robot manipulators. Over the task space of a multi robot, a strategy of decoupled planning is also applied to the evolutionary process, which enables a multi robot to avoid falling into deadlock and calculating of composite C space. Finally, two representative tests are given to validate A SA GA and the strategy of decoupled planning.

Discussion on Planning of Overall Urban Agriculture Park

The urban agriculture park plan involves urban plan, agricultural plan, eco- logical plan, tourism plan and land plan, which can be further divided into strategic plan, general plan and detail plan to explore related issues. With social develop- ment, urban agricultural park is playing an increasingly important role in promoting agricultural and rural development, protecting nearby area farmlands and maintaining sustainable development, as well as an important part of government research. Based on status quo of urban agricultural park in China, basic characters were summarized and frameworks of urban agricultural park with Chinese characteristics were proposed, including early-stage research, prospect exploration, spatial planning, industry planning and guarantees, of which spatial planning and industry planning are highlights.

Algorithm for Low Altitude Penetration Aircraft Path Planning with Improved Ant Colony Algorithm

The ant colony algorithm is a new class of population basic algorithm. The path planning is realized by the use of ant colony algorithm when the plane executes the low altitude penetration, which provides a new method for the path planning. In the paper the traditional ant colony algorithm is improved, and measures of keeping optimization, adaptively selecting and adaptively adjusting are applied, by which better path at higher convergence speed can be found. Finally the algorithm is implemented with computer simulation and preferable results are obtained.

CAD Model-Based Intelligent Inspection Planning for Coordinate Measuring Machines

As the market competition among enterprises grows intensively and the demand for high quality products increases rapidly, product quality inspection and control has become one of the most important issues of manufacturing, and improving the efficiency and accuracy of inspection is also one of problems which enterprises must solve. It is particularly important to establish rational inspection planning for parts before inspecting product quality correctly. The traditional inspection methods have been difficult to satisfy the requirements on the speed and accuracy of modern manufacturing, so CAD-based computer-aided inspection planning （CAIP） system with the coordinate measuring machines （CMM） came into being. In this paper, an algorithm for adaptive sampling and collision-free inspection path generation is proposed, aiming at the CAD model-based inspection planning for coordinate measuring machines （CMM）. Firstly, using the method of step adaptive subdivision and iteration , the sampling points for the specified number with even distribution will be generated automatically. Then, it generates the initial path by planning the inspection sequence of measurement points according to the values of each point＇s weight sum of parameters, and detects collision by constructing section lines between the probe swept-volume surfaces and the part surfaces, with axis-aligned bounding box （AABB） filtering to improve the detection efficiency. For collided path segments, it implements collision avoidance firstly aiming at the possible outer-circle features, and then at other collisions, for which the obstacle-avoiding movements are planned with the heuristic rules, and combined with a designed expanded AABB to set the obstacle-avoiding points. The computer experimental results show that the presented algorithm can plan sampling points＇ locations with strong adaptability for different complexity of general surfaces, and generate efficient optimum path in a short time and avoid collision effectively.

Mobile robot path planning based on adaptive bacterial foraging algorithm

The utilization of biomimicry of bacterial foraging strategy was considered to develop an adaptive control strategy for mobile robot, and a bacterial foraging approach was proposed for robot path planning. In the proposed model, robot that mimics the behavior of bacteria is able to determine an optimal collision-free path between a start and a target point in the environment surrounded by obstacles. In the simulation, two test scenarios of static environment with different number obstacles were adopted to evaluate the performance of the proposed method. Simulation results show that the robot which reflects the bacterial foraging behavior can adapt to complex environments in the planned trajectories with both satisfactory accuracy and stability.

Landscape Planning Based on Foreign Characteristic of Agricultural Sight-viewing Theme Park——A Case Study of Taiwan Peasants Innovation Park in Gucheng Town of Gaochun County in Nanjing City

Through the exploration of project planning mode of agricultural sight-viewing garden based on characteristics,the development object of Taiwan peasants innovation park in Gucheng Town of Gaochun County in Nanjing City was analyzed and summarized. Feasibility study was conducted on the programs,relevant infrastructure and overall construction of landscape in the park,from which reasonable recognition and suggestion was put forward. It provided conceptual reference model which could be applied in construction of agricultural sight-viewing theme park and characteristic agricultural sight-seeing tourist destination in Nanjing Region.

Solving Multitrip Pickup and Delivery Problem With Time Windows and Manpower Planning Using Multiobjective Algorithms

The multitrip pickup and delivery problem with time windows and manpower planning(MTPDPTW-MP)determines a set of ambulance routes and finds staff assignment for a hospital. It involves different stakeholders with diverse interests and objectives. This study firstly introduces a multiobjective MTPDPTW-MP(MO-MTPDPTWMP) with three objectives to better describe the real-world scenario. A multiobjective iterated local search algorithm with adaptive neighborhood selection(MOILS-ANS) is proposed to solve the problem. MOILS-ANS can generate a diverse set of alternative solutions for decision makers to meet their requirements. To better explore the search space, problem-specific neighborhood structures and an adaptive neighborhood selection strategy are carefully designed in MOILS-ANS. Experimental results show that the proposed MOILS-ANS significantly outperforms the other two multiobjective algorithms. Besides, the nature of objective functions and the properties of the problem are analyzed. Finally, the proposed MOILS-ANS is compared with the previous single-objective algorithm and the benefits of multiobjective optimization are discussed.

Study on the Landscape Planning of New Campuses——A Case Study of Landscape Planning of the South Side of Library on Weiyang Campus,Xi'an Technological University

By taking landscape planning of the south side of library on Weiyang Campus,Xi'an Technological University for example,campus landscape planning concepts of ordnance universities were discussed.From the perspective of creating a campus environment with distinctive characteristics of universities,the integration of users and environment and the creation of a beautiful campus cultural environment were stressed.With an overall spatial pattern of "two centers,four axes,infiltration among different functional areas",the planning site was divided into the following 6 subareas:central landscape space,pavement landscape space,garden setting space,waterscape space,ordnance culture demonstration space,teaching and dormitory space.Its road systems and plant landscapes on campus were clearly organized.The authors aimed at providing useful references for the construction of new campuses by studying landscape planning of a part of Weiyang Campus,Xi'an Technological University.

Augmented planning support system framework for mountainous urban master planning

As a reflection of the relationship between human and mountainous environment, urban planning has an impact on the mountainous environment by changing the topography, landform and spatial layout. A good urban planning can mitigate and adapt to the mountainous environmental impact. Urban master planning involves the interrelationships and interactions of various components of urban complex systems. Planning Support System(PSS), as a technical means to assist planning decision-making, is mostly based on the construction mode of "user(stakeholder)-system". Its strong professional characteristics are not conducive to the consensus of diverse stakeholders on urban planning. The aim of this paper is therefore to build an augmented planning support system framework that is based on complex adaptive system theory, this framework is ontology-driven, and thus will enable the generation of a planning support prototype system for mountainous urban master planning founded on this framework. The framework fuses the urban planning ontology and the planning support system together, which helps different urban agents to reach a consensus based on a common understanding of urban planning. The defect is that the construction of the urban planning ontology is still manually constructed. The approach advocated here will enable a common understanding of mountainous urban master planning, support efficient and flexible decision in this area, and provide reference framework for future mountainous urban master PSS developments and application. The PSS prototype developed based on augmented planning support system framework has been applied to the urban master planning of Changting County in Fujian Province, China. Through the application of multiscenario analysis, urban agents can deepen their understanding of the current situation and future development of the city, and ultimately helps to promote urban planning decisions and implementation.