Collision-free parking recommendation based on multi-agent reinforcement learning in vehicular crowdsensing

The recent proliferation of Fifth-Generation(5G)networks and Sixth-Generation(6G)networks has given rise to Vehicular Crowd Sensing(VCS)systems which solve parking collisions by effectively incentivizing vehicle participation.However,instead of being an isolated module,the incentive mechanism usually interacts with other modules.Based on this,we capture this synergy and propose a Collision-free Parking Recommendation(CPR),a novel VCS system framework that integrates an incentive mechanism,a non-cooperative VCS game,and a multi-agent reinforcement learning algorithm,to derive an optimal parking strategy in real time.Specifically,we utilize an LSTM method to predict parking areas roughly for recommendations accurately.Its incentive mechanism is designed to motivate vehicle participation by considering dynamically priced parking tasks and social network effects.In order to cope with stochastic parking collisions,its non-cooperative VCS game further analyzes the uncertain interactions between vehicles in parking decision-making.Then its multi-agent reinforcement learning algorithm models the VCS campaign as a multi-agent Markov decision process that not only derives the optimal collision-free parking strategy for each vehicle independently,but also proves that the optimal parking strategy for each vehicle is Pareto-optimal.Finally,numerical results demonstrate that CPR can accomplish parking tasks at a 99.7%accuracy compared with other baselines,efficiently recommending parking spaces.

Research on the Collision-Free Path Planning of Multi-AGVs System Based on Improved A* Algorithm

Path planning problem is the core and hot research topic of multiple Automatic Guided Vehicles (multi-AGVs) system. Although there are many research results, they do not solve the path planning problem from the perspective of reducing traffic congestion. A collision-free path planning method based on improved A* Algorithm for multi-AGVs logistics sorting system is proposed in this paper. In the method, the environment of warehouse operation for AGVs is described by using grid method. The estimated cost of A* algorithm is improved by adding the penalty value of the paths that AGVs share with each other to alleviate traffic congestion and collision resolution rules are made according to different types of collisions. Then the collision-free path planning is done by combing the improved A* algorithm and collision resolution rules. The sorting efficiency of the method is compared with that of original A* algorithm. Simulation results show that the new collision-free path planning method can improve the sorting efficiency of multi-AGVs system and relieve traffic congestion.

Evolutionary Decision-Making and Planning for Autonomous Driving Based on Safe and Rational Exploration and Exploitation

Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.

Motion Planning for Autonomous Driving with Real Traffic Data Validation

Accurate trajectory prediction of surrounding road users is the fundamental input for motion planning,which enables safe autonomous driving on public roads.In this paper,a safe motion planning approach is proposed based on the deep learning-based trajectory prediction method.To begin with,a trajectory prediction model is established based on the graph neural network(GNN)that is trained utilizing the INTERACTION dataset.Then,the validated trajectory prediction model is used to predict the future trajectories of surrounding road users,including pedestrians and vehicles.In addition,a GNN prediction model-enabled motion planner is developed based on the model predictive control technique.Furthermore,two driving scenarios are extracted from the INTERACTION dataset to validate and evaluate the effectiveness of the proposed motion planning approach,i.e.,merging and roundabout scenarios.The results demonstrate that the proposed method can lower the risk and improve driving safety compared with the baseline method.

The collision-free trajectory planning for the space robot to capture a target based on the wavelet interpolation algorithm

In the research of path planning for manipulators with many DOF, generally there is a problem in most traditional methods, which is that their computational cost (time and memory space) increases exponentially as DOF or resolution of the discrete configuration space increases. So this paper presents the collision-free trajectory planning for the space robot to capture a target based on the wavelet interpolation algorithm. We made wavelet sample on the desired trajectory of the manipulator’s end-effector to do trajectory planning by use of the proposed wavelet interpolation formula, and then derived joint vectors from the trajectory information of the end-effector based on the fixed-attitude-restrained generalized Jacobian matrix of multi-arm coordinated motion, so as to control the manipulator to capture a static body along the desired collision-free trajectory. The method overcomes the shortcomings of the typical methods, and the desired trajectory of the end-effector can be any kind of complex nonlinear curve. The algorithm is simple and highly effective and the real trajectory is close to the desired trajectory. In simulation, the planar dual-arm three DOF space robot is used to demonstrate the proposed method, and it shows that the algorithm is feasible.

Influence of a diet meal plan on pepsinogen I and II,gastrin-17,and nutritional status in gastric ulcer patients

BACKGROUND Gastric ulcers(GUs)have a high risk of clinical morbidity and recurrence,and further exploration is needed for the prevention,diagnosis,and treatment of the disease.AIM To investigated the effects of a diet plan on pepsinogen(PG)I,PG II,gastrin-17(G-17)levels and nutritional status in patients with GUs.METHODS A total of 100 patients with GUs treated between May 2022 and May 2023 were enrolled,with 47 patients in the control group receiving routine nursing and 53 patients in the experimental group receiving dietary nursing intervention based on a diet plan.The study compared the two groups in terms of nursing efficacy,adverse events(vomiting,acid reflux,and celialgia),time to symptom improvement(burning sensation,acid reflux,and celialgia),gastric function(PG I,PG II,and G-17 levels),and nutritional status[prealbumin(PA)and albumin(ALB)levels].RESULTS The experimental group showed a markedly higher total effective rate of nursing,a significantly lower incidence of adverse events,and a shorter time to symptom improvement than the control group.Additionally,the experimental group’s post-intervention PG I,PG II,and G-17 levels were significantly lower than preintervention or control group levels,whereas PA and ALB levels were significantly higher.CONCLUSION The diet plan significantly reduced PG I,PG II,and G-17 levels in patients with GUs and significantly improved their nutritional status.

Optimal search path planning of UUV in battlefeld ambush scene

Aiming at the practical application of Unmanned Underwater Vehicle(UUV)in underwater combat,this paper proposes a battlefield ambush scene with UUV considering ocean current.Firstly,by establishing these mathematical models of ocean current environment,target movement,and sonar detection,the probability calculation methods of single UUV searching target and multiple UUV cooperatively searching target are given respectively.Then,based on the Hybrid Quantum-behaved Particle Swarm Optimization(HQPSO)algorithm,the path with the highest target search probability is found.Finally,through simulation calculations,the influence of different UUV parameters and target parameters on the target search probability is analyzed,and the minimum number of UUVs that need to be deployed to complete the ambush task is demonstrated,and the optimal search path scheme is obtained.The method proposed in this paper provides a theoretical basis for the practical application of UUV in the future combat.

Efficient Route Planning for Real-Time Demand-Responsive Transit

Demand Responsive Transit (DRT) responds to the dynamic users’ requests without any fixed routes and timetablesand determines the stop and the start according to the demands. This study explores the optimization of dynamicvehicle scheduling and real-time route planning in urban public transportation systems, with a focus on busservices. It addresses the limitations of current shared mobility routing algorithms, which are primarily designedfor simpler, single origin/destination scenarios, and do not meet the complex demands of bus transit systems. Theresearch introduces an route planning algorithm designed to dynamically accommodate passenger travel needsand enable real-time route modifications. Unlike traditional methods, this algorithm leverages a queue-based,multi-objective heuristic A∗ approach, offering a solution to the inflexibility and limited coverage of suburbanbus routes. Also, this study conducts a comparative analysis of the proposed algorithm with solutions based onGenetic Algorithm (GA) and Ant Colony Optimization Algorithm (ACO), focusing on calculation time, routelength, passenger waiting time, boarding time, and detour rate. The findings demonstrate that the proposedalgorithmsignificantly enhances route planning speed, achieving an 80–100-fold increase in efficiency over existingmodels, thereby supporting the real-time demands of Demand-Responsive Transportation (DRT) systems. Thestudy concludes that this algorithm not only optimizes route planning in bus transit but also presents a scalablesolution for improving urban mobility.

Postpartum Family Planning at the Timbuktu Hospital in Mali

Introduction: Postpartum family planning is the prevention of pregnancies during the 12 months following childbirth. Few studies have been devoted to postpartum family planning in Mali. Our work will contribute to reducing unmet need for family planning. Objective: To study the use of contraceptive methods in the postpartum period in the obstetrics and gynecology unit of Timbuktu hospital. Materials and Methods: This was a descriptive and analytical cross-sectional study with prospective collection of data from January 1, 2022 to December 31, 2023. All women who gave birth having chosen and benefited from a contraceptive method were included. The statistical test used was the Fisher test with a significance threshold fixed at 5%. Results: The frequency of contraception in the postpartum period was 17.03%. The average age of clients was 26.14% with extremes of 14 and 45 years. They were paupiparous at 56.4% with an inter-birth interval of less than 12 months at 12.3%. More than half of the counseling (58.5%) was done during postnatal visits. The methods chosen were implants at 48.1%, injectable progestins at 21.3%, intrauterine device at 14.7%, miro-progestin pills at 13.5%, tubal ligation at 1 .4% and condoms at 1%. The regular follow-up rate was 51.1% of cases and 25.6% had no follow-up. Conclusion: The overall rate of postpartum family planning of 17.08% remains low. Improving FP staff skills will reduce unmet needs and contribute to increasing contraceptive prevalence in Timbuktu.

Stochastic programming based coordinated expansion planning of generation,transmission,demand side resources,and energy storage considering the DC transmission system

With the increasing penetration of wind and solar energies,the accompanying uncertainty that propagates in the system places higher requirements on the expansion planning of power systems.A source-grid-load-storage coordinated expansion planning model based on stochastic programming was proposed to suppress the impact of wind and solar energy fluctuations.Multiple types of system components,including demand response service entities,converter stations,DC transmission systems,cascade hydropower stations,and other traditional components,have been extensively modeled.Moreover,energy storage systems are considered to improve the accommodation level of renewable energy and alleviate the influence of intermittence.Demand-response service entities from the load side are used to reduce and move the demand during peak load periods.The uncertainties in wind,solar energy,and loads were simulated using stochastic programming.Finally,the effectiveness of the proposed model is verified through numerical simulations.

Correlates of Mistimed Pregnancy and Unmet Need for Family Planning among Women of Reproductive Age in Sandema, Ghana

Background: Globally, an estimated 80 million unintended pregnancies comprising both mistimed and unwanted pregnancies are recorded yearly. Yet only half of the women at risk of mistimed pregnancy use contraceptives. In developing countries, over 100 million females have unmet need, and national surveys in Ghana indicate 23% unmet need rate. Methods: Using a cross-sectional community-based approach, a sample size of 300 women of reproductive age were selected using multi-step cluster sampling techniques. The study was quantitative, using structured interviewer-administered questionnaires. Results: Two-third (66%) of the women in reproductive age still had unmet need, 71% were currently pregnant, and more than a third (36%) confirmed ever having a mistimed pregnancy. Fifty-three percent (53%) of the women confirmed never communicating with their partners on family planning issues, a little below half (45%) took their own health care decisions. Seventy nine percent (79%) ever received family planning services from a health professional. Factors related to unmet needs included mistimed pregnancy, level of education, preferred birth/pregnancy interval, communication between partners and the autonomy to spend self-earnings. Conclusion: Considering that high rates of unmet need results in mistimed pregnancy, improved policies around the influence of unmet need on mistimed pregnancies are needed.

A Reverse Path Planning Approach for Enhanced Performance of Multi-Degree-of-Freedom Industrial Manipulators

In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking.While Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion optimization.Achieving satisfactory results in practical scenarios remains challenging.In response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial manipulators.The approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free path.To enhance convergence speed,the Q-learning algorithm in RL is augmented with Dyna-Q.Additionally,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection technique.Furthermore,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power joints.The efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target positions.Experimental results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target point.Moreover,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.

A Planning Method for Operational Test of UAV Swarm Based on Mission Reliability

The unmanned aerial vehicle(UAV)swarm plays an increasingly important role in the modern battlefield,and the UAV swarm operational test is a vital means to validate the combat effectiveness of the UAV swarm.Due to the high cost and long duration of operational tests,it is essential to plan the test in advance.To solve the problem of planning UAV swarm operational test,this study considers the multi-stage feature of a UAV swarm mission,composed of launch,flight and combat stages,and proposes a method to find test plans that can maximize mission reliability.Therefore,a multi-stage mission reliability model for a UAV swarm is proposed to ensure successful implementation of the mission.A multi-objective integer optimization method that considers both mission reliability and cost is then formulated to obtain the optimal test plans.This study first constructs a mission reliability model for the UAV swarm in the combat stage.Then,the launch stage and flight stage are integrated to develop a complete PMS(Phased Mission Systems)reliability model.Finally,the Binary Decision Diagrams(BDD)and Multi Objective Quantum Particle Swarm Optimization(MOQPSO)methods are proposed to solve the model.The optimal plans considering both reliability and cost are obtained.The proposed model supports the planning of UAV swarm operational tests and represents a meaningful exploration of UAV swarm test planning.

Heuristic Expanding Disconnected Graph:A Rapid Path Planning Method for Mobile Robots

Existing mobile robots mostly use graph search algorithms for path planning,which suffer from relatively low planning efficiency owing to high redundancy and large computational complexity.Due to the limitations of the neighborhood search strategy,the robots could hardly obtain the most optimal global path.A global path planning algorithm,denoted as EDG*,is proposed by expanding nodes using a well-designed expanding disconnected graph operator(EDG)in this paper.Firstly,all obstacles are marked and their corners are located through the map pre-processing.Then,the EDG operator is designed to find points in non-obstruction areas to complete the rapid expansion of disconnected nodes.Finally,the EDG*heuristic iterative algorithm is proposed.It selects the candidate node through a specific valuation function and realizes the node expansion while avoiding collision with a minimum offset.Path planning experiments were conducted in a typical indoor environment and on the public dataset CSM.The result shows that the proposed EDG*reduced the planning time by more than 90%and total length of paths reduced by more than 4.6%.Compared to A*,Dijkstra and JPS,EDG*does not show an exponential explosion effect in map size.The EDG*showed better performance in terms of path smoothness,and collision avoidance.This shows that the EDG*algorithm proposed in this paper can improve the efficiency of path planning and enhance path quality.

Ground threat prediction-based path planning of unmanned autonomous helicopter using hybrid enhanced artificial bee colony algorithm

Unmanned autonomous helicopter(UAH)path planning problem is an important component of the UAH mission planning system.Aiming to reduce the influence of non-complete ground threat information on UAH path planning,a ground threat prediction-based path planning method is proposed based on artificial bee colony(ABC)algorithm by collaborative thinking strategy.Firstly,a dynamic threat distribution probability model is developed based on the characteristics of typical ground threats.The dynamic no-fly zone of the UAH is simulated and established by calculating the distribution probability of ground threats in real time.Then,a dynamic path planning method for UAH is designed in complex environment based on the real-time prediction of ground threats.By adding the collision warning mechanism to the path planning model,the flight path could be dynamically adjusted according to changing no-fly zones.Furthermore,a hybrid enhanced ABC algorithm is proposed based on collaborative thinking strategy.The proposed algorithm applies the leader-member thinking mechanism to guide the direction of population evolution,and reduces the negative impact of local optimal solutions caused by collaborative learning update strategy,which makes the optimization performance of ABC algorithm more controllable and efficient.Finally,simulation results verify the feasibility and effectiveness of the proposed ground threat prediction path planning method.

Trajectory planning for multi-robot coordinated towing system based on stability

Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.

Safe Motion Planning and Control Framework for Automated Vehicles with Zonotopic TRMPC

Model mismatches can cause multi-dimensional uncertainties for the receding horizon control strategies of automated vehicles(AVs).The uncertainties may lead to potentially hazardous behaviors when the AV tracks ideal trajectories that are individually optimized by the AV's planning layer.To address this issue,this study proposes a safe motion planning and control(SMPAC)framework for AVs.For the control layer,a dynamic model including multi-dimensional uncertainties is established.A zonotopic tube-based robust model predictive control scheme is proposed to constrain the uncertain system in a bounded minimum robust positive invariant set.A flexible tube with varying cross-sections is constructed to reduce the controller conservatism.For the planning layer,a concept of safety sets,representing the geometric boundaries of the ego vehicle and obstacles under uncertainties,is proposed.The safety sets provide the basis for the subsequent evaluation and ranking of the generated trajectories.An efficient collision avoidance algorithm decides the desired trajectory through the intersection detection of the safety sets between the ego vehicle and obstacles.A numerical simulation and hardware-in-the-loop experiment validate the effectiveness and real-time performance of the SMPAC.The result of two driving scenarios indicates that the SMPAC can guarantee the safety of automated driving under multi-dimensional uncertainties.

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.

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.

A Path Planning Algorithm Based on Improved RRT Sampling Region

For the problem of slow search and tortuous paths in the Rapidly Exploring Random Tree(RRT)algorithm,a feedback-biased sampling RRT,called FS-RRT,is proposedbasedon RRT.Firstly,toimprove the samplingefficiency of RRT to shorten the search time,the search area of the randomtree is restricted to improve the sampling efficiency.Secondly,to obtain better information about obstacles to shorten the path length,a feedback-biased sampling strategy is used instead of the traditional random sampling,the collision of the expanding node with an obstacle generates feedback information so that the next expanding node avoids expanding within a specific angle range.Thirdly,this paper proposes using the inverse optimization strategy to remove redundancy points from the initial path,making the path shorter and more accurate.Finally,to satisfy the smooth operation of the robot in practice,auxiliary points are used to optimize the cubic Bezier curve to avoid path-crossing obstacles when using the Bezier curve optimization.The experimental results demonstrate that,compared to the traditional RRT algorithm,the proposed FS-RRT algorithm performs favorably against mainstream algorithms regarding running time,number of search iterations,and path length.Moreover,the improved algorithm also performs well in a narrow obstacle environment,and its effectiveness is further confirmed by experimental verification.