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 modelin...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.展开更多
This paper presents an algorithm for solving Bi-criteria Minimum Cost Dynamic Flow (BiCMCDF) problem with continuous flow variables. The approach is to transform a bi-criteria problem into a parametric one by building...This paper presents an algorithm for solving Bi-criteria Minimum Cost Dynamic Flow (BiCMCDF) problem with continuous flow variables. The approach is to transform a bi-criteria problem into a parametric one by building a single parametric linear cost out of the two initial cost functions. The algorithm consecutively finds efficient extreme points in the decision space by solving a series of minimum parametric cost flow problems with different objective functions. On each of the iterations, the flow is augmented along a cheapest path from the source node to the sink node in the time-space network avoiding the explicit time expansion of the network.展开更多
基金Supported by the National Natural Science Foundation of China(No.61100143,No.61370128)the Program for New Century Excellent Talents in University of the Ministry of Education of China(NCET-13-0659)Beijing Higher Education Young Elite Teacher Project(YETP0583)
文摘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.
文摘This paper presents an algorithm for solving Bi-criteria Minimum Cost Dynamic Flow (BiCMCDF) problem with continuous flow variables. The approach is to transform a bi-criteria problem into a parametric one by building a single parametric linear cost out of the two initial cost functions. The algorithm consecutively finds efficient extreme points in the decision space by solving a series of minimum parametric cost flow problems with different objective functions. On each of the iterations, the flow is augmented along a cheapest path from the source node to the sink node in the time-space network avoiding the explicit time expansion of the network.
