• Title/Summary/Keyword: Near-Minimum Time Path Planning

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Design of Near-Minimum Time Path Planning Algorithm for Autonomous Driving (무인 자율 주행을 위한 최단 시간 경로계획 알고리즘 설계)

  • Kim, Dongwook;Kim, Hakgu;Yi, Kyongsu
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.37 no.5
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    • pp.609-617
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    • 2013
  • This paper presents a near-minimum time path planning algorithm for autonomous driving. The problem of near-minimum time path planning is an optimization problem in which it is necessary to take into account not only the geometry of the circuit but also the dynamics of the vehicle. The path planning algorithm consists of a candidate path generation and a velocity optimization algorithm. The candidate path generation algorithm calculates the compromises between the shortest path and the path that allows the highest speeds to be achieved. The velocity optimization algorithm calculates the lap time of each candidate considering the vehicle driving performance and tire friction limit. By using the calculated path and velocity of each candidate, we calculate the lap times and search for a near-minimum time path. The proposed algorithm was evaluated via computer simulation using CarSim and Matlab/Simulink.

Obstacle Avoidance for Unmanned Air Vehicles Using Monocular-SLAM with Chain-Based Path Planning in GPS Denied Environments

  • Bharadwaja, Yathirajam;Vaitheeswaran, S.M;Ananda, C.M
    • Journal of Aerospace System Engineering
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    • v.14 no.2
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    • pp.1-11
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    • 2020
  • Detecting obstacles and generating a suitable path to avoid obstacles in real time is a prime mission requirement for UAVs. In areas, close to buildings and people, detecting obstacles in the path and estimating its own position (egomotion) in GPS degraded/denied environments are usually addressed with vision-based Simultaneous Localization and Mapping (SLAM) techniques. This presents possibilities and challenges for the feasible path generation with constraints of vehicle dynamics in the configuration space. In this paper, a near real-time feasible path is shown to be generated in the ORB-SLAM framework using a chain-based path planning approach in a force field with dynamic constraints on path length and minimum turn radius. The chain-based path plan approach generates a set of nodes which moves in a force field that permits modifications of path rapidly in real time as the reward function changes. This is different from the usual approach of generating potentials in the entire search space around UAV, instead a set of connected waypoints in a simulated chain. The popular ORB-SLAM, suited for real time approach is used for building the map of the environment and UAV position and the UAV path is then generated continuously in the shortest time to navigate to the goal position. The principal contribution are (a) Chain-based path planning approach with built in obstacle avoidance in conjunction with ORB-SLAM for the first time, (b) Generation of path with minimum overheads and (c) Implementation in near real time.

Near Minimum-Time Trajectory Planning for Wheeled Mobile Robots with Piecewise Constant Voltages

  • Park, Jong-Suk;Kim, Munsang;Kim, Byung-Kook
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.30.6-30
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    • 2001
  • We build near minimum-time trajectory planning algorithm for Wheeled mobile robots (WMRs) With Piece-Wise Constant control voltages satisfying i) initial and final postures and velocities as well as ii) voltage constraints We consider trajectory planning problem for cornering motion with a path-deviation requirement for obstacle avoidance. We divide our trajectory planning algorithm for cornering motion into five ordered sections: translational, transient, rotational, transient, and translational sections. Transforming dynamics into uncorrelated form with respect to translational and rotational velocities, we can make controls for translation/rotational velocities to be independent. By planning each section with constant voltages, and integrating five sections with adjustment of numbers of steps, the overall trajectory is planned. The performance is very close to the minimum-time solution, which is validated via simulation studies.

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A Nonlinear Model-Based Anti-Swing Control for Overhead Cranes with High Hoisting Speeds (권상/권하 속도가 큰 경우 크레인의 비선형 무진동 제어)

  • Lee, Ho-Hun;Jeon, Jong-Hak;Choe, Seung-Gap
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.25 no.9
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    • pp.1461-1467
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    • 2001
  • This paper proposes a new approach for the ant-swing control of overhead cranes. The proposed control consists of a model-based anti-swing control scheme and a practical path planning scheme. The anti-swing control scheme is designed based on the Lyapunov stability theorem; the proposed control does not require the usual constraints of small load mass, small load swing, slow hoisting speed, and small hoisting distance, but guarantees asymptotic stability while keeping all internal signals bounded. The path planning scheme is designed based on the concepts of minimum-time control and anti-swing control; the proposed path planning generates near-minimum-time trajectories independently of hoisting speed and distance. The effectiveness of the proposed control is shown by computer simulation.

A Near Minimum-Time Trajectory Planning for Two Robots Using Dynamic Programming Technique (다이나믹 프로그래밍에 의한 두 대의 로보트를 위한 최소시간 경로계획)

  • 이지홍;오영석
    • Journal of the Korean Institute of Telematics and Electronics B
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    • v.29B no.11
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    • pp.36-45
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    • 1992
  • A numerical trajectory planning method for path-constrained trajectory planning is proposed which ensures collision-free and time-optimal motions for two robotic manipulators with limited actuator torques and velocities. For each robot, physical constraints of the robots such as limited torques or limited rotational velocities of the actuators are converted to the constraints on velocity and acceleration along the path, which is described by a scalar variable denoting the traveled distance from starting point. Collision region is determined on the coordination space according to the kinematic structures and the geometry of the paths of the robots. An Extended Coordination Space is then constructed` an element of the space determines the postures and the velocities of the robots, and all the constraints described before are transformed to some constraints on the behaviour of the coordination-velocity curves in the space. A dynamic programming technique is them provided with on the discretized Extended Coordination Space to derive a collision-free and time-optimal trajectory pair. Numerical example is included.

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Path Planning Method for an Autonomous Underwater Vehicle With Environmental Movement Congestions (환경이동혼잡조건을 고려한 자율무인잠수정의 이동경로생성 방법)

  • You, Sujeong;Kim, Ji Woong;Ji, Sang Hoon;Woo, Jongsik
    • IEMEK Journal of Embedded Systems and Applications
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    • v.13 no.2
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    • pp.65-71
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    • 2018
  • In order to make the underwater vehicle carry out the mission in a submarine environment, it is needed to plan a safe and efficient route to a given destination and prevent the autonomous submersible from colliding with obstacles while moving along the planned route. The function of collision avoidance makes the travel distance of the autonomous submersible longer. Moreover, it should move slowly near to obstacles against their moving disturbance. As a result, this invokes the degradation of the navigation efficiency in the process of collision avoidance. The side effect of the collision avoidance is not ignorable in the case of high congested environments such as the coast with many obstacles. In this paper, we suggest a path planning method which provides the route with minimum travel time considering collision avoidance in congested environment. For the purpose, we define environmental congestion map related to geometric information and obstacles. And we propose a method to consider the moving cost in the RRT scheme that provides the existing minimum distance path. We verified that the efficiency of our algorithm with simulation experiments.

Performance Evaluation for Multi-Level Configuration Space for the Development of an Efficient Mobile Robot Path Planner (모바일 로봇을 위한 다단계 형태 공간 생성 방법에 대한 성능 검증)

  • Park, Jung-Soo;So, Byung-Chul;Jung, Jin-Woo
    • Journal of the Korean Institute of Intelligent Systems
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    • v.21 no.1
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    • pp.36-41
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    • 2011
  • Configuration space(C-space) including configuration obstacle(C-obstacle) is one of the most important concepts in mobile robot path planning. Using C-space and C-obstacles, the robot with different shapes and moving mechanisms can be considered as a point in the C-space. And, as a result, the collision-free path for the robot can be easily achieved. To make C-space including C-obstacle, many researchers used circular approximation method for the efficient caluculation time. This method can help us to save our time by approximating the shape of a robot as the minimum sized circle which can cover all the area of robot. But, by using the circle larger than the robot, more space are considered as the part of robot and, as a result, some obstacles which are very near each other may be considered as a combined one obstacle. To solve this problem, multi-level configuration space is proposed by this paper. This multi-level method also use the circular approximation method as the initial step. But, after finding the initial path, it will check how many obstacles are combined. And then, for each combined obstacle, more accurate C-space generation will be continued. To check the efficiency of the proposed algorithm, time for c-space generation are compared with the well-known accurate C-space generation method using various types of robot shape.

A Study on Appropriate Military Strength of Unified Korea (Focused on relative balance strategy and conflict scenario) (통일 한국의 적정 군사력에 관한 연구 - 분쟁 시나리오와 상대적 균형전략을 중심으로 -)

  • Hong, Bong-Gi
    • Journal of National Security and Military Science
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    • s.13
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    • pp.687-738
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    • 2016
  • To prepare for the complicated international relationship regarding Korean Peninsula after reunification, this thesis started off with the awareness that Unified Korea should build its international posture and national security at an early stage by determining its appropriate military strength for independent defense and military strategies that Unified Korea should aim. The main theme of this thesis is 'The research on appropriate military strength of the Unified Korean military'. To derive appropriate military strength of Unified Korea, this research focuses on conflict scenario and relative balance strategy based on potential threats posed by neighboring countries, and this is the part that differentiates this research from other researches. First of all, the main objective of the research is to decide appropriate military strength for Unified Korea to secure defense sufficiency. For this, this research will decide efficient military strategy that Unified Korea should aim. Than by presuming the most possible military conflict scenario, this research will judge the most appropriate military strength for Unified Korea to overcome the dispute. Second, after deciding appropriate military strength, this research will suggest how to operate presumed military strength in each armed force. The result of this thesis is as in the following. First, Unified Korea should aim 'relative balance strategy'. 'Relative balance strategy' is a military strategy which Unified Korea can independently secure defense sufficiency by maintaining relative balance when conflicts occur between neighboring countries. This strategy deters conflicts in advance by relative balance of power in certain time and place. Even if conflict occurs inevitably, this strategy secures initiative. Second, when analyzing neighboring countries interest and strategic environment after unification, the possibility of all-out war will be low in the Korean Peninsula because no other nation wants the Korean Peninsula to be subordinated to one single country. Therefore appropriate military strength of the Unified Korean military would be enough when Unified Korea can achieve relative balance in regional war or limited war. Third, Northeast Asia is a region where economic power and military strength is concentrated. Despite increasing mutual cooperation in the region, conflicts and competition to expand each countries influence is inherent. Japan is constantly enhancing their military strength as they aim for normal statehood. China is modernizing their military strength as they aspire to become global central nation. Russia is also enhancing their military strength in order to hold on to their past glory of Soviet Union as a world power. As a result, both in quality and quantity, the gap between military strength of Unified Korea and each neighboring countries is enlarged at an alarming rate. Especially in the field of air-sea power, arms race is occurring between each nation. Therefore Unified Korea should be equipped with appropriate military strength in order to achieve relative balance with each threats posed by neighboring countries. Fourth, the most possible conflicts between Unified Korea and neighboring countries could be summarized into four, which are Dokdo territorial dispute with Japan, Leodo jurisdictional dispute with China, territorial dispute concerning northern part of the Korea Peninsula with China and disputes regarding marine resources and sea routes with Russia. Based on those conflict scenarios, appropriate military strength for Unified Korea is as in the following. When conflict occurs with Japan regarding Dokdo, Japan is expected to put JMSDF Escort Flotilla 3, one out of four of its Japan Maritime Self-Defense Force Escort Fleet, which is based in Maizuru and JMSDF Maizuru District. To counterbalance this military strength, Unified Korea needs one task fleet, comprised with three task flotilla. In case of jurisdictional conflict with China concerning Leodo, China is expected to dispatch its North Sea fleet, one out of three of its naval fleet, which is in charge of the Yellow Sea. To response to this military action, Unified Korea needs one task fleet, comprised with three task flotilla. In case of territorial dispute concerning northern part of the Korean Peninsula with China, it is estimated that out of seven Military Region troops, China will dispatch two Military Region troops, including three Army Groups from Shenyang Military Region, where it faces boarder with the Korean Peninsula. To handle with this military strength, Unified Korea needs six corps size ground force strength, including three corps of ground forces, two operational reserve corps(maneuver corps), and one strategic reserve corps(maneuver corps). When conflict occurs with Russia regarding marine resources and sea routes, Russia is expected to send a warfare group of a size that includes two destroyers, which is part of the Pacific Fleet. In order to balance this strength, Unified Korea naval power requires one warfare group including two destroyers. Fifth, management direction for the Unified Korean military is as in the following. Regarding the ground force management, it would be most efficient to deploy troops in the border area with china for regional and counter-amphibious defense. For the defense except the border line with china, the most efficient form of force management would be maintaining strategic reserve corps. The naval force should achieve relative balance with neighboring countries when there is maritime dispute and build 'task fleet' which can independently handle long-range maritime mission. Of the three 'task fleet', one task fleet should be deployed at Jeju base to prepare for Dokdo territorial dispute and Leodo jurisdictional dispute. Also in case of regional conflict with china, one task fleet should be positioned at Yellow Sea and for regional conflict with Japan and Russia, one task fleet should be deployed at East Sea. Realistically, Unified Korea cannot possess an air force equal to neither Japan nor China in quantity. Therefore, although Unified Korea's air force might be inferior in quantity, they should possess the systematic level which Japan or China has. For this Unified Korea should build air base in island areas like Jeju Island or Ullenong Island to increase combat radius. Also to block off infiltration of enemy attack plane, air force needs to build and manage air bases near coastal areas. For landing operation forces, Marine Corps should be managed in the size of two divisions. For island defense force, which is in charge of Jeju Island, Ulleung Island, Dokdo Island and five northwestern boarder island defenses, it should be in the size of one brigade. Also for standing international peace keeping operation, it requires one brigade. Therefore Marine Corps should be organized into three divisions. The result of the research yields a few policy implications when building appropriate military strength for Unified Korea. First, Unified Korea requires lower number of ground troops compared to that of current ROK(Republic of Korea) force. Second, air-sea forces should be drastically reinforced. Third, appropriate military strength of the Unified Korean military should be based on current ROK military system. Forth, building appropriate military strength for Unified Korea should start from today, not after reunification. Because of this, South Korea should build a military power that can simultaneously prepare for current North Korea's provocations and future threats from neighboring countries after reunification. The core of this research is to decide appropriate military strength for Unified Korea to realize relative balance that will ensure defense sufficiency from neighboring countries threats. In other words, this research should precisely be aware of threats posed by neighboring countries and decide minimum level of military strength that could realize relative balance in conflict situation. Moreover this research will show the path for building appropriate military strength in each armed force.

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