End-to-end training is facilitated via distributional reinforcement learning algorithms and reward functions informed by heuristic knowledge. Optimal actions for path planning are determined through return value distributions. Finally, the simulation results show that the success rate of the proposed ...
string pathFolder; ---使用matlab生成路径集合的文件路径double vehicleLength = 0.6;---车辆的长度,单位mdouble vehicleWidth = 0.6; ---车辆的宽度,单位mdouble sensorOffsetX = 0;---传感器坐标系与车体中心的偏移量double sensorOffsetY = 0;---传感器坐标系与车体中心的偏移量bool twoWayDrive = true; ...
To select the optimal path, the priority of each path is determined by considering the path safety cost, path smoothness, and path consistency. The proposed path-planning algorithms were applied to the autonomous vehicle A1, which won the 2010 Autonomous Vehicle Competition organized by the Hyundai...
In this paper, we propose a local path planning method based on RANGER algorithm and autonomy manager for autonomous navigation of UGV in urban environment. LPP method is designed to generate the local path in sensing area by using lane and curb of pavement and autonomy manager is designed to...
Many robots operating in unpredictable environments require an online path planning algorithm that can quickly compute high quality paths. Asymptotically optimal planners are capable of finding the optimal path, but can be slow to converge. Local optimisation algorithms are capable of quickly improving a...
collision avoidance,inordertoimprovethereliabilityofthelocalpath planning.Simulationandseatestresultsshowthatthisalgorithmis abettersolutionforcollisionavoidanceoftheselfnavigation modelundertheinterferenceofseawindsandwaveswithgood adaptability. Keywords:self-propelledmodel;localpathplanning;Qlearning; obstacleavoidance;...
Regionally accelerated batch informed trees (RABIT*): A framework to integrate local information into optimal path planning Sampling-based optimal planners, such as RRT*, almost-surely converge asymptotically to the optimal solution, but have provably slow convergence rates in h... S Choudhury,JD Ga...
Designing and development of energy effective path planning algorithm is very key research domain in order to tackle the issues of limited life-time for Wi... M Aslam,EU Munir,M Bilal,... - IEEE 被引量: 6发表: 2014年 Clustering Algorithms for Wireless Sensor Network: A Survey The last ...
A new meta-heuristic optimizer: pathfinder algorithm. Appl Soft Comput J. 2019 May;78: 545–568. 34. Hayyolalam V, Kazem AAP. Black widow optimization algorithm: a novel meta-heuristic approach for solving engineering optimization problems. Eng Appl Artif Intell. 2020 Jan;87: 103249. 35....
Local path planning of USV is the avoidance of stillness and movement obstacles based on PSO(Particle Swarm Optimization).Firstly,the parameters and fitness function in PSO was determined.Obstacles were modeled using the Outside Circle and Oriented Bounding Box on the polar coordinate system.The part...