Shijie Yang¹, Jiateng Yuan¹, Zhipeng Zhang¹, Zhibo Chen^1,2, Hanchao Zhang⁴, Xiaohui Cui^1,2,3,*

CMC-Computers, Materials & Continua, Vol.81, No.1, pp. 1529-1563, 2024, DOI:10.32604/cmc.2024.055402 - 15 October 2024

Abstract In recent years, sensor technology has been widely used in the defense and control of sensitive areas in cities, or in various scenarios such as early warning of forest fires, monitoring of forest pests and diseases, and protection of endangered animals. Deploying sensors to collect data and then utilizing unmanned aerial vehicle (UAV) to collect the data stored in the sensors has replaced traditional manual data collection as the dominant method. The current strategies for efficient data collection in above scenarios are still imperfect, and the low quality of the collected data and the excessive… More >

Shih-Lin Lin^*, Bo-Chen Lin

CMC-Computers, Materials & Continua, Vol.80, No.3, pp. 3555-3572, 2024, DOI:10.32604/cmc.2024.055456 - 12 September 2024

Abstract This paper explores the application of Model Predictive Control (MPC) to enhance safety and efficiency in autonomous vehicle (AV) navigation through optimized path planning. The evolution of AV technology has progressed rapidly, moving from basic driver-assistance systems (Level 1) to fully autonomous capabilities (Level 5). Central to this advancement are two key functionalities: Lane-Change Maneuvers (LCM) and Adaptive Cruise Control (ACC). In this study, a detailed simulation environment is created to replicate the road network between Nantun and Wuri on National Freeway No. 1 in Taiwan. The MPC controller is deployed to optimize vehicle trajectories,… More >

Xiangkui Jiang^*, Zihao Wang, Chao Dong

CMC-Computers, Materials & Continua, Vol.80, No.3, pp. 4303-4323, 2024, DOI:10.32604/cmc.2024.054640 - 12 September 2024

Abstract

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 proposed based on RRT. Firstly, to improve the sampling efficiency of RRT to shorten the search time, the search area of the random tree 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

… More >

Xiaoqing Wang¹, Peng Duan^1,*, Leilei Meng^1,*, Kaidong Yang²

CMC-Computers, Materials & Continua, Vol.80, No.1, pp. 931-947, 2024, DOI:10.32604/cmc.2024.050612 - 18 July 2024

Abstract Effective path planning is crucial for mobile robots to quickly reach rescue destination and complete rescue tasks in a post-disaster scenario. In this study, we investigated the post-disaster rescue path planning problem and modeled this problem as a variant of the travel salesman problem (TSP) with life-strength constraints. To address this problem, we proposed an improved iterated greedy (IIG) algorithm. First, a push-forward insertion heuristic (PFIH) strategy was employed to generate a high-quality initial solution. Second, a greedy-based insertion strategy was designed and used in the destruction-construction stage to increase the algorithm’s exploration ability. Furthermore,… More >

Liang Zeng^1,2, Mai Hu¹, Chenning Zhang¹, Quan Yuan¹, Shanshan Wang^1,2,*

CMC-Computers, Materials & Continua, Vol.80, No.1, pp. 1677-1709, 2024, DOI:10.32604/cmc.2024.049717 - 18 July 2024

Abstract Optimization algorithms play a pivotal role in enhancing the performance and efficiency of systems across various scientific and engineering disciplines. To enhance the performance and alleviate the limitations of the Northern Goshawk Optimization (NGO) algorithm, particularly its tendency towards premature convergence and entrapment in local optima during function optimization processes, this study introduces an advanced Improved Northern Goshawk Optimization (INGO) algorithm. This algorithm incorporates a multifaceted enhancement strategy to boost operational efficiency. Initially, a tent chaotic map is employed in the initialization phase to generate a diverse initial population, providing high-quality feasible solutions. Subsequently, after… More >

Ziqiao Zhou¹, Tianyang Zhou^1,*, Jinghao Xu², Junhu Zhu¹

CMES-Computer Modeling in Engineering & Sciences, Vol.140, No.3, pp. 2613-2634, 2024, DOI:10.32604/cmes.2023.028553 - 08 July 2024

Abstract Intelligent penetration testing is of great significance for the improvement of the security of information systems, and the critical issue is the planning of penetration test paths. In view of the difficulty for attackers to obtain complete network information in realistic network scenarios, Reinforcement Learning (RL) is a promising solution to discover the optimal penetration path under incomplete information about the target network. Existing RL-based methods are challenged by the sizeable discrete action space, which leads to difficulties in the convergence. Moreover, most methods still rely on experts’ knowledge. To address these issues, this paper… More >

Guojun Chen^*, Danguo Cheng, Wei Chen, Xue Yang, Tiezheng Guo

CMC-Computers, Materials & Continua, Vol.78, No.3, pp. 3721-3741, 2024, DOI:10.32604/cmc.2024.047325 - 26 March 2024

Abstract With the increase in ocean exploration activities and underwater development, the autonomous underwater vehicle (AUV) has been widely used as a type of underwater automation equipment in the detection of underwater environments. However, nowadays AUVs generally have drawbacks such as weak endurance, low intelligence, and poor detection ability. The research and implementation of path-planning methods are the premise of AUVs to achieve actual tasks. To improve the underwater operation ability of the AUV, this paper studies the typical problems of path-planning for the ant colony algorithm and the artificial potential field algorithm. In response to… More >

Xinci Zhou, Jin Zhu^*

CMES-Computer Modeling in Engineering & Sciences, Vol.139, No.3, pp. 2705-2727, 2024, DOI:10.32604/cmes.2024.046363 - 11 March 2024

Abstract As the number of automated guided vehicles (AGVs) within automated container terminals (ACT) continues to rise, conflicts have become more frequent. Addressing point and edge conflicts of AGVs, a multi-AGV conflict-free path planning model has been formulated to minimize the total path length of AGVs between shore bridges and yards. For larger terminal maps and complex environments, the grid method is employed to model AGVs’ road networks. An improved bounded conflict-based search (IBCBS) algorithm tailored to ACT is proposed, leveraging the binary tree principle to resolve conflicts and employing focal search to expand the search More >

Zhiwei Lin¹, Hui Wang^1,*, Tianding Chen¹, Yingtao Jiang², Jianmei Jiang³, Yingpin Chen¹

CMES-Computer Modeling in Engineering & Sciences, Vol.139, No.2, pp. 1357-1379, 2024, DOI:10.32604/cmes.2023.045990 - 29 January 2024

Abstract 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 multi-objective 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… More > Graphic Abstract

Xiaoge Wei^1,2,*, Yuming Zhang^1,2, Huaitao Song^1,2, Hengjie Qin^1,2, Guanjun Zhao³

CMES-Computer Modeling in Engineering & Sciences, Vol.139, No.2, pp. 1295-1316, 2024, DOI:10.32604/cmes.2023.045096 - 29 January 2024

Abstract Reducing casualties and property losses through effective evacuation route planning has been a key focus for researchers in recent years. As part of this effort, an enhanced sparrow search algorithm (MSSA) was proposed. Firstly, the Golden Sine algorithm and a nonlinear weight factor optimization strategy were added in the discoverer position update stage of the SSA algorithm. Secondly, the Cauchy-Gaussian perturbation was applied to the optimal position of the SSA algorithm to improve its ability to jump out of local optima. Finally, the local search mechanism based on the mountain climbing method was incorporated into… More >