Loc Q. Huynh¹, Ly V. Tran¹, Phuc N. K. Phan¹, Zhiqiu Yu², Son V. T. Dao^1,2,*

CMC-Computers, Materials & Continua, Vol.76, No.2, pp. 2281-2300, 2023, DOI:10.32604/cmc.2023.034872 - 30 August 2023

Abstract Path planning is a prevalent process that helps mobile robots find the most efficient pathway from the starting position to the goal position to avoid collisions with obstacles. In this paper, we propose a novel path planning algorithm–Intermediary RRT*-PSO-by utilizing the exploring speed advantages of Rapidly exploring Random Trees and using its solution to feed to a metaheuristic-based optimizer, Particle swarm optimization (PSO), for fine-tuning and enhancement. In Phase 1, the start and goal trees are initialized at the starting and goal positions, respectively, and the intermediary tree is initialized at a random unexplored region… More >

Chong Xu¹, Hao Zhu¹, Haotian Zhu², Jirong Wang¹, Qinghai Zhao^1,3,*

CMES-Computer Modeling in Engineering & Sciences, Vol.137, No.3, pp. 2567-2591, 2023, DOI:10.32604/cmes.2023.029152 - 03 August 2023

Abstract A new and improved RRT^∗ algorithm has been developed to address the low efficiency of obstacle avoidance planning and long path distances in the electric vehicle automatic charging robot arm. This algorithm enables the robot to avoid obstacles, find the optimal path, and complete automatic charging docking. It maintains the global completeness and path optimality of the RRT algorithm while also improving the iteration speed and quality of generated paths in both 2D and 3D path planning. After finding the optimal path, the B-sample curve is used to optimize the rough path to create a smoother More > Graphic Abstract

Zhiliang Deng, Dong Wang^*

Journal of New Media, Vol.5, No.1, pp. 55-64, 2023, DOI:10.32604/jnm.2023.040252 - 14 June 2023

Abstract The issue of finding available parking spaces and mitigating congestion during parking is a persistent challenge for numerous car owners in urban areas. In this paper, we propose a novel method based on the A-star algorithm to calculate the optimal parking path to address this issue. We integrate a road impedance function into the conventional A-star algorithm to compute path duration and adopt a fusion function composed of path length and duration as the weight matrix for the A-star algorithm to achieve optimal path planning. Furthermore, we conduct simulations using parking lot modeling to validate More >

Xudong Wang^1,2, Xueshuai Qin¹, Huiyan Zhang^2,*, Luis Ismael Minchala³

Intelligent Automation & Soft Computing, Vol.37, No.1, pp. 385-400, 2023, DOI:10.32604/iasc.2023.036633 - 29 April 2023

Abstract Unmanned vehicles are currently facing many difficulties and challenges in improving safety performance when running in complex urban road traffic environments, such as low intelligence and poor comfort performance in the driving process. The real-time performance of vehicles and the comfort requirements of passengers in path planning and tracking control of unmanned vehicles have attracted more and more attentions. In this paper, in order to improve the real-time performance of the autonomous vehicle planning module and the comfort requirements of passengers that a local granular-based path planning method and tracking control based on multi-segment Bezier… More >

Abida Sharif¹, Imran Sharif¹, Muhammad Asim Saleem², Muhammad Attique Khan³, Majed Alhaisoni⁴, Marriam Nawaz^5,6, Abdullah Alqahtani⁷, Ye Jin Kim⁸, Byoungchol Chang^9,*

CMC-Computers, Materials & Continua, Vol.75, No.3, pp. 5379-5393, 2023, DOI:10.32604/cmc.2023.034413 - 29 April 2023

Abstract The Internet of Vehicles (IoV) is a networking paradigm related to the intercommunication of vehicles using a network. In a dynamic network, one of the key challenges in IoV is traffic management under increasing vehicles to avoid congestion. Therefore, optimal path selection to route traffic between the origin and destination is vital. This research proposed a realistic strategy to reduce traffic management service response time by enabling real-time content distribution in IoV systems using heterogeneous network access. Firstly, this work proposed a novel use of the Ant Colony Optimization (ACO) algorithm and formulated the path More >

Onder Alparslan^*, Omer Cetin

Intelligent Automation & Soft Computing, Vol.36, No.3, pp. 3355-3370, 2023, DOI:10.32604/iasc.2023.035689 - 15 March 2023

Abstract Unknown closed spaces are a big challenge for the navigation of robots since there are no global and pre-defined positioning options in the area. One of the simplest and most efficient algorithms, the artificial potential field algorithm (APF), may provide real-time navigation in those places but fall into local minimum in some cases. To overcome this problem and to present alternative escape routes for a robot, possible crossing points in buildings may be detected by using object detection and included in the path planning algorithm. This study utilized a proposed sensor fusion method and an… More >

Gamil Ahmed¹, Tarek Sheltami^1,*, Ashraf Mahmoud¹, Ansar Yasar²

CMES-Computer Modeling in Engineering & Sciences, Vol.136, No.3, pp. 3239-3263, 2023, DOI:10.32604/cmes.2023.022860 - 09 March 2023

Abstract Unmanned aerial vehicles (UAVs), commonly known as drones, have drawn significant consideration thanks to their agility, mobility, and flexibility features. They play a crucial role in modern reconnaissance, inspection, intelligence, and surveillance missions. Coverage path planning (CPP) which is one of the crucial aspects that determines an intelligent system’s quality seeks an optimal trajectory to fully cover the region of interest (ROI). However, the flight time of the UAV is limited due to a battery limitation and may not cover the whole region, especially in large region. Therefore, energy consumption is one of the most… More >

K. Sreelakshmy¹, Himanshu Gupta¹, Om Prakash Verma¹, Kapil Kumar², Abdelhamied A. Ateya³, Naglaa F. Soliman^4,*

Computer Systems Science and Engineering, Vol.45, No.3, pp. 2483-2503, 2023, DOI:10.32604/csse.2023.032737 - 21 December 2022

Abstract Unmanned Aerial Vehicles (UAVs) or drones introduced for military applications are gaining popularity in several other fields as well such as security and surveillance, due to their ability to perform repetitive and tedious tasks in hazardous environments. Their increased demand created the requirement for enabling the UAVs to traverse independently through the Three Dimensional (3D) flight environment consisting of various obstacles which have been efficiently addressed by metaheuristics in past literature. However, not a single optimization algorithms can solve all kind of optimization problem effectively. Therefore, there is dire need to integrate metaheuristic for general More >

Najla Bagais^*, Etimad Fadel, Amal Al-Mansour

CMC-Computers, Materials & Continua, Vol.73, No.1, pp. 1237-1267, 2022, DOI:10.32604/cmc.2022.026070 - 18 May 2022

Abstract Wireless sensor networks (WSNs) are considered the backbone of the Internet of Things (IoT), which enables sensor nodes (SNs) to achieve applications similarly to human intelligence. However, integrating a WSN with the IoT is challenging and causes issues that require careful exploration. Prolonging the lifetime of a network through appropriately utilising energy consumption is among the essential challenges due to the limited resources of SNs. Thus, recent research has examined mobile sinks (MSs), which have been introduced to improve the overall efficiency of WSNs. MSs bear the burden of data collection instead of consuming energy… More >

Shaher Alshammrei¹, Sahbi Boubaker^2,*, Lioua Kolsi^1,3

CMC-Computers, Materials & Continua, Vol.72, No.3, pp. 5939-5954, 2022, DOI:10.32604/cmc.2022.028165 - 21 April 2022

Abstract Optimal path planning avoiding obstacles is among the most attractive applications of mobile robots (MRs) in both research and education. In this paper, an optimal collision-free algorithm is designed and implemented practically based on an improved Dijkstra algorithm. To achieve this research objectives, first, the MR obstacle-free environment is modeled as a diagraph including nodes, edges and weights. Second, Dijkstra algorithm is used offline to generate the shortest path driving the MR from a starting point to a target point. During its movement, the robot should follow the previously obtained path and stop at each… More >