Earticle

To solve the problem that the traditional rapidly-exploring random tree(RRT) algorithm can not be directly applied to the path planning of Unmanned Aerial Vehicle(UAV), add the UAV turning angle constraint to the planning algorithm in the process of random point were produced, it make the path meet the capable of flying; For the problem that we could not determine the random point about the rapidly-exploring random tree(RRT) algorithm, this paper provide a improvement algorithm which combined aircraft kinematics equation, and use this algorithm to the three dimensional(3D) path planning . The simulation result proved that this algorithm could avoid the threat effectively, and the accuracy of planning is more precise, so the path planned by the algorithm proposed in this paper is more accorded the requirements of actual planning path.

One of the most challenging safety precautions for workers in dynamic, radioactive environments is avoiding radiation sources and sustaining low exposure. This paper presents a sampling-based algorithm, DL-RRT*, for minimum dose walk-path re-planning in radioactive environments, expedient for occupational workers in nuclear facilities to avoid unnecessary radiation exposure. The method combines the principle of random tree star ($RRT^*$) and $D^*$ Lite, and uses the expansion strength of grid search strategy from $D^*$ Lite to quickly find a high-quality initial path to accelerate convergence rate in $RRT^*$. The algorithm inherits probabilistic completeness and asymptotic optimality from $RRT^*$ to refine the existing paths continually by sampling the search-graph obtained from the grid search process. It can not only be applied to continuous cost spaces, but also make full use of the last planning information to avoid global re-planning, so as to improve the efficiency of path planning in frequently changing environments. The effectiveness and superiority of the proposed method was verified by simulating radiation field under varying obstacles and radioactive environments, and the results were compared with $RRT^*$ algorithm output.

본 논문은 Simulink/Stateflow 모델 기반의 테스트 케이스를 자동으로 생성하기 위하여, 휴리스틱 입력 분석을 이용한 Rapidly-exploring Random Tree(RRT) 기법을 제안한다. RRT는 모델 기반 블랙박스 테스트 케이스 생성 시 반드시 해결해야 되는 도달 가능성 문제를 효율적으로 해결할 수 있는 방법이지만, 모델의 내부 상태와 테스트 목표를 고려하지 않고 무작위로 모델의 입력을 생성하기 때문에 테스트 케이스 생성 효율이 떨어지는 단점이 있다. 제안하는 기법에서는 RRT를 확장해나갈 때 필요한 입력을, 모델의 현재 상태에서 만족 할 수 있는 테스트 목표를 분석하고 이를 달성할 수 있는 모델의 입력을 분석 결과에 따라 휴리스틱하게 결정함으로써, RRT의 장점을 보존하면서, 테스트 케이스 생성 효율을 높일 수 있다. 제안된 기법은 자동차에 사용되는 실 부품 ECU의 Simulink/Stateflow 모델을 대상으로 한 실험을 통해 성능이 평가되었으며, 기존 RRT와 비교하여 테스트 케이스 생성 효율이 높은 것을 보였다.

This paper proposes a modified RRT (Rapidly exploring Random Tree) algorithm utilizing a heuristic input analysis and suggests a test case generation method from Simulink/Stateflow model using the proposed RRT algorithm. Though the typical RRT algorithm is an efficient method to solve the reachability problem to definitely be resolved for generating test cases of model in a black box manner, it has a drawback, an inefficiency of test case generation that comes from generating random inputs without considering the internal states and the test targets of model. The proposed test case generation method increases efficiency of test case generation by analyzing the test targets to be satisfied at the current state and heuristically deciding the inputs of model based on the analysis during expanding an RRT, while maintaining the merit of RRT algorithm. The proposed method is evaluated with the models of ECUs embedded in a commercial passenger's car. The performance is compared with that of the typical RRT algorithm.

Optimal path planning refers to find the safe route to the destination at a low cost, is a major problem with regard to autonomous navigation. Sampling Based Planning(SBP) approaches, such as Rapidly-exploring Random Tree Star($RRT^*$), are the most influential algorithm in path planning due to their relatively small calculations and scalability to high-dimensional problems. $RRT^*$-Smart introduced path optimization and biased sampling techniques into $RRT^*$ to increase convergent rate. This paper presents an improvement plan that has changed the biased sampling method to increase the initial convergent rate of the $RRT^*$-Smart, which is specified as m$RRT^*$-Smart. With comparison among $RRT^*$, $RRT^*$-Smart and m$RRT^*$-Smart in 2 & 3-D environments, m$RRT^*$-Smart showed similar or increased initial convergent rate than $RRT^*$ and $RRT^*$-Smart.

$RRT^*$ (Rapidly exploring Random $Tree^*$) based algorithms are widely used for path planning. Informed $RRT^*$ uses $RRT^*$ for generating an initial path and optimizes the path by limiting sampling regions to the area around the initial path. $RRT^*$ algorithms have several limitations such as slow convergence speed, large memory requirements, and difficulties in finding paths when narrow aisles or doors exist. In this paper, we propose an algorithm to deal with these problems. The proposed algorithm applies the image skeletonization to the gridmap image for generating an initial path. Because this initial path is close to the optimal cost path even in the complex environments, the cost can converge to the optimum more quickly in the proposed algorithm than in the conventional Informed $RRT^*$. Also, we can reduce the number of nodes and memory requirement. The performance of the proposed algorithm is verified by comparison with the conventional Informed $RRT^*$ and Informed $RRT^*$ using initial path generated by $A^*$.

In this paper, we propose an improved path planning method and obstacle avoidance algorithm for two-wheel mobile robots, which can be effectively applied in an environment where obstacles can be represented by circles. Firstly, we briefly introduce the rapidly exploring random tree (RRT) and single polar polynomial (SPP) algorithm. Secondly, we present additional two methods for applying our proposed method. Thirdly, we propose a global path planning, smoothing and obstacle avoidance method that combines the RRT and SPP algorithms. Finally, we present a simulation using our proposed method and check the feasibility. This shows that proposed method is better than existing methods in terms of the optimality of the trajectory and the satisfaction of the kinematic constraints.