This paper presents a hierarchical motion planning approach based on discrete optimization method. Well-coupled longitudinal and lateral strategies with adaptability features are applied for better performance of on-road autonomous driving avoidance both static moving obstacles. In the path level, proposed method starts speed profile designing determination horizon, then set candidate paths wil...

Aiming at the problem of low efficiency and large memory consumption in mobile robot path planning, this paper proposes an improved version RRT*Fixed Nodes( RRT*FN )algorithm based on adaptive threshold, named A-RRT*FN. The algorithm constructs a sampling tree two directions starting point, target point adaptively sets threshold according to environment both sides improve environmental adaptabi...

Airport development is increasingly difficult. One of these difficulties stems from uncertainty about future developments. Currently, airport development relies on Airport Master Planning (AMP). The goal of AMP is to provide a detailed blueprint for how the airport should look in the future, and how it can get there. However, among others because of the uncertainty, Master Plans often perform p...

The Onboard Autonomous Science Investigation System (OASIS) system has been developed to enable a rover to identify and react to serendipitous science opportunities. Using the FIDO rover in the Mars Yard at JPL, we have successfully demonstrated a fully autonomous opportunistic science system. The closed loop system tests included the rover acquiring image data, finding rocks in the image, anal...

This paper presents an offline collision-free path planning algorithm for multiple mobile robots using a 2D spatial-time map. In this decoupled approach, a centralized planner uses a SpatioTemporal A* algorithm to find the lowest time cost path for each robot in a sequentially order based on its assigned priority. Improvements in viable path solutions using wait time insertion and adaptive prio...

Path planning is one of the hotspots in research automotive engineering. Aiming at issue robot path with goal finding a collision-free optimal motion an environment barriers, this study proposes adaptive parallel arithmetic optimization algorithm (APAOA) novel communication strategy. Comparisons other popular algorithms on 18 benchmark functions are committed. Experimental results show that pro...

PURPOSE Setup, range, and anatomical uncertainties influence the dose delivered with intensity modulated proton therapy (IMPT), but clinical quantification of these errors for oropharyngeal cancer is lacking. We quantified these factors and investigated treatment fidelity, that is, robustness, as influenced by adaptive planning and by applying more beam directions. METHODS AND MATERIALS We us...