Pub Date : 2018-06-01DOI: 10.1109/CCDC.2018.8407698
Liu Xiaoyong, Zhou Shufang, Yang Changguo, Lu Guangyi, Zhang Qiang
It is well known that the performance of Least Squares Support Vector Machine (LSSVM) is guaranteed by k-fold cross-validation (k-CS) or other optimized approaches to choose an appropriate setting of a number of parameters including such as the regularization parameter (7) and the kernel parameter (σ) and so on. However, it is mentioned in a large number of research on k-CS that it need more computational time and large computational burden in the process of optimizing parameters for LSSVM. Moreover, the obtained parameters by CS method are fixed and it lead easily to a poor generalization capabilities in various application. In order to avoid k-CS and to implement parameters update online, this paper proposes a novel method which applied Unscented Kalman Filter (UKF) to dynamically implement parameter updating problem for LSSVM. To estimate LSSVM's parameters online, the state and measurement equations of UKF are first constructed by considering LSSVM's parameter choice as state variable and treating LSSVM model as the measurement equation, respectively. Then, the UKF approach is used to update the LSSVM parameters timely according to the last obtained instance. Applying the proposed method, LSSVM parameters are not any more fixed as tuned parameters on the training dataset, but are adjusted dynamically as new measurements arrived. Finally, the viability and superiority of the proposed method are verified by simulation.
{"title":"Online parameters updating method for least squares support vector machine using Unscented Kalman filter","authors":"Liu Xiaoyong, Zhou Shufang, Yang Changguo, Lu Guangyi, Zhang Qiang","doi":"10.1109/CCDC.2018.8407698","DOIUrl":"https://doi.org/10.1109/CCDC.2018.8407698","url":null,"abstract":"It is well known that the performance of Least Squares Support Vector Machine (LSSVM) is guaranteed by k-fold cross-validation (k-CS) or other optimized approaches to choose an appropriate setting of a number of parameters including such as the regularization parameter (7) and the kernel parameter (σ) and so on. However, it is mentioned in a large number of research on k-CS that it need more computational time and large computational burden in the process of optimizing parameters for LSSVM. Moreover, the obtained parameters by CS method are fixed and it lead easily to a poor generalization capabilities in various application. In order to avoid k-CS and to implement parameters update online, this paper proposes a novel method which applied Unscented Kalman Filter (UKF) to dynamically implement parameter updating problem for LSSVM. To estimate LSSVM's parameters online, the state and measurement equations of UKF are first constructed by considering LSSVM's parameter choice as state variable and treating LSSVM model as the measurement equation, respectively. Then, the UKF approach is used to update the LSSVM parameters timely according to the last obtained instance. Applying the proposed method, LSSVM parameters are not any more fixed as tuned parameters on the training dataset, but are adjusted dynamically as new measurements arrived. Finally, the viability and superiority of the proposed method are verified by simulation.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"74 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90585704","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-06-01DOI: 10.1109/CCDC.2018.8408026
Shen Silun, Zheng Hong, Lin Yong, Zhao Wei
With the development of smart grid, the power quality problems are getting more and more serious, such as voltage sag/swell, voltage and current harmonic distortion and so on. The unified power quality conditioner (UPQC) has been used to improve multiple power quality problems which is an important developmental trend of current power system. In this paper, a harmonic comprehensive detection algorithm based on improve p-q theory is proposed to be applied to the UPQC. It can quickly and accurately detect a variety of power quality problems such as harmonic currents, voltage sag/swell, unbalanced three-phase voltage. Furthermore, an enhanced low-pass filter is designed to improved accuracy of low-pass filter in this harmonic detection algorithm. Simulation results are presented to verify the rationality of this detection method and the performance of the enhanced low-pass filter.
{"title":"UPQC Harmonic Detection Algorithm Based on Improved p-q Theory and Design of Low-Pass Filter","authors":"Shen Silun, Zheng Hong, Lin Yong, Zhao Wei","doi":"10.1109/CCDC.2018.8408026","DOIUrl":"https://doi.org/10.1109/CCDC.2018.8408026","url":null,"abstract":"With the development of smart grid, the power quality problems are getting more and more serious, such as voltage sag/swell, voltage and current harmonic distortion and so on. The unified power quality conditioner (UPQC) has been used to improve multiple power quality problems which is an important developmental trend of current power system. In this paper, a harmonic comprehensive detection algorithm based on improve p-q theory is proposed to be applied to the UPQC. It can quickly and accurately detect a variety of power quality problems such as harmonic currents, voltage sag/swell, unbalanced three-phase voltage. Furthermore, an enhanced low-pass filter is designed to improved accuracy of low-pass filter in this harmonic detection algorithm. Simulation results are presented to verify the rationality of this detection method and the performance of the enhanced low-pass filter.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87354426","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-07-12DOI: 10.1109/CCDC.2017.7978848
Chi Huang, G. Zhai, Wenzhi Li
We consider quadratic stabilization and L2 gain analysis for switched systems which are composed of a finite set of time-invariant affine subsystems. Both subsystem matrices and vectors are switched, and no single subsystem has desired quadratic stability or specific L2 gain property. We show that if a convex combination of subsystem matrices is Hurwitz and another convex combination of affine vectors is zero, then we can design a state-dependent switching law (state feedback) and an output-dependent switching law (output feedback) such that the entire switched system is quadratically stable. The result is also extended to L2 gain analysis under state feedback.
{"title":"Quadratic stabilization and L2 gain analysis of switched affine systems","authors":"Chi Huang, G. Zhai, Wenzhi Li","doi":"10.1109/CCDC.2017.7978848","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7978848","url":null,"abstract":"We consider quadratic stabilization and L2 gain analysis for switched systems which are composed of a finite set of time-invariant affine subsystems. Both subsystem matrices and vectors are switched, and no single subsystem has desired quadratic stability or specific L2 gain property. We show that if a convex combination of subsystem matrices is Hurwitz and another convex combination of affine vectors is zero, then we can design a state-dependent switching law (state feedback) and an output-dependent switching law (output feedback) such that the entire switched system is quadratically stable. The result is also extended to L2 gain analysis under state feedback.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"8 1","pages":"2018-2023"},"PeriodicalIF":0.0,"publicationDate":"2017-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90852449","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-28DOI: 10.1109/CCDC.2017.7978573
A. E. Alemu, Y. Fu
To achieve the desired performance of an electro-hydrostatic actuator (EHA), this paper proposes a linear extended state observer (ESO) based sliding mode control (SMC). An ESO is used to estimate the external disturbance, the uncertainties, speed and acceleration of the EHA. The non linear mathematical model of EHA is a function of the derivatives of the friction force and externally applied force. However it is either difficult or impossible to get these values. To avoid these difficulties the EHA model is constructed in AMESim, the control system is developed in Matlab/Simulink and a co simulation is carried out. The performance of the proposed controller is compared with a PID controller. The simulation results illustrated superior tracking performance and robustness of the ESO based SMC.
{"title":"Sliding mode control of electro-hydrostatic actuator based on extended state observer","authors":"A. E. Alemu, Y. Fu","doi":"10.1109/CCDC.2017.7978573","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7978573","url":null,"abstract":"To achieve the desired performance of an electro-hydrostatic actuator (EHA), this paper proposes a linear extended state observer (ESO) based sliding mode control (SMC). An ESO is used to estimate the external disturbance, the uncertainties, speed and acceleration of the EHA. The non linear mathematical model of EHA is a function of the derivatives of the friction force and externally applied force. However it is either difficult or impossible to get these values. To avoid these difficulties the EHA model is constructed in AMESim, the control system is developed in Matlab/Simulink and a co simulation is carried out. The performance of the proposed controller is compared with a PID controller. The simulation results illustrated superior tracking performance and robustness of the ESO based SMC.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"15 1","pages":"758-763"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78337595","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-28DOI: 10.1109/CCDC.2017.7979386
Bai Tianyu
A treadmill is widely used at home or health entertainment centers, its safety is essential. If the body gait is not appropriate or the inclination degree of the body is too large, movement instability may be caused or even be fallen down from a treadmill. This paper presents an intelligent electronic control method based on STM32 microcontroller and ultrasonic transducer, which can real-time automatically control the treadmill velocity through detection of the upper body position or the tilt angle of human body. Control components are mainly STM32 microcontroller, signal detection unit and motor control unit. The STM32 microcontroller accepts ultrasonic signals of detection unit from input port and digitally processes these signals, and then drives the motor control unit to adjust the operating state and speed of motor through output port. The emitting and receiving of signals are realized by using the ultrasonic T/R module. The main control method is using multiple ultrasonic transducers to measure the interval time between the emitting signals and receiving signals to detect the distance between the subject's position and treadmill or the tilt angle of the body. These collected measurement data are digitally processed by some correlation calculation algorithm, in which some noise and interference signals can be excluded to avoid false judgments. The preliminary test results show that the upper limit of the distance error is less than 8 mm for a 43 kHz ultrasonic wave, and the tilt angular error of human body is approximately 1 to 5 degrees. Therefore the proposed control method and correlation calculation are effective and feasible.
{"title":"A control method to prevent falling from a treadmill based on STM32 microcontroller and ultrasonic transducer","authors":"Bai Tianyu","doi":"10.1109/CCDC.2017.7979386","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7979386","url":null,"abstract":"A treadmill is widely used at home or health entertainment centers, its safety is essential. If the body gait is not appropriate or the inclination degree of the body is too large, movement instability may be caused or even be fallen down from a treadmill. This paper presents an intelligent electronic control method based on STM32 microcontroller and ultrasonic transducer, which can real-time automatically control the treadmill velocity through detection of the upper body position or the tilt angle of human body. Control components are mainly STM32 microcontroller, signal detection unit and motor control unit. The STM32 microcontroller accepts ultrasonic signals of detection unit from input port and digitally processes these signals, and then drives the motor control unit to adjust the operating state and speed of motor through output port. The emitting and receiving of signals are realized by using the ultrasonic T/R module. The main control method is using multiple ultrasonic transducers to measure the interval time between the emitting signals and receiving signals to detect the distance between the subject's position and treadmill or the tilt angle of the body. These collected measurement data are digitally processed by some correlation calculation algorithm, in which some noise and interference signals can be excluded to avoid false judgments. The preliminary test results show that the upper limit of the distance error is less than 8 mm for a 43 kHz ultrasonic wave, and the tilt angular error of human body is approximately 1 to 5 degrees. Therefore the proposed control method and correlation calculation are effective and feasible.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"31 1","pages":"5025-5028"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84718380","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-28DOI: 10.1109/CCDC.2017.7978899
Jingkui Cui, Youmin Zhang, Shao-zong Ma, Yingmin Yi, J. Xin, Ding Liu
The effectiveness and efficiency of using unmanned aerial vehicle (UAV) for automated power transmission line inspection is tightly related to the inspection paths designed for UAV. Different types of UAV are suitable for different inspection tasks and have different requirements for path planning. Based on the contents of the transmission line inspection, it can be divided into tower monitoring and line corridor monitoring. First, according to the characteristics of the tower monitoring, the multi-rotor UAV is used for the tower inspection. By considering the safe distance bewteen UAV and the tower and the features of the camera, the genetic algorithm (GA) is used to design a rational inspection path. Then, according to the requirements of the line corridor monitoring mission, the fixed-wing UAV is used for long distance inspection and the path planning mathematical model and objective function are established. Polar coordinate coding is used to overcome the restrictions of the maximum path deflection angle, the minimum step length and the number of the maximum path nodes. The GA and genetic simulated annealing (GSA) algorithms are used to obtain effective inspection paths. Simulation results show that the proposed optimization scheme in this paper can find the optimal inspection paths.
{"title":"Path planning algorithms for power transmission line inspection using unmanned aerial vehicles","authors":"Jingkui Cui, Youmin Zhang, Shao-zong Ma, Yingmin Yi, J. Xin, Ding Liu","doi":"10.1109/CCDC.2017.7978899","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7978899","url":null,"abstract":"The effectiveness and efficiency of using unmanned aerial vehicle (UAV) for automated power transmission line inspection is tightly related to the inspection paths designed for UAV. Different types of UAV are suitable for different inspection tasks and have different requirements for path planning. Based on the contents of the transmission line inspection, it can be divided into tower monitoring and line corridor monitoring. First, according to the characteristics of the tower monitoring, the multi-rotor UAV is used for the tower inspection. By considering the safe distance bewteen UAV and the tower and the features of the camera, the genetic algorithm (GA) is used to design a rational inspection path. Then, according to the requirements of the line corridor monitoring mission, the fixed-wing UAV is used for long distance inspection and the path planning mathematical model and objective function are established. Polar coordinate coding is used to overcome the restrictions of the maximum path deflection angle, the minimum step length and the number of the maximum path nodes. The GA and genetic simulated annealing (GSA) algorithms are used to obtain effective inspection paths. Simulation results show that the proposed optimization scheme in this paper can find the optimal inspection paths.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"36 1","pages":"2304-2309"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77306906","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-28DOI: 10.1109/CCDC.2017.7978873
Yunsheng Fan, Yabo Cao, Yongsheng Zhao
In order to solve the trajectory tracking of a quadrotor called QBall2 which is produced by Quanser Company of Canada, an integral backstepping controller is designed. A nonlinear mathematical model of QBall2 in the presence of external disturbances is obtained and a MATLAB/Simulink simulation system is built to validate the nonlinear trajectory tracking controller and compare the difference of PID and integral backstepping. The simulation results illustrate the good tracking performances of the designed nonlinear trajectory tracking controller.
{"title":"Design of the nonlinear controller for a quadrotor trajectory tracking","authors":"Yunsheng Fan, Yabo Cao, Yongsheng Zhao","doi":"10.1109/CCDC.2017.7978873","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7978873","url":null,"abstract":"In order to solve the trajectory tracking of a quadrotor called QBall2 which is produced by Quanser Company of Canada, an integral backstepping controller is designed. A nonlinear mathematical model of QBall2 in the presence of external disturbances is obtained and a MATLAB/Simulink simulation system is built to validate the nonlinear trajectory tracking controller and compare the difference of PID and integral backstepping. The simulation results illustrate the good tracking performances of the designed nonlinear trajectory tracking controller.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"56 1","pages":"2162-2167"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79517867","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-28DOI: 10.1109/CCDC.2017.7978458
Yuying Guo, Youmin Zhang
This paper investigates a new framework of extended state observer (ESO) based active disturbance rejection control (ADRC) design methodology for a class of uncertain nonlinear systems subject to measurement noises. First, based on nonlinear filtering function, an improved ESO is designed to estimate both state, and total disturbance which includes the internal uncertain nonlinear part and the external uncertain disturbance. Then, the explicit analysis about how to select nonlinear filtering function and the convergence analysis for the error dynamics are presented. Numerical simulation results are shown to demonstrate the effectiveness of the proposed method.
{"title":"On the performance of improved extended state observer based control for uncertain systems with measurement noises","authors":"Yuying Guo, Youmin Zhang","doi":"10.1109/CCDC.2017.7978458","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7978458","url":null,"abstract":"This paper investigates a new framework of extended state observer (ESO) based active disturbance rejection control (ADRC) design methodology for a class of uncertain nonlinear systems subject to measurement noises. First, based on nonlinear filtering function, an improved ESO is designed to estimate both state, and total disturbance which includes the internal uncertain nonlinear part and the external uncertain disturbance. Then, the explicit analysis about how to select nonlinear filtering function and the convergence analysis for the error dynamics are presented. Numerical simulation results are shown to demonstrate the effectiveness of the proposed method.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"10 1","pages":"7072-7077"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79669771","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-28DOI: 10.1109/CCDC.2017.7978166
Lei Wang, Hu Zhang, Ming Cai, Zhiwei Luo
In recent years, a feasible scheme has been provided by the floating wind turbine for wind power generation changing from the coastal sea to the deep sea. However, the stability of the floating wind turbine power output is seriously influenced by the uncertainty of the model and the external disturbances like wind and wave. Therefore, a power control method for floating wind turbine based on active disturbance rejection (ADR) is proposed in this paper. The purpose of the controller is to avoid increasing the platform load caused by the power regulation on the premise of guaranteeing the stability of power output. Firstly, in order to avoid the large overshoot of the system, the step input signal is transformed into a continuous and smooth signal by designing the tracking differentiator. Secondly, a nonlinear observer is designed to estimate and compensate the unknown time varying nonlinear and disturbances in the system online. Finally, the pitch control is realized by the conventional PD controller. The proposed control approach is tested and compared with NREL baseline controller using the NREL offshore 5MW wind turbine model mounted on a Barge floating platform run on FAST and Matlab/Simulink, operating in the above-rated wind speed condition. The simulation results show that the proposed control strategy has a better performance on floating wind turbine power control.
{"title":"Active disturbance rejection power control for a floating wind turbine","authors":"Lei Wang, Hu Zhang, Ming Cai, Zhiwei Luo","doi":"10.1109/CCDC.2017.7978166","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7978166","url":null,"abstract":"In recent years, a feasible scheme has been provided by the floating wind turbine for wind power generation changing from the coastal sea to the deep sea. However, the stability of the floating wind turbine power output is seriously influenced by the uncertainty of the model and the external disturbances like wind and wave. Therefore, a power control method for floating wind turbine based on active disturbance rejection (ADR) is proposed in this paper. The purpose of the controller is to avoid increasing the platform load caused by the power regulation on the premise of guaranteeing the stability of power output. Firstly, in order to avoid the large overshoot of the system, the step input signal is transformed into a continuous and smooth signal by designing the tracking differentiator. Secondly, a nonlinear observer is designed to estimate and compensate the unknown time varying nonlinear and disturbances in the system online. Finally, the pitch control is realized by the conventional PD controller. The proposed control approach is tested and compared with NREL baseline controller using the NREL offshore 5MW wind turbine model mounted on a Barge floating platform run on FAST and Matlab/Simulink, operating in the above-rated wind speed condition. The simulation results show that the proposed control strategy has a better performance on floating wind turbine power control.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"116 1","pages":"559-564"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85696596","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-28DOI: 10.1109/CCDC.2017.7978471
Guo Qing, Zhang Zheng, Xu Yue
In the automated storage and retrieval system (AS/RS), a reasonable path-planning is fundamental for the effective work of AGV. For the rectangular environment map of the AS/RS system, the traditional Dijkstra algorithm can only find one shortest path, and skip over other paths with the same distance. An improved Dijkstra algorithm is proposed to solve the path-planning problem in the rectangular environment, which can find all equidistant shortest paths. The optimal path with both the shortest distance and time is obtained by adding running time to the path-planning evaluation. The algorithm is programmed using Visual C++, and the simulation results show that the algorithm is effective and feasible for path-planning in the AS/RS system.
{"title":"Path-planning of automated guided vehicle based on improved Dijkstra algorithm","authors":"Guo Qing, Zhang Zheng, Xu Yue","doi":"10.1109/CCDC.2017.7978471","DOIUrl":"https://doi.org/10.1109/CCDC.2017.7978471","url":null,"abstract":"In the automated storage and retrieval system (AS/RS), a reasonable path-planning is fundamental for the effective work of AGV. For the rectangular environment map of the AS/RS system, the traditional Dijkstra algorithm can only find one shortest path, and skip over other paths with the same distance. An improved Dijkstra algorithm is proposed to solve the path-planning problem in the rectangular environment, which can find all equidistant shortest paths. The optimal path with both the shortest distance and time is obtained by adding running time to the path-planning evaluation. The algorithm is programmed using Visual C++, and the simulation results show that the algorithm is effective and feasible for path-planning in the AS/RS system.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"38 1","pages":"7138-7143"},"PeriodicalIF":0.0,"publicationDate":"2017-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90805287","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：