111 results about "Time path" patented technology

A path planning system and method for an object, such as a vehicle, provides a randomized adaptive path planning that handles real-time path planning for a vehicle operating under kinodynamic constraints in dynamically changing and uncertain environments with probabilistic knowledge of vehicle and obstacle movement.

The invention relates to a method for planning a path for a mobile robot based on environmental modeling and a self-adapting window, which relates to a method for planning a real-time path for the mobile robot. The method comprises the following steps of: performing modeling and analysis on a multiple constraint local environment; performing passable analysis; performing safety analysis; performing motion smoothness analysis; performing goal-directed analysis; and performing path planning by adopting the self-adapting window. Because the method has better environmental suitability and obstacle avoiding capacity, the method obtains good safety and reachability, has high calculation real-time property, so the method solves the problem that the mobile robot generates an obstacle avoidance path in real time in an uncertain complex environment, provides a path selection method with optimized integration, better meets the requirements on obstacle avoidance for the mobile robot, realizes the real-time path planning and control of the robot, and provides an effective collision-less path planning method for the navigation application of the mobile robot.

The invention discloses a shortest path planning method for dynamic origins, and belongs to the technical field of dynamic path guidance in an intelligent traffic system. The shortest path planning method is used for optimizing vehicle traveling routes. The shortest path planning method always takes a current vehicle position as a starting point and predicts road condition information such as traffic flow of relevant road sections and road intersections, and the like for many times according to vehicle running time to calculate a shortest path according to a path planning algorithm in a no-request mode at regular time, thereby acquiring a shortest time path in accordance with the real-time conditions of a road network better and directly displaying the shortest time path on the screen of a vehicle navigation system; and meanwhile, by the method, the update operation amount is less so as to shorten calculation time.

Techniques are described for loading decoded instructions and super-set instructions in a memory for later access. For loading a decoded instruction, the decoded instruction is a transformed form of an original instruction that was stored in the program memory. The transformation is from an encoded assembly level format to a binary machine level format. In one technique, the transformation mechanism is invoked by a transform and load instruction that causes an instruction retrieved from program memory to be transformed into a new language format and then loaded into a transformed instruction memory. The format of the transformed instruction may be optimized to the implementation requirements, such as improving critical path timing. The transformation of instructions may extend to other needs beyond timing path improvement, for example, requiring super-set instructions for increased functionality and improvements to instruction level parallelism. Techniques for transforming, loading, and executing super-set instructions are described.

The invention discloses a driverless vehicle local path planning method with time consistency. The method comprises the steps: firstly, vehicle motion differential constraints are increased for a planning path curve, so that a vehicle can track a generated trajectory accurately; secondly, model parameters of a path planning trajectory curve model are promoted, a greater degree of freedom is increased for the planning path, and a curvature constraint problem is conveniently transformed into a mathematical solving optimization problem; and finally, results of periodic optimization before and after the local path method is obtained through periodic optimization solving have large difference, and the problem of jitter of the vehicle during real-time path tracking is caused. A local path planning section is divided into two parts, namely a weak planning section and a strong planning section; the weak planning section is obtained by a strong planning result of a last planning period; throughplanned segmentation, the time consistency of the planning results can be guaranteed, and the local path planning can also have high obstacle avoidance ability.

A system for monitoring a fetus during gestation comprises an input for receiving a plurality of electric signals measured on a surface of a maternal body; and means for providing a fetal electrocardiogram based on the received electric signals and based on an orientation of the fetus, wherein the fetal electrocardiogram represents a projection of a fetal cardiac potential vector according to a predetermined projection direction that is fixed with respect to the fetus. The fetal vector electrocardiogram is projected according to the projection direction. An at least partial representation of a fetal vector electrocardiogram is provided in dependence on the plurality of electric signals and indicative of a time path of an electrical field vector generated by a fetal heart of the fetus.

A method of steering a vehicle along a predetermined, or real time path by using a steering control algorithm. The vehicle includes a navigation system and a navigation antenna. The navigation antenna is mounted on the vehicle at an optimum antenna position, whereas the steering control algorithm assumes a nominal antenna position at a predetermined reference point. The method comprises the following steps: (A) obtaining a set of positioning data of the vehicle by using the navigation system and by using the navigation antenna mounted at the optimum antenna position; (B) modifying the set of positioning data of the vehicle; (C) measuring a steering angle(s) of the front wheels of the vehicle relative to a predetermined reference direction(s); (D) calculating a correction(s) to the measured steering angle(s); and (E) performing a steering action by using the correction(s) to the measured steering angle(s) to move the vehicle along the predetermined, or real time path.

A building fire evacuation path planning method and a building fire evacuation path planning system belong to the field of safety science and engineering and management optimization. The method and the system are provided in order to solve the technical problem on how to get optimal evacuation paths through one-off optimization calculation according to the fire point and a fire dynamic spread model under the premise that all to-be-evacuated people in a building just avoid a dynamic fire zone when a fire occurs to the building. In the one-time path optimization calculation process, the road network environment in the building is not static, but changes with the calculation process according to the given fire dynamic spread model. After path optimization calculation is finished, the system of the invention starts guide devices pre-installed in the building and sends the path optimization result and other information to the mobile application clients of the to-be-evacuated people, so that the to-be-evacuated people at different positions in the building can be guided by the guide devices and the mobile application clients to evacuate according to respective optimal evacuation paths.

The invention provides an automatic drawing device and a method, which relates to the technical field of robot drawing. The automatic drawing device and the method of the invention transform unknown environmental information into a two-dimensional dynamic raster map recognizable by a robot. When the robot moves, the raster map follows suit and updates as well, which avoids the multiple times of adjustments seen by manual drawing and the tedious work required to follow the movement of the robot, therefore, reducing the time for the robot to draw greatly. In addition, through the establishment of a quadtree model, moving targets can be clearly defined; with one time path planning on a local part of the raster map, a whole process can be done automatically, achieving high computational efficiency and simple programming. And at the same time, the robot can acquire sufficient cloud data to ensure the clarity of the map.

The invention discloses a fresh food delivery real-time optimization method based on a hybrid genetic algorithm. The method is characterized in that a Floyd (city routine delivery point) algorithm and a Dijkstra (city dynamic delivery point) are utilized to calculate the shortest path between delivery points, a mileage saving method is employed to merge delivery paths, and then a hybrid genetic algorithm is applied to integrate the delivery paths of the delivery points. The fresh food delivery real-time optimization method based on the hybrid genetic algorithm achieves the beneficial effects that in real-time delivery, for occurrence of various dynamic delivery points, through the hybrid genetic algorithm, combined with optimal delivery cost, the method can realize real-time path allocation, improve the overall allocation efficiency, and is of great significance to delivery of fresh food.

The invention discloses an optimal multi-vehicle scheduling method based on an active distribution type taxi service system. The method includes: calculating the distance of the shortest-time path from the starting point of a passenger to the destination of the passenger and the distance of the shortest-time path from the current position of each taxi to the starting point of the passenger according to the starting point and destination in a taxi taking request of the passenger and the current position of the taxi, and calculating the benefit matrix of each taxi and the maximum waiting time matrix of the passenger; calculating a system utility value matrix according the limitation conditions in multi-vehicle distribution; scheduling on the basis of weighted bipartite graph, sequentially searching for feasible augmenting paths point by point, augmenting matched edge number, and using the updated matching result after the final point acquires the feasible augmenting path as the optimal taxi scheduling result. By the method, the income of taxi drivers can be guaranteed, the average waiting time of passengers can be lowered, and the overall benefits of the taxi service system are increased.

The invention relates to an artificial seismic wave synthetic method compatible with a multi-damping ratio response spectrum. By adoption of the method, a traditional method is first adopted to generate initial artificial seismic waves and then a time domain adjustment algorithm is adopted to be performed on all periodical control points in turn; an optimization algorithm is adopted to perform fractional step adjustment in a given periodical control point according to the damping ratio number of a target response spectrum so as to realize a minimum root-mean-square error between a multi-damping ratio response spectrum value on the periodical control point of the artificial seismic waves after adjustment and a target multi-damping ratio response spectrum value. The time domain adjustment algorithm is to overlay amplitude modulation simple harmonic time paths on the initial artificial seismic waves, and the amplitude modulation simple harmonic time paths adopt intensity envelope curves which are the same with the initial artificial seismic waves for modulation of the simple harmonic time paths. The algorithm is high in fitting precision and high in calculating speed and is suitable for promotion and application.

The invention relates to a real-time path control method for a processing tool of a numerical control machine based on machine vision. The method comprises the following steps: reading and analyzing instruction photographing information of a processing document; scanning and correcting a position mark of a photographing point; reading and analyzing inspection information of the tool routine of the processing document; carrying out real-time control inspection of the tool routine; reading and analyzing the information of the tool routine of the processing document; and carrying out motion control on the tool of the machine. By adopting the real-time path control method for the processing tool of the numerical control machine, a part in accordance with current actual condition in a higher accuracy range can be processed so as to realize real-time correction to the tool routine, a corresponding processing mode can be selected, the number of a routine unit can be defined and the processing status can be set flexibly so as to improve the processing efficiency on the premise that the processing accuracy is ensured, and simplify steps of operation control. The method has stable and reliable working performance and wider application range, and establishes solid foundation for further development of the tool routine control technology of the numerical control machine.

The invention provides an intelligent spectacle based worker navigation system and method. The method comprises the following steps: S1, a sensor unit is adopted to acquire user position information, and the acquired user position information is subjected to positioning calibration by a positioning unit; S2, position information of other correlated users is acquired by a communication unit; S3, position information of different users is input in a navigation calculating unit, and navigation paths between the user positions are calculated according to indoor map information of a memory unit; and S4, each correlated user adopts an indicating unit to perform real-time path navigation. Through introduction of intelligent spectacles, the whole navigation system structure is simplified, the cost is reduced, and moreover, real-time navigation can be conveniently and rapidly performed on more than two workers in an active state.

The invention, which belongs to the technical field of navigation, provides an omnidirectional moving platform navigation method being a novel method. According to the omnidirectional moving platform navigation method, iGPS global positioning data and measured motor rotation momentum of a motor encoder are obtained to carry out combined positioning, and a shortest path from a current position to a target position is searched in a topological map; after path searching completion, path tacking is carried out, a speed control instruction and a displacement control instruction are sent to a umac controller, and the umac controller controls the motor to make rotation, thereby completing autonomous driving of the omnidirectional moving platform and autonomous navigation. The method is implemented by real-time path searching; and the positioning precision is high and the adaptability is high.

The invention discloses a driverless smart car automatic collision avoidance method based on a quantum wolf pack algorithm. The method is based on global path planning and monitors the surrounding environment of the driverless car in real time during the safe driving process of the smart car, and in the case of a dynamic or static obstacle, with the shortest target path as an objective function, the quantum wolf pack algorithm is optimized to obtain a destination arrival path with the shortest local collision avoidance; and the optimal steering angle of the local driverless smart car and the angle of restoring the original path are determined to obtain a local path planning result of the driverless smart car. Global path planning and local path planning are combined to be applied to driverless driving of the smart car, driving of the smart car can be planned on the whole globally, the road condition information can be judged in real time during the driving process through local path planning, the real-time path is changed timely, the driverless smart car is thus ensured to arrive at the destination quickly and steadily, and the safety and the reliability of driverless driving can be improved.

By aiming at a kind of six-freedom-degree parallel robots using screw-nut-rotatable (called as rod end floating) ball screw pairs as active joints, the invention discloses an angle compensation kinematics solving method of one kind of rod end floating type six-freedom-degree parallel robots. According to the method, firstly, for a specified robot tail end position and posture vector, a relative rotation angle between each lead screw and a screw nut of the lead screw and the additional rod length caused by the rotating angle are calculated; and an angle compensation reverse kinematics solving method is given; and secondly, the relative rotation of each lead screw and the screw nut is considered, and on the basis of the reverse kinematics solving method, an efficient value iterative solution method is used for giving a kinematics positive solving method for calculating the robot tail end position and posture by the given rod length. The method provided by the invention can solve the problem of influence of screw nut rotation of the ball screw pair on the kinematics calculation of the six-freedom-degree parallel robots, has the advantages of high precision and high convergence speed, and is favorable for realization of the high-precision real-time path tracking control of the type of parallel robots.

The invention discloses an unmanned boat collision avoidance path planning method based on an obstacle condition of a track unit; the method comprises the following steps of 1) determining the starting point and the ending point of the movement path of the unmanned boat; 2) determining a real-time path point and a heading angle of the unmanned boat; 3) according to the real-time path point and theheading angle of the unmanned plane, a movement track unit of the unmanned boat and a path point of the obstacle, solving reachable path points; 4) performing path cost calculation on all the reachable path points, and obtaining the position of the next path point and the corresponding heading angle; and 5) judging whether the path point is the terminal point of the movement path or not, if so, outputting the final path; or otherwise, taking the path point and the corresponding heading angle as the real-time path point and the heading angle of the unmanned boat, and turning to the step 2). According to the method, the unmanned boat track unit model is established, so that the planned route is closer to the actual sailing requirement in an actual sailing process, and autonomous obstacle avoidance can be achieved.

The invention discloses a method for carrying out AFDX network path optimization by a genetic algorithm. The method is virtual link path optimization carried out on an AFDX network configured with a VL path. The method disclosed by the invention comprises the following steps of: establishing a connection matrix and a virtual link path group of a switch at first; and then carrying out chromosome coding on a virtual link path; finally carrying out genetic operations of crossing, variation and selection on a chromosome group, obtaining the optimal chromosome in case of meeting an end condition, and extracting out a valid virtual link path, wherein the path is used as the optimized virtual link path. According to the method disclosed by the invention, path optimization for the virtual link VL in the configured AFDX network is solved, and real-time path optimization for the virtual link VL in the configured AFDX network is carried out by applying the genetic algorithm, thus improving the message transmission real-time performance of the AFDX network.