Path Planning Model Research Articles

Global Path Optimal Planning Method for Autonomous Vehicles Based on Image Feature Extraction

In order to solve the problem of autonomous vehicles driving safely on the road while searching for optimal paths to avoid traffic congestion and obstruction, this paper establishes an optimal path planning model based on image feature extraction. The model consists of four parts: the selection of key turning points, interpolation between turning points, definition of the evaluation function, and global optimal path search. First, based on the map information provided by the network, an image feature detection algorithm was proposed, and the key turning points of the map route were selected and stored in an open table. Then, based on mechanical analysis theory, the cubic interpolation between two key turning points of the optimal path was defined. This allows the car to drive along a continuous curve with a certain arc radius, enabling it to drive smoothly, effectively avoid obstacles, and ensure safety. Then, an evaluation function is defined as needed, and different evaluation functions are specified for different road sections to avoid excessive local deviations in planning and to reduce the impact of known obstacles on the path. Finally, the cost of the search path is calculated based on the evaluation function. According to the principle of minimum cost, a globally optimal heuristic search algorithm is proposed to find the globally optimal path. Experimental results show that the proposed global optimal path planning algorithm has excellent performance, with an average accuracy of 96.71% and a search speed of 2.78 ms. The model not only provides accurate path planning and fast path selection capabilities but also has strong robustness against interference.

Underground rescue path planning based on a comprehensive risk assessment approach

Fire incidents in underground environments, such as subway stations and shopping malls, pose significant hazards due to restricted ventilation and confined spaces. These conditions complicate rescue operations, particularly given the unpredictable nature of fires. Effective integration of fire risk assessment into rescue path planning is essential for ensuring both safety and operational efficiency. However, fire risk is inherently complex, varying across both temporal and spatial dimensions, and accurate assessment depends on precise fire situation inference. Despite advancements in fire simulation technologies, inconsistencies in geometric structures between computational units limit seamless integration with path planning models. Consequently, many existing studies rely on simplistic and less reliable linear fire inference models, compromising the safety of rescue operations. This paper addresses these challenges by proposing an underground rescue path planning method based on a comprehensive fire risk assessment, aimed at enhancing both safety and operational efficiency. A fire risk assessment approach, driven by fire situation inference, is introduced, employing a novel grid-matching transformation to capture the spatio-temporal dynamics of fire conditions using high-precision simulation software. Additionally, an improved A* algorithm is developed for real-time rescue path optimization, minimizing path risk based on the results of the risk assessment. The proposed method is validated through a detailed case study, demonstrating its effectiveness and reliability.

Sustainable Personalized E-Learning through Integrated Cross-Course Learning Path Planning

This study addresses the growing need for sustainable and personalized learning solutions in online education by optimizing cross-course learning paths. With the increasing volume of e-learning resources, students often struggle to select appropriate courses and learning paths that align with their individual abilities and goals. A novel cross-course learning path planning model is proposed, which integrates resources from multiple courses using modified matching functions based on Item Response Theory (IRT) and a knowledge graph. This model effectively matches learner attributes, such as abilities, learning styles, and goals, with material attributes like difficulty, types, and prerequisites. An innovative variable-length continuous representation (VLCR) and an improved differential evolution algorithm are employed to optimize the multi-attribute matching (MAM) model, enhancing learning personalization. Results from numerical experiments indicate that cross-course learning paths significantly enhance learning outcomes for a wide range of learners, with over 45% benefiting from improved matches compared to single-course paths. Additionally, 70% of learners experienced similar or better results with cross-course learning. This approach not only promotes efficient learning but also supports sustainable educational practices, preparing educators and learners to meet the challenges of a rapidly changing world.

Learning to construct a solution for UAV path planning problem with positioning error correction

Unmanned aerial vehicles (UAVs) are advanced flight systems. However, their positioning systems cause distance-dependent errors during flight. This study seeks to solve the UAV path planning problem with positioning error correction (UPEC) with an end-to-end method. Traditional methods struggle to balance solution quality and computational overload, and often have limited utilisation of scenario information. To overcome these issues, we propose a path planning model (PPM) based on deep reinforcement learning to solve the UPEC. The model has a complete structure that includes a mathematical model, feature engineering, solution process, neural policy network, scenario generation, training process, and test solution mechanism. Specifically, we first establish a Markov decision process (MDP) for UPEC and apply feature engineering with effective features to support decision-making. We then introduce a path planning neural network (PPNN) to represent the MDP policy. Based on the dataset generated from the multi-rule combination validation, we train the PPNN using the proposed RL algorithm with storage pool. Furthermore, we propose a backtracking mechanism to guarantee solution feasibility during the construction process. Extensive experiments demonstrate that the proposed PPM outperforms existing state-of-the-art algorithms in terms of solution quality and timeliness, and the backtracking mechanism effectively improves the scenario completion rate. The model study indicates the efficacy of our training algorithm and the generalisation of the PPNN. Additionally, our construction process is problem-tailored and more suitable for addressing UPEC than iterative search algorithms, because it effectively mitigates the impact of invalid nodes.

A Survey on Penetration Path Planning in Automated Penetration Testing

Penetration Testing (PT) is an effective proactive security technique that simulates hacker attacks to identify vulnerabilities in networks or systems. However, traditional PT relies on specialized experience and costs extraordinary time and effort. With the advancement of artificial intelligence technologies, automated PT has emerged as a promising solution, attracting attention from researchers increasingly. In automated PT, penetration path planning is a core task that involves selecting the optimal attack paths to maximize the overall efficiency and success rate of the testing process. Recent years have seen significant progress in the field of penetration path planning, with diverse methods being proposed. This survey aims to comprehensively examine and summarize the research findings in this domain. Our work first outlines the background and challenges of penetration path planning and establishes the framework for research methods. It then provides a detailed analysis of existing studies from three key aspects: penetration path planning models, penetration path planning methods, and simulation environments. Finally, this survey offers insights into the future development trends of penetration path planning in PT. This paper aims to provide comprehensive references for academia and industry, promoting further research and application of automated PT path planning methods.

Fire emergency management of large shopping malls: IoT-based evacuee tracking and dynamic path optimization

As urbanization accelerates and buildings become more complex, fire emergency evacuation has become increasingly challenging. Traditional evacuation plans often struggle with slow response times and suboptimal path planning in real-time dynamic and complex fire scenarios. To address these issues, this study proposes the IoT-based DWM-Evac model for fire emergency evacuation path planning. The model leverages IoT technology by using various sensors placed inside buildings to monitor fire incidents and spread in real-time, collecting critical data such as temperature, smoke concentration, and flame location. It integrates Dynamic Graph Neural Networks (DGNN), Whale Optimization Algorithm (WOA), and Markov Decision Process (MDP) to enhance path efficiency and safety. Experimental results indicate that the DWM-Evac model achieves an average evacuation time of 315 s in a virtual mall environment, 25 s shorter than traditional plans, with an average path length of 255 meters and a path safety score of 0.92, higher than the traditional plan’s 0.88. The application of IoT in fire emergency management not only improves response speed but also optimizes path planning, significantly enhancing personnel safety.

Novel additive lamination manufacturing system for rapid fabrication of large-scale reinforced structural members

Purpose Additive lamination manufacturing (ALM), as a novel additive manufacturing technology, builds up the geometry via the lamination of fiber-reinforced polymer (FRP) fabric laterally, rendering it suitable for fabricating large-scale Stay-in-Place concrete formwork. This paper aims to investigate the control parameters and structure performance of ALM and assess its application for the fabrication of large-scale concrete formwork. Design/methodology/approach Based on previous feasibility studies, this research systematically investigates the control and material parameters that influence horizontal and vertical extrusion speeds, as well as the overall quality of ALM. Once the system parameters are established, a series of prototypes are fabricated and tested to validate the tensile strength of the formwork and its reinforcement capabilities. In addition, this study assesses the potential geometric freedom and implementation constraints of ALM. Findings This research identifies the essential control parameters for path planning in ALM and examines their impact on fabrication. In addition, this paper evaluates ALM’s strengths and limitations in producing concrete formwork for large-scale concrete structures, comparing these to industry benchmarks. Originality/value A critical challenge in additive manufacturing lies in its scalability and compatibility with existing construction processes. In comparison to concrete, FRP offers advantages such as being lighter, easier to handle and providing surface protection and reinforcement. These qualities make FRP superior for formwork and compatible with existing building standards. Despite its advantages and potential, the current path planning and control model in 3D printing do not apply to ALM due to its novel build-up process. Also, the performance of fabricated parts as part of integrated large-scale structures is yet to be studied.

A Study of the Improved A* Algorithm Incorporating Road Factors for Path Planning in Off-Road Emergency Rescue Scenarios.

To address the problem of ignoring unpaved roads when planning off-road emergency rescue paths, an improved A* algorithm that incorporates road factors is developed to create an off-road emergency rescue path planning model in this study. To reduce the number of search nodes and improve the efficiency of path searches, the current node is classified according to the angle between the line connecting the node and the target point and the due east direction. Additionally, the search direction is determined in real time through an optimization method to improve the path search efficiency. To identify the path with the shortest travel time suitable for emergency rescue in wilderness scenarios, a heuristic function based on the fusion of road factors and a path planning model for off-road emergency rescue is developed, and the characteristics of existing roads are weighted in the process of path searching to bias the selection process toward unpaved roads with high accessibility. The experiments show that the improved A* algorithm significantly reduces the travel time of off-road vehicles and that path selection is enhanced compared to that with the traditional A* algorithm; moreover, the improved A* algorithm reduces the number of nodes by 16.784% and improves the search efficiency by 27.18% compared with the traditional 16-direction search method. The simulation results indicate that the improved algorithm reduces the travel time of off-road vehicles by 21.298% and improves the search efficiency by 93.901% compared to the traditional A* algorithm, thus greatly enhancing off-road path planning.

SDO: A novel sled dog-inspired optimizer for solving engineering problems

A new bio-inspired meta-heuristic algorithm, named Sled Dog Optimizer (SDO), is proposed in this paper. The inspiration for SDO is primarily drawn from the various behavioral patterns of sled dogs. It focuses on constructing mathematical models by simulating the process of dog sledding, training and retiring behaviors. The mutual constraints of multiple steps and the variation of several parameters make the exploitation and exploration capabilities of SDO well balanced. To test the ability of SDO, this paper sets up several different sets of experiments to be analyzed from a number of different aspects. First, SDO is qualitatively analyzed through several performance metrics, which include search history, search trajectory and population diversity. Second, SDO is compared with several novel and excellent metaheuristics at CEC 2017 as well as CEC 2020. The results show that SDO has extremely good performance in solving unconstrained optimization problems. SDO is then further applied to the CEC 2020 real-world problem test set to test its ability to solve real-world optimization problems with constraints. Finally, this paper extends and proposes a new path planning model to which SDO is applied. In these problems with constraints, SDO performs well and has a promising application. SDO demonstrates outstanding control of exploration and exploitation capabilities in all experiments. It can be said that SDO promotes the progress of meta-heuristic algorithms and provides another new powerful technology for complex optimization problems in the real world.

Improved PSO-Based Two-Phase Logistics UAV Path Planning under Dynamic Demand and Wind Conditions

Unmanned aerial vehicles (UAVs) have increasingly become integral to logistics and distribution due to their flexibility and mobility. However, the existing studies often overlook the dynamic nature of customer demands and wind conditions, limiting the practical applicability of their proposed strategies. To tackle this challenge, we firstly construct a time-slicing-based UAV path planning model that incorporates dynamic customer demands and wind impacts. Based on this model, a two-stage logistics UAV path planning framework is developed according to the analysis of the customer pool updates and dynamic attitudes. Secondly, a dynamic demand and wind-aware logistics UAV path planning problem is formulated to minimize the weighted average of the energy consumption and the customer satisfaction penalty cost, which comprehensively takes the energy consumption constraints, load weight constraints, and hybrid time window constraints into consideration. To solve this problem, an improved particle swarm optimization (PSO)-based multiple logistics UAV path planning algorithm is developed, which has good performance with fast convergence and better solutions. Finally, extensive simulation results verify that the proposed algorithm can not only adhere to the UAV’s maximum load and battery power constraints but also significantly enhance the loading efficiency and battery utilization rate. Particularly, compared to the genetic algorithm (GA), simulated annealing (SA), and traditional PSO strategies, our proposed algorithm achieves satisfactory solutions within a reasonable time frame and reduces the distribution costs by up to 9.82%.

Break Out of the Sea Surface: Genetic Algorithm based Search Path Planning Model for Locating and Searching Submersible Lost in Deep Sea

Deep-sea tourism and exploration, which require regulatory approval due to safety concerns, are burgeoning entertainment activities. Our study introduces a probabilistic model for locating missing submersibles to facilitate these approvals. The model predicts the submersible's location based on Newton's second law, analyzing three potential malfunction scenarios. It incorporates dynamics to account for variations in water flow and terrain, using a normal distribution to handle random location fluctuations. To address the complexities of deep-sea search and rescue, we propose a method that integrates detailed equipment selection, suited to the extreme conditions. Furthermore, we develop a discrete grid-based model for search path planning. This model simplifies path planning into a sorting optimization problem by connecting grid centers and calculating the probability integral for each grid. Our research also discusses the scalability of our positioning and search models, crucial for adapting to various deep-sea environments. We demonstrate the efficacy of our model through simulations and calculations, proving its potential to enhance safety and efficiency in deep-sea tourism projects. This comprehensive approach ensures that our probabilistic model not only predicts the submersible's location but also optimizes the search process, addressing both regulatory and practical challenges in the field of underwater exploration.

Multi-constraint improved RS path planning method for unmanned rice direct seeding machine

Path planning is one of the key technologies that determines the efficiency and quality of field operations using autonomous agricultural machinery. To date, there has been extensive research on global coverage path planning for unmanned agricultural machinery within the working area; however, the issue of “encircling and edging” left by the machinery during headland turns is often overlooked. This study focuses on the operational conditions of unmanned agricultural machinery in the rice fields of southern China. The path planning problem is abstracted under physical constraints, such as the space at the field headland, the agricultural environment (e.g., types of field ridges), the turning characteristics of the machinery, turning radius, working width, and minimum safety distance, into mathematical constraints. This yields an optimized path planning model and sequence combination. Based on the improved Reeds–Shepp curve, an en-circling and edging path planning algorithm is designed. The planned path for the unmanned agricultural machinery from start to finish consists only of arcs and straight lines, suitable for the right-angle turning, reversing, and 180° U-turn operations required for rice field machinery, thus significantly improving the coverage of field edges and missed areas at the headland. A rice direct-seeding machine was used as a test subject for encircling and edging field trials, with tests conducted in rectangular, trapezoidal, and irregular quadrilateral rice fields. The results show that, for rectangular plots, the full-field coverage rate of rice direct-seeding operations can reach 96.44%; for trapezoidal plots, the coverage rate is 95.47%; and for irregular quadrilateral fields, the coverage rate is 95.69%. These results are promising, indicating that the encircling and edging path planning based on the improved Reeds–Shepp curve can effectively increase the full-field coverage rate of unmanned agricultural machinery, improving work quality and meeting the needs of modernized, intelligent agricultural machinery operations.

Human navigation strategies and their errors result from dynamic interactions of spatial uncertainties

Goal-directed navigation requires continuously integrating uncertain self-motion and landmark cues into an internal sense of location and direction, concurrently planning future paths, and sequentially executing motor actions. Here, we provide a unified account of these processes with a computational model of probabilistic path planning in the framework of optimal feedback control under uncertainty. This model gives rise to diverse human navigational strategies previously believed to be distinct behaviors and predicts quantitatively both the errors and the variability of navigation across numerous experiments. This furthermore explains how sequential egocentric landmark observations form an uncertain allocentric cognitive map, how this internal map is used both in route planning and during execution of movements, and reconciles seemingly contradictory results about cue-integration behavior in navigation. Taken together, the present work provides a parsimonious explanation of how patterns of human goal-directed navigation behavior arise from the continuous and dynamic interactions of spatial uncertainties in perception, cognition, and action.

Emergency fire escape path planning model based on improved DDPG algorithm

Currently, there is a growing demand for fire emergency evacuation capability of buildings. However, current plans based on pre-established static evacuation routes, fail to consider the dynamic nature of real-time fire scenarios. The objective of this paper is to propose a path planning model for fire emergency scenarios. The model is designed to provide evacuation paths for stranded individuals based on fire-related factors. Firstly, the model acquires relevant data through fire simulation, defines the reward function, and establishes an environment for training the agent. Secondly, the Deep Deterministic Policy Gradient (DDPG) algorithm is improved for the characteristics of the fire scenario. The intrinsic motivation was introduced to the DDPG to enhance its ability to explore the state space, and the hindsight experience replay strategy was implemented to improve the algorithm's training effectiveness. For the hyperparameter sensitivity problem in reinforcement learning, the Beluga Whale Optimization algorithm was employed for hyperparameter optimization. The experimental results show that the reinforcement learning model can plan evacuation paths starting from any location, and the final paths effectively balance the trade-off between risk and distance cost in the environment. The improved DDPG algorithm converges to increase the average reward by about 100, and the applicability of the model is verified in different fire environments. The application of the model can provide a good basis for the selection of emergency evacuation paths, and it has theoretical and practical value for the designation of scientific evacuation plans and the evaluation of the performance of building emergency systems.

Distribution path optimization of carbon emission-reducing agricultural products in the cold chain from a green economy perspective

As people's environmental awareness improves, the development of green economy has become an important goal for countries to achieve sustainable development. The extensive generation of greenhouse gases during the cold chain logistics and distribution process poses a significant challenge to the advancement of the green economy. By utilizing an enhanced genetic algorithm (GA), this research examines the expenses associated with distributing fresh agricultural products via the cold chain and constructs a model for optimizing the path of distribution. Simulation experiments show that the total cost of this model constructed in the study is 2323.94 RMB, which is less than 2623.35 RMB of the traditional path planning model, and the carbon emission is 85 kg less. It proves that the path optimization model constructed by the research has high economic and environmental benefits, and the designed and planned path is more in line with the needs of green economy than the traditional path, which has the potential to minimize carbon emissions during the fresh agricultural product cold chain distribution process while simultaneously promoting sustainable development.

Path Planning of Unmanned Aerial Vehicles Based on an Improved Bio-Inspired Tuna Swarm Optimization Algorithm.

The Sine-Levy tuna swarm optimization (SLTSO) algorithm is a novel method based on the sine strategy and Levy flight guidance. It is presented as a solution to the shortcomings of the tuna swarm optimization (TSO) algorithm, which include its tendency to reach local optima and limited capacity to search worldwide. This algorithm updates locations using the Levy flight technique and greedy approach and generates initial solutions using an elite reverse learning process. Additionally, it offers an individual location optimization method called golden sine, which enhances the algorithm's capacity to explore widely and steer clear of local optima. To plan UAV flight paths safely and effectively in complex obstacle environments, the SLTSO algorithm considers constraints such as geographic and airspace obstacles, along with performance metrics like flight environment, flight space, flight distance, angle, altitude, and threat levels. The effectiveness of the algorithm is verified by simulation and the creation of a path planning model. Experimental results show that the SLTSO algorithm displays faster convergence rates, better optimization precision, shorter and smoother paths, and concomitant reduction in energy usage. A drone can now map its route far more effectively thanks to these improvements. Consequently, the proposed SLTSO algorithm demonstrates both efficacy and superiority in UAV route planning applications.

Research on transmission line path planning model based on TFN‐AHP and ACO

Research on transmission line path planning model based on TFN‐AHP and ACO

Cross-border E-commerce Logistics Optimization Algorithm for Collaboration between the Internet of Things and Logistics

This paper proposes the shortest path optimization algorithm for domestic and overseas e-commerce logistics based on a bilateral search method. This paper uses the logistics distribution route optimization algorithm based on the shortest path to set the collaborative parameters. Then, it builds an adaptive optimization model for the grid planning of domestic and overseas e-commerce logistics path. The route is optimized. Then, the PSO and genetic algorithm are integrated to establish the logistics path planning model of domestic and overseas e-commerce. The superiority of the proposed route optimization algorithm in domestic and overseas e-commerce logistics distribution is verified through simulation experiments. This algorithm has high spatial positioning efficiency and high transportation efficiency.

Energy Saving and Emission Reduction Optimization of Enterprise Hazardous Waste Recycling Management System based on Hybrid Genetic Algorithm

This research proposes a new path planning model for hazardous waste recycling transportation to effectively manage the hazardous waste recycling transportation, improving the transportation efficiency, while considering the actual road conditions. The new model adopts the conservation algorithm and hybrid genetic algorithm, which makes the new model better meet the complex needs of hazardous waste recycling. The new approach enables optimal transportation path planning for hazardous waste recycling while ensuring safety and compliance. The results showed that the hybrid algorithm outperformed the other two algorithms in terms of path optimization, cost reduction, accuracy improvement and error reduction. The hybrid algorithm had the best path optimization effect, which can get the optimal path with the lowest cost and highest efficiency. The hybrid algorithm had the highest accuracy of 95.62%. It also had the lowest root mean square error and average percentage error, indicating that it had less error. Finally, the hybrid algorithm had the highest loss function value, which indicated that the model had the best stability and better performance. The new hybrid genetic algorithm performed better than the single traditional algorithm, which is more efficient for hazardous waste recycling.

Optimization of machining path for integral impeller side milling based on SA-PSO fusion algorithm in CNC machine tools

The five axis linkage Computer Numerical Control machine tool for integral impeller can achieve blade machining through side milling, which is of great significance for improving the machining accuracy, production efficiency, and long-term stability of integral impeller blades. This study is based on non-uniform rational B-spline curves and aims to reduce the surface over cutting or under cutting of integral turbine blades. The path planning of non deployable ruled surfaces was analyzed in depth through side milling, and the path planning model of the side milling cutter axis was solved through a fusion algorithm of simulated annealing algorithm and particle swarm optimization algorithm, in order to find the optimal path through iterative process. As the number of iterations increased, the error values of particle swarm optimization algorithm and simulated annealing particle swarm optimization fusion algorithm gradually decreased, with convergence times of about 7 and 6, respectively. The stable error value of the fusion algorithm was 0.253, which is 30.45% lower than that of the particle swarm optimization algorithm. The optimal number of iterations for solving the model using particle swarm optimization algorithm and fusion algorithm was the 7th, with range values of 0.0213 and 0.0165 mm, respectively. The tool axis trajectory surface optimized by the fusion algorithm was closer to the tool axis motion state compared to the initial tool axis trajectory surface. The range of the sum of mean squared deviations for single and global cutting was 0.0011–0.0198 and 0.046–0.0341, but the overall error value was relatively small. This study effectively reduces the envelope error of machining tools and improves machining accuracy, thereby solving the principle error of non expandable ruled surfaces in the motion trajectory of the blade axis of the integral turbine. This provides new research ideas for the intelligent development of Computer Numerical Control machining technology.