Redundant Paths Research Articles

A Hybrid ARO Algorithm and Key Point Retention Strategy Trajectory Optimization for UAV Path Planning

Path planning is a fundamental research issue for enabling autonomous flight in unmanned aerial vehicles (UAVs). An effective path planning algorithm can greatly improve the operational efficiency of UAVs in complex environments like urban and mountainous areas, thus offering more extensive coverage for various tasks. However, existing path planning algorithms often encounter problems such as high computational costs and a tendency to become trapped in local optima in complex 3D environments with multiple constraints. To tackle these problems, this paper introduces a hybrid multi-strategy artificial rabbits optimization (HARO) for efficient and stable UAV path planning in complex environments. To realistically simulate complex scenarios, we introduce spherical and cylindrical obstacle models. The HARO algorithm balances exploration and exploitation phases using a dual exploration switching strategy and a population migration memory mechanism, enhancing search performance and avoiding local optima. Additionally, a key point retention trajectory optimization strategy is proposed to reduce redundant path points, thus lowering flight costs. Experimental results confirm the HARO algorithm’s superior search performance, planning more efficient and stable paths in complex environments. The key point retention strategy effectively reduces flight costs during trajectory optimization, thereby enhancing adaptability.

Fragment and torsion biasing algorithms for construction of small organic molecules in proteins using DOCK.

The computational construction of small organic molecules (de novo design), directly in a protein binding site, is an effective means for generating novel ligands tailored to fit the pocket environment. In this work, we present two new methods, which aim to improve de novo design outcomes using (1) biasing algorithms to prioritize selection and/or acceptance of fragments and torsions during growth, and (2) parallel-based clustering and pruning algorithms to remove duplicate molecules as candidate fragment are added. Large-scale testing encompassing thousands of simulations were employed to interrogate the methods in terms of multiple metrics which include numbers of duplicate molecules generated, pairwise-similarity, focused library reconstruction rates, fragment and torsion frequencies, fragment and torsion rank scores, interaction energy and drug-likeness scores, and 3D pose comparisons. The biasing algorithms, particularly those that include fragment and torsion components simultaneously, led to molecules that more closely mimicked the distributions of fragments and torsions found in drug-like libraries. The new parallel-based clustering and pruning algorithms, compared with the existing serial approach, also led to larger ensembles comprised of topologically unique molecules with much greater efficiency by removing redundant growth paths.

A novel autonomous exploration algorithm via LiDAR/IMU SLAM and hierarchical subsystem for mobile robot in unknown indoor environments

Abstract Autonomous exploration in unknown environments is an essential capability for mobile robots. The complexity of autonomous exploration, however, means that existing algorithms struggle to balance efficiency and comprehensiveness, causing low mapping accuracy and redundant path planning. To perform accurate and efficient exploration tasks, we have proposed a novel autonomous exploration algorithm via LiDAR/IMU (Inertial Measurement Unit) Simultaneous Localization and Mapping (SLAM) and hierarchical subsystem for mobile robot in unknown environments. Firstly, to enhance mapping accuracy for mobile robot exploration, LiDAR/IMU SLAM is improved with the assistance of backward propagation and iterated Kalman filter, and Bidirectional Rapidly–Exploring Random Trees* (BI–RRT*) is applied for efficient frontier point detection. Secondly, we optimize local path planning by leveraging information theory through perceptual quality evaluation, which is then integrated with global path planning utilizing an enhanced Travelling Salesman Problem solver and a sparse grid map to amplify exploration efficiency. Thirdly, an enhanced hierarchical autonomous exploration method for mobile robots is proposed, which incorporates local path planning for seamless navigation around highly promising exploration spots, coupled with global path planning to effectively interconnect various sub–regions. Finally, simulations and field tests have demonstrated that the proposed method explores an unknown indoor environment with a 30.8% reduction in exploration time and a 29.9% reduction in exploration path in comparison with Dynamic Stage Viewpoint Planner. The map constructed in this paper has more accurate details and exploration paths have been shortened to ensure effective exploration.

Relationship between root system-soil C:N:P and soil microbial diversity at different evolutionary stages of Caragana tibetica scrub in arid desert grassland, Northern China.

Scrub root systems play a crucial role in preventing soil erosion and nutrient loss. However, the effects of the root system configuration on soil nutrient dynamics and microbial changes at various evolutionary stages remain poorly understood. In this study, we investigated the relationship between soil physical and chemical properties and the diversity of bacteria and fungi throughout the evolutionary stages of the scrub root systems. This was achieved through a combination of whole-root excavation and root tracing techniques. The results indicated that root diameter was the main factor contributing to the continuous increase in carbon (C): phosphorus (P) and nitrogen (N): P ratios as the scrub sand pile developed. The soil organic carbon (SOC), total soil nitrogen (TN), and total soil phosphorus (TP) contents in the soil in the four evolutionary stages were the highest during the developmental stage, but the change in TP content was not statistically significant (P > 0.05). Partial least squares path modeling and redundancy analysis (RDA) indicated that root system stoichiometric C and N contents were positively correlated with microbial diversity (R2 = 0.85). There was no correlation between the evolutionary stage and soil nutrient TN, whereas soil nutrient TN was negatively correlated with microbial diversity (R2 = -0.92). These findings elucidate the relationship between the evolutionary stage of root chemical measurement characteristics, soil elements and microorganisms, and their subsequent effects on root elemental composition and microbial diversity. This study enhances the current understanding of plant-soil interactions in desert steppe ecosystems.

Improved ant colony algorithm for path planning based on pheromone difference distribution strategy

In view of the problems of blind search in the initial stage, slow convergence speed and easy to fall into local optimum when the traditional ant colony algorithm is used for mobile robot path planning, an improved ant colony algorithm is proposed. Firstly, according to the distance between each node and the line connecting the starting point and the target point, the initial pheromone is unevenly distributed to make it normally distributed, which reduces the blindness of the algorithm search in the initial stage and speeds up the search for the optimal solution; secondly, the volatility factor is improved, and the principle of double volatility factor is adopted to control the volatility of pheromone, which not only reduces the possibility of local optimum but also speeds up the convergence speed; the redundant path is further optimized to make the path better. Simulation results show that the improved ant colony algorithm in this paper converges faster and more stably than the traditional ant colony algorithm and other improved ant colony algorithms.

Offset-stoichiometric reflowable composite bonding method with adhesive for mitigating strict faying surface tolerances

Inherent susceptibility of adhesive bonds to miniscule quantities of contamination can cause undetectable weakened bonds. For this reason, the Federal Aviation Administration (FAA) places strict regulations on adhesively bonded joints in primary aircraft structures. To meet certification requirements aircraft manufactures resort to redundant load paths in the form of fasteners which inherently add weight to the structure and increase manufacturing time. In prior work, a secondary bonding technique called AERoBOND was developed, which utilized off-stoichiometric epoxy-matrix resins to facilitate reflow and diffusion of the resin within the joint interface during a secondary bonding/cure process, thus achieving a bond similar to a co-cured joint. However, the AERoBOND process required tight spatial tolerances between the two parts being joined. This study examined the utilization of conventional adhesive with the AERoBOND method to act as a filler in the joint line, effectively reducing the need for tight tolerances on the joining parts and serving as a flexible alternative for existing manufacturing processes. Ultrasonic inspection, optical microscopy, and ASTM International standard tests were performed to analyze the joints for defects and to quantify the mode-I and mode-II interlaminar fracture toughness and short beam strength of the proposed methodology with varying manufacturing parameters. The comprehensive results indicate that the AERoBOND+ method with and without surface preparation performs comparably to co-cured and conventional, adhesively bonded joints when secondary cured in an autoclave with 791 kPa of pressure. As an example, the AERoBOND+ panel without surface preparation bonded with 791 kPa of pressure (referred to as AB+3 throughout paper) had a mode-I fracture toughness (GIc) of 0.643 kJ/m2 and a mode-II fracture toughness (GIIc) of 4.000 kJ/m2 in the non-precracked condition and 4.218 kJ/m2 in the precracked condition at the adhesive-to-prepreg interface. These results were 96 %, 142 %, and 217 %, respectively, of a co-cured baseline panel (referred to as C1 throughout paper).

A path splitting and pruning strategy on list decoder for PAC codes

AbstractRecently, Arıkan proposed a polarization‐adjusted convolutional (PAC) codes, demonstrating their superior error correction performance over polar codes at short block lengths. It was confirmed that PAC codes approached the optimal performance achievable with limited code length. This paper proposes a novel low‐complexity list decoding algorithm for PAC codes, incorporating path splitting and pruning strategies based on a set of highly reliable information bits. Simulation results reveal that the proposed algorithm significantly reduces sorting complexity and average list size, all while incurring negligible performance loss. Unlike previous pruning algorithms designed for polar codes, the proposed strategy eliminates the need to individually assess the reliability of decoding paths in each decoding process. Instead, the algorithm minimizes redundant decoding paths through a high‐reliability information bit set, constructed using Monte Carlo experiments.

An intelligent fuzzy reinforcement learning-based routing algorithm with guaranteed latency and bandwidth in SDN: Application of video conferencing services

Online video conferencing services connection by multipoint control units leads to communication bottleneck and high latency. Due to the dynamic traffic in routing connection requests to video conferences, the existing routing algorithms face problems such as communication bottlenecks, high latency, congestion, path redundancy, and local optimum. In recent years, the implementation of video conferencing systems using Software-Defined Networking (SDN) provides new opportunities to improve Quality of Service (QoS) with low latency. In this paper, an Intelligent Fuzzy reinforcement learning-based Routing Algorithm is proposed, which simultaneously Guarantees Latency and Bandwidth for online video conferencing services in SDN (named IFRA-GLB). Fuzzy logic mainly performs online routing between an ingress–egress pair. Meanwhile, through ongoing training, reinforcement learning lowers the average number of hops on the path determined by fuzzy model. Enhancements to the convergence capability of IFRA and reduced reliance on network topology are achieved by adjusting link weights using a weighted shortest path algorithm focused on critical nodes. When the network encounters congestion, a deferral module is applied to assign higher priority to requests with lower resource demands. Experimental results demonstrate that IFRA-GLB significantly improves performance and convergence compared to existing solutions, enhancing the QoS for video conferencing services. Specifically, IFRA-GLB increases the average admission rate by 1.96% for MIRA topology and 2.71% for ANSNET topology with 3.5% lower latency.

A Multi-Area Task Path-Planning Algorithm for Agricultural Drones Based on Improved Double Deep Q-Learning Net

With the global population growth and increasing food demand, the development of precision agriculture has become particularly critical. In precision agriculture, accurately identifying areas of nitrogen stress in crops and planning precise fertilization paths are crucial. However, traditional coverage path-planning (CPP) typically considers only single-area tasks and overlooks the multi-area tasks CPP. To address this problem, this study proposed a Regional Framework for Coverage Path-Planning for Precision Fertilization (RFCPPF) for crop protection UAVs in multi-area tasks. This framework includes three modules: nitrogen stress spatial distribution extraction, multi-area tasks environmental map construction, and coverage path-planning. Firstly, Sentinel-2 remote-sensing images are processed using the Google Earth Engine (GEE) platform, and the Green Normalized Difference Vegetation Index (GNDVI) is calculated to extract the spatial distribution of nitrogen stress. A multi-area tasks environmental map is constructed to guide multiple UAV agents. Subsequently, improvements based on the Double Deep Q Network (DDQN) are introduced, incorporating Long Short-Term Memory (LSTM) and dueling network structures. Additionally, a multi-objective reward function and a state and action selection strategy suitable for stress area plant protection operations are designed. Simulation experiments verify the superiority of the proposed method in reducing redundant paths and improving coverage efficiency. The proposed improved DDQN achieved an overall step count that is 60.71% of MLP-DDQN and 90.55% of Breadth-First Search–Boustrophedon Algorithm (BFS-BA). Additionally, the total repeated coverage rate was reduced by 7.06% compared to MLP-DDQN and by 8.82% compared to BFS-BA.

Stability Analysis through a Stability Factor Metric for IQRF Mesh Sensor Networks Utilizing Merged Data Collection.

This paper introduces a novel stability metric specifically developed for IQRF wireless mesh sensor networks, emphasizing flooding routing and data collection methodologies, particularly IQRF's Fast Response Command (FRC) technique. A key feature of this metric is its ability to ensure network resilience against disruptions by effectively utilizing redundant paths in the network. This makes the metric an indispensable tool for field engineers in both the design and deployment of wireless sensor networks. Our findings provide valuable insights, demonstrating the metric's efficacy in achieving robust and reliable network operations, especially in data collection tasks. The inclusion of redundant paths as a factor in the stability metric significantly enhances its practicality and relevance. Furthermore, this research offers practical ideas for enhancing the design and management of wireless mesh sensor networks. The stability metric uniquely assesses the resilience of data collection activities within these networks, with a focus on the benefits of redundant paths, underscoring the significance of stability in network evaluation.

Research on Path Planning of a Mining Inspection Robot in an Unstructured Environment Based on an Improved Rapidly Exploring Random Tree Algorithm

To ensure the safe production of mines, the intelligent trend of underground mining operations is gradually advancing. However, the operational environment of subterranean mining is intricate, making the conventional path-planning algorithm used by mining inspection robots frequently inadequate for real requirements. To safeguard the mining inspection robot, targeting the problem of low search efficiency and path redundancy in the path planning of the existing rapidly exploring random tree (RRT) algorithm in the narrow and complex unstructured environment, a path-planning algorithm combining improved RRT and a probabilistic road map (PRM) is proposed. Initially, the target area is efficiently searched according to the fan-shaped goal orientation strategy and the adaptive step size expansion strategy. Subsequently, the PRM algorithm and the improved RRT algorithm are combined to reduce the redundant points of the planning path. Ultimately, considering the kinematics of the vehicle, the path is optimized by the third-order Bessel curve. The experimental simulation results show that the proposed path-planning algorithm has a higher success rate, smoother path, and shorter path length than other algorithms in complex underground mining environments, which proves the effectiveness of the proposed algorithm.

MOMTA-HN: A Secure and Reliable Multi-Objective Optimized Multipath Transmission Algorithm for Heterogeneous Networks

With the rapid development of heterogeneous network technologies, such as mobile edge computing, satellite communications, self-organizing networks, and the wired Internet, satisfying users’ increasingly diversified and complex communication needs in dynamic and evolving network environments has become a critical research topic. Ensuring secure and reliable information transmission is essential for stable network operation in these complex environments. Addressing this challenge, this study proposed a secure and reliable multi-objective optimized multipath transmission algorithm for heterogeneous networks to enhance security and reliability during data transmission. The core principle of this algorithm was that multipath transmission can provide additional protection through redundant paths. This redundancy ensured that even if one path is attacked or fails, alternative paths can maintain data integrity and reachability. In this study, we employed the Optimized Non-dominated Sorting Genetic Algorithm II (ONSGA-II) to determine the range of the initial population and filter suitable paths by optimizing them according to different demand objectives. In the path selection process, we introduced an innovative deletion graph method, which ensures that redundant paths do not share any common links with the original paths, except when there are unique links. This approach enhances the independence of transmission paths and improves the security of the transmission process. It effectively protects against security threats such as single points of failure and link attacks. We have verified the effectiveness of the algorithm through a series of experiments, and the proposed algorithm can provide decision-makers with high-reliability and low-latency transmission paths in heterogeneous network environments. At the same time, we verified the performance of the algorithm when encountering attacks, which is superior to other classical algorithms. Even in the face of network failures and attacks, it can maintain a high level of data integrity and security.

Graph Theoretical Models for Enhancing Highway Connectivity and Safety in Vehicular Networks

Vehicular networks play a crucial role in modern transportation systems, significantly impacting connectivity and safety on highways. This paper explores the application of graph theoretical models to enhance both connectivity and safety in vehicular networks. Graph theory, a branch of discrete mathematics, provides a robust framework for modeling and analyzing complex networks, including those formed by vehicles on highways. Our study begins by defining the vehicular network as a graph where nodes represent vehicles, and edges denote communication links between them. We employ various graph theoretical concepts such as connectivity, centrality, and network flow to evaluate and improve the network's performance. Key metrics, including the degree of nodes, clustering coefficients, and shortest path lengths, are utilized to quantify network connectivity and identify critical nodes and edges that influence overall network efficiency. One of the primary objectives is to ensure uninterrupted connectivity in the presence of dynamic and often unpredictable vehicular movement. To this end, we analyze the network's resilience to node failures and propose strategies to enhance robustness using redundancy and alternative routing paths. By incorporating concepts like k-connectivity and network diameter, we develop models that maintain high levels of connectivity despite the removal or failure of multiple nodes or edges. Safety is addressed through the lens of network stability and reliability. We investigate the impact of vehicular density, speed, and communication range on the network's ability to sustain reliable communication channels. Techniques such as dynamic topology management and adaptive power control are proposed to mitigate the risks associated with network fragmentation and communication delays. Furthermore, we introduce optimization algorithms that leverage graph partitioning and community detection to improve the management of vehicular clusters, facilitating efficient data dissemination and reducing the likelihood of congestion-related incidents. The proposed models are validated through simulations that mimic real-world highway conditions, demonstrating significant improvements in both connectivity and safety metrics. In conclusion, the application of graph theoretical models offers a promising approach to enhancing highway connectivity and safety in vehicular networks

Simulation of Dynamic Path Planning of Symmetrical Trajectory of Mobile Robots Based on Improved A* and Artificial Potential Field Fusion for Natural Resource Exploration

With the rapid development of new-generation artificial intelligence and Internet of Things technology, mobile robot technology has been widely used in various fields. Among them, the autonomous path-planning technology of mobile robots is one of the cores for realizing their autonomous driving and obstacle avoidance. This study conducts an in-depth discussion on the real-time and dynamic obstacle avoidance capabilities of mobile robot path planning. First, we proposed a preprocessing method for obstacles in the grid map, focusing on the closed processing of the internal space of concave obstacles to ensure the feasibility of the path while effectively reducing the number of grid nodes searched by the A* algorithm, thereby improving path search efficiency. Secondly, in order to achieve static global path planning, this study adopts the A algorithm. However, in practice, algorithm A has problems such as a large number of node traversals, low search efficiency, redundant path nodes, and uneven turning angles. To solve these problems, we optimized the A* algorithm, focusing on optimizing the heuristic function and weight coefficient to reduce the number of node traversals and improve search efficiency. In addition, we use the Bezier curve method to smooth the path and remove redundant nodes, thereby reducing the turning angle. Then, in order to achieve dynamic local path planning, this study adopts the artificial potential field method. However, the artificial potential field method has the problems of unreachable target points and local minima. In order to solve these problems, we optimized the repulsion field so that the target point is at the lowest point of the global energy of the gravitational field and the repulsive field and eliminated the local optimal point. Finally, for the path-planning problem of mobile robots in dynamic environments, this study proposes a hybrid path-planning method based on a combination of the improved A* algorithm and the artificial potential field method. In this study, we not only focus on the efficiency of mobile robot path planning and real-time dynamic obstacle avoidance capabilities but also pay special attention to the symmetry of the final path. By introducing symmetry, we can more intuitively judge whether the path is close to the optimal state. Symmetry is an important criterion for us to evaluate the performance of the final path.

Route planning of mobile robot based on improved RRT star and TEB algorithm

This paper presents a fusion algorithm based on the enhanced RRT* TEB algorithm. The enhanced RRT* algorithm is utilized for generating an optimal global path. Firstly, proposing an adaptive sampling function and extending node bias to accelerate global path generation and mitigate local optimality. Secondly, eliminating path redundancy to minimize path length. Thirdly, imposing constraints on the turning angle of the path to enhance path smoothness. Conducting kinematic modeling of the mobile robot and optimizing the TEB algorithm to align the trajectory with the mobile robot's kinematics. The integration of these two algorithms culminates in the development of a fusion algorithm. Simulation and experimental results demonstrate that, in contrast to the traditional RRT* algorithm, the enhanced RRT* algorithm achieves a 5.8% reduction in path length and a 62.5% decrease in the number of turning points. Utilizing the fusion algorithm for path planning, the mobile robot generates a superior, seamlessly smooth global path, adept at circumventing obstacles. Furthermore, the local trajectory meticulously conforms to the kinematic constraints of the mobile robot.

Omnidirectional AGV Path Planning Based on Improved Genetic Algorithm

To address the issues with traditional genetic algorithm (GA) path planning, which often results in redundant path nodes and local optima, we propose an Improved Genetic Algorithm that incorporates an ant colony algorithm (ACO). Firstly, a new population initialization method is proposed. This method adopts a higher-quality random point generation strategy to generate random points centrally near the start and end of connecting lines. It combines the improved ACO algorithm to connect these random points quickly, thus greatly improving the quality of the initial population. Secondly, path smoothness constraints are proposed in the adaptive function. These constraints reduce the large-angle turns and non-essential turns, improving the smoothness of the generated path. The algorithm integrates the roulette and tournament methods in the selection stage to enhance the searching ability and prevent premature convergence. Additionally, the crossover stage introduces the edit distance and a two-layer crossover operation based on it to avoid ineffective crossover and improve convergence speed. In the mutation stage, we propose a new mutation method and introduce a three-stage mutation operation based on the idea of simulated annealing. This makes the mutation operation more effective and efficient. The three-stage mutation operation ensures that the mutated paths also have high weights, increases the diversity of the population, and avoids local optimality. Additionally, we added a deletion operation to eliminate redundant nodes in the paths and shorten them. The simulation software and experimental platform of ROS (Robot Operating System) demonstrate that the improved algorithm has better path search quality and faster convergence speed. This effectively prevents the algorithm from maturing prematurely and proves its effectiveness in solving the path planning problem of AGV (automated guided vehicle).

Leaf Traits Explain the Growth Variation and Nitrogen Response of Eucalyptus urophylla × Eucalyptus grandis and Dalbergia odorifera in Mixed Culture.

Mixed cultivation with legumes may alleviate the nitrogen (N) limitation of monoculture Eucalyptus. However, how leaf functional traits respond to N in mixed cultivation with legumes and how they affect tree growth are unclear. Thus, this study investigated the response of leaf functional traits of Eucalyptus urophylla × Eucalyptus grandis (E. urophylla × E. grandis) and Dalbergia odorifera (D. odorifera) to mixed culture and N application, as well as the regulatory pathways of key traits on seedling growth. In this study, a pot-controlled experiment was set up, and seedling growth indicators, leaf physiology, morphological parameters, and N content were collected and analyzed after 180 days of N application treatment. The results indicated that mixed culture improved the N absorption and photosynthetic rate of E. urophylla × E. grandis, further promoting seedling growth but inhibiting the photosynthetic process of D. odorifera, reducing its growth and biomass. Redundancy analysis and path analysis revealed that leaf nitrogen content, pigment content, and photosynthesis-related physiological indicators were the traits most directly related to seedling growth and biomass accumulation, with the net photosynthetic rate explaining 50.9% and 55.8% of the variation in growth indicators for E. urophylla × E. grandis and D. odorifera, respectively. Additionally, leaf morphological traits are related to the trade-off strategy exhibited by E. urophylla × E. grandis and D. odorifera based on N competition. This study demonstrated that physiological traits related to photosynthesis are reliable predictors of N nutrition and tree growth in mixed stands, while leaf morphological traits reflect the resource trade-off strategies of different tree species.

Enhanced FRER Mechanism in Time-Sensitive Networking for Reliable Edge Computing.

Time-Sensitive Networking (TSN) and edge computing are promising networking technologies for the future of the Industrial Internet. TSN provides a reliable and deterministic low-latency communication service for edge computing. The Frame Replication and Elimination for Reliability (FRER) mechanism is important for improving the network reliability of TSN. It achieves high reliability by transmitting identical frames in parallel on two disjoint paths, while eliminating duplicated frames at the destination node. However, there are two problems with the FRER mechanism. One problem is that it does not consider the path reliability, and the other one is that it is difficult to find two completely disjoint path pairs in some cases. To solve the above problems, this paper proposes a method to find edge-disjoint path pairs considering path reliability for FRER in TSN. The method includes two parts: one is building a reliability model for paths, and the other one is computing a working path and a redundant path with the Edge-Disjoint Path Pairs Selection (EDPPS) algorithm. Theoretical and simulation results show that the proposed method effectively improves path reliability while reducing the delay jitter of frames. Compared with the traditional FRER mechanism, the proposed method reduces delay jitter by 15.6% when the network load is 0.9.

Fault Detection and Tolerance in Wireless Sensor Networks: A Study on Reliable Data Transmission using Machine Learning Algorithms

This research addresses the challenge of enhancing fault detection and tolerance in wireless sensor networks (WSNs) to ensure reliable data transmission in adverse conditions. Through simulation, experimentation, and modeling, the study develops techniques and algorithms for improving WSN fault resilience. Key evaluation criteria include Detection Accuracy, Response Time, Energy Efficiency, and Scalability. Redundancy-based methods, such as node and path redundancy, are explored as effective fault tolerance techniques. Results demonstrate lower response times, improved detection accuracy, energy efficiency, and scalability. The findings contribute to WSN technology by enhancing data accuracy, network resilience, and energy conservation, though challenges and limitations persist.

An Integrated YOLOv5 and Hierarchical Human-Weight-First Path Planning Approach for Efficient UAV Searching Systems

Because the average number of missing people in our country is more than 20,000 per year, determining how to efficiently locate missing people is important. The traditional method of finding missing people involves deploying fixed cameras in some hotspots to capture images and using humans to identify targets from these images. However, in this approach, high costs are incurred in deploying sufficient cameras in order to avoid blind spots, and a great deal of time and human effort is wasted in identifying possible targets. Further, most AI-based search systems focus on how to improve the human body recognition model, without considering how to speed up the search in order to shorten the search time and improve search efficiency, which is the aim of this study. Hence, by exploiting the high-mobility characteristics of unmanned aerial vehicles (UAVs), this study proposes an integrated YOLOv5 and hierarchical human-weight-first (HWF) path planning framework to serve as an efficient UAV searching system, which works by dividing the whole searching process into two levels. At level one, a searching UAV is dispatched to a higher altitude to capture images, covering the whole search area. Then, the well-known artificial intelligence model YOLOv5 is used to identify all persons in the captured images and compute corresponding weighted scores for each block in the search area, according to the values of the identified human bodies, clothing types, and clothing colors. At level two, the UAV lowers its altitude to sequentially capture images for each block, in descending order according to its weighted score at level one, and it uses the YOLOv5 recognition model repeatedly until the search target is found. Two improved search algorithms, HWFR-S and HWFR-D, which incorporate the concept of the convenient visit threshold and weight difference, respectively, are further proposed to resolve the issue of the lengthy and redundant flight paths of HWF. The simulation results suggest that the HWF, HWFR-S, and HWFR-D search algorithms proposed in this study not only effectively reduce the length of a UAV’s search path and the number of search blocks but also decrease the search time required for a UAV to locate the search target, with a much higher search accuracy than the two traditional search algorithms. Moreover, this integrated YOLOv5 and HWF framework is implemented and tested in a real scenario to demonstrate its capability in enhancing the efficiency of a search and rescue operation.