Modified A-star algorithm for modular plant land transportation
Many common path optimization algorithms are available. However, problems arise when a general route optimization algorithm is applied to land transportation of large cargo, such as a modular plant. The large and heavy structure of a modular plant can lead to a loss of time depending on the curve of...
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| Published in | Journal of mechanical science and technology Vol. 32; no. 12; pp. 5563 - 5571 |
|---|---|
| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Seoul
Korean Society of Mechanical Engineers
01.12.2018
Springer Nature B.V 대한기계학회 |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1738-494X 1976-3824 |
| DOI | 10.1007/s12206-018-1102-z |
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| Abstract | Many common path optimization algorithms are available. However, problems arise when a general route optimization algorithm is applied to land transportation of large cargo, such as a modular plant. The large and heavy structure of a modular plant can lead to a loss of time depending on the curve of the road. This problem is more critical when traveling through large turns, which may also cause mechanical problems. Therefore, curves are essential parameters for modular plant land transportation. In this research, we show the importance of angles in the path via multi-body dynamic simulations and finite element analysis. Based on these results, we constructed a pathfinding algorithm that considers the importance of angles. The traditional A-star algorithm considers only distance as a cost, whereas our modified A-star algorithm considers both distance and angle as costs. Our goal is to improve traditional A-star algorithms and optimize them for modular plant land transportation. |
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| AbstractList | Many common path optimization algorithms are available. However, problems arise when a general route optimization algorithm is applied to land transportation of large cargo, such as a modular plant. The large and heavy structure of a modular plant can lead to a loss of time depending on the curve of the road. This problem is more critical when traveling through large turns, which may also cause mechanical problems. Therefore, curves are essential parameters for modular plant land transportation. In this research, we show the importance of angles in the path via multi-body dynamic simulations and finite element analysis. Based on these results, we constructed a pathfinding algorithm that considers the importance of angles. The traditional A-star algorithm considers only distance as a cost, whereas our modified A-star algorithm considers both distance and angle as costs. Our goal is to improve traditional A-star algorithms and optimize them for modular plant land transportation. KCI Citation Count: 0 Many common path optimization algorithms are available. However, problems arise when a general route optimization algorithm is applied to land transportation of large cargo, such as a modular plant. The large and heavy structure of a modular plant can lead to a loss of time depending on the curve of the road. This problem is more critical when traveling through large turns, which may also cause mechanical problems. Therefore, curves are essential parameters for modular plant land transportation. In this research, we show the importance of angles in the path via multi-body dynamic simulations and finite element analysis. Based on these results, we constructed a pathfinding algorithm that considers the importance of angles. The traditional A-star algorithm considers only distance as a cost, whereas our modified A-star algorithm considers both distance and angle as costs. Our goal is to improve traditional A-star algorithms and optimize them for modular plant land transportation. |
| Author | Lee, Soo-Hong Son, Ho Joon Kang, Nam Kyu |
| Author_xml | – sequence: 1 givenname: Nam Kyu surname: Kang fullname: Kang, Nam Kyu organization: Department of Mechanical Engineering, Yonsei University – sequence: 2 givenname: Ho Joon surname: Son fullname: Son, Ho Joon organization: Department of Mechanical Engineering, Yonsei University – sequence: 3 givenname: Soo-Hong surname: Lee fullname: Lee, Soo-Hong email: shlee@yonsei.ac.kr organization: Department of Mechanical Engineering, Yonsei University |
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| Keywords | Plant land transportation A-star algorithm Multi-body dynamics simulation Optimized path finding |
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| References_xml | – reference: HameedI. A.BochtisD. D.SorensenC. G.Driving angle and track sequence optimization for operational path planning using genetic algorithmsApplied Engineering in Agriculture20112761077108610.13031/2013.40615 – reference: NohC.B.KimM.H.LeeM.C.Path planning for the shortest driving time considering UGV driving characteristic and driving time and its driving algorithmJ. of Korea Robotics Society201381435010.7746/jkros.2013.8.1.043 – reference: GeisbergerR.Advanced route planning in transportation networks2011 – reference: FlinsenbergI.Route planning algorithms for car navigation2004 – reference: HeS.A chord error conforming tool path B–spline fitting method for NC machining based on energy minimization and LSPIAJ. of Computational Design and Engineering20152421823210.1016/j.jcde.2015.06.002 – reference: YaoJ.Path planning for virtual human motion using improved A* star algorithm, 2010 Seventh International Conference on Information Technology: New Generations (ITNG)2010 – reference: HwangH.T.Development of a transportability evaluation system using swept path analysis and multi–body dynamic simulationJ. of Mechanical Science and Technology201731115359536510.1007/s12206-017-1030-3 – reference: OjedaL. L.ChasseA.GoussaultR.Fuel consumption prediction for heavy–duty vehicles using digital maps201710.1109/ITSC.2017.8317613 – reference: SalehinejadH.Combined A*–ants algorithm: a new multi–parameter vehicle navigation scheme, arXiv preprint2015 – reference: GarcíaL.WilsonF.InnesJ.Heavy truck dynamic rollover: Effect of load distribution, cargo type, and road design characteristicsTransportation Research Record: J. of the Transportation Research Board20031851253110.3141/1851-03 – reference: DuchoňF.Path planning with modified A–star algorithm for a mobile robotProcedia Engineering201496596910.1016/j.proeng.2014.12.098 – reference: BodenhornC.Personalizing onboard route re–planning for recon, attack, and special operations missions, AHS Avionics and Crew Systems Technical Specialists' Meeting1997 – reference: ZhangQ.ZhaoM.Y.Minimum time path planning of robotic manipulator in drilling/spot welding tasksJ. of Computational Design and Engineering20163213213910.1016/j.jcde.2015.10.004 – reference: SzczerbaR. 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N.FreeseM.V–REP: A versatile and scalable robot simulation framework2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE2013 – volume: 3 start-page: 132 issue: 2 year: 2016 ident: 1102_CR5 publication-title: J. of Computational Design and Engineering doi: 10.1016/j.jcde.2015.10.004 – volume-title: Personalizing onboard route re–planning for recon, attack, and special operations missions, AHS Avionics and Crew Systems Technical Specialists' Meeting year: 1997 ident: 1102_CR2 – volume: 4 start-page: 958 year: 2011 ident: 1102_CR18 publication-title: Procedia Computer Science doi: 10.1016/j.procs.2011.04.101 – volume-title: Advanced route planning in transportation networks year: 2011 ident: 1102_CR7 – volume: 36 start-page: 869 issue: 3 year: 2000 ident: 1102_CR10 publication-title: IEEE Transactions on Aerospace and Electronic Systems doi: 10.1109/7.869506 – volume: 27 start-page: 1077 issue: 6 year: 2011 ident: 1102_CR8 publication-title: Applied Engineering in Agriculture doi: 10.13031/2013.40615 – volume-title: Path planning for virtual human motion using improved A* star algorithm, 2010 Seventh International Conference on Information Technology: New Generations (ITNG) year: 2010 ident: 1102_CR12 – volume: 31 start-page: 5359 issue: 11 year: 2017 ident: 1102_CR15 publication-title: J. of Mechanical Science and Technology doi: 10.1007/s12206-017-1030-3 – volume: 2 start-page: 218 issue: 4 year: 2015 ident: 1102_CR6 publication-title: J. of Computational Design and Engineering doi: 10.1016/j.jcde.2015.06.002 – volume-title: Fuel consumption prediction for heavy–duty vehicles using digital maps year: 2017 ident: 1102_CR17 doi: 10.1109/ITSC.2017.8317613 – volume: 1851 start-page: 25 year: 2003 ident: 1102_CR11 publication-title: Transportation Research Record: J. of the Transportation Research Board doi: 10.3141/1851-03 – volume: 3 start-page: 266 issue: 3 year: 2016 ident: 1102_CR4 publication-title: J. of Computational Design and Engineering doi: 10.1016/j.jcde.2016.04.001 – volume: 8 start-page: 43 issue: 1 year: 2013 ident: 1102_CR9 publication-title: J. of Korea Robotics Society doi: 10.7746/jkros.2013.8.1.043 – volume-title: Combined A*–ants algorithm: a new multi–parameter vehicle navigation scheme, arXiv preprint year: 2015 ident: 1102_CR13 – volume-title: Route planning algorithms for car navigation year: 2004 ident: 1102_CR1 – volume-title: Robot motion planning year: 2012 ident: 1102_CR3 – volume-title: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE year: 2013 ident: 1102_CR16 – volume: 96 start-page: 59 year: 2014 ident: 1102_CR14 publication-title: Procedia Engineering doi: 10.1016/j.proeng.2014.12.098 |
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| SubjectTerms | Algorithms Control Dynamical Systems Engineering Finite element method Industrial and Production Engineering Mechanical Engineering Modular equipment Modular structures Multibody systems Optimization Route optimization Transportation Vibration 기계공학 |
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| Title | Modified A-star algorithm for modular plant land transportation |
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