To tackle with mobile robot path planning problem, we developed a novel path planning method utilized 3D grid map. Firstly we construct point cloud map using mobile robot equipped with 3D-LRF, then we transform point cloud into octree data structure, getting 3D grid map. We take mobile robots size and motion into consideration, develop a D* lite algorithm based path planning method which can ge...

The paper presents a new path planning and replanning algorithm based on two-dimensional occupancy grid map of the environment, which integrates the focused D* (FD*) algorithm and Witkowski’s algorithm. The FD* algorithm is used for fast replanning and Witkowski’s algorithm is used for generating all optimal paths in the grid map. Our algorithm finds the shortest path in the geometrical space b...

Pathfinding on a map is a fundamental problem in many applications, including robotics and computer games. Typically a grid is superimposed over the map where each cell in the grid forms a unique state. A state-space-based search algorithm, such as A* or IDA*, is then used for finding the optimal (shortest) path. In this paper we analyze the search behavior of both A* and IDA* using different g...

Connection of distributed generation (DG) units, energy storages, and new loads into low voltage (LV) grids leads to a constrained operation of the grids. Consequently, voltage limits violation and overloading of grid assets occur more frequently. To tackle these issues, distribution system operators (DSO) still employ traditional techniques in planning distribution grids to increase grid hosti...

Existing map deformation techniques are mainly based on uniform grids and can be insufficient for real-time demands. For higher flexibility of allocating resolutions, we propose to use a content-aware non-uniform grid. Our contentaware non-uniform grid leads to adaptive resolutions on the map deformation. This adaptive approach results in both higher road deformability and performance. We imple...

To date, it has been shown that cognitive map representations based on cartographic visualisations are systematically distorted. The grid is a traditional element of map graphics that has rarely been considered in research on perception-based spatial distortions. Grids do not only support the map reader in finding coordinates or locations of objects, they also provide a systematic structure for...

Predictive modeling of habitat distribution of range plant species and identification of their potential habitats play important roles in the restoration of disturbed rangelands. This study aimed to predict the geographical distribution of Artemisia sieberi and find the influential variables in the distribution of A. sieberi in the desert rangelands of central Iran. Maps of environmental variab...

(1) f = se(z) = z + — + • • • z and which maps D conformally and bi-uniformly upon a domain De of the f-plane bounded by n rectilinear slits each of which makes the angle 0 with the positive direction of the real axis. The domain De is itself also uniquely determined for each value of 0. In the present paper we shall derive two inequalities involving the coefficient a$ appearing in (1) and the ...