Positioning service is one of Wireless Sensor Networks’ (WSNs) fundamental services. The accurate position of the sensor nodes plays a vital role in many applications of WSNs. In this paper, a 3D positioning algorithm is being proposed, using mobile anchor node to assist sensor nodes in order to estimate their positions in a 3D geospatial environment. However, mobile anchor node’s 3D path optim...

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...

Motion planning is one of the important tasks in intelligent control of an autonomous mobile robot. Path planning is to generate a collision free path in an environment with obstacles with respect to some criterion. Trajectory planning is to schedule the movement of a mobile robot along the planned path. Several approaches have been proposed to address the problem of motion planning of a mobile...

Various forms of shortest path planning (SPP) have been studied by numerous researchers. Although SPP is generally regarded as a solved problem in 2D space, few of the existing 2D solutions can be applied to 3D. Since many real-world applications are based on 3D or higher space, this deficiency severely limits the applicability of 2D solutions. In this paper, we present a new method of partitio...

This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D) underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is modeled by the Multiple Traveling Sales Person (MTSP) problem and the Genetic Algorithm (GA) is used...

Title of thesis: DEVELOPMENT OF A REAL-TIME HIERARCHICAL 3D PATH PLANNING ALGORITHM FOR UNMANNED AERIAL VEHICLES Matthew David Solomon, Master of Science, 2016 Thesis directed by: Dr. Huan Xu Department of Aerospace Engineering Unmanned aerial vehicles (UAVs) frequently operate in partially or entirely unknown environments. As the vehicle traverses the environment and detects new obstacles, rap...

Automated optical inspection systems are frequently utilized to sort out defective objects. However, those objects might actually be reworked or disposed. The combination of defect detection and specific processing in a single operation helps to reduce reworking time and waste. Defect detection on 3D objects is approached by combining the techniques of surface detection and geometry estimation....