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Search results for: EVOLUTIONARY PATH PLANNING
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Termination functions for evolutionary path planning algorithm
PublicationIn this paper a study of termination functions (stop criterion) for evolutionary path planning algorithm is presented. Tested algorithm is used to determine close to optimal ship paths in collision avoidance situation. For this purpose a path planning problem is defined. A specific structure of the individual path and fitness function is presented. For the simulation purposes a close to real tested environment is created. Five...
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Selection Pressure in the Evolutionary Path Planning Problem
PublicationThis article compares an impact of using various post-selection methods on the selection pressure and the quality of the solution for the problem of planning the path for a moving object using the evolutionary method. The concept of selection pressure and different methods of post-selection are presented. Article analyses behaviour of post-selection for four options of evolutionary algorithms. Based on the results achieved, waveform...
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Impact of Initial Population on Evolutionary Path Planning Algorithm
PublicationIn this paper an impact of initial population on evolutionary path planning algorithm is presented. Tested algorithm is used to determine close to optimal shippaths in collision avoidance situation. For this purpose a path planning problem is defined. A specific structure of the individual path and fitness function is presented. For the simulation purposes a close to real tested environment is created. Four tests are performed....
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Impact of Initial Population on Evolutionary Path Planning Algorithm
PublicationIn this paper an impact of initial population on evolutionary path planning algorithm is presented. Tested algorithm is used to determine close to optimal ship paths in collision avoidance situation. For this purpose a path planning problem is defined. A specific structure of the individual path and fitness function is presented. For the simulation purposes a close to real tested environment is created. Four tests are performed....
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Mean Crossover in evolutionary path planning method for maritime collision avoidance
PublicationAbstract: This paper presents the use of mean crossover genetic operator for path planning using evolutionary algorithm for collision avoidance on sea. Mean crossover ensures widening of the possible solutions' set that can be achieved in comparison to exchange crossover variant. The research shown, that the mean crossover allows to achieve results independent from the initial generation and quicker transition of thealgorithm from...
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Experimental research on evolutionary path planning algorithm with fitness function scaling for collision scenarios
PublicationThis article presents typical ship collision scenarios, simulated using the evolutionary path planning system and analyses the impact of the fitness function scaling on the quality of the solution. The function scaling decreases the selective pressure, which facilitates leaving the local optimum in the calculation process and further exploration of the solution space. The performed investigations have proved that the use of scaling...
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The Niching Mechanism in the Evolutionary Method of Path Planning
PublicationThis paper presents the concept of the niching mechanism in the evolutionary method of path planning. The problem is considered based on the example of a ship path planning. In this method the diversity of individuals is tested in respect to their physical distance, not the fitness function value. The researches show that such an approach increases effectiveness of solution space exploration, what results in a final solution with...
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Comparison of Selection Schemes in Evolutionary Method of Path Planning
PublicationThis article compares an impact of using various selection schemes on the quality of the solution for the problem of planning the path for a moving object using the evolutionary method. In study case problem of avoiding collisions at sea is analyzed. The modelled environment includes static constraints (lands, canals, etc.) and dynamic objects (moving ships). Article analyses behaviour of selection schemes in two similar environments...
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Distributed Evolutionary Algorithm for Path Planning in Navigation Situation
PublicationThis article presents the use of a multi-population distributed evolutionary algorithm for path planning in navigation situation. The algorithm used is with partially exchanged population and migration between independently evolving populations. In this paper a comparison between a multi-population and a classic single-population algorithm takes place. The impact on the ultimate solution has been researched. It was shown that using...
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Moving objects in the problem of path planning by evolutionary computation
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Comparison of Single and Multi-Population Evolutionary Algorithm for Path Planning in Navigation Situation
PublicationIn this paper a comparison of single and multi-population evolutionary algorithm is presented. Tested algorithms are used to determine close to optimal ship paths in collision avoidance situation. For this purpose a path planning problem is defined. A specific structure of the individual path and fitness function is presented. Principle of operation of single-population and multi-population evolutionary algorithm is described....
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Evolutionary Planning of Safe Ship Tracks in Restricted Visibility
PublicationThe paper presents the continuation of the author's research on ship track planning by means of Evolutionary Algorithms (EA). The presented method uses EA to search for an optimal set of safe tracks for all ships involved in an encounter. Until now the method assumed good visibility – compliance with standard rules of the Convention on the International Regulations for Preventing Collisions at Sea (COLREGS, 1972). However, in restricted...
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Ship Evolutionary Trajectory Planning Method with Application of Polynomial Interpolation
PublicationPaper presents the application of evolutionary algorithms and polynomial interpolation in ship evolutionary trajectory planning method. Evolutionary algorithms allows to find a coIlision free trajectory in real time, while polynomial interpolation allows to model smooth trajectory which keeps continuity of velocity and acceleration values along path. Combination of this two methods allows to find trajectory, which under some assumptions,...
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On evolutionary computing in multi-ship trajectory planning, Applied Intelligence
PublicationThe paper presents the updated version of Evolutionary Sets of Safe Ship Trajectories: a method which applies evolutionary algorithms and some of the assumptions of game theory to solving ship encounter situations. For given positions and motion parameters of the ships,the method finds a near optimal set of safe trajectories of all ships involved in an encounter. The method works in real time and the solutions must be returned...
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Evolutionary approach to ship's trajectory planning within Traffic Separation Schemes
PublicationThe paper presents the continuation of the author's research on evolutionary approach to ship trajectory planning. While the general problem of the evolutionary trajectory planning has already been solved, no one has yet touched one of its specific aspects: evolutionary trajectory planning within Traffic Separation Schemes. Traffic Separation Scheme (TSS) is a traffic-management route-system complying with rules of the International...
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Path planning algorithm for ship collisions avoidance in environment with changing strategy of dynamic obstacles
PublicationIn this paper a path planning algorithm for the ship collision avoidance is presented. Tested algorithm is used to determine close to optimal ship paths taking into account changing strategy of dynamic obstacles. For this purpose a path planning problem is defined. A specific structure of the individual path and fitness function is presented. Principle of operation of evolutionary algorithm and based on it dedicated application...
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Evolutionary Ship Track Planning within Traffic Separation Schemes – Evaluation of Individuals
PublicationThe paper presents an extended version of the author’s Evolutionary Sets of Safe Ship Trajectories method. The method plans safe tracks of all ships involved in an encounter including speed reduction manoeuvres, if necessary, and taking into account Rule 10 of COLREGS, which specifies ships’ behaviour within Traffic Separation Schemes governed by IMO. The paper focuses on the evaluation phase of the evolutionary process and shows...
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Trajectory planning in collision situations at sea by evolutionary computation - experiments with moving targets
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Experimental Comparison of Straight Lines and Polynomial Interpolation Modeling Methods in Ship Evolutionary Trajectory Planning Problem
PublicationPaper presents the application of evolutionary algorithms and polynomial interpolation in ship evolutionary trajectory planning method and its comparison to classic approach, where trajectory is modeled by straight lines. Evolutionary algorithms are group of methods that allows\ to find a collision free trajectory in real time, while polynomial interpolation allows to model smooth trajectory, which keeps continuity of velocity...
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Autonomous port management based AGV path planning and optimization via an ensemble reinforcement learning framework
PublicationThe rapid development of shipping trade pushes automated container terminals toward the direction of intelligence, safety and efficiency. In particular, the formulation of AGV scheduling tasks and the safety and stability of transportation path is an important part of port operation and management, and it is one of the basic tasks to build an intelligent port. Existing research mainly focuses on collaborative operation between...
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Framework of an Evolutionary Multi-Objective Optimisation Method for Planning a Safe Trajectory for a Marine Autonomous Surface Ship
PublicationThis paper represents the first stage of research into a multi-objective method of planning safe trajectories for marine autonomous surface ships (MASSs) involved in encounter situations. Our method applies an evolutionary multi-objective optimisation (EMO) approach to pursue three objectives: minimisation of the risk of collision, minimisation of fuel consumption due to collision avoidance manoeuvres, and minimisation of the extra...
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Navigational decision support system during approach manoeuvre in emergency STS transfer operation
PublicationThe paper is concerned with the problem of safe trajectory planning for approaching during emergency STS (Ship to Ship) transfer operation with oil spill. The safe trajectory means that the way points does not cross in the area of the environment with the static and dynamic obstacles and at the same time satisfies ship's stopping and speed deceleration performance. The evolutionary path planning algorithm is used to determine trajectory...
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Advanced Ship Control Methods
PublicationThe chapter presents two main streams of research in vessel control at sea: dynamic positioning (DP) of the vessel and decision support in case of collision at sea. The control structure and basic requirements for the DP system are defined. Selected issues of automatic control of a dynamically positioned vessel are discussed. A review of advanced methods of controlling a DP ship is carried out, taking into account the tasks of...
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Evolutionary sets of safe ship trajectories with speed reduction manoeuvres within traffic separation schemes
PublicationIn the previous paper the author presented the evolutionary ship trajectory planning method designed to support Traffic Separation Schemes (TSS). This time the extensions of this method are described which allow to combine evolutionary trajectory planning with speed reduction manoeuvres. On TSS regions with higher than usual density of traffic and smaller distances between ships, the course alterations alone are not always sufficient...
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Multi-criterion, evolutionary and quantum decision making in complex systems
PublicationMulti-criterion, evolutionary and quantum decision making supported by the Adaptive Quantum-based Multi-criterion Evolutionary Algorithm (AQMEA) has been considered for distributed complex systems. AQMEA had been developed to the task assignment problem, and then it has been applied to underwater vehicle planning as another benchmark three-criterion optimization problem. For evaluation of a vehicle trajectory three criteria have...
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Evolutionary Sets of Safe Ship Trajectories: the Method's Development and Selected Reaserch Results
PublicationThe Evolutionary Sets of Safe Ship Trajectories is a method solving ship encounter situations. The method combines evolutionary approach to planning ship trajectory with some of the assumption of game theory. For given positions and motion parameters the method finds a near optimal set of safe trajectories of all ships involved in an encounter. This paper presents framework of the method and its development. Additionally, selected...
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Evolutionary Algorithms in MPLS network designing
PublicationMPLS technology become more and more popular especially in core networks giving great flexibility and compatibility with existing Internet protocols. There is a need to optimal design such networks and optimal bandwidth allocation. Linear Programming is not time efficient and does not solve nonlinear problems. Heuristic algorithms are believed to deal with these disadvantages and the most promising of them are Evolutionary Algorithms....
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Evolutionary Sets of Safe Ship Trajectories: development of the method
PublicationThe Evolutionary Sets of Safe Ship Trajectories is a method solving ship encounter situations. The method combines evolutionary approach to planning ship trajectory with some of the assumption of game theory. For given positions and motion parameters the method finds a near optimal set of safe trajectories of all ships involved in an encounter. The version presented here is an updated one and its authors have tested extensively...
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Machine Learning Assisted Interactive Multi-objectives Optimization Framework: A Proposed Formulation and Method for Overtime Planning in Software Development Projects
PublicationMachine Learning Assisted Interactive Multi-objectives Optimization Framework: A Proposed Formulation and Method for Overtime Planning in Software Development Projects Hammed A. Mojeed & Rafal Szlapczynski Conference paper First Online: 14 September 2023 161 Accesses Part of the Lecture Notes in Computer Science book series (LNAI,volume 14125) Abstract Software development project requires proper planning to mitigate risk and...
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Modelling of network schedule including priority of selected technical resources
PublicationThe paper presents a method of network planning CPM – Critical Path Method. The author compares models of optimal solutions to design deadlines for individual works, taking various leading technical resources such as is labor and a tower crane into account.
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Can Grand Design Doctrines Go Well with Locally Reinvented Urbanisms? Notes from Polish Cities in Transition
PublicationThe text explores how New Urbanism ideas, a comprehensive global design doctrine, transgress into the context of Polish planning practice. New Urbanism is considered through the perspective of the decentralization of a discussion on a planning policy and a modernization of a State, resulting form its post-Socialist urban change. In the text, New Urbanism is understood as a neotraditionalist movement i.e. drawing from the pre-modernist...
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Koncepcja systemu wspomagania decyzji nawigatora statku opartego na ewolucyjnym planowaniu manewrów antykolizyjnych
PublicationArtykuł przedstawia koncepcję systemu wspomagania decyzji nawigatora statku opartego na wątkach badań prowadzonych wcześniej przez autora. System będzie rozszerzał funkcjonalność systemów dotychczasowych o możliwość szczegółowego planowania bezpiecznej trajektorii statku na wodach zamkniętych, z dużą liczbą statków obcych i ograniczeniami toru wodnego. Artykuł zawiera dyskusję możliwych podejść do planowania manewrów, optymalizacji...
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Functional and spatial structure analysis – Lower Sopot (Dolny Sopot) district case study, study proposal no 1, February 2021
Open Research DataThe data presents results of work within the studies of the conditions of the district in the context of the city, Lower Sopot (Dolny Sopot) district, study proposal no 1, from February 2021. The goal of the research process was to present the functional and spatial structure analysis of the area located in Lower Sopot (Dolny Sopot) district in the...
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Functional and spatial structure analysis – Lower Sopot (Dolny Sopot) district case study, study proposal no 2, February 2021
Open Research DataThe data presents results of work within the studies of the conditions of the district in the context of the city, Lower Sopot (Dolny Sopot) district, study proposal no 2, from February 2021. The goal of the research process was to present the functional and spatial structure analysis of the area located in Lower Sopot (Dolny Sopot) district in the...
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Functional and spatial structure analysis – Lower Sopot (Dolny Sopot) district case study, study proposal no 4, February 2021
Open Research DataThe data presents results of work within the studies of the conditions of the district in the context of the city, Lower Sopot (Dolny Sopot) district, study proposal no 4, from February 2021. The goal of the research process was to present the functional and spatial structure analysis of the area located in Lower Sopot (Dolny Sopot) district in the...
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Functional and spatial structure analysis – Lower Sopot (Dolny Sopot) district case study, study proposal no 3, February 2021
Open Research DataThe data presents results of work within the studies of the conditions of the district in the context of the city, Lower Sopot (Dolny Sopot) district, study proposal no 3, from February 2021. The goal of the research process was to present the functional and spatial structure analysis of the area located in Lower Sopot (Dolny Sopot) district in the...
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Functional and spatial structure analysis – Lower Sopot (Dolny Sopot) district case study, study proposal no 5, February 2021
Open Research DataThe data presents results of work within the studies of the conditions of the district in the context of the city, Lower Sopot (Dolny Sopot) district, study proposal no 5, from February 2021. The goal of the research process was to present the functional and spatial structure analysis of the area located in Lower Sopot (Dolny Sopot) district in the...
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Functional and spatial structure analysis – Lower Sopot (Dolny Sopot) district case study, study proposal no 6, February 2021
Open Research DataThe data presents results of work within the studies of the conditions of the district in the context of the city, Lower Sopot (Dolny Sopot) district, study proposal no 6, from February 2021. The goal of the research process was to present the functional and spatial structure analysis of the area located in Lower Sopot (Dolny Sopot) district in the...
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Functional and spatial structure analysis – Gdańsk-Lower City (Dolne Miasto) district case study, study proposal no 2, February 2021
Open Research DataThe data presents results of work within the studies of the conditions of the district in the context of the city, Gdańsk-Lower City (Dolne Miasto) district, study proposal no 2, from February 2021. The goal of the research process was to present the functional and spatial structure analysis of the area located in Gdańsk-Lower City (Dolne Miasto) district...
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Functional and spatial structure analysis – Gdańsk-Lower City (Dolne Miasto) district case study, study proposal no 3, February 2021
Open Research DataThe data presents results of work within the studies of the conditions of the district in the context of the city, Gdańsk-Lower City (Dolne Miasto) district, study proposal no 3, from February 2021. The goal of the research process was to present the functional and spatial structure analysis of the area located in Gdańsk-Lower City (Dolne Miasto) district...
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Functional and spatial structure analysis – Gdańsk-Lower City (Dolne Miasto) district case study, study proposal no1, February 2021
Open Research DataThe data presents results of work within the studies of the conditions of the district in the context of the city, Gdańsk-Lower City (Dolne Miasto) district, study proposal no 1, from February 2021. The goal of the research process was to present the functional and spatial structure analysis of the area located in Gdańsk-Lower City (Dolne Miasto) district...
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The image of the City on social media: A comparative study using “Big Data” and “Small Data” methods in the Tri-City Region in Poland
Publication“The Image of the City” by Kevin Lynch is a landmark planning theory of lasting influence; its scientific rigor and relevance in the digital age were in dispute. The rise of social media and other digital technologies offers new opportunities to study the perception of urban environments. Questions remain as to whether social media analytics can provide a reliable measure of perceived city images? If yes, what implication does...
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Trust and Distrust in e-Democracy
PublicationIn the digital government research literature, the concept of trust is typically used as a precondition for the adoption of digital technology in the public sector or an outcome of a roadmap leading up to such adoption. The concept plays a central role in many decisions linked to the planning, adoption and management of the public sector technology. In contrast, the concept of distrust is almost neglected in such literature but,...
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Trust and Distrust in e-Democracy
PublicationIn the digital government research literature, the concept of trust is typically used as a precondition for the adoption of digital technology in the public sector or an outcome of a roadmap leading up to such adoption. The concept plays a central role in many decisions linked to the planning, adoption and management of the public sector technology. In contrast, the concept of...
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Method of managing drill cuttings from shale gas formations
PublicationProposed management method of drill cuttings involves recycling for the expanded clay production. A theoretical presentation of the possibility, choosing planning path based on similarity between the materials used in the manufacture of expanded clay and oily cuttings. Application for the main stages of manufacture of expanded clay production of drill cuttings from shale gas extraction. Introduced into circulation solid waste partly...
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Ewolucyjne planowanie bezpiecznych trajektorii statków oparte na zmodyfikowanym diagramie Cockcrofta.
PublicationArtykuł przedstawia kontynuację badań autora nad planowaniem bezpiecznych trajektorii statków za pomocą algorytmów ewolucyjnych. Prezentowana metoda poszukuje optymalnego zbioru bezpiecznych trajektorii wszystkich statków biorących udział w spotkaniu. Bieżąca wersja metody zakłada ograniczoną widoczność i obowiązywanie Prawidła 19 Międzynarodowych Przepisów o Zapobieganiu Zderzeniom na Morzu (MPZZM) zamiast Prawideł 11 – 18. Artykuł...
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KRAJOBRAZOWY WYMIAR RURALISTYKI
PublicationTytuł Krajobrazowy wymiar ruralistyki w pełni oddaje treść pracy. Najogólniej mówiąc, rozprawa relacjonuje poszukiwania sposobów udziału krajobrazu w planowaniu przestrzennym obszarów wiejskich. Książka, wbrew swojemu układowi, nie powstawała według zwyczajowej ścieżki: od tezy, mieszczącej się w dziedzinie architektury i urbanistyki, do argumentów, które wywiedzione z tej dyscypliny, przemówiłyby za nią. Analiza stanu badań wskazywała...
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On deterministic procedures for low-cost multi-objective design optimization of miniaturized impedance matching transformers
PublicationPurpose This paper aims to investigate deterministic strategies for low-cost multi-objective design optimization of compact microwave structures, specifically, impedance matching transformers. The considered methods involve surrogate modeling techniques and variable-fidelity electromagnetic (EM) simulations. In contrary to majority of conventional approaches, they do not rely on population-based metaheuristics, which permit lowering...
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Embodying Intelligence in Autonomous Systems with the Use of Cognitive Psychology and Motivation Theories
PublicationThe article discusses, on a certain level of abstraction and generalization, a coherent anthropological approach to the issue of controlling autonomous robots or agents. A contemporary idea can be based on appropriate modeling of the human mind using the available psychological knowledge. One of the main reasons for developing such projects is the lack of available and effective top-down approaches resulting from the known research...
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Embodying Intelligence in Autonomous and Robotic Systems with the Use of Cognitive Psychology and Motivation Theories
PublicationThe article discusses, on a certain level of abstraction and generalization, a coherent anthropological approach to the issue of controlling autonomous robots or agents. A contemporary idea can be based on appropriate modeling of the human mind using the available psychological knowledge. One of the main reasons for developing such projects is the lack of available and effective top-down approaches resulting from the known research...