A New Cloud Model Based Human-Machine Cooperative Path Planning Method

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• 作者：Xixia Sun ; Chao Cai ; Xubang Shen
• 关键词：Path planning ; Human ; machine cooperation ; Dynamic guidance A* (DGA*) search ; Cloud model ; Uncertainty reasoning
• 刊名：Journal of Intelligent and Robotic Systems
• 出版年：2015
• 出版时间：July 2015
• 年：2015
• 卷：79
• 期：1
• 页码：3-19
• 全文大小：2,265 KB
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• 作者单位：Xixia Sun (1)
  Chao Cai (1)
  Xubang Shen (1)
  
  1. State Key Laboratory for Multispectral Information Processing Technologies School of Automation, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, People’s Republic of China
  
• 刊物类别：Engineering
• 刊物主题：Automation and Robotics
  Electronic and Computer Engineering
  Artificial Intelligence and Robotics
  Mechanical Engineering
  
• 出版者：Springer Netherlands
• ISSN：1573-0409

文摘

In this paper, a fast human-in-the-loop path planning strategy in cluttered environments based on cloud model is proposed, and it is implemented in a human-machine cooperative Unmanned Aerial Vehicle (UAV) path planning system. Firstly, a dynamic guidance A* (DGA*) search algorithm is proposed to allow human’s participation in machine searching loop. Secondly, online uncertainty reasoning based on cloud model is introduced to allow human’s fuzzy decision about path direction and trending, then human’s perception, expertise, and preferences are incorporated into the DGA* optimality process. Therefore, this effective cooperative decision support can provide a robust solution exploration space, overcoming some shortages of original A* algorithm, such as slow search speed, easily falling into local dead-ends, and so on. Experimental results demonstrate that the proposed method is much more efficient than original A* planner, and generates good solutions that match mission considerations and personal preferences.