Yan Wang^*, You Lu, Yuqing Zhou, Zhijian Zhao

CMES-Computer Modeling in Engineering & Sciences, Vol.139, No.3, pp. 2673-2703, 2024, DOI:10.32604/cmes.2023.046743

Abstract Indoor positioning is a key technology in today’s intelligent environments, and it plays a crucial role in many application areas. This paper proposed an unscented Kalman filter (UKF) based on the maximum correntropy criterion (MCC) instead of the minimum mean square error criterion (MMSE). This innovative approach is applied to the loose coupling of the Inertial Navigation System (INS) and Ultra-Wideband (UWB). By introducing the maximum correntropy criterion, the MCCUKF algorithm dynamically adjusts the covariance matrices of the system noise and the measurement noise, thus enhancing its adaptability to diverse environmental localization requirements. Particularly in the presence of non-Gaussian noise,… More >

Abdulghani M. Abdulghani, Mokhles M. Abdulghani, Wilbur L. Walters, Khalid H. Abed^*

Journal on Artificial Intelligence, Vol.5, pp. 1-14, 2023, DOI:10.32604/jai.2023.039786

Abstract Autonomous agents can explore the environment around them when equipped with advanced hardware and software systems that help intelligent agents minimize collisions. These systems are developed under the term Artificial Intelligence (AI) safety. AI safety is essential to provide reliable service to consumers in various fields such as military, education, healthcare, and automotive. This paper presents the design of an AI safety algorithm for safe autonomous navigation using Reinforcement Learning (RL). Machine Learning Agents Toolkit (ML-Agents) was used to train the agent with a proximal policy optimizer algorithm with an intrinsic curiosity module (PPO + ICM). This training aims to improve AI… More >

Wissame Laddada¹ , Éric Saux²

Revue Internationale de Géomatique, Vol.31, No.1, pp. 111-133, 2022, DOI:10.3166/RIG31.111-133

Abstract Les empreintes spatiales, historiques ou acquises en temps réel, aident a la compréhension des dynamiques de leurs porteurs. Dans un contexte de navigation maritime côtière, la recherche présentée montre la démarche de mise en place d’un modèle de connaissances visant a une analyse sémantique des empreintes de navires. Ce modèle est défini a partir des connaissances recueillies auprès d’experts du domaine complétées par des descriptions textuelles et graphiques. Après avoir décrit les principes de navigation, nous présentons les étapes menant a un tel modèle de connaissances. La recherche est complétée par la formalisation de règles portant sur la visibilité des… More >

Linxuan Wang^1,*, Xiangwei Kong¹, Hongzhe Xu², Hong Li¹

Intelligent Automation & Soft Computing, Vol.37, No.1, pp. 91-110, 2023, DOI:10.32604/iasc.2023.035876

Abstract With the rapid development of autopilot technology, a variety of engineering applications require higher and higher requirements for navigation and positioning accuracy, as well as the error range should reach centimeter level. Single navigation systems such as the inertial navigation system (INS) and the global navigation satellite system (GNSS) cannot meet the navigation requirements in many cases of high mobility and complex environments. For the purpose of improving the accuracy of INS-GNSS integrated navigation system, an INSGNSS integrated navigation algorithm based on TransGAN is proposed. First of all, the GNSS data in the actual test process is applied to establish… More >

Siyu Lu¹, Jun Yang¹, Bo Yang¹, Zhengtong Yin², Mingzhe Liu^3,*, Lirong Yin⁴, Wenfeng Zheng^1,*

CMES-Computer Modeling in Engineering & Sciences, Vol.137, No.1, pp. 669-685, 2023, DOI:10.32604/cmes.2023.027417

Abstract With the help of surgical navigation system, doctors can operate on patients more intuitively and accurately. The positioning accuracy and real-time performance of surgical instruments are very important to the whole system. In this paper, we analyze and design the detection algorithm of surgical instrument location mark, and estimate the posture of surgical instrument. In addition, we optimized the pose by remapping. Finally, the algorithm of location mark detection proposed in this paper and the posture analysis data of surgical instruments are verified and analyzed through experiments. The final result shows a high accuracy. More >

Onder Alparslan^*, Omer Cetin

Intelligent Automation & Soft Computing, Vol.36, No.3, pp. 3355-3370, 2023, DOI:10.32604/iasc.2023.035689

Abstract Unknown closed spaces are a big challenge for the navigation of robots since there are no global and pre-defined positioning options in the area. One of the simplest and most efficient algorithms, the artificial potential field algorithm (APF), may provide real-time navigation in those places but fall into local minimum in some cases. To overcome this problem and to present alternative escape routes for a robot, possible crossing points in buildings may be detected by using object detection and included in the path planning algorithm. This study utilized a proposed sensor fusion method and an improved object classification method for… More >

M. S. Vivekanandan¹, T. Jesudas^2,*

Intelligent Automation & Soft Computing, Vol.36, No.2, pp. 1639-1652, 2023, DOI:10.32604/iasc.2023.032301

Abstract In an urban city, the daily challenges of managing cleanliness are the primary aspect of routine life, which requires a large number of resources, the manual process of labour, and budget. Street cleaning techniques include street sweepers going away to different metropolitan areas, manually verifying if the street required cleaning taking action. This research presents novel street garbage recognizing robotic navigation techniques by detecting the city’s street-level images and multi-level segmentation. For the large volume of the process, the deep learning-based methods can be better to achieve a high level of classification, object detection, and accuracy than other learning algorithms.… More >

L. Maria Michael Visuwasam^1,*, D. Paul Raj²

Computer Systems Science and Engineering, Vol.45, No.3, pp. 2435-2446, 2023, DOI:10.32604/csse.2023.024742

Abstract Technological developments create a lot of impacts in the tourism industry. Emerging big data technologies and programs generate opportunities to enhance the strategy and results for transport security. However, there is a difference between technological advances and their integration into the methods of tourism study. The rising popularity of Freycinet National Park led to a master plan that would not address cultural and environmental issues. This study addresses the gap by using a synthesized application (app) for demographic surveys and Global Navigation Satellite System (GNSS) technology to implement research processes. This article focuses on managing visitors within the famous Freycinet… More >

Qingdong Wu¹, Chenxi Li², Tao Shen², Yuan Xu^2,3,*

CMES-Computer Modeling in Engineering & Sciences, Vol.134, No.3, pp. 1761-1772, 2023, DOI:10.32604/cmes.2022.020545

Abstract To provide stable and accurate position information of control points in a complex coastal environment, an adaptive iterated extended Kalman filter (AIEKF) for fixed-point positioning integrating global navigation satellite system, inertial navigation system, and ultra wide band (UWB) is proposed. In this method, the switched global navigation satellite system (GNSS) and UWB measurement are used as the measurement of the proposed filter. For the data fusion filter, the expectation-maximization (EM) based IEKF is used as the forward filter, then, the Rauch-Tung-Striebel smoother for IEKF filter’s result smoothing. Tests illustrate that the proposed AIEKF is able to provide an accurate estimation. More >

Sha Wang^1,2, Chenglong He¹, Baichun Gong^2,*, Xin Ding², Yanhua Yuan³

CMES-Computer Modeling in Engineering & Sciences, Vol.134, No.1, pp. 121-134, 2023, DOI:10.32604/cmes.2022.017470

Abstract As to solve the collaborative relative navigation problem for near-circular orbiting small satellites in close-range under GNSS denied environment, a novel consensus constrained relative navigation algorithm based on the lever arm effect of the sensor offset from the spacecraft center of mass is proposed. Firstly, the orbital propagation model for the relative motion of multi-spacecraft is established based on Hill-Clohessy-Wiltshire dynamics and the line-of-sight measurement under sensor offset condition is modeled in Local Vertical Local Horizontal frame. Secondly, the consensus constraint model for the relative orbit state is constructed by introducing the geometry constraint between the spacecraft, based on which… More >