Wyniki wyszukiwania - BazTech

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Analiza algorytmów wyszukiwania dla optymalnego planowania trasy lotu bezzałogowego statku powietrznego poprzez rozwiązywanie problemu komiwojażera

Pilkevych Ihor, Humeniuk Ihor, Rybchynskyi Dmytro

Problemy Techniki Uzbrojenia

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2026

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R. 55, z. 177

45--60

PL

Badania dowodzą, że typowe trasy przelotu dla taktycznych bezpilotowych systemów powietrznych (BSP) są często niezbyt racjonalne, ani optymalne, i w konsekwencji pozbawione skuteczności w ramach powietrznych systemów rozpoznania. Dlatego niniejszy artykuł zajmuje się ważnym naukowym problemem optymalizacji planowania tras przelotu. Przede wszystkim, przeprowadzono analizę dobrze znanych metod i algorytmów do rozwiązania klasycznego Problemu Komiwojażera (PK), włączając algorytm genetyczny, zachłanny, oraz Monte Carlo. W celu oceny tych algorytmów dokonano oceny ich matematycznych podstaw, oraz opracowano specjalne oprogramowanie symulacyjne dla każdego z nich. W oparciu o wyniki badań stwierdzono, że algorytm genetyczny zapewnia najlepsze rezultaty zgodnie z kryterium długości trasy, przy czym jego efektywność jest wprost proporcjonalna do liczby obiektów misji przelotu (punktów trasowych). Niniejszy artykuł prezentuje wyniki symulacji i analizy, które mogą być podstawą dalszych badań naukowych nad opracowaniem lub poprawą metod planowania tras przelotu opartych na wybranym algorytmie z możliwością ominięcia stref zwalczania dronów.

EN

The study identifies that typical flight routes for tactical unmanned aircraft systems (UAS) are often neither rational nor optimized, and consequently, lack efficiency within aerial reconnaissance systems. To address this, this paper addresses an important scientific problem of optimizing flight route planning. Specifically, an analysis of well-known methods and algorithms for solving the classical Traveling Salesman Problem (TSP) is conducted, including genetic, greedy, and Monte Carlo algorithms. To evaluate these algorithms, their mathematical frameworks were examined, specialized software was developed, and simulations were performed for each. Based on the analysis results, it was determined that the genetic algorithm provides the best results according to the route length criterion, with its efficiency being directly proportional to the number of flight mission objects (waypoints). This paper presents simulation and analysis results that serve as a foundation for further scientific research into developing or improving flight route planning methods based on the selected algorithm, with the capability to bypass engagement zones.

2

Perspektywy zarządzania ryzykiem ekologicznym w budownictwie drogowym

Bizon-Górecka Jadwiga, Górecki Jarosław

Przegląd Budowlany

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2025

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R. 96, nr 1

107--111

PL

W artykule zaprezentowano szczególny charakter przedsięwzięć budowlanych, obejmujących budownictwo drogowe. Podkreślono ich związek z inżynierią środowiska w poszczególnych fazach procesu inwestycyjno-budowlanego. Wskazano też zasadność dostrzegania zjawiska ryzyka w przebiegu tego procesu i konieczność obserwacji ryzyka ekologicznego. Reakcją na pojawiające się zagrożenia środowiskowe powinno być zarządzanie ryzykiem ekologicznym. Podano poszczególne perspektywy, jakie należy zauważyć w budownictwie drogowym w toku takiego zarządzania. Omówiono problemy planowania tras komunikacji drogowej i ich relacji ze światem istot żywych oraz możliwości ochrony przed szkodliwymi czynnikami.

EN

The article presents the specific nature of construction projects, including road construction. Their relationship with environmental engineering in individual phases of the investment and construction process was emphasized. The validity of recognizing the phenomenon of risk during this process and the need for observing ecological risk were also indicated. The response to emerging environmental threats should be ecological risk management. Individual perspectives that should be noticed in road construction during such management are given. The problems of roadway planning and its relations with the nature as well as the possibilities of protection against harmful factors were discussed.

3

System półautonomicznego sterowania tandemem kosiarek do koszenia terenów przydrożnych

Typiak Andrzej, Typiak Rafał, Zienowicz Zbigniew, Nowakowski Mateusz, Matejek Patrycja

Pomiary Automatyka Robotyka

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2025

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R. 29, nr 1

69--74

PL

Dbanie o pas drogowy wymaga regularnego koszenia rowów i terenów przydrożnych. Jest to realizowane głównie za pomocą kosiarek montowanych na ciągnikach rolniczych. Tendencją jest wprowadzanie autonomicznych systemów koszących, jednak do tej pory pojawiło się szereg rozwiązań autonomicznych robotów koszących krótką trawę (przydomowe trawniki, pola golfowe), mało jest rozwiązań autonomicznych kosiarek do koszenia trawy wysokiej. W artykule opisano uwarunkowania determinujące prowadzenie prac nad rozwojem kosiarek do koszenia trawy. Przedstawiono propozycję półautonomicznego systemu sterowania tandemem kosiarek do koszenia terenów przydrożnych. Zaprojektowano i zbudowano w pełni funkcjonalny zestaw składający się z kosiarek: kołowej i gąsienicowej, układu zdalnego sterowania pierwszą kosiarką oraz komputera wysokiego poziomu z oprogramowaniem, zapewniającym wyznaczenie trasy przejazdu dla drugiej kosiarki. Seria testów poligonowych pozwoliła ocenić skuteczność i praktyczność proponowanego rozwiązania. Wydajność koszenia oceniano na podstawie spójności kolejnych ścieżek koszenia. Wyniki wskazują, że rozwój opracowanego systemu znacząco poprawi efektywność pracy i bezpieczeństwo pracowników.

EN

Maintaining the road requires regular mowing of ditches and roadside areas. This is mainly done using mowers mounted on agricultural tractors. The trend is to introduce autonomous mowing systems, but so far a number of autonomous solutions for mowing short grass (home lawns, golf courses), and there are few autonomous mower solutions for mowing tall grass on the market. The first part of the article describes the conditions determining work on the development of lawn mowers. Then, a proposal for a semi-autonomous control system for tandem mowers for mowing roadside areas was presented. As part of its construction, a fully functional set was designed and built, consisting of two mowers: wheeled and tracked, a remote control system for the first mower, and a high-level computer with implemented software ensuring autonomous mowing with the second mower under active operator supervision. A series of field tests conducted allowed us to assess the effectiveness and practicality of the proposed solution. Mowing efficiency was assessed by the consistency of subsequent mowing paths. The obtained results indicate that the development of the developed system will significantly improve mowing efficiency and increase employee safety.

4

Energy efficiency of a car driving with regenerative braking

Kropiwnicki Jacek, Gawłas Tomasz

Combustion Engines

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2025

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R. 64, nr 3

20--26

EN

Currently offered satellite navigation systems for cars are primarily focused on selecting the route with the shortest travel time. These systems also feature relatively simple models that allow the selection of the route with regard to minimizing fuel or electricity consumption, usually called the most ecological. Their effective use requires users to define basic vehicle data, such as drive type, maximum speed, etc. The paper presents an analysis of the impact of selected parameters characterizing vehicle properties and traffic conditions on energy consumption. The focus is mainly on parameters that can be technically used in car navigation systems to plan energy-saving routes. The analysis uses routes recorded in real traffic. The results of these analyses allowed the development of several guidelines for planning routes taking into account the EEC minimization criterion. One of the observations is that for roads with large changes in road height (> 20 m per km), a flat route with a length increased by 50% may be more energy-efficient than the original one. This is due to the efficiency of the regenerative braking system being significantly lower than 100%.

5

Route planning for multiple unmanned aerial vehicles

Aguiar Antônio Lucas Sousa Aguiar, Pinto Vandilberto P., Sousa Lígia Maria Carvalho, Pinheiro José Lucas Da Silva, do Nascimento José Cleilton

Przegląd Elektrotechniczny

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2024

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R. 100, nr 9

219--223

EN

This study addresses efficient task assignment for collaborative systems, with a focus on route planning for multiple Unmanned Aerial Vehicles (UAVs). Using the Ant Colony Optimization algorithm and the A* algorithm for obstacle avoidance, the results show that the proposed method allows route planning with acceptable computational time, providing guidance on the optimal number of UAVs in a mission.

PL

Niniejsze badanie dotyczy efektywnego przydzielania zadań dla systemów współpracujących, ze szczególnym uwzględnieniem planowania trasy dla wielu bezzałogowych statków powietrznych (UAV). Wykorzystując algorytm optymalizacji kolonii mrówek i algorytm A* do omijania przeszkód, wyniki pokazują, że proponowana metoda umożliwia planowanie trasy w akceptowalnym czasie obliczeniowym, zapewniając wskazówki dotyczące optymalnej liczby UAV w misji.

6

Prediction of ship's speed through ground using the previous voyage's drift speed

Yamane D., Kano T.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2023

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Vol. 17 No. 1

129--137

EN

In recent years, 'weather routing' has been attracting increasing attention as a means of reducing costs and environmental impact. In order to achieve high-quality weather routing, it is important to accurately predict the ship's speed through ground during a voyage from ship control variables and predicted data on weather and sea conditions. Because sea condition forecasts are difficult to produce in-house, external data is often used, but there is a problem that the accuracy of sea condition forecasts is not sufficient and it is impossible to improve the accuracy of the forecasts because the data is external. In this study, we propose a machine learning method for predicting speed through ground by considering the actual values of the previous voyage’s drift speed for ships that regularly operate on the same route, such as ferries. Experimental results showed that this method improves the prediction performance of ship’s speed through ground.

7

Algorithms and calculation scheme for planning the way of movement of trajectory point during maneuvering for anchoring

Surinov I.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2021

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Vol. 15 No. 3

629--638

EN

The analysis of the historical aspect of the development of the maneuvering during anchoring shows that during the movement there is no time to control the position by technical means, due to the speed of the process of changing the parameters of movement. The main purpose of this research is to modify the methodological basis for the preparation of flight planning during anchoring with increased accuracy to determine the coordinates along which the ship will move. The methodology of this work is based on the calculation of trajectory points of the path in combination with the method of segments on the map using the characteristics of the maneuverability of the vessel. The method is based on determining the coordinate matrices of rectilinear and curvilinear sections through which the vessel passes during maneuvering for anchoring. The calculation program is developed in Excel, and allows without the help of a micro calculator that takes into account the maneuverability of the vessel in the automatic system. Thus, the control of the center of gravity of the vessel relative to a given path line is performed. A high-precision system for automatic determination of planned coordinates by trajectory points on track and traffic control during anchoring has been developed, which is based on recently developed algorithms, calculation schemes and methods at the Maritime University, which are based on the latest meaningful models of high-precision planning movement on them. This approach automates the process of controlling safe traffic, including the use of decision support systems, including stranding prevention and collisions with other vessels. The results of the research can be used on a ship for automated planning of coordinates on waypoints and control of traffic on them for safe maneuvering, as well as for training navigators on specialized simulators to perform trajectory planning, including limited conditions.

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Efficiency of a voluntary speed reduction algorithm for a ship’s great circle sailing

Wang H., Mao W., Eriksson L.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2020

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Vol. 14, no. 2

301--308

EN

The great-circle is the shortest distance between two points on the surface of the earth. When planning a ship’s sailing route (waypoints and forward speeds) for a specific voyage, the great circle route is commonly considered as a reference route, especially for ocean-crossing seaborne transport. During the planning process, the upcoming sea weather condition is one of the most important factors affecting the ship’s route optimization/planning results. To avoid encountering harsh conditions, conventional routing optimization algorithms, such as Isochrone method and Dynamic Programming method, have been developed/implemented to schedule a ship’s optimal routes by selecting waypoints around the great circle reference route based on the ship’s operational performances at sea. Due to large uncertainties in sea weather forecast that used as inputs of these optimization algorithms, the optimized routes may have worse performances than the traditional great circle sailing. In addition, some shipping companies are still sailing in or making charting contracts based on the great circle routes. Therefore, in this study, a new optimization algorithm is proposed to consider the voluntary speed reduction with optimal speed configuration along the great circle course. The efficiency of this method is investigated by comparing these two methods for optimal route planning with respect to ETA and minimum fuel consumption. A container ship sailing in the North Atlantic with full-scale performance measurements are employed as the case study vessels for the comparison.

9

Ship route planning using historical trajectories derived from AIS Data

He Y. K., Zhang D., Zhang J. F., Zhang M. Y., Li T. W.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2019

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Vol. 13, no. 1

69--76

EN

Ship route planning is one of the key issues in enhancing traffic safety and efficiency. Many route planning methods have been developed, but most of them are based on the information from charts. This paper proposes a method to generate shipping routes based on historical ship tracks. The ship's historical route information was obtained by processing the AIS data. From which the ship turning point was extracted and clustered as nodes. The ant colony algorithm was used to generate the optimize route. The ship AIS data of the Three Gorges dam area was selected as a case study. The ships’ optimized route was generated, and further compared with the actual ship's navigation trajectory. The results indicate that there is space of improvement for some of the trajectories, especially near the turning areas.

10

Cost and Safety Aspects of Using Electric and Hybrid Vehicles in Local Food Supply Chain

Lisec Andrej, Lisec Klemen, Obrecht Matevž

Production Engineering Archives

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2019

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Vol. 25

35--38

EN

Integrating electric vehicles in a supply chain and distribution is a viable option when special conditions such as short distance road distribution and environmental considerations as well as small amounts of goods enabling delivery with delivery vans are met. In this paper, possibility of investment in electric vehicles for distribution of local food will be examined and analysed. Safety concerns in electric vehicles will also be addressed and accident consequences and vehicle safety will be analysed and compared with conventional vehicles that use internal combustion engines.

11

Modyfikacje algorytmów planowania trasy uwzględniające ograniczenia czasowe i odległościowe

Wolanin Mateusz, Korniszuk Klaudia, Smołka Jakub

Journal of Computer Sciences Institute

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2019

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Vol. 10

18--23

PL

Artykuł przedstawia modyfikacje algorytmów wyszukiwania ścieżki w grafie mające na celu wprowadzenie ograniczeń: czasowych lub odległościowych do znalezionej trasy. Zmodyfikowane zostały dwa algorytmy: A* oraz BFS. Zaproponowana została również modyfikacja algorytmu A*, która łączy atuty tych dwóch algorytmów – wygenerowanie najkrótszych tras o jak najmniejszej liczbie wierzchołków. Zmodyfikowane algorytmy umożliwią stworzenie aplikacji pozwalającej na łatwiejsze i bardziej oszczędne poruszanie się z wykorzystaniem usług typu rowerem miejski.

EN

This paper describes modifications of path-finding algorithms. The modifications add time and distance constraints to generated paths. A* and BFS algorithms are modified. Additionally, A* algorithm modification which combines the advantages (generating the shortest routes with the smallest number of vertices) of A* and BFS is presented.. This allows for creating a route planning app that enables users of bike sharing services to travel more easily and economically.

12

Analysis of the regenerative braking process for the urban traffic conditions

Kropiwnicki Jacek, Furmanek Mariusz

Combustion Engines

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2019

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R. 58, nr 3

203--207

EN

In a regular drive system, with an internal combustion engine, vehicle braking is connected with the unproductive dissipation of kinetic and potential energy accumulated in the mass of the vehicle into the environment. This energy can constitute up to 70% of the energy used to drive a vehicle under urban conditions. Its recovery and reuse is one of the basic advantages of hybrid and electric vehicles. Modern traffic management systems as well as navigation systems should take into account the possibility of the energy recovery in the process of regenerative braking. For this purpose, a model of a regenerative braking process may be helpful, which on the one hand will enable to provide information on how traffic conditions will affect the amount of energy dissipated (wasted) into the atmosphere, on the other hand will help to optimize the route of vehicles with regenerative braking systems. This work contains an analysis of the process of the regenerative braking for the urban traffic conditions registered in Gdańsk. A model was also presented that allows calculating the amount of energy available from the braking process depending on the proposed variables characterizing the vehicle traffic conditions.

13

Analysis of vehicle stability loss due to strong crosswind gusts using web services in the route planning process

Betkier Igor, Mitkow Szymon, Kijek Magdalena

Archives of Transport

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2019

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Vol. 52, iss. 4

47--56

14

Wyznaczanie ryzyka planowania trasy przejazdu z wykorzystaniem modelu probabilistycznego

Topolska K.

Autobusy : technika, eksploatacja, systemy transportowe

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2018

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R. 19, nr 6

266--270, CD

PL

Niniejsza praca ma na celu przybliżyć pojęcia z zakresu metod probabilistycznych w zadaniu planowania trasy przejazdu w systemach telematycznych. W zadaniu klasyfikacji zastosowano model bazujący na probabilistycznym klasyfikatorze Bayesa i funkcji gęstości prawdopodobieństwa. W części pierwszej pracy zostały opisane problemy planowania tras przejazdów we współczesnych systemach telematycznych. Część druga zawiera teoretyczne podstawy klasyfikatorów bazujących na twardych metodach matematycznych. Aby taki model miał jakikolwiek sens, należy uwzględnić pomniejsze rodzaje ryzyka związane z procesem transportu. Artykuł prezentuje metodę doboru najbardziej optymalnych parametrów do zadania planowania transportu. Tutaj niewątpliwie autor artykułu zwraca uwagę na metodę redukcji zmiennych niezbędnych do planowania z zastosowaniem metody analizy czynnikowej składowych głównych z metoda rotacji czynników Varimax znormalizowaną metodą Kaisera dla cech ilościowych. Rozdział trzeci poświęcony jest procesowi planowania tras przejazdu, ryzyku jakie jest z tym planowaniem związane.

EN

This paper aims to familiarize readers with notions related to probabilistic methods used for planning routes in telematics systems. The classification task made use of the model based on probabilistic Bayes’ classifier and the probability density function. The first part of the paper describes problems with planning routing in contemporary telematics systems. The second part covers a theoretical basis of classifiers based on hard mathematical methods. If such a model is to make sense, it should account for smaller kinds of risk related to a transport process. This paper presents a method of selecting the most optimal parameters in transport planning. Its author draws attention to the variable reduction method necessary for planning supported by a factor analysis of principal components together with Varimax rotation normalized with Kaiser’s method for quantitative features. The third part is devoted to the process of planning routes and the related risk.

15

Sailing vessel routing considering safety zone and penalty time for altering course

Życzkowski M.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2017

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Vol. 11, no. 2

235--240

EN

In this paper we introduce new model for simulation sea vessel routing. Besides a vessel types (polar diagram) and weather forecast, travel security and the number of maneuvers are considered. Based on these data both the minimal travelling costs and the minimal processing time are found for different vessels and different routes. To test our model the applications SailingAssistance wad improved. The obtained results shows that we can obtain quite acceptable results.

16

Multi-criteria ACO-based algorithm for ship’s trajectory planning

Lazarowska A.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2017

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Vol. 11, no. 1

31--36

EN

The paper presents a new approach for solving a path planning problem for ships in the environment with static and dynamic obstacles. The algorithm utilizes a heuristic method, classified to the group of Swarm Intelligence approaches, called the Ant Colony Optimization. The method is inspired by a collective behaviour of ant colonies. A group of agents - artificial ants searches through the solution space in order to find a safe, optimal trajectory for a ship. The problem is considered as a multi-criteria optimization task. The criteria taken into account during problem solving are: path safety, path length, the International Regulations for Preventing Collisions at Sea (COLREGs) compliance and path smoothness. The paper includes the description of the new multi-criteria ACO-based algorithm along with the presentation and discussion of simulation tests results.

17

Analysis of satellite AIS Data to derive weather judging criteria for voyage route selection

Fujii M., Hashimoto H., Taniguchi Y.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2017

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Vol. 11, no. 2

271--277

EN

The operational limitations are discussed at the IMO as a part of the second generation intact stability criteria. Since it is a first attempt to introduce operational efforts into safety regulations, comprehensive discussions are necessary to realize practically acceptable ones. Therefore this study investigates actual navigation routes of container ships and pure car carriers in the trans-North Pacific Ocean in winter, because they are prone to suffer significant parametric roll which is one of stability failure modes. Firstly, interviews are made to shipmasters who have experiences to have operated the subject ships to identify major elements for route selection in the North Pacific Ocean. Secondly, sufficient number of actual navigation records is collected from Satellite AIS data to derive the weather criteria for the route selection in severe weather condition. Finally, shipmaster’s on-board decision-making criteria are discussed by analysing the ship tracking data and weather data.

18

Vessels Route Planning Problem with Uncertain Data

Neumann T.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2016

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Vol. 10, no. 3

459--464

EN

The purpose of this paper is to find a solution for route planning in a transport networks, where the costs of tracks, factor of safety and travel time are ambiguous. This approach is based on the Dempster-Shafer theory and well known Dijkstra's algorithm. In this approach important are the influencing factors of the mentioned coefficients using uncertain possibilities presented by probability intervals. Based on these intervals the quality intervals of each route can be determined. Applied decision rules can be described by the end user.

19

Principles of vessel route planning in Ice on the Northern Sea Route

Pastusiak T.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2016

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Vol. 10, no. 4

587--592

EN

A complex of ice cover characteristics and the season of the year were considered in relation to vessel route planning in ice-covered areas on the NSR. The criteria for navigation in ice - both year-round and seasonal were analyzed. The analysis of the experts knowledge, dissipated in the literature, allowed to identify some rules of route planning in ice-covered areas. The most important processes from the navigation point of view are the development and disintegration of ice, the formation and disintegration of fast ice and behavior of the ice massifs and polynyas. The optimal route is selected on basis of available analysis and forecast maps of ice conditions and ice class, draught and seaworthiness of the vessel. The boundary of the ice indicates areas accessible to vessels without ice class. Areas with a concentration of ice from 0 to 6/10 are used for navigation of vessels of different ice classes. Areas of concentration of ice from 7/10 up are eligible for navigation for icebreakers and vessels with a high ice class with the assistance of icebreakers. These rules were collected in the decision tree. Following such developed decision-making model the master of the vessel may take decision independently by accepting grading criteria of priorities resulting from his knowledge, experience and the circumstances of navigation. Formalized form of decision making model reduces risk of the "human factor" in the decision and thereby help improve the safety of maritime transport.

20

Analysis of Methods of Determining the Safe Ship Trajectory

Lisowski J.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2016

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Vol. 10, no. 2

223--228

EN

The paper describes six methods of optimal and game theory and artificial neural network for synthesis of safe control in collision situations at sea. The application of optimal and game control algorithms to determine the own ship safe trajectory during the passing of other encountered ships in good and restricted visibility at sea is presented. The comparison of the safe ship control in collision situation: multi-step matrix non-cooperative and cooperative games, multi-stage positional non-cooperative and cooperative games have been introduced. The considerations have been illustrated with examples of computer simulation of the algorithms to determine safe of own ship trajectories in a navigational situation during passing of eight met ships.