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Grabusts, Pēteris
Research Output
SHORTEST PATH DETERMINATION BETWEEN EDUCATIONAL INSTITUTIONS OF RĒZEKNE MUNICIPALITY
2017, Grabusts, Pēteris, Jurijs Musatovs
This study describes an optimization method called Simulated Annealing. The Simulated Annealing method is widely used in various combinatorial optimization tasks. Simulated Annealing is a stochastic optimization method that can be used to minimize the specified cost function given a combinatorial system with multiple degrees of freedom. In this study the application of the Simulated Annealing method to a well - known task of combinatorial analysis, Travelling Salesman Problem, is demonstrated and an experiment aimed to find the shortest tour distances between educational institutions of Rēzekne Municipality is performed. It gives possibilities to analyze and search optimal schools' network in Rēzekne Municipality.
Path Planning for Process Modelling in Chemical Engineering
2014, Edvards Valbahs, Ilo Dreyer, Grabusts, Pēteris
Usually, when the practical motion planning and the shortest path are discoursed, mainly the limited number of tasks is observed. Almost all the tasks associated with the path from one point in 2D or 3D space to another point can be attributed to the usual issue in the practical application. Motion planning and the shortest path have vivid and indisputable importance as human activity in such areas as logistics and robotics. In our work we would like to draw particular attention to the field of application seems to be unnoticeable for the task such as motion planning and the shortest path problem. Due to quite simple examples used, we would like to show that the task of motion planning can be used for simulation and optimization of multi-staged and restricted processes which are presented in chemical engineering accordingly. In the article the simulation and optimization of two important chemical-technological processes for the chemical industry are discussed. The work done gave us the possibility to work out software for simulation and optimization of processes that in some cases facilitates and simplifies the work of professionals engaged in the field of chemical engineering.
Non - Euclidean Metric and Path Planning
2016, Edvards Valbahs, Grabusts, Pēteris
In order to achieve the wide range of the robotic application it is necessary to provide iterative motions among points of the goals. For instance, in the industry mobile robots can replace any components between a storehouse and an assembly department. Ammunition replacement is widely used in military services. Working place is possible in ports, airports, waste site and etc. Mobile agents can be used for monitoring if it is necessary to observe control points in the secret place. The paper deals with path planning programme for mobile robots. The aim of the research paper is to analyse motion-planning algorithms that contain the design of modelling programme. The programme is needed as environment modelling to obtain the simulation data. The simulation data give the possibility to conduct the wide analyses for selected algorithm. Analysis means the simulation data interpretation and comparison with other data obtained using the motion-planning. The results of the careful analysis were considered for optimal path planning algorithms. The experimental evidence was proposed to demonstrate the effectiveness of the algorithm for steady covered space. The results described in this work can be extended in a number of directions, and applied to other algorithms.
Path Planning Using Non-Euclidean Metric
2013, Edvards Valbahs, Grabusts, Pēteris
In order to achieve the wide range of the robotic application it is necessary to provide iterative motions among points of the goals. For instance, in the industry mobile robots can replace any components between a storehouse and an assembly department. Ammunition replacement is widely used in military services. Working place is possible in ports, airports, waste site and etc. Mobile agents can be used for monitoring if it is necessary to observe control points in the secret place. The paper deals with path planning software for mobile robots. The aim of the research paper is to analyze motion-planning algorithms that contain the design of modelling software. The software is needed as environment modelling to obtain the simulation data. The simulation data give the possibility to conduct the wide analyses for selected algorithm. Analysis means the simulation data interpretation and comparison with other data obtained using the motion planning. The results of the careful analysis were considered for optimal path planning algorithms. The experimental evidence was proposed to demonstrate the effectiveness of the algorithm for steady covered space. The results described in this work can be extended in a number of directions, and applied to other algorithms.
Motion Planning of an Autonomous Robot in Closed Space with Obstacles
2012, Edvards Valbahs, Grabusts, Pēteris
The paper deals with path planning software for a mobile robotic platform. The aim of the research paper is to analyse path planning algorithms that comprise the design of simulation software. The software is necessary as an environment model to obtain the simulation data. The simulation application is based on the Rapidly-Exploring Random Tree (RRT) algorithm and Simulated Annealing (SA). The results of the thorough analysis have been used to achieve optimal path planning algorithms.
Path Planning and Process Modelling for Chemical Engineering
2014, Edvards Valbahs, Ilo Dreyer, Grabusts, Pēteris
Usually, when the practical motion planning and the shortest path are discoursed, mainly the limited number of tasks is observed. Almost all the tasks associated with the path from one point in 2D or 3D space to another point can be attributed to the usual issue in the practical application. Motion planning and the shortest path have vivid and indisputable importance as human activity in such areas as logistics and robotics. In our work we would like to draw particular attention to the field of application seems to be unnoticeable for the task such as motion planning and the shortest path problem. Due to quite simple examples used, we would like to show that the task of motion planning can be used for simulation and optimization of multi-staged and restricted processes which are presented in chemical engineering accordingly. In the article the simulation and optimization of two important chemical-technological processes for the chemical industry are discussed. The work done gave us the possibility to work out software for simulation and optimization of processes that in some cases facilitates and simplifies the work of professionals engaged in the field of chemical engineering.
Path Planning Usage for Autonomous Agents
2013, Edvards Valbahs, Grabusts, Pēteris
In order to achieve the wide range of the robotic application it is necessary to provide iterative motions among points of the goals. For instance, in the industry mobile robots can replace any components between a storehouse and an assembly department. Ammunition replacement is widely used in military services. Working place is possible in ports, airports, waste site and etc. Mobile agents can be used for monitoring if it is necessary to observe control points in the secret place. The paper deals with path planning programme for mobile robots. The aim of the research paper is to analyse motion-planning algorithms that contain the design of modelling programme. The programme is needed as environment modelling to obtain the simulation data. The simulation data give the possibility to conduct the wide analyses for selected algorithm. Analysis means the simulation data interpretation and comparison with other data obtained using the motion-planning. The results of the careful analysis were considered for optimal path planning algorithms. The experimental evidence was proposed to demonstrate the effectiveness of the algorithm for steady covered space. The results described in this work can be extended in a number of directions, and applied to other algorithms.
Path Planning Methods in Chemical Engineering
2015, Edvards Valbahs, Grabusts, Pēteris, Ilo Dreyer
Usually, when the practical motion planning and the shortest path are discoursed, mainly the limited number of tasks is observed. Almost all the tasks associated with the path from one point in 2D or 3D space to another point can be attributed to the usual issue in the practical application. Motion planning and the shortest path have vivid and indisputable importance as human activity in such areas as logistics and robotics. In our work we would like to draw particular attention to the field of application seems to be unnoticeable for the task such as motion planning and the shortest path problem. Due to quite simple examples used, we would like to show that the task of motion planning can be used for simulation and optimization of multi-staged and restricted processes which are presented in chemical engineering accordingly. In the article the simulation and optimization of three important chemical-technological processes for the chemical industry are discussed. The work done gave us the possibility to work out software for simulation and optimization of processes that in some cases facilitates and simplifies the work of professionals engaged in the field of chemical engineering.