Search results

Navigating in off-road environments is a huge challenge for autonomous vehicles, due to the safety requirement, the effects of noises and non-holonomic constraints of vehicle. This paper aims to describe a path planning method based on fuzzy support vector machine (FSVM) and general regression neural network (GRNN) that is able to provide a solution path for the autonomous vehicle navigating in the off-road environments.

The authors decompose the path planning problem into three steps. In the first step, A* algorithm is applied to obtain the positive and negative samples. In the second step, the authors use a learning approach based on radial basis function kernel FSVM to maximize the safety margin for driving, and the fuzzy membership is designed based on GRNN which can help to resolve the problem that the traditional path planning method is easily influenced by noises or outliers. In the third step, the Bezier interpolation algorithm is used to smooth the path. The simulations are designed to verify the parameters of the path planning algorithm.

The method is implemented on autonomous vehicle and verified against many outdoor scenes. Road test indicates that the proposed method can produce a flexible, smooth and safe path with good anti-jamming performance.

This paper applied a new path planning method based on GRNN-FSVM for autonomous vehicle navigating in off-road environments. GRNN-FSVM can reduce the effects of outliers and maximize the safety margin for driving, the generated path is smooth and safe, while satisfying the constraint of vehicle kinematic.

With the increasing complexity of public–private partnership (PPP) projects, the amount of data generated during the construction process is massive. This paper aims to develop a new information management method to cope with the risk problems involved in dealing with such data, based on domain ontologies of the construction industry, to help manage PPP risks, share and reuse risk knowledge.

Risk knowledge concepts are acquired and summarized through PPP failure cases and an extensive literature review to establish a domain framework for risk knowledge using ontology technology to help manage PPP risks.

The results indicate that the risk ontology is capable of capturing key concepts and relationships involved in managing PPP risks and can be used to facilitate knowledge reuse and storage beneficial to risk management.

The classes in the risk knowledge ontology model constructed in this research do not yet cover all the information in PPP project risks and need to be further extended. Moreover, only the framework and basic methods needed are developed, while the construction of a working ontology model and the relationship between implicit and explicit knowledge is a complicated process that requires repeated modifications and evaluations before it can be implemented.

The ontology provides a basis for turning PPP risk information into risk knowledge to allow the effective sharing and communication of project risks between different project stakeholders. It can also have the potential to help reduce the dependence on subjectivity by mining, using and storing tacit knowledge in the risk management process.

The apparent suitability of the nine classes of PPP risk knowledge (project model, risk type, risk occurrence stage, risk source, risk consequence, risk likelihood, risk carrier, risk management measures and risk case) is identified, and the proposed construction method and steps for a complete domain ontology for PPP risk management are unique. A combination of criteria- and task-based evaluations is also developed for assessing the PPP risk ontology for the first time.