Zhanna Gabbassova; Davoud Sedighizadeh; Alireza Sheikhi Fini; Mostafa Seddighizadeh
Abstract
Extending multiple robot motion planning in unknown workspaces is a interesting scope in the Robot motion planning that in this paper is considered. It is used from radiation robots sensors in order to detect their surroundings and positions of the other robots. In this article a new approach considering ...
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Extending multiple robot motion planning in unknown workspaces is a interesting scope in the Robot motion planning that in this paper is considered. It is used from radiation robots sensors in order to detect their surroundings and positions of the other robots. In this article a new approach considering two objectives is introduced. Finding safest path is as the first objective. The second objective is achieving a trajectory with minimum length. For finding the safest path, it is used from Voronoi Diagram (VD). To provide the safest path, minimizing the distance to the VS is as important criterion. Due to the VD is a geometric location with a distance from all obstacles to the workspace, therefore it is can be a suitable criteria for finding the safest path. For achieving the shortest path as the secondary objective, it is applied Euclidean distance the current position of the robot to goal position. Algorithm that applied for solving this problem is particle swarm optimization (PSO).
Alireza Sheikhi Fini; Davoud Sedighizadeh; Mostafa Seddighizadeh
Abstract
Traditionally, power system planning problem focuses on finding the least-cost generation resources including typical conventional fossil fuel based units without paying attention to a complete set of available generation portfolio alternatives. The predominant share of conventional fossil fuel units ...
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Traditionally, power system planning problem focuses on finding the least-cost generation resources including typical conventional fossil fuel based units without paying attention to a complete set of available generation portfolio alternatives. The predominant share of conventional fossil fuel units in power generation sector has increased concerns on climate changes, energy security, and price volatility . Having these challenges in mind, many power systems have started changing their generation portfolio including significant amounts of renewable energy resources toward a sustainable energy development.This paper presents a comprehensive approach for Generation Expansion Planning (GEP) problem in the presence of Distributed Energy Resources (DER). Different support schemes for DER investors are considered and their impacts on sustainable development are modeled. Regarding this matter, several indicators are presented for evaluating different aspects of sustainable development achievements. Moreover, a decision making framework is proposed using a combined fuzzy Analytic Hierarchy Process (AHP) and Technique for Order Performance by Similarity to Ideal Solution (TOPSIS). The effectiveness of the proposed framework is assessed by a numerical study on a test system.
