No abstract

In order to achieve the safe and efficient navigation of mobile robots, it is essential to consider both the environmental geometry and kinodynamic constraints of robots. We propose a trajectory planner for car-like robots on the basis of the Dual-Tree RRT (DT-RRT). DT-RRT utilizes two tree structures in order to generate fast-growing trajectories under the kinodynamic constraints of robots. A local trajectory generator has been newly designed for car-like robots. The proposed scheme of searching a parent node enables the efficient generation of safe trajectories in cluttered environments. The presented simulation results clearly show the usefulness and the advantage of the proposed trajectory planner in various environments.

No abstract

Global warming is intensifying worldwide, and urban heat islands are occurring as urbanization progresses. The cool roof method is one alternative for reducing the urban heat island phenomenon and lowering the heat on building roofs for a comfortable indoor environment. In this study, a cool roof evaluation was performed using an unmanned aerial vehicle (UAV) and a red, green and blue (RGB) camera instead of a laser thermometer and a thermal infrared sensor to evaluate existing cool roofs. When using a UAV, an RGB sensor is used instead of expensive infrared sensor. Various color space techniques, namely light-reflectance value, hue saturation value (HSV), hue saturation lightness, and YUV (luma component (Y) and two chrominance components, called U (blue projection) and V (red projection)) derived from RGB images, are applied to evaluate color space techniques suitable for cool roof evaluation. This case study shows the following quantitative results: among various color space techniques investigated herein, the white roof with lowest temperature (average surface temperature: 44.1 °C; average indoor temperature: 33.3 °C) showed highest HSV, while the black roof with the highest temperature (surface temperature average: 73.4 °C; indoor temperature average: 37.1 °C) depicted the lowest HSV. In addition, the HSV showed the highest correlation in both the Pearson correlation coefficient and the linear regression analyses when the correlation among the brightness, surface temperature, and indoor temperature of the four color space techniques was analyzed. This study is considered a valuable reference for using RGB cameras and HSV color space techniques, instead of expensive thermal infrared cameras, when evaluating cool roof performance.

No abstract