This paper presents a meta-heuristic swarm based optimization technique for solving robot path planning. The natural activities of actual ants inspire which named Ant Colony Optimization. (ACO) has been proposed in this work to find the shortest and safest path for a mobile robot in different static environments with different complexities. A nonzero size for the mobile robot has been considered in the project by taking a tolerance around the obstacle to account for the actual size of the mobile robot. A new concept was added to standard Ant Colony Optimization (ACO) for further modifications. Simulations results, which carried out using MATLAB 2015(a) environment, prove that the suggested algorithm outperforms the standard version of ACO algorithm for the same problem with the same environmental conditions by providing the shortest path for multiple testing environments.
Abstract
The problem of the study is the main question (Can tourism planning address the phenomenon of unemployment in Iraq ?) , And the importance of the study in the fact that the tourism sector can become an effective development alternative in many countries, especially Iraq, as tourism contributes to diversify sources of income and stimulate other economic sectors , We know how important Iraq's qualifications are in the field of tourism and what it can generate on the public treasury, To confirm the current study on the need to pay attention to tourism planning for its role in providing employment opportunities that reduce the unemployment rate in the future.
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Community participation is one of the basic pillars of the sustainable development process. It provides opportunities for different groups of society to contribute to the management, preparation and implementation of development plans commensurate with their needs and aspirations. In this context, the study presents a study of the concept of community participation and its importance in sustainable development, In terms of its conditions, requirements and principles, as well as its image, as well as addressing the most important challenges and obstacles facing the participation of citizens in development projects. The research also provides an analysis of a number of international and Arab experiences adopted In its polici
... Show MoreThe purpose of this research is to study the organic planning in the United Industry Alliance, focusing on an applied model. It takes the concept of good planning, and its importance in the overall picture, well into political, economic, and military policy. It also analyzes how the United States has used this year to address the challenges that nationalism targets. The research draws on typical examples to illustrate the differences between researcher and decision effectiveness. It also discusses the factors that lead to the success or failure of dynamic planning, and draws lessons from it in other countries. Finally, the researcher begins to help in planning the goal as a basic tool in enhancing effectiveness.
This study calculated the surface roughness length (Zo), zero-displacement length (Zd) and height of the roughness elements (ZH) using GIS applications. The practical benefit of this study is to classify the development of Baghdad, choose the appropriate places for installing wind turbines, improve urban planning, find rates of turbulence, pollution and others. The surface roughness length (Zo) of Baghdad city was estimated based on the data of the wind speed obtained from an automatic weather station installed at Al-Mustansiriyah University, the data of the satellite images digital elevation model (DEM), and the digital surface model (DSM), utilizing Remote Sensing Techniques. The study area w
... Show MoreCorrelation and path coefficient analysis were worked out for ten morphological traits in 30 three-way crosses of maize. Phenotypic and genotypic correlation analysis indicated that ear length; row numbers per ear, grain numbers per row, leaf area and leaves numbers had a positive significant correlation with grain yield per plant. Further partitioning of correlation coefficients into direct and indirect effects showed that traits days to silking, row numbers per row and leaves numbers had a positive direct effect on grain yield per plant. The traits ear length, grain numbers per row and leaf area had a maximum total effect on grain yield. Furthermore, PCA analysis has gave interested
Energy Loss Function (ELF) of 2 5 Ta O derived from optical limit
and extended to the total part of momentum and their energy
excitation region ELF plays an important function in calculating
energy loss of electron in materials. The parameter Inelastic Mean
Free Path (IMFP) is most important in quantitative surface sensitive
electron spectroscopies, defined as the average distance that an
electron with a given energy travels between successive inelastic
collisions. The stopping cross section and single differential crosssection
SDCS are also calculated and gives good agreement with
previous work.
Simulated annealing (SA) has been an effective means that can address difficulties related to optimization problems. is now a common discipline for research with several productive applications such as production planning. Due to the fact that aggregate production planning (APP) is one of the most considerable problems in production planning, in this paper, we present multi-objective linear programming model for APP and optimized by . During the course of optimizing for the APP problem, it uncovered that the capability of was inadequate and its performance was substandard, particularly for a sizable controlled problem with many decision variables and plenty of constraints. Since this algorithm works sequentially then the current state wi
... Show MoreThe railways network is one of the huge infrastructure projects. Therefore, dealing with these projects such as analyzing and developing should be done using appropriate tools, i.e. GIS tools. Because, traditional methods will consume resources, time, money and the results maybe not accurate. In this research, the train stations in all of Iraq’s provinces were studied and analyzed using network analysis, which is one of the most powerful techniques within GIS. A free trial copy of ArcGIS®10.2 software was used in this research in order to achieve the aim of this study. The analysis of current train stations has been done depending on the road network, because people used roads to reach those train stations. The data layers for this st
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