The research field of autonomous self-driving vehicles has recently become increasingly popular. In addition, motion-planning technology is essential for autonomous vehicles because it mitigates the prevailing on-road obstacles. Herein, a deep-learning-network-based architecture that was integrated with VGG16 and the gated recurrent unit (GRU) was applied for lane-following on roads . The normalized input image was fed to the three-layer VGG16 output layer as a pattern and the GRU output layer as the last layer. Next, the processed data were fed to the two fully connected layers, with a dropout layer added in between each layer. Afterward, to evaluate the deep-learning-network-based model, the steering angle and speed from the control task were predicted as output parameters. Experiments were conducted using the a dataset from the Udacity simulator and a real dataset. The results show that the proposed framework remarkably predicted steering angles in different directions. Furthermore, the proposed approach achieved higher mean square errors of 0.0230 and 0.0936 and and inference times of 3–4 and 3 ms. We also implemented our proposed framework on the NVIDIA Jetson embedded platform (Jetson Nano 4 GB) and compared it with the GPU’s computational time. The results revealed that the embedded system took 45–46 s to execute a single epoch in order to predict the steering angle . The results show that the proposed framework generates fruitful and accurate motion planning for lane-following in autonomous driving.
A wireless sensor network (WSN) is made up of multiple sensors deployed in a specific sensing area to identify the occurrence of events and quickly transmit useful information back to the base station (BS). In WSNs, schemes to reduce energy consumption are an important topic of research. A well-designed data transmission scheme can effectively extend the lifetime of a network. In this paper, we propose an energy aware grid-based clustering power efficient data aggregation protocol (GB-PEDAP) for WSNs. The proposed scheme has a two-layer architecture: the inner layer and the outer layer. The inner layer uses direct transmission to collect the data of the cluster (cell), and the outer layer uses a tree structure transmission to collect the data of the cluster head (cell head). In our simulations, the number of rounds executed by GB-PEDAP was approximately 1.2 rounds of TBEEP, 1.3 rounds of GSTEB, and 1.5 rounds of PEDAP. With the initial energy, 0.25 J, the execution rounds of the first node death for GB-PEDAP, TBEEP, GSTEB, and PEDAP were 751, 572, 486, and 339, respectively. The proposed GB-PEDAP can evenly disperse the energy consumption of sensors to avoid the rapid death of sensors, extending the lifetime of a WSN.
A wireless sensor network (WSN) consists of a very large number of sensors which are deployed in the specific area of interest. A sensor is an electronic device equipped with a small processor and has a small-capacity memory. The WSN has the functions of low cost, easy deployment, and random reconfiguration. In this paper, an energy-efficient load balancing tree-based data aggregation scheme (LB-TBDAS) for grid-based WSNs is proposed. In this scheme, the sensing area is partitioned into many cells of a grid and then the sensor node with the maximum residual energy is elected to be the cell head in each cell. Then, the tree-like path is established by using the minimum spanning tree algorithm. In the tree construction, it must meet the three constraints, which are the minimum energy consumption spanning tree, the network depth, and the maximum number of child nodes. In the data transmission process, the cell head is responsible for collecting the sensing data in each cell, and the collected data are transmitted along the tree-like path to the base station (BS). Simulation results show that the total energy consumption of LB-TBDAS is significantly less than that of GB-PEDAP and PEDAP. Compared to GB-PEDAP and PEDAP, the proposed LB-TBDAS extends the network lifetime by more than 100%. The proposed LB-TBDAS can avoid excessive energy consumption of sensor nodes during multi-hop data transmission and can also avoid the hotspot problem of WSNs.
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