Path Planning on Multi-level Point Cloud with a Weighted Traversability Graph

This article proposes a new path planning method for addressing multi-level terrain situations. The proposed method includes innovations in three aspects: 1) the pre-processing of point cloud maps with a multi-level skip-list structure and data-slimming algorithm for well-organized and simplified map formalization and management, 2) the direct acquisition of local traversability indexes through vehicle and point cloud interaction analysis, which saves work in surface fitting, and 3) the assignment of traversability indexes on a multi-level connectivity graph to generate a weighted traversability graph for generally search-based path planning. The A* algorithm is modified to utilize the traversability graph to generate a short and safe path. The effectiveness and reliability of the proposed method are verified through indoor and outdoor experiments conducted in various environments, including multi-floor buildings, woodland, and rugged mountainous regions. The results demonstrate that the proposed method can properly address 3D path planning problems for ground vehicles in a wide range of situations.

HouYi: An open-source large language model specially designed for renewable energy and carbon neutrality field

Renewable energy is important for achieving carbon neutrality goal. With the great success of Large Language Models (LLMs) like ChatGPT in automatic content generation, LLMs are playing an increasingly important role. However, there has not been a specially designed LLM for renewable energy. Meanwhile, there has not been any dataset of renewable energy for training LLMs. Therefore, this paper published the first open-source Renewable Energy Academic Paper (REAP) dataset for non-commercial LLM research of renewable energy. REAP dataset is collected through searching the title and abstract of 1,168,970 academic literatures from Web of Science. Based on REAP dataset, HouYi model, the first LLM for renewable energy, is developed through finetuning general LLMs. HouYi demonstrated powerful academic paper paragraph generation ability in renewable energy field. Experiments show that its ability to generate academic papers on renewable energy is comparable to ChatGPT, slightly outperforms Claude, ERNIE Bot and SparkDesk, and significantly outperforms open-source LLaMA-13B model.