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检索条件"任意字段=2nd International Symposium on Control Engineering and Robotics, ISCER 2023"

共 916 条记录，以下是21-30 订阅

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Path Planning Based on Improved RRT Algorithm 2

Path Planning Based on Improved RRT Algorithm

引用

2nd international symposium on control engineering and robotics, iscer 2023

作者： Huang, Yanguo Jin, Chao School of Electrical Engineering and Automation Jiangxi University of Technology Ganzhou Jiangxi China

ISBN: (纸本)9798350336405

The traditional path-exploring Random Trees (RRT) algorithm has the defects of low search efficiency and high path curvature. Based on the basic RRT algorithm, target bias strategy and pruning optimization algorithm are adopted to reduce unnecessary blank search and improve the computational speed. By introducing stretch function, the generated path is searched forward along the end node, and the two non-adj acent nodes with no obstacles in the middle are merged to reduce redundant paths. The cubic B-spline function is used to make the path curve smoother. In the matlab simulation environment simulation. Simulation results show that compared with the traditional RRT algorithm, the improved path planning algorithm greatly reduces the length of path planning and the path search time, and verifies the effectiveness of the path planning algorithm. © 2023 IEEE.

关键词： Motion planning

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Simulation Study on the control Method of Zinc Alloy Slag Picking Robot 2

Simulation Study on the Control Method of Zinc Alloy Slag Pi...

引用

2nd international symposium on control engineering and robotics, iscer 2023

作者： Qin, Tao Ma, Guang Chen, Zhenmu Shen, Yunde Chen, Mingshao College of Mechanical and Electrical Engineering Wenzhou University Zhejiang Province China Institute of Laser and Optoelectronics Intelligent Manufacturing Wenzhou University Zhejiang Province China

ISBN: (纸本)9798350336405

As an important metal material, zinc alloy is widely used in electroplating, spraying and other industries. In the production process of the original zinc alloy ingot, slagging is a very important process, and most domestic production enterprises still choose manual slagging. Due to the labor intensity, the working environment is harmful to artificial health, some companies began to turn their attention to automated machinery and equipment. The existing slag raking robots on the market are transformed into general-purpose industrial robots, the lack of specialization, and expensive, inconvenient maintenance. In this paper, based on the general-purpose zinc alloy production line of zinc alloy slag picking robot, using Adams and MATLAB joint control system traditional PID, PID control under fuzzy rules, and joint angular velocity control under improved nonlinear control PID, it is concluded that the improved nonlinear control PID has good control effect. © 2023 IEEE.

关键词： Fuzzy inference

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Global Path Planning Method Based on Improved Beetle Antenna Search Algorithm for Unmanned Surface Vehicle 2

Global Path Planning Method Based on Improved Beetle Antenna...

引用

2nd international symposium on control engineering and robotics, iscer 2023

作者： Zha, Yue Huang, Zhiqin Shi, Hengze Element 44 Unit 92941 of Pla Ln China Harbin Engineering University Hl China

ISBN: (纸本)9798350336405

In this paper, the constraint function of the maximum turning angle is designed in the fitness function of the Beetle Antenna Search algorithm (BAS) according to the characteristic that unmanned surface vehicles (USV) are not easy to turn sharply. To solve the problem of strong randomness and poor stability of the global path planning of BAS, the dynamic search step size that changes with the distance from the obstacle is used in the Improved Beetle Antenna Search algorithm (IBAS), instead of the fixed step size used in the original algorithm. Simulation results show that IBAS improves the stability and success rate of global path planning for USV. The planned path is smooth, continuous, safe, and effective. IBAS is more suitable for the path planning of USV than the original algorithm. © 2023 IEEE.

关键词： Unmanned surface vehicles

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Analysis and Synthesis of Cardioid Crank Guide Bar Mechanism with Approximate Dwell 2

Analysis and Synthesis of Cardioid Crank Guide Bar Mechanism...

引用

2nd international symposium on control engineering and robotics, iscer 2023

作者： Yang, Weiwei Han, Jiguang He, Zhenzhi School of Mechanical &electrical Engineering Jiangsu Normal University Xuzhou China

ISBN: (纸本)9798350336405

The cardioid crank is a planetary mechanism, in which the locus of points on the planet gear is cardioid curve. By using the cardioid crank as the driving crank of the guide bar, the cardioid crank guide bar mechanism can be obtained, which is equivalent to the guide bar mechanism moving along the curve of the heart as the length and speed change, thus changing the motion characteristics of the guide bar. The approximate dwell motion mechanism of the cardioid crank guide bar is presented in this paper. The motion analysis of the mechanism is carried out, and the calculation methods of the dwell angle, the dwell fluctuating angle, the limit position of the guide bar and the swing angle of the guide bar are given. The influence of the center distance and the length of the planetary link on the motion performance of the mechanism are discussed. By means of function approximation method, the design formula of the mechanism according to dwell angle is proposed in this paper. © 2023 IEEE.

关键词： Motion analysis

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Design and Implementation of Water Environment Monitoring System Based on Bionic Robot Fish 2

Design and Implementation of Water Environment Monitoring Sy...

引用

2nd international symposium on control engineering and robotics, iscer 2023

作者： Lin, Meihuan Wu, Weilin Guangxi Minzu University Department of Electronic Information Nanning Guangxi530006 China Wuzhou University Guangxi Key Laboratory of Machine Vision and Intelligent Control Guangxi543002 China

ISBN: (纸本)9798350336405

In this paper, a small robotic fish system with single joint caudal fin propulsion is designed and developed independently by imitating the tail fin swing mode of real fish in nature. It has human-computer interaction and ornamental. The whole design process is divided into mechanical structure design, software/hardware design. In this paper, the three-dimensional design software Solidworks is used to model the mechanical structure, and the mechanical structure is simulated. After many experiments and optimizations, the caudal fin with higher propulsion efficiency was finally developed, and the maximum navigation speed, turning radius, maximum floating/diving speed and other performance indicators of the robotic fish under high-efficiency caudal fin propulsion were tested. At the same time, appropriate remote control communication technology was selected to realize the free remote control of the robotic fish within a certain water depth range. © 2023 IEEE.

关键词： Remote control

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Research on Path Planning of Unmanned Combat Vehicle Based on Improved Potential Field Method 2

Research on Path Planning of Unmanned Combat Vehicle Based o...

引用

2nd international symposium on control engineering and robotics, iscer 2023

作者： Zhang, Chi Yang, Yongliang Zhang, Chun Xue, Shaohui Northwest Mechanical and Electrical Engineering Research Institute Shaanxi Xianyang China

ISBN: (纸本)9798350336405

Unmanned combat vehicle is one of the important development trends of the future battlefield, and the unmanned combat vehicle that can realize positioning navigation and autonomous obstacle avoidance in the complex and changeable battlefield environment is an important research direction of unmanned combat vehicle. The path planning problem of unmanned combat vehicles is studied. Based on the classical potential field method, the inherent defects of the classical potential field method are emphatically analyzed. An improved model of repulsive potential field function based on the social force model is proposed. Aiming at the problem that unmanned combat vehicles are prone to fall into local minima, this solution of sub-target points is proposed. Through simulation verification, the inherent defects of the classical potential field method in the path process of unmanned combat vehicles are optimized, It shows that the model and simulation can provide an effective decision-making basis for the path planning of unmanned combat vehicles. © 2023 IEEE.

关键词： Motion planning

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Research on Optimal Distribution of Braking Force of Electric Vehicle Based on Time to Collision 2

Research on Optimal Distribution of Braking Force of Electri...

引用

2nd international symposium on control engineering and robotics, iscer 2023

作者： Tong, Xu Wang, Yuning Guan, Yibo Tian, Shaopeng Wuhan University of Technology Department of Automotive Engineering Wuhan Hubei China

ISBN: (纸本)9798350336405

Aiming at the problem of long braking distance and insufficient accuracy of traditional brake force distribution strategy in online control, a layered brake by wire control strategy was proposed. The upper layer was the danger warning layer. The second order TTC safe collision time model was used to calculate the collision time between the vehicle and the vehicle in front, and the braking strategy was selected based on this;The lower layer was the brake torque distribution layer. The sequential quadratic programming (SQP) method was used to establish the optimization function using the tire slip ratio under the three working conditions of general braking, emergency braking and steering avoidance braking respectively, and optimize the distribution of vehicle braking force. The joint simulation results show that the braking effect of the proposed general braking strategy and emergency braking strategy is significantly improved compared with that of the traditional braking force distribution method;The steering avoidance braking strategy based on the collision time has a rapid response and effectively improves the lateral stability of the vehicle. The braking efficiency of the vehicle is improved while ensuring the braking safety. © 2023 IEEE.

关键词： Braking

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Research on Satellite Group Trajectory Planning and Task Scheduling Based on Improved Gray Wolf Algorithm 2

Research on Satellite Group Trajectory Planning and Task Sch...

引用

2nd international symposium on control engineering and robotics, iscer 2023

作者： Zhang, Yi Lei, Lingyao College of Mechanical Engineering Hubei University of Technology Wuhan China

ISBN: (纸本)9798350336405

This paper describes and analyzes the problem of satellite cluster trajectory planning based on improved grey wolf algorithm. Firstly, the mathematical model of satellite cluster is established. In this paper, the fully distributed structure model is used to solve the control problem of three-degree-of-freedom autonomous satellites, and the dynamic topological interaction model is used to solve the communication problem between satellites, and the constraints that need to be met are indicated. Then, they are constructed as finite functions for path evaluation. In order to solve the path planning problem under the constraint conditions, we propose a new path planning method-differential evolution gray wolf algorithm, which also improves the diversity of wolf offspring through cross mutation, and obtains the nearest optimal path based on iterative rules. At the end of the paper, we have carried out simulation experiments on MATLAB. The simulation results show that the improved grey wolf algorithm is in good agreement with the control model, which not only satisfies the boundary constraints and direction constraints, but also greatly shortens the attitude maneuver time and reduces the number of times of falling into local optimum. The simulation has achieved good results. © 2023 IEEE.

关键词： MATLAB

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Dynamic Analysis of Actuator System with the Coupling of Time-Varying Meshing Stiffness and Backlash 2

Dynamic Analysis of Actuator System with the Coupling of Tim...

引用

2nd international symposium on control engineering and robotics, iscer 2023

作者： Xu, Zhi-Wei Huang, Min-Chang Yan, Cheng Du, Fang-Hui Jiang, Su-Su Fu, Yi-Yong Shanghai Aerospace Control Technology Institute Shanghai China School of Mechanical Engineering Nanjing University of Science and Technology Nanjing China Shanghai Engineering Research Center of Servo Systems Shanghai China

ISBN: (纸本)9798350336405

Aiming at the dynamic modeling and control of actuator system under the influence of nonlinear conditions such as clearance and friction, compared with the conventional nonlinear model, the variable stiffness and wear sliding characteristics of the transmission mechanism is considered. A dynamic modeling and control method of actuator system with time-varying meshing stiffness and backlash is proposed. The minimum circumferential backlash and the maximum circumferential backlash are obtained by the method of backlash deviation correction. The mechanism of grease film effect on time-varying backlash and meshing impact is studied, and the thermal lubrication behavior of grease film thickness change and backlash change is revealed. The analysis shows that the transmission mechanism of the autuator system is in the state of boundary lubrication. The dead zone model of continuous differentiable function approximating the backlash nonlinearity is designed, and the accurate compensation of backlash nonlinearity is realized. The simulation results verify the effectiveness of the proposed method. © 2023 IEEE.

关键词： Stiffness

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Q-Learning for Path Planning of a UAV under Energy Consumption Constraints 2

Q-Learning for Path Planning of a UAV under Energy Consumpti...

引用

2nd international symposium on control engineering and robotics, iscer 2023

作者： Xie, Xingrui Wang, Tao Zhu, Zhi Yang, Song College of Military and Political Foundation National University of Defense Technology Changsha410073 China College of Systems Engineering National University of Defense Technology Changsha410073 China

ISBN: (纸本)9798350336405

Owing to their flexibility and intelligence, unmanned aerial vehicles (UAVs) are becoming increasingly indispensable in military operations and play a vital role in collecting information from battlefields. Planning UAV flight trajectories to obtain fresh data with the constraint of limited energy is challenging. In this study, first, we conduct a literature review of UAV path planning its finite energy, and UAV communication problems. Subsequently, we formulate a Q-Learning (QL) algorithm to map the outstanding path of the UAV that jointly optimizes the flying distance, energy consumption, and data benefits. Further simulation results demonstrate that the proposed method can significantly reduce the route length and improve the smoothness of the UAV compared to other baseline algorithms. Finally, we investigate the influence of the parameter values on the results of the QL algorithm. © 2023 IEEE.

关键词： Reinforcement learning

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