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5th International Conference on Information Science, Computer Technology and Transportation (ISCTT)

作者： Fu Yu-ping Wang Hong-gui Yu Yang Fang Yi-wang Dalian Maritime Univ Nav Coll Dalian Liaoning Peoples R China Dalian Maritime Univ Dalian Liaoning Peoples R China

ISBN: (数字)9781728185750

ISBN: (纸本)9781728185750

For the safe transfer of non-standard heavy cargo to the inboard by dual-crane operation, an algorithm which can automatically generate the rotational path that movement with rotation in horizonal plane in the process of transverse-moving is designed to plan the rotation path of the cargo. However, this algorithm does not consider the stability of the ship in the process of transverse-moving, and only aims to meet the requirements of safe operation of cranes and collision-free between cargo and derricks. Then a two degrees of freedom (DOF) of collision-free rotation path is generated by determining the boom elevation angle and horizontal slewing angle during rotation, making the calculation process is faster. At the same time, in order to consider the control of subsequent stability and floating state of ship, this paper refines the rotation process. Finally, the feasibility of the algorithm is verified by the real ship data, which provides a reference for the path planning of heavy lifting ship using dual crane operation mode to load non-standard heavy cargos.

关键词： non-standard heavy cargo dual crane operation path planning algorithm boom elevation angle horizontal slewing angle

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A Review on Kinematic, Workspace, Trajectory planning and path planning of Hyper-Redundant manipulators 10

A Review on Kinematic, Workspace, Trajectory Planning and Pa...

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10th Institute-of-Electrical-and-Electronics-Engineers International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)

作者： Du, Zhao-cai Ouyang, Guang-Yao Xue, Jun Yao, Yan-bin AVIC Mfg Technol Inst Aeronaut Key Lab Digital Mfg Technol Beijing Peoples R China Zhejiang Sci Tech Univ Sch Mech Engn & Automat Hangzhou Peoples R China

ISBN: (纸本)9781728190099

With high flexibility and maneuverability, Hyper-redundant manipulators can work in a narrow space, and have great application potential in the complex space of aerospace, aviation and nuclear power equipment. This paper summarizes the definition, type, kinematics method, workspace calculation method, trajectory planning and obstacle avoidance path planning algorithm of Hyper-redundant manipulators. The purpose of this paper is to build a bridge between academic researchers and the current situation of Hyper-redundant manipulators, and enumerate the main algorithms of kinematics solution, workspace calculation, trajectory planning and obstacle avoidance path planning of ultra redundant robots in the past decade. Finally, the technical problems and future work of Hyper-redundant manipulator are discussed.

关键词： Hyper-redundant manipulators kinematics workspace trajectory planning path planning algorithm

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Combining Voronoi Graph and Spline-Based Approaches for a Mobile Robot path planning 14th

Combining Voronoi Graph and Spline-Based Approaches for a Mo...

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14th International Conference on Informatics in Control, Automation and Robotics (ICINCO)

作者： Magid, Evgeni Lavrenov, Roman Svinin, Mikhail Khasianov, Airat Kazan Fed Univ Higher Sch Informat Technol & Informat Syst Intelligent Robot Dept Kremlyovskaya Str 35 Kazan Russia Ritsumeikan Univ Coll Informat Sci & Engn Robot Dynam & Control Lab Kyoto Japan Kazan Fed Univ Higher Sch Informat Technol & Informat Syst Kremlyovskaya Str 35 Kazan Russia

ISBN: (纸本)9783030112929;9783030112912

Potential function based methods play significant role in both global and local path planning. While these methods are characterized with good reactive behaviour and implementation simplicity, they suffer from a well-known problem of getting stuck in local minima of a navigation function. In this paper we propose a modification of our original spline-based path planning algorithm for a mobile robot navigation, which succeeds to solve local minima problem and considers additional criteria of start and target points visibility to help optimizing the path selection. We apply a Voronoi graph based path as an input for iterative multi criteria optimization algorithm and present a path finding strategy within different homotopies that uses the new method. The algorithm was implemented in Matlab environment and demonstrated significantly better results than the original approach. The comparison was based on success rate, number of iterations and running time of the algorithms. In total, several thousands tests were performed in 18 different simulated environments.

关键词： Robotics path planning algorithm Voronoi diagram Potential field Mobile robot Simulated experiments MATLAB

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Design and development of a glass facade cleaning robot

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MECHANISM AND MACHINE THEORY 2022年 168卷 104585-104585页

作者： Bisht, Ravindra Singh pathak, Pushparaj Mani Panigrahi, Soraj Kumar Indian Inst Technol Mech & Ind Engn Dept Robot & Control Lab Roorkee 247667 Uttar Pradesh India CSIR Cent Bldg Res Inst Acoust Instrumentat & Mech Syst Lab Roorkee 247667 Uttar Pradesh India

This paper presents a unique design concept, dynamic modeling, and control strategies for efficient coverage path planning of a glass facade cleaning robot (GFCR). The robot design has been conceptualized using mechanisms for adhesion, motion, steering, and cleaning. The dynamic model for robot vertical glass facade cleaning is derived using Lagrangian formulation. A modified particle swarm optimization (PSO) is used to autotune the proportional, integral, and derivative (PID) parameters for the trajectory tracking simulation and it is more efficient and robust compared to the standard PSO algorithm. The path planning algorithm using hybrid PID-PSO approach is also developed for energy-efficient coverage of the robot for glass facade cleaning. The coverage algorithm illustrates the energy-performance of the GFCR for different paths viz., horizontal line sweep (HLS), vertical line sweep (VLS), spiral line sweep (SLS), and special cell diffusion (SCD) motion. Simulation reveals the robot motion for HLS path is the most energy efficient. The GFCR model with minimum energy consumption has been validated by working trials. The GFCR has potential applications for cleaning high-rise glass facade buildings and photovoltaic (PV) solar panels.

关键词： Dynamic modeling Pneumatic suction Guiderail mechanism Hybrid PID-PSO algorithm path planning algorithm Glass facade cleaning robot

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Sensor-Based Obstacle Avoidance for Autonomous Mobile Robots: Experimental Study

Sensor-Based Obstacle Avoidance for Autonomous Mobile Robots...

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7th International Conference on Automation, Robotics and Applications (ICARA)

作者： Elhag, Ahmed A. A. Osman, Mohammed I. A. M. Elhag, Nihad A. A. Manzoul, Mahmoud A. Univ Khartoum Dept Elect & Elect Engn Khartoum Sudan Univ Gezira Dept Elect Engn Wad Madani Sudan Jackson State Univ Dept Elect & Comp Engn & Comp Sci Jackson MS 39217 USA

ISBN: (纸本)9781665404693

One of the highly essential issues in robotics is to let the mobile robot reach a predetermined location in the presence of obstacles. Many algorithms had been implemented for obstacle avoidance in an unknown environment. In this research, an algorithm has been presented for the mobile robot to perform this task. This algorithm is based on the use of sensors. The robot was programmed to use various sensors such as ultrasound and infrared sensors. The proposed algorithm was implemented in many environments, which contains several obstacles. The experiments show that the mobile robot has successfully avoided the obstacles located on its path to the predetermined target.

关键词： Mobile Robots Obstacle Avoidance path planning algorithm Bug Family

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Research on path planning of real-time obstacle avoidance of mechanical arm based on genetic algorithm

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JOURNAL OF ENGINEERING-JOE 2018年第16期2018卷 1579-1586页

作者： Jiang, Ao Yao, Xiang Zhou, Juan Xiangtan Univ Mech Engn Coll Xiangtan Hunan Peoples R China Xiangtan Univ Informat Engn Coll Xiangtan Hunan Peoples R China Xiangtan Univ Minist Educ Key Lab Intelligent Comp & Informat Proc Xiangtan Hunan Peoples R China

Aiming at the problem that modular mechanical arm may collide with the obstacles in working space at runtime, a path planning algorithm of obstacle avoidance is proposed based on a genetic algorithm (GA). Firstly, the Denavit-Hartenberg method is applied to the modelling of the mechanical arm;then, the kinematic and kinetic analysis is conducted and the kinematic and kinetic equations of the mechanical arm are established. On this basis, the time, spatial distance and path length of the motion are regarded as optimising indices and the optimisation of path planning of obstacle avoidance is achieved using GA for mechanical arm under a working condition with single obstacle or multiple obstacles. Through simulation, the effectiveness and feasibility of a path planning algorithm of mechanical arm obstacle avoidance based on GA is verified. This algorithm improves the efficiency of a mechanical arm to avoid the obstacles in working space at runtime.

关键词： genetic algorithms manipulator kinematics mobile robots path planning collision avoidance real-time obstacle avoidance genetic algorithm modular mechanical arm path planning algorithm single obstacle multiple obstacles mechanical arm obstacle avoidance Denavit-Hartenberg method GA

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Energy Efficient Elliptical Concave Visibility Graph algorithm for Unmanned Aerial Vehicle in an Obstacle-rich Environment

Energy Efficient Elliptical Concave Visibility Graph Algorit...

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IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS)

作者： Debnath, Sanjoy Kumar Omar, Rosli Bagchi, Susama Nafea, Marwan Naha, Ranesh Kumar Sabudin, Elia Nadira Univ Tun Hussein Onn Malaysia Dept Elect Engn Batu Pahat Malaysia Univ Nottingham Malaysia Dept EEE Semenyih 43500 Selangor Malaysia Univ Tasmania Discipline ICT Hobart Tas Australia

ISBN: (纸本)9781728161334

This paper proposes a path planning algorithm for unmanned aerial vehicle (UAV) called Elliptical Concave Visibility Graph (ECoVG). The algorithm, which is based on visibility graph (VG), overcomes the limitations of VG computation time and hence, it can be applied in real-time and in obstacle-rich environments. An experimental investigation has been done to compare the performance between ECoVG and another VG based method namely Equilateral-Space Oriented VG (ESOVG) in terms of computational time and path length. The investigation was done in identical scenarios through simulation to show that the ECoVG has a better computation time than that of ESOVG for its efficient selection of a region in calculating the path. It is also found that the proposed algorithm is energy efficient and complete since it can find a path if one exists.

关键词： Elliptical Concave Visibility Graph path planning algorithm Computationally Efficient Energy Efficient

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Optimization model of food transportation strategy

Optimization model of food transportation strategy

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Chinese Automation Congress (CAC)

作者： Zhao, Jiayu Su, Fuwen Feng, Fan Yang, Zhihui WuHan Univ Technol Sch Automat Wuhan Peoples R China

ISBN: (纸本)9781728176871

There are many problems related to the choice of the best route in real life. For example, the transportation of urban food or urban tourism problems, as well as common express delivery problems. These are all related to the selection of the best route, the maximization, the most effective use of resources. In order to solve the problem of cargo transportation route selection, this paper sets up two scenarios in real life through field investigation. And then the model and manual adjustment are given, finally determines the optimal path.

关键词： Multi-objective dynamic programming Transportation strategy path planning algorithm

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A survey on Navigation Systems in Dynamic Environments 20

A survey on Navigation Systems in Dynamic Environments

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Proceedings of the 10th International Conference on Information Systems and Technologies

作者： Ahlem Mellouk Abdelmadjid Benmachiche Computer Science Department Chadli Bendjedid University Algeria Computer Science Department Chadli Bendjedid University Algeria LRI Laboratory Badji Mokhtar University Annaba Algeria

ISBN: (纸本)9781450376556

Mobile robot navigation is a method of guiding a robot to accomplish a mission through an environment with obstacles in a good and safe manner. The main challenge of current mobile robotics is to develop intelligent navigation systems, where autonomous navigation is a research focus that aims to give a machine the ability to move in an unassisted environment, without human intervention to accomplish the desired goal. The task of navigation is to give the robot the opportunity to obtain the information it needs to reason and equip it with a locomotion capacity adapted to its environment. However, it implies complex systems in the realization, where their control poses important problems not only technological but also scientific. An autonomous mobile robot is a mechanical system that must be able to make decisions to perform movements based on information about its position and the environment in which it *** problem addressed in this article is that of autonomous navigation in a dynamic environment "The objective is to study models and computer techniques allowing a mobile robot to move autonomously, that is to say without intervention in an uncertain environment and in the presence of obstacles.

关键词： collision avoidance approach mobile robots Intelligent control path planning algorithm dynamic Environments

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Distributed multi-vehicle task assignment in a time-invariant drift field with obstacles

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IET CONTROL THEORY AND APPLICATIONS 2019年第17期13卷 2886-2893页

作者： Bai, Xiaoshan Yan, Weisheng Cao, Ming Xue, Dong Univ Groningen Fac Sci & Engn NL-9747 AG Groningen Netherlands Northwestern Polytech Univ Sch Marine Sci & Technol 127 West Youyi Rd Xian 710072 Shaanxi Peoples R China Tech Univ Munich Dept Elect & Comp Engn Arcisstr 21 D-80209 Munich Germany

This study investigates the task assignment problem where a fleet of dispersed vehicles needs to visit multiple target locations in a time-invariant drift field with obstacles while trying to minimise the vehicles' total travel time. The vehicles have different capabilities, and each kind of vehicles can visit a certain type of the target locations;each target location might require to be visited more than once by different kinds of vehicles. The task assignment problem has been proven to be NP-hard. A path planning algorithm is first designed to minimise the time for a vehicle to travel between two given locations through the drift field while avoiding any obstacle. The path planning algorithm provides the travel cost matrix for the target assignment, and generates routes once the target locations are assigned to the vehicles. Then, a distributed algorithm is proposed to assign the target locations to the vehicles using only local communication. The algorithm guarantees that all the visiting demands of every target will be satisfied within a total travel time that is at worst twice of the optimal when the travel cost matrix is symmetric. Numerical simulations show that the algorithm can lead to solutions close to the optimal.

关键词： remotely operated vehicles mobile robots distributed algorithms computational complexity minimisation total travel time travel cost matrix multivehicle task assignment time-invariant drift field task assignment problem dispersed vehicles multiple target locations path planning algorithm target assignment distributed algorithm numerical simulation

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