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CDEIR: Intelligent Routing for Efficient Wireless Sensor Networks Using bug algorithm

IEEE ACCESS 2023年 11卷 72895-72910页

作者： Prakash, P. Suman Nagaraju, K. Reddy, A. Vishnuvardhan Fathimabi, Shaik Jangam, Ebenezer Khan, Surbhi Bhatia Malibari, Areej Abbas G Pullaiah Coll Engn & Technol Dept Artificial Intelligence Kurnool Andhra Pradesh India Indian Inst Informat Technol Dept Comp Sci & Engn Design & Mfg Kurnool Kurnool Andhra Pradesh India G Pulla Reddy Engn Coll Dept Comp Sci & Engn Kurnool Andhra Pradesh India Velagapudi Ramakrishna Siddhartha Engn Coll Dept Informat Technol Vijayawada Andhra Pradesh India Velagapudi Ramakrishna Siddhartha Engn Coll Dept Informat Technol Vijayawada Andhra Pradesh India Univ Salford Sch Sci Engn & Environm Dept Data Sci Salford England Princess Nourah bint Abdulrahman Univ Coll Engn Dept Ind & Syst Engn Riyadh Saudi Arabia

Wireless Sensor Networks (WSNs) are used to monitor specific areas of the environment by networking multiple sensors and collecting data for analysis. However, due to limited processing capabilities, the collected data needs to be transmitted to a Base Station (BS) that has high computational power and storage capacity. As SNs are not directly connected to the BS, multihop data transmissions through other SNs are required to reach the BS, which leads to congestion and additional energy consumption. To address these challenges, we propose a novel algorithm called Congestion, Delay, Energy-aware Intelligent Routing (CDEIR) using the bug algorithm. The CDEIR approach identifies congested nodes using a Directed Spanning Tree and avoids traffic through them by paving an alternate path. This approach minimizes delay and optimizes energy consumption while avoiding congestion, all within a short computational time. We demonstrate the effectiveness of the CDEIR approach through theoretical analyses and simulations.

关键词： bug algorithm congestion avoidance delay-aware directed spanning tree energy-efficiency wireless sensor networks

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Ladybug. An Intensity based Localization bug algorithm 25

LadyBug. An Intensity based Localization Bug Algorithm

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25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Lentzas, Athanasios Vrakas, Dimitris Aristotle Univ Thessaloniki Sch Informat Thessaloniki Greece

ISBN: (纸本)9781728189567

Localization and navigation is a crucial task of autonomous robots. This paper introduces Ladybug a novel bug algorithm. Using the Received Signal Strength Indication (RSSI) of an electromagnetic signal, the algorithm is able to accurately calculate the position of the beacon emitting the aforementioned signal. Various experiments were performed with a simulated robot equipped only with local sensors. The proposed algorithm was compared with similar approaches with very promising results.

关键词： robot navigation robot localization RSSI bug algorithm path planning

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The Mobile Robot Path Planning with Motion Constraints Based on bug algorithm

The Mobile Robot Path Planning with Motion Constraints Based...

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Chinese Automation Congress (CAC)

作者： Xu, Qi-Lei Yu, Tao Bai, Jie Qingdao Univ Sci & Technol Inst Automat & Elect Engn Qingdao Peoples R China Qingdao Univ Sci & Technol Network Secur & Informat Construct Off Qingdao Peoples R China

ISBN: (纸本)9781538635247

Considering the motion constraints of the robot, an autonomous navigation method based on bug algorithm was proposed. Combining Dubins path and bug algorithm, in the process a robot moving from initial pose position to final pose position, a path satisfied the robot's kinematics parameters was planned. Firstly, the robot moved along the initial Dubins path from initial pose position to final pose position with sensing the environment information under the prescribed condition. Once there being obstacles blocking the current path, generate an intermediate pose position to avoid the obstacle, and then calculate two Dubins paths from current pose position to intermediate pose position and from intermediate pose position to final pose position in order to get an updated planning path. Finally, make the robot move along the updated planning path. Repeat the process of moving, sensing, generating intermediate pose position and updating path until the robot achieves the final pose position without collision. The simulation results show that the proposed method is safe, efficient and easy to implement.

关键词： path planning bug algorithm motion constraints Dubins path wheeled mobile robot

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Collision Avoidance in Human-Cobot Work Cell Using Proximity Sensors and Modified bug algorithm 10

Collision Avoidance in Human-Cobot Work Cell Using Proximity...

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10th International Conference on Control, Mechatronics and Automation (ICCMA)

作者： Cichosz, Cody Gurocak, Hakan Washington State Univ Sch Engn & Comp Sci Vancouver WA 98686 USA

ISBN: (纸本)9781665490481

This paper introduces a real-time collision avoidance algorithm for a collaborative robot in a work cell with a human operator. Collaborative robots (cobots) are becoming increasingly popular in industrial environments because they enable close collaboration between a human and a robot. Unlike traditional robots, cobot installations do not require a safety cage around the robot. This is because the cobot can come to a stop if it collides with a human. Although the cobot can stop, it is not a pleasant or safe working environment for the human to be hit by the cobot possibly multiple times a day. The advantage of the new approach is its algorithmic simplicity and use of inexpensive proximity sensors on the cobot. Results from pick-and-place experiments show significant improvements in reduction of collisions as the algorithm enables the cobot to maneuver around the human operator in the cell.

关键词： cobot robot collision avoidance bug algorithm

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Modified bug algorithm with Proximity Sensors to Reduce Human-Cobot Collisions 9

Modified Bug Algorithm with Proximity Sensors to Reduce Huma...

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9th International Conference on Automation, Robotics and Applications (ICARA)

作者： Li, Anran Gurocak, Hakan Washington State Univ Sch Engn & Comp Sci Vancouver WA 98686 USA

ISBN: (纸本)9781665489218

This paper presents an adaptation of the mobile robot bug algorithm to control a cobot to reduce collisions with a human worker in the same work cell. Collaborative robots (cobots) are popular in industry because they enable close collaboration between a human and a robot. Although the cobot can stop when a collision happens, it is not a pleasant or safe working environment for the human to be hit by the cobot possibly multiple times a day. The proposed approach uses inexpensive proximity sensors on the cobot and a simple algorithm. An adjustable yaw angle is introduced to the algorithm to further reduce collisions. Results from pick-and-place experiments with UR 10 cobot show significant reduction of collisions.

关键词： cobot robot collision avoidance bug algorithm

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Visual bug algorithm for Simultaneous Robot Homing and Obstacle Avoidance Using Visual Topological Maps in an Unmanned Ground Vehicle

Visual Bug Algorithm for Simultaneous Robot Homing and Obsta...

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5th International Work-Conference on the Interplay Between Natural and Artificial Computation (IWINAC)

作者： Maravall, Dario de Lope, Javier Pablo Fuentes, Juan Univ Politecn Madrid Fac Comp Sci Dept Artificial Intelligence Madrid Spain Univ Politecn Madrid Ctr Automat & Robot UPM CSIC Madrid Spain

ISBN: (纸本)9783319188331;9783319188324

We introduce a hybrid algorithm for the autonomous navigation of an Unmanned Ground Vehicle (UGV) using visual topological maps. The main contribution of this paper is the combination of the classical bug algorithm with the entropy of digital images captured for the robot. As the entropy of an image is directly related to the presence of a unique object or the presence of different objects inside the image (the lower the entropy of an image, the higher its probability of containing a single object inside it;and conversely, the higher the entropy, the higher its probability of containing several different objects inside it), we propose to implement landmark search and detection using topological maps based on the bug algorithm, where each landmark is considered as the leave point for guide to the robot to reach the target point (robot homing). The robot has the capacity of avoid obstacles in the enviroment using the entropy of images too. After the presentation of the theoretical foundations of the entropy-based search combined with the bug algorithm, the paper ends with the experimental work performed for its validation.

关键词： bug algorithm Unmanned ground vehicles Entropy search Visual topological maps

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Modified bug algorithm with Supervisory Control Using Machine Learning to Reduce Human-Cobot Collisions

Modified Bug Algorithm with Supervisory Control Using Machin...

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作者： Li, Anran Washington State University

学位级别：M.S., Master of Science/Master of Surgery

A collaborative robot, or cobot, is an efficient robot that can work alongside human workers in the same work cell. Cobots are popular in industry because they allow close collaboration between humans and robots. Although a cobot can stop when a collision occurs, it is not safe or pleasant for the human worker to be hit by the cobot multiple times a day. Therefore, it is important to reduce or eliminate collisions between cobots and human workers. This research uses inexpensive proximity sensors on the cobot to detect obstacles and generate motion decisions. First, a modified bug algorithm is utilized to maneuver the cobot to achieve a pick-and-place task. This algorithm applies a wrist yaw angle to move around the human workers and avoid collisions in the same work cell. Second, a long short-term memory (LSTM)-based artificial neural network was trained using a collision-free path dataset. The network model generates corrections when abnormal movements in the modified algorithm are detected due to interference in sensor *** of pick-and-place tasks considered different locations and orientations of human workers, as well as dynamic scenarios. The results show a significant reduction in collisions using the proposed bug algorithm and machine learning supervisory control strategy. The supervisory control method has the ability to find additional solutions to reach the target and reduce the number of steps needed to explore potential collision-free paths.

关键词： Machine learning Cobots Sensor readings Modified algorithm bug algorithm

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New Real Time (M-bug) algorithm for Path Planning and Obstacle Avoidance In 2D Unknown Environment 29

New Real Time (M-Bug) Algorithm for Path Planning and Obstac...

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29th International Conference on Computer Theory and Applications (ICCTA)

作者： Mohsen, Ahmed Mohamed Sharkas, Maha Ahmed Zaghlol, Mohamed Saad Arab Acad Sci Technol & Maritime Transport Elect & Commun Engn Alexandria Egypt

ISBN: (纸本)9781728152769

This paper proposes a new sensor-based path planning and collision avoidance algorithm for non-holonomic robot travelling in unknown 2D environment named as (M-bug) algorithm in order to reduce the overall of traveled path. It uses the difference between slope lines to find and choose the smallest angle located between slope of straight line from mobile robot to goal point and slope from mobile robot and two endpoints of edges for obstacle, by choosing the smallest one which refers to nearest leave point to reach goal point and repeat this action with other obstacles until mobile robot reach to goal point. this algorithm based on using on-board sensors to generate information about the environment and obstacle located in front of mobile robot. This algorithm creates better performance when compared to the other traditional algorithms. It provides real time obstacle avoidance, compatible with LIDAR sensor and fast enough to be implemented on embedded microcontrollers. The used algorithm is based on a modification for existing path planning and obstacle voidance algorithms (bug1, bug2, Tangent-bug, K-bug, Dist-bug ... etc.), and The Vector Field Histogram (VFH) algorithm in unknown environment. The main advantage of this algorithm is that it is not limited to the origin-destiny line and changes the main line every leave point. MATLAB 2018a is used in simulation to validate the effectiveness of the proposed algorithm, and it is implemented on multiple scenarios to show the ability of the mobile robot to follow a path, detect obstacles, and navigate around them to avoid collision.

关键词： Path planning Collision avoidance bug algorithm Autonomous mobile robots LIDAR non-holonomic

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Modified bug-1 algorithm based strategy for obstacle avoidance in multi robot system

Modified bug-1 algorithm based strategy for obstacle avoidan...

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International Conference on Research in Mechanical Engineering Sciences (RiMES)

作者： Kandathil, Jom J. Mathew, Robins Hiremath, Somashekhar S. Indian Inst Technol Dept Mech Engn Madras Tamil Nadu India

One of the primary ability of an intelligent mobile robot system is obstacle avoidance. bug algorithms are classic examples of the algorithms used for achieving obstacle avoidance. Unlike many other planning algorithms based on global knowledge, bug algorithms assume only local knowledge of the environment and a global goal. Among the variations of the bug algorithms that prevail, bug-0, bug-1 and bug-2 are the more prominent versions. The exhaustive search algorithm present in bug-1 makes it more reliable and safer for practical applications. Overall, this provides a more predictable and dependable performance. Hence, the essential focus in this paper is on implementing the bug-1 algorithm across a group of robots to move them from a start location to a target location. The results are compared with the results from bug-1 algorithm implemented on a single robot. The strategy developed in this work reduces the time involved in moving the robots from starting location to the target location. Further, the paper shows that the total distance covered by each robot in a multi robot-system is always lesser than or equal to that travelled by a single robot executing the same problem.

关键词： bug algorithm Obstacle Avoidance Mobile Robot Multi Robot System Simulation

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Comparison between Waveform and bug Path Planning algorithm for Mobile Robot

Comparison between Waveform and Bug Path Planning Algorithm ...

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3rd International Conference on Machine Design and Manufacturing Engineering (ICMDME)

作者： Tang, Swee Ho Yeong, Che Fai Su, Eileen Lee Ming Univ Teknol Malaysia Malaysia Japan Int Inst Technol Terengganu Malaysia Univ Teknol Malaysia Ctr Artificial Intelligence & Robot Terengganu Malaysia Univ Teknol Malaysia Fac Elect Engn Terengganu Malaysia

ISBN: (纸本)9783038351801

Mobile robots frequently find themselves in a circumstance where they need to find a trajectory to another position in their environment, subject to constraints postured by obstacles and the capabilities of the robot itself. This study compared path planning algorithms for mobile robots to move efficiently in a collision free grid based static environment. Two algorithms have been selected to do the comparison namely wavefront algorithm and bug algorithm. The wavefront algorithm involves a breadth-first search of the graph beginning at the goal position until it reaches the start position. The bug algorithm uses obstacles borders as guidance toward a goal with restricted details about the environment. The algorithms are compared in terms of parameters such as execution time of the algorithm and planned path length by using Player/Stage simulation software. Results shown that wavefront algorithm is a better path planning algorithm compared to bug algorithm in static environment.

关键词： Path Planning Wave front algorithm bug algorithm Player/Stage Mobile Robot

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