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A Lightweight UAV Visual obstacle avoidance algorithm Based on Improved YOLOv8

Computers, Materials & Continua 2024年第11期81卷 2607-2627页

作者： Zongdong Du Xuefeng Feng Feng Li Qinglong Xian Zhenhong Jia College of Computer Science and Technology Xinjiang UniversityUrumqi830046China Signal Detection and Processing Autonomous Region Key Laboratory Xinjiang UniversityUrumqi830046China Xinjiang Uygur Autonomous Region Research Institute of Measurement and Testing Urumqi830000China

The importance of unmanned aerial vehicle(UAV)obstacle avoidance algorithms lies in their ability to ensure flight safety and collision avoidance,thereby protecting people and *** propose UAD-YOLOv8,a lightweight YOLOv8-based obstacle detection algorithm optimized for UAV obstacle *** algorithm enhances the detection capability for small and irregular obstacles by removing the P5 feature layer and introducing deformable convolution v2(DCNv2)to optimize the cross stage partial bottleneck with 2 convolutions and fusion(C2f)***,it reduces the model’s parameter count and computational load by constructing the unite ghost and depth-wise separable convolution(UGDConv)series of lightweight convolutions and a lightweight detection *** on this,we designed a visual obstacle avoidance algorithm that can improve the obstacle avoidance performance of UAVs in different *** particular,we propose an adaptive distance detection algorithm based on obstacle attributes to solve the ranging problem for multiple types and irregular obstacles to further enhance the UAV’s obstacle avoidance *** verify the effectiveness of the algorithm,the UAV obstacle detection(UAD)dataset was *** experimental results show that UAD-YOLOv8 improves mAP50 by 3.4%and reduces GFLOPs by 34.5%compared to YOLOv8n while reducing the number of parameters by 77.4%and the model size by 73%.These improvements significantly enhance the UAV’s obstacle avoidance performance in complex environments,demonstrating its wide range of applications.

关键词： Unmanned aerial vehicle obstacle detection obstacle avoidance algorithm

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Real-time obstacle avoidance algorithm Research for Telerobot

Real-time Obstacle Avoidance Algorithm Research for Telerobo...

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IEEE International Conference on Mechatronics and Automation

作者： Li, Dongjie Qiu, Jiangyan You, Bo Harbin Univ Sci & Technol Coll Automat Harbin Heilongjiang Pr Peoples R China

ISBN: (纸本)9781424426928

In order to reduce the operator's working strength and the damage that comes from the unknown obstacles to the telerobot, an obstacle avoidance algorithm for the telerobot is proposed based on virtual torque. In this algorithm, the virtual force between robot and obstacles is established using the principle of "the same sex is repulsive and the opposite sex is attractive". The function model of the virtual torque and the joint velocity is derived from the dynamic equation of the robot. Using this model, the robot can avoid obstacles real-time by adjusting the joint velocity. To verify the effectiveness and practicality of the algorithm, the simulation model of the robot is built using Matlab. At the same time, the continuous path movement of the robot is simulated in three-dimensional space in which there are dynamic obstacles. The simulation results show that the robot can return to the expected path quickly after it avoids the obstacles successfully.

关键词： telerobot obstacle avoidance algorithm virtual force three-dimensional space

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A New Path Planning and obstacle avoidance algorithm in Dynamic Environment 22

A New Path Planning and Obstacle Avoidance Algorithm in Dyna...

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22nd Iranian Conference on Electrical Engineering (ICEE)

作者： Mohammadi, Afshin Rahimi, Meysam Suratgar, Amir Abolfazl Amirkabir Univ Technol Dept Elect Engn Tehran Iran

ISBN: (纸本)9781479944095

By developments of robotics and increments in utilizing this knowledge in different scientific and industrial branches, the issue of path planning, either in intelligent and online state, or by pre-determined algorithms has been arised as one of the discussion fields in control and specially robotics. In the path planning literature, several algorithms have been used repetitively, among which can be mentioned potential field algorithms and intelligent algorithms such as genetic and A-Star, in which the main challenge is to find an obstacle free path, not considering capabilities like computation time, considering obstacles in path finding procedure. In this paper, we developed a new path planning algorithm, not only find an obstacle-free path but also has an optimal computation time in term of obstacle importance and consider the issues like adjustable obstacle avoidance and smoothness of the final path. The intention of this paper is introducing a path planning which is able to be applied in a typical needle penetration surgery. The proposed algorithm, by suitable environment segmentation, as hexagonal segmentation, concludes to a path, that is very smoother than pathes which are resulted in other traditional algorithms.

关键词： collision avoidance medical robotics mobile robots surgery dynamic environment needle penetration surgery obstacle avoidance algorithm path planning algorithm Collision avoidance Heuristic algorithms Indexes Needles Path planning Robots Surgery

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Improved Neural Network 3D Space obstacle avoidance algorithm for Mobile Robot 12th

Improved Neural Network 3D Space Obstacle Avoidance Algorith...

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12th International Conference on Intelligent Robotics and Applications (ICIRA)

作者： Tong, Yuchuang Liu, Jinguo Liu, Yuwang Ju, Zhaojie Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Peoples R China Chinese Acad Sci Inst Robot & Intelligent Mfg Shenyang 110016 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China Univ Portsmouth Sch Comp Portsmouth PO1 3HE Hants England

ISBN: (纸本)9783030275389;9783030275372

Path planning problems are classical optimization problems in many fields, such as computers, mathematics, transportation, robots, etc., which can be described as an optimization problem in mathematics. In this paper, the mathematical model of obstacle environment is established. The characteristics of neural network algorithm, simulated annealing algorithm and adaptive variable stepsize via linear reinforcement are studied respectively. A new neural network 3D space obstacle avoidance algorithm for mobile robot is proposed, which solves the problem of the computational duration and minimum distance of the traditional neural network obstacle avoidance algorithm in solving the optimal path. According to the characteristics of the improved neural network algorithm, it is fused with a variety of algorithms to obtain the optimal path algorithm that achieves the shortest path distance and meets the requirements of obstacle avoidance security. The simulation experiment of the algorithm is simulated by Matlab. The results show that the improved neural network spatial obstacle avoidance algorithm based on the multiple algorithms proposed in this paper can effectively accelerate the convergence speed of path planning, realize the minimum path distance, and achieve very good path planning effect.

关键词： Global path planning obstacle avoidance algorithm Improved neural network algorithm Adaptive variable stepsize Simulated annealing

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A method for robustness improvement of robot obstacle avoidance algorithm

A method for robustness improvement of robot obstacle avoida...

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IEEE International Conference on Robotics and Biomimetics (ROBIO 2006)

作者： Zong, Guanghua Deng, Luhua Wang, Wei Beijing Univ Aeronaut & Astronaut Sch Mech Engn & Automat Beijing 100083 Peoples R China

ISBN: (纸本)9781424405701

The robustness of obstacle avoidance algorithm is one of the important factors to successful applications of mobile robot systems. The sonar ring is used widely for autonomous mobile robot obstacle avoidance. This paper first analyzes the robustness of the existing obstacle avoidance algorithms based on sonar ring, indicates that the certainty grid method for obstacle representation is helpful to the robustness improvement of obstacle avoidance algorithms, but its effect is limited, it also has many disadvantages. By the simulation of two typical obstacle avoidance algorithms, the damage of interfered sonar elata is revealed. Then the kinematics model of obstacle avoidance is built, Kalman filter which can restrain divergence is designed for interfered sonar data. Sonar data is used by obstacle avoidance algorithm after filtering. By the simulation contrast of the two obstacle avoidance algorithms, the effect of the Kalman filter for robustness improvement of obstacle avoidance algorithms is testified. Finally, the effect of the Kalman filter for eliminating noises in sonar data and for robustness improvement of obstacle avoidance algorithms is verified by experiments in two different situation.

关键词： obstacle avoidance algorithm sonar robustness Kalman filter robot

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A Predictive Guidance obstacle avoidance algorithm for AUV in Unknown Environments

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SENSORS 2019年第13期19卷 2862.-2862.页

作者： Li, Juan Zhang, Jianxin Zhang, Honghan Yan, Zheping Harbin Engn Univ Sci & Technol Underwater Vehicle Technol Harbin 150001 Heilongjiang Peoples R China Harbin Engn Univ Coll Automat Harbin 150001 Heilongjiang Peoples R China

A predictive guidance obstacle avoidance algorithm (PGOA) in unknown environments is proposed for autonomous underwater vehicle (AUV) that must adapt to multiple complex obstacle environments. Using the environmental information collected by the Forward-looking Sonar (FLS), the obstacle boundary is simplified by the convex algorithm and Bessel interpolation. Combining the predictive control secondary optimization function and the obstacle avoidance weight function, the predicting obstacle avoidance trajectory parameters are obtained. According to different types of obstacle environments, the corresponding obstacle avoidance rules are formulated. Lastly, combining with the obstacle avoidance parameters and rules, the AUV's predicting obstacle avoidance trajectory point is obtained. Then AUV can successfully achieve obstacle avoidance using the guidance algorithm. The simulation results show that the PGOA algorithm can better predict the trajectory point of the obstacle avoidance path of AUV, and the secondary optimization function can successfully achieve collision avoidance for different complex obstacle environments. Lastly, comparing the execution efficiency and cost of different algorithms, which deal with various complex obstacle environments, simulation experiment results indicate the high efficiency and great adaptability of the proposed algorithm.

关键词： autonomous underwater vehicle forward-looking sonar predictive control line-of-sight guidance obstacle avoidance algorithm

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A new algorithm for obstacle avoidance and tracing applied to wall painting robots

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JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING 2023年第11期45卷 1-16页

作者： Liu, Xian-Ming Lanzhou Univ Coll Civil Engn & Mech Key Lab Mech Disaster & Environm Western China Lanzhou 730000 Gansu Peoples R China Sch Shenzhen Polytech Shenzhen 518055 Guangdong Peoples R China

This paper presents a new algorithm for the motion control of painting robots applied to intelligent motion control for wall painting and logistics handling. The study introduces a mathematical equation that can be described using a motion function. Its initial condition is around the obstacle point from the starting point to the target point, and its boundary condition is that a straight line or a line segment tangent to an arc in the search circle must be taken at the obstacle point. This mathematical equation is a nonlinear algebraic equation that finds the path from the starting point through the obstacle to the target point by a dynamic method. A minimum value evaluation criterion is applied to optimize multiple tracing paths to find an optimal solution. The advantage of this algorithm is that it simplifies the problem by finding the differences between them through a one-dimensional search for paths that avoid obstacles in the region of the motion function. It makes decisions by numerical comparison, thus avoiding the errors associated with objective evaluation. This algorithm can be applied in the field of intelligent control and the field of driverless vehicles. The combination of numerical and information control offers a new way of applying mathematical engineering in engineering control.

关键词： Nonlinear algebraic equations Robot's obstacle avoidance tracing obstacle avoidance path selection Objective function minimum obstacle avoidance algorithm

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An Improved Autonomous Emergency Braking algorithm for AGVs: Enhancing Operational Smoothness Through Multi-Stage Deceleration

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SENSORS 2025年第7期25卷 2041-2041页

作者： Li, Wenbo Qiu, Junting Univ Shanghai Sci & Technol Sch Mech Engn Shanghai 200093 Peoples R China Zhejiang Univ Technol Coll Mech Engn Hangzhou 310014 Peoples R China

The automated guided vehicle (AGV) is widely used in industrial environments for goods transportation. However, issues such as mechanical wear, reduced battery life, navigation error accumulation, and decreased operational efficiency caused by frequent starts and stops need to be addressed. This paper proposes an improved Autonomous Emergency Braking (AEB) algorithm to tackle these problems. The algorithm employs a stepwise deceleration strategy, effectively reducing the frequency of sudden stops and enhancing the system's operational smoothness. The AEB algorithm not only considers straight-line driving scenarios but also optimizes deceleration strategies for turning scenarios, adjusting the deceleration detection range according to the turning trajectory. Additionally, a velocity smoothing algorithm is designed to ensure that speed changes during deceleration are gradual, avoiding abrupt speed variations that could impact the system. The feasibility of the AEB algorithm is validated through testing on actual equipment, and its performance is compared to that of a conventional emergency stop strategy. Experimental results show that the AEB algorithm significantly reduces the number of sudden stops, improves the AGV's operational smoothness and safety, and demonstrates excellent adaptability and robustness across different operational conditions.

关键词： AGV AEB algorithm path planning obstacle avoidance algorithm velocity smoothing industrial automation SLAM motion control emergency stop avoidance

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obstacle avoidance of Bicycle Vehicle Model using Overwhelming Controller

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ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING 2018年第9期43卷 4821-4833页

作者： Singh, R. Bera, T. K. Thapar Inst Engn & Technol Mech Engn Dept Patiala 147004 Punjab India Earlier Thapar Univ Thapar Inst Engn & Technol Patiala 147004 Punjab India

The major reasons of the road accidents are the traffic problem and human erroneous driving. The researchers have started developing self-driving cars to avoid such accidents. In this paper, bicycle vehicle model along with its inverse vehicle dynamic model have been developed to track the predefined path and replace the driver. A bicycle vehicle model using bond graph (BG) is created to avoid single and two obstacles of known different geometry in predefined path. The obstacle avoidance algorithm is developed in the Matlab environment and this consists of combination of line following, tangent bug and wall following algorithm. The trajectory data from the obstacle avoidance controller is fed to the inverse controller of bicycle vehicle model to run the forward model of bicycle vehicle. For the trajectory tracking of bicycle vehicle model, the system inversion is carried out through the bond graph-based overwhelming controller. The simulation results for trajectory tracking of bicycle model is presented for single and two static obstacles with different orientations and shapes, and finally, conclusions are presented to show that response of the forward model follows the command (actual path decided by the obstacle avoidance controller) within the acceptable limits. All the results and simulations are obtained using Matlab and Symbols Shakti (R) software (Bond graph software).

关键词： Bicycle vehicle model Inverse controller Overwhelming controller obstacle avoidance algorithm Trajectory tracking Bond graph

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Experimental Results on obstacle avoidance for High Speed Unmanned Surface Vehicles

Experimental Results on Obstacle Avoidance for High Speed Un...

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Oceans Conference

作者： Simetti, Enrico Torelli, Sandro Casalino, Giuseppe Turetta, Alessio Univ Genoa Dept Informat Bioengn Robot & Syst Engn Interuniv Ctr Integrated Syst Marine Environm Via Opera Pia 13 I-16145 Genoa Italy

ISBN: (纸本)9781479949182

This work presents the first experimental results of the real-time motion planner developed within an on-going research project between DIBRIS, University of Genova and Selex-ES, Italy, one of the leading players for providing large systems aimed at security and surveillance. The ultimate goal of the research project is the development of a complete solution for managing and supervising a team of Unmanned Surface Vehicles (USVs), operating in a (semi-)autonomous manner within a civilian harbour. The proposed obstacle avoidance algorithm exploits the kinematic information of the vessels operating in the harbour in order to compute the optimal path to reach the target position, while at the same time avoiding any moving obstacle. The paper recalls the fundamentals of the proposed approach, introduces the developed USV prototypes and finally presents the adaptation of the motion planner for its use on the real tests. Field trials are presented to show the effectiveness of the approach even at high speeds.

关键词： collision avoidance path planning remotely operated vehicles DIBRIS Italy Selex-ES USV prototypes University of Genova civilian harbour high speed unmanned surface vehicles obstacle avoidance algorithm on-going research project real-time motion planner vessel kinematic information Collision avoidance Educational institutions Graphical user interfaces Kinematics Prototypes Safety Vehicles

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