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

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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Mobile robot for leaf disease detection and precise spraying: Convolutional neural networks integration and path planning

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Scientific African 2025年 28卷

作者： Bouhaja, Youssef Bamoumen, Hatim Derdak, Israe Sheikh, Safiyah El Azhari, Moulay El Hassan El Hafdaoui, Hamza School of Science and Engineering Al Akhawayn University Ifrane 53000 Morocco National School of Applied Sciences Sidi Mohamed Ben Abdellah University Fez 30000 Morocco

Plant diseases are a major cause of crop yield and quality losses, particularly in tomatoes, where bacterial, fungal, and viral diseases significantly impact production. Traditional disease detection methods are slow and prone to human error, limiting their use in large-scale agriculture. This study presents a mobile robot equipped with a custom convolutional neural network (CNN)-based system for early-stage disease detection and pesticide spraying;the robot was trained and tested on 13,191 tomato leaf images, using an 80:20 train-test split. The robot features a Raspberry Pi (ARM Cortex-A72, 1.5 GHz, 4 GB RAM) for processing, an RGB camera (12 MP, 30 fps), and a LiDAR module (360° range, 12 m, 0.1° resolution) for navigation. The pesticide spraying mechanism is driven by an Arduino-controlled stepper motor (1.8° step angle) with precise 180° movement for targeted application. The system was evaluated based on performance and efficiency evaluation, cost-effectiveness, environmental impact assessment, and sensitivity analysis. In navigation tests, the robot maintained minimal deviation of 1 cm in open fields, with fast obstacle detection and path adjustment in dynamic environments, including obstacles detected within 150 milliseconds. The robot achieved a precision rate of 95 % after just 50 epochs of training with a real-time latency of 0.015 s per image classification, which significantly outperforms the highest precision rate of 91 % achieved at 70 epochs from literature, where the real-time latency exceeded 0.028 s. Validation accuracy remained between 85 % and 90 %, indicating strong generalization. Classification metrics showed exceptional performance, with accuracy, precision, recall, and F1-scores all exceeding 91 % across 10 tomato leaf classes. The confusion matrix showed minimal misclassifications, and the receiver operating characteristic curve confirmed the model's strong ability to differentiate between healthy and diseased leaves with area under the cu

关键词： Convolutional neural network Leaf disease detection Mobile robot path planning algorithm Pesticide spraying

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P-19.2: A Review of path planning algorithms for Automated Driving Vehicles

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SID Symposium Digest of Technical Papers 2024年第S1期55卷 1564-1567页

作者： Yu Zhang Wanlin Li North China University of Technology Beijing China

With the continuous development of automated driving, the path planning algorithm of unmanned vehicles has been continuously innovated. First, some basic concepts of path planning are briefly introduced. Secondly, starting with the classification idea of path planning algorithm based on graph structure and sampling, the paper introduces four typical basic algorithms: Dijkstra algorithm, A* algorithm, PRM algorithm and RRT algorithm. In addition, the Apollo algorithm, which has been studied most at present, is also introduced. The principle and application scenario of each algorithm are summarized. Finally, several new algorithms and their development prospects are introduced.

关键词： path planning algorithm the Apollo algorithm

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A study on real-time path planning method for skin machining based on frame feature extraction and chronological feature optimization

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CIRP JOURNAL OF MANUFACTURING SCIENCE AND TECHNOLOGY 2024年 51卷 145-160页

作者： Liu, Chang Wang, Xiaoyao Du, Fuzhou Beihang Univ Sch Mech Engn & Automat Beijing 100191 Peoples R China

Skin, as the crucial component of aircraft, should be milled along the edges of the frame to ensure the mounting accuracy. Traditional skin milling uses visual measurement and offline planning to generate a machining path that corresponds to the overall shape of the frame edge. To enhance adaptability and processing efficiency, an online planning method is proposed. However, it imposes greater demands on the computational efficiency, accuracy, and stability of the algorithm. In this paper, a real-time path planning method based on frame feature extraction and chronological feature optimization is proposed for the milling of attached frame-skin. The method uses a line laser to scan the surface features of both skin and frame structures, facilitating real-time extraction of feature structures. Periodic calculations of position and posture are conducted based on the time series, and a non-fitting method is used to generate a smooth and high-precision machining trajectory. The efficacy in achieving real-time path planning for the milling module is verified by experiments on prototypes of aircraft skin. The algorithm exhibits a duration of less than 8 ms in a run cycle, while maintaining accuracy within +/- 0.5mm.

关键词： path planning algorithm Aircraft skin machining Frame feature extraction Chronological feature optimization

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Optimizing floor plans of accessible restrooms in elderly long-term care facilities: a path planning approach

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ARCHITECTURAL ENGINEERING AND DESIGN MANAGEMENT 2024年第4期20卷 891-910页

作者： Yuan, Hao Shen, Xiumei Southeast Univ Nanjing Jiangsu Peoples R China Southeast Univ Sch Architecture Nanjing 210019 Jiangsu Peoples R China

Navigating narrow restrooms is challenging for the elderly using wheelchairs or walkers (EUWW). Existing research focuses on the convenience of furniture use in the restroom and overlooks the convenience of mobility between furniture pieces. However, the floor plans of accessible restrooms determine the mobility path of EUWW, affecting mobility convenience. Thus, to improve mobility, floor plans should be evaluated to shorten movement distances and reduce bends. Experiments in constructed environments were expensive. This study instead proposes a novel path-planning based method for accessible restroom floor plan evaluation, simulating mobility paths in a virtual environment, and evaluating how the floor plans of accessible restrooms affect mobility and convenience. The results showed that: (1) wheelchair users, who approach the toilet from the rear, and walker users find opposite wall toilet-sink arrangements convenient. While Wheelchair users, who approach the toilet from the side or front, find it convenient if the toilet and sink are situated on different walls at a 90 degrees angle. Toilets and sinks on the same wall are inconvenient. (2) Corner sinks and toilets reduce EUWW's turning angles. (3) The farther the sink is from the side wall, the more convenient it is for EUWW. (4) The 45 degrees side approach is the most convenient for moving, followed by the frontal approach, and lastly the 90 degrees approach. Theoretically, this study uses path planning algorithms, simulating the movement of EUWW with varying capabilities and offering a new perspective for barrier-free architectural design. Practically, this study provides recommendations for optimizing accessible restroom floor plans.

关键词： Accessible restroom floor plan optimization mobility convenience path planning algorithm wheelchair and walker users

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path planning of nanorobot: a review

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MICROSYSTEM TECHNOLOGIES-MICRO-AND NANOSYSTEMS-INFORMATION STORAGE AND PROCESSING SYSTEMS 2022年第11期28卷 2393-2401页

作者： Xu, Ke Su, Rong Shenyang Jianzhu Univ Sch Elect & Control Engn Shenyang 110168 Peoples R China Great Wall Motor Co Ltd Baoding 071000 Peoples R China

Efficient and accurate path planning in a complex biological environment have become a challenge for nanorobot research. This paper first reviews the current path planning algorithms that can be used in the operation of nanorobots in the scientific community. The algorithms are mainly divided into four parts, including Dijkstra algorithm, A* algorithm, Rapidly-exploring Random Tree (RRT) algorithm, and Swarm Intelligence (SI) algorithm. In the application of SI, Genetic algorithm (GA) and Particle Swarm Optimization (PSO) are the most commonly used approaches to solve the path planning of nanorobot swarm. Then, their research status, advantages, and limitations are outlined in each section. The improvement of different algorithms in different environments is discussed while fully demonstrating that they are superior to other methods. Finally, the future research on optimal path planning is expected as the next step in high-precision control of nanorobot. This review aims to provide some ideas for the improvement of nanorobot performance and accelerate another leap of path planning technology in the field of nanomanipulation.

关键词： Nanorobot path planning algorithm Nanomanipulation Drug delivery

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A Novel Goal-oriented Sampling Method for Improving the Convergence Rate of Sampling-based path planning for Autonomous Mobile Robot Navigation

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DEFENCE SCIENCE JOURNAL 2023年第3期73卷 322-331页

作者： Ganesan, Sivasankar Natarajan, Senthil Kumar Thondiyath, Asokan Mepco Schlenk Engn Coll Sivakasi 626005 Tamil Nadu India Indian Inst Technol Madras Chennai 600036 Tamil Nadu India

Autonomous Mobile Robots' performance relies on intelligent motion planning algorithms. In autonomous mobile robots, sampling-based path-planning algorithms are widely used. One of the efficient sampling-based path planning algorithms is the Rapidly Exploring Random Tree (RRT). However, the solution provided by RRT is suboptimal. An RRT extension known as RRT* is optimal, but it takes time to converge. To improve the RRT* slow convergence problem, a goal-oriented sampling-based RRT* algorithm known as GS-RRT* is proposed in this paper. The focus of the proposed research work is to reduce unwanted sample exploration and solve the slow convergence problem of RRT* by taking more samples in the vicinity of the goal region. The proposed research work is validated in three different environments with a map size of 384*384 and compared to the existing algorithms: RRT, Goal-directed RRT(G-RRT), RRT*, and Informed-RRT*. The proposed research work is compared with existing algorithms using four metrics: path length, time to find the solution, the number of nodes visited, and the convergence rate. The validation is done in the Gazebo Simulation and on a TurtleBot3 mobile robot using the Robotics Operating System (ROS). The numerical findings show that the proposed research work improves the convergence rate by an average of 33 % over RRT* and 27 % over Informed RRT*, and the node exploration is 26 % better than RRT* and 20% better than Informed RRT*.

关键词： Goal-oriented sampling Mobile robot navigation path planning algorithm Rapidly exploring random tree

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path planning based QoS Routing in VANET

Path Planning based QoS Routing in VANET

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International Conference on Big Data, IoT and Data Science (BID)

作者： Shaikh, Farheen Iqbal Hingoliwala, Hyder Ali JSCOE Dept Comp Engn Pune Maharashtra India

ISBN: (纸本)9781509065936

Vehicular ad hoc networks (VANETs) is an emerging technology which has received lot of attention due to its potential to improve vehicle and road safety, traffic control, efficiency as well as convenience for users. VANET is a sub category of mobile ad hoc network (MANET). A lot of research in VANET is done on routing, broadcasting, Quality of Service (QoS) and security. This paper proposes a novel path planning algorithm for reliable and efficient routing. The proposed system will traditionally distribute the work load over alternate paths in order to avoid congestion and reduce travel cost. It ensures reliable routing with less bandwidth requirement as it manages large size packets by dividing into parts and sending via alternate path. VANET may be affected by attacks on routing leading to altering messages and routes which will affect QoS parameters. The proposed algorithm will also deal with providing security measures over the routing process. Therefore, we obtain routing algorithm subject to multiple QoS constraints for secure communication in VANET.

关键词： Multi-constrained path planning algorithm Vehicular ad hoc network Reliable routing Multi-constrained path planning algorithm Reliable routing Vehicular ad hoc network

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path planning of a Non-Standard Heavy Cargo in Dual-Crane Operation 5

Path Planning of a Non-Standard Heavy Cargo in Dual-Crane Op...

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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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