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Design and implementation of intelligent LiDAR SLAM for autonomous mobile robots using evolutionary normal distributions transform

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Soft Computing 2024年第6期28卷 5321-5337页

作者： Huang, Hsu-Chih Xu, Sendren Sheng-Dong Lin, Hsien-Chan Xiao, Yuan-Sheng Chen, Yu-Xiang Department of Electrical Engineering National Ilan University Yilan260007 Taiwan Graduate Institute of Automation and Control National Taiwan University of Science and Technology Taipei106335 Taiwan Advanced Manufacturing Research Center National Taiwan University of Science and Technology Taipei106335 Taiwan

This paper presents a method that employs an evolutionary normal distributions transform (NDT) for simultaneous localization and mapping (SLAM) using light detection and ranging (LiDAR) for autonomous mobile robots. An adaptive inertia weight and two genetic operators were employed in the Taguchi-based whale optimization algorithm (WOA) to improve the search diversity and avoid local optima. NDT was used to model the environment of differential-drive mobile robots and WOA was applied to optimize the scan matching for the robotic SLAM problem. The NDT-WOA determines the SLAM pose estimation using sensed data from the physical world. A nonholonomic mobile robot was steered to achieve the NDT-WOA SLAM task with the derived robot kinematics and actuator dynamics. The proposed method was implemented in a TurtleBot3 Burger robotic development kit, which includes a single-board computer and an OpenCR control board. The Robot Operating System (ROS) was utilized to implement the evolutionary NDT-WOA SLAM system due to its flexibility, open source, and client library. Simulation and comparisons were conducted to illustrate the efficiency of the proposed NDT-WOA SLAM method compared to other SLAM paradigms. The experimental results show the effectiveness of the proposed evolutionary NDT-WOA SLAM for autonomous mobile robots. The results could have theoretical and practical significance for robotics research. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2023.

关键词： Mobile robots

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Multi-agent Weapon Target Assignment and Cooperative Path Planning Based on QS-RRT Algorithm 41

Multi-agent Weapon Target Assignment and Cooperative Path Pl...

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第41届中国控制会议

作者： Qingze Li Yongzhao Hua Haoran Zhai Qingdong Li Xiwang Dong School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Institute of Artificial Intelligence Beihang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,based on the typical combat scenario where multiple UAVs strike multiple targets,the model of weapon firepower allocation is firstly modeled to obtain the corresponding objective function,and then the improved distributed auction algorithm is used to solve the objective function to obtain the multi-target allocation *** layer first analyze the traditional RRT algorithm,and gets the quick and smooth convergence RRT(QS-RRT) on the basis of improved algorithm,the algorithm on the basis of adding the synergy of constraints,and makes the collaborative planning path compared with non-cooperative path planning,the planning path length in the keep basically remain unchanged,on the basis of our UAV for the same target can arriving together,The difference of arrival time is greatly reduced,and the subsequent coordinated strike mission can be completed more efficiently in the combat scenario.

关键词： Weapon target assignment Auction algorithm Cooperative path planning QS-RRT algorithm

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Hawk and pigeon's intelligence for UAV swarm dynamic combat game via competitive learning pigeon-inspired optimization

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Science China(Technological Sciences) 2022年第5期65卷 1072-1086页

作者： YU YuePing LIU JiChuan WEI Chen School of Automation Science and Electrical Engineering Beihang UniversityBeijing100083China School of Electronic Engineering Xidian UniversityXi’an710071China Hebei Key Laboratory of Electromagnetic Spectrum Cognition and Control The 54th Research Institute of CETCShijiazhuang050081China

For unmanned aerial vehicle(UAV)swarm dynamic combat,swarm antagonistic motion control and attack target allocation are extremely challenging *** this paper,the competitive learning pigeon-inspired optimization(CLPIO)algorithm is proposed to handle the cooperative dynamic combat problem,which integrates the distributed swarm antagonistic motion and centralized attack target ***,the threshold trigger strategy is presented to switch two *** seek a feasible and optimal combat scheme,a dynamic game approach combined with hawk grouping mechanism and situation assessment between sub-groups is designed to guide the solution of the optimal attack scheme,and the model of swarm antagonistic motion imitating pigeon’s intelligence is proposed to form a confrontation *** analysis of the CLPIO algorithm shows its convergence in theory and the comparison with the other four metaheuristic algorithms shows its superiority in solving the mixed Nash equilibrium ***,numerical simulation verifis that the proposed methods can provide an effective combat scheme in the set scenario.

关键词： unmanned aerial vehicle(UAV) competitive learning pigeon-inspired optimization(CLPIO) swarm antagonistic motion attack target allocation dynamic game theory

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High-precision flexible sweat self-collection sensor for mental stress evaluation

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npj Flexible Electronics 2024年第1期8卷 417-426页

作者： Chenhao Wang Zhengyu Wang Wei Wei Zhenjie Zhang Anne Ailina Li Guanghao Huang Xian Li Shuzhi Sam Ge Lianqun Zhou Hui Kong Institute for Future School of AutomationShandong Key Laboratory of Industrial Control TechnologyQingdao UniversityQingdao266071China ETH Zürich Department of Biosystems Science and EngineeringBio Engineering LaboratoryBasel4056Switzerland The University of Sydney 2006 SydneyAustralia Natl Univ Singapore Dept Elect&Comp EngnSingapore117576Singapore Suzhou Institute of Biomedical Engineering and Technology Chinese.Academy of SciencesSuzhou215163China

As a stress hormone existing in the human body,cortisol can reflect the psychological stress and health status in daily life,and is a potential biomarker of the body’s stress *** effectively collect sweat and accurately identify the target,this paper reports a flexible wearable cortisol detection device with outstanding reliability and *** imprinted polymer(MIP)ensures cortisol *** carbon nanotubes(CNT)on electrodes increase sensitivity,expanding the detection range to 10^(−3) to 10^(4) nM,with sensitivity at 189.2 nA/lg(nM).In addition,porous chitosan hydrogel(PCSH)collects sweat effectively,its adhesive properties and 80%swelling rate offer a low-cost alternative to *** printed circuit board(FPCB)and serpentine electrode(SE)ensure device *** non-invasive,highly sensitive device offers a novel method for mental stress monitoring and clinical diagnosis,advancing human physiological state monitoring.

关键词： stress durability swelling

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Genetic-algorithm-based artificial intelligence control of a turbulent boundary layer

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Acta Mechanica Sinica 2021年第12期37卷 1739-1747页

作者： Jianing Yu Dewei Fan Bernd.R.Noack Yu Zhou Center for Turbulence Control Harbin Institute of Technology(Shenzhen)Shenzhen 518055China School of Mechanical Engineering and Automation Harbin Institute of Technology(Shenzhen)Shenzhen 518055China

An artificial intelligence(AI)open-loop control system is developed to manipulate a turbulent boundary layer(TBL)over a flat plate,with a view to reducing friction *** system comprises six synthetic jets,two wall-wire sensors,and genetic algorithm for the unsupervised learning of optimal control *** of the synthetic jets through rectangular streamwise slits can be independently controlled in terms of its exit velocity,frequency and actuation *** are conducted at a momentum-thickness-based Reynolds number Re_(θ)of *** local drag reduction downstream of the synthetic jets may reach 48%under conventional open-loop *** local drag reduction rises to 60%,with an extended effective drag reduction area,under the AI control that finds optimized non-uniform *** results point to the significant potential of AI in the control of a TBL given distributed actuation.

关键词： Turbulent boundary layer Active drag reduction Artificial intelligence

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Output group formation tracking control for heterogeneous systems with collision avoidance and connectivity maintenance 41

Output group formation tracking control for heterogeneous sy...

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第41届中国控制会议

作者： Shiyu Zhou Zhipeng Shen Jianglong Yu Xiwang Dong Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Institute of Artificial Intelligence Beihang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper investigates the output group formation tracking problem for heterogeneous systems with collision avoidance and connectivity maintenance methods,and the group formation tracking error can be controlled within an arbitrarily small ***,the distributed observers are proposed to estimate the leader's state for each group and the state of itself,*** constructing the desired potential fields and deviating to get the negative forces,the high safety control protocol is put ***,the algorithm consisting of several equations and inequalities is given to calculate the parameters in the *** using Lyapunov stability theory,the stability of the error' systems have been *** last,the effectiveness of the proposed method has been verified by an experiment about the atmospheric monitoring task.

关键词： Time-varying group formation tracking Heterogeneous multi-agent system Collision avoidance and connectivity maintenance

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Persistent Coverage in Non-Convex Environments with Heterogeneous Robotic Networks: Constraint-based Approach ⋆

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IFAC-PapersOnLine 2023年第2期56卷 10708-10714页

作者： J.G. Martin T. Hatanaka J.M. Maestre E.F. Camacho Department of Systems and Automation Engineering University of Seville Spain Department of Systems and Control Engineering Tokyo Institute of Technology

In this paper, we extend a constraint-based coverage control for robotic sensor networks based on control barrier functions (CBFs) for environments with known obstacles and different types of unmanned vehicles (UV). To this end, we use a sensing function that considers the vertices of the obstacles to compute the route and the distance regarding the UVs. This way, obstacle avoidance becomes intrinsic to the CBF ensuring the coverage performance. Moreover, we consider different obstacles and speeds for each type of UV. Finally, the proposed algorithm is illustrated with a heterogeneous fleet of UVs and obstacles in a simulated thermosolar power plant.

关键词： Coordination of multiple vehicle systems Graph-based methods for networked systems Networked robotic systems control barrier function (CBF) coverage control obstacles non-convex area

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A Spiral Coverage Path Planning Algorithm for Nonomnidirectional Robots

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Journal of Field Robotics 2025年第0期

作者： Hou, Taogang Li, Jiaxin Pei, Xuan Wang, Hao Liu, Tianhui Institute of Advanced Control Systems School of Automation and Intelligence Beijing Jiaotong University Beijing Beijing China Institute of Robotics School of Mechanical Engineering and Automation Beihang University Beijing Beijing China

The limited steering capabilities of nonomnidirectional robots introduce significant complexity into complete coverage tasks, often leading to increased path overlap or incomplete coverage of certain areas. Although recent research has made progress in optimizing coverage path planning, redundant coverage or omissions are still prone to occur in the target area to be covered. To address these persistent challenges, we propose a novel spiral coverage method. This approach not only conforms to the kinematic constraints of nonomnidirectional robots but also enhances coverage efficiency by dividing the target area into center and boundary regions and devising tailored coverage strategies for each. This method effectively reduces path redundancy and improves overall area coverage. Furthermore, we introduce a comprehensive metric that combines total path length and area coverage ratio to evaluate coverage efficiency, overcoming the limitations and computational complexity associated with existing metrics. For scenarios where maximizing the area coverage ratio is critical, we have developed a high-coverage-rate turning strategy that ensures 100% coverage. Through simulation tests in six representative areas and actual experiments on airport runways, our method shows an improvement of 0.238%–14.538% in coverage efficiency compared with parallel coverage method and 60.548%–76.339% compared with deep reinforcement learning-based method. Additionally, implementing high-coverage-rate turning strategies improves the area coverage ratio by 2.021%–6.732%. In field experiments, our method reduces execution time by 1.61% compared with parallel coverage method. These results show that our method has a significant effect in improving coverage efficiency and achieving complete coverage goals. © 2025 Wiley Periodicals LLC.

关键词： Robot programming

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A novel guidance law based on proximal policy optimization 41

A novel guidance law based on proximal policy optimization

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第41届中国控制会议

作者： Yang Jiang Jianglong Yu Qingdong Li Zhang Ren Xiwang Dong Yongzhao Hua School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Institute of Artificial Intelligence Beihang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,a new guidance law based on deep reinforcement learning is proposed for the high-speed maneuvering target attack ***,the missile-target kinematic model is established,and the action space and state space of reinforcement learning are ***,according to the missile strike process,the reward function suitable for this scenario is *** proximal policy optimization(PPO) based guidance law construction is ***,the strike effect in multiple sets of experiments verifies the effectiveness of the method proposed in this paper.

关键词： reinforcement learning proximal policy optimization high-speed maneuvering target

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A Method for High-Voltage Electric Field to control Inkjet 3D Printing 41

A Method for High-Voltage Electric Field to Control Inkjet 3...

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第41届中国控制会议

作者： Jian Liu Yang Zhou Huixuan Zhu Jingwei Guo School of Information and Control Engineering Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Aiming at the problem of low printing resolution due to the excessively fast droplet falling speed of traditional inkjet 3D printing,a new method of high-voltage electric field controlled inkjet 3 D printing was *** applying a high-voltage electric field during the printing process,the droplets are subjected to the reverse electric field force to control the speed of the droplets during printing,there by ensuring high printing resolution and obtaining better *** this paper,a feasible printing method will be proposed and the feasibility of the method will be verified through confirmatory experiments and simulation studies.

关键词： inkjet 3D printing speed high-voltage electric field control

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