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TOACA-DWA: A path planning algorithm for mobile robot in dynamic environments

Journal of Intelligent and Fuzzy Systems 2025年第3期48卷 245-261页

作者： Li, Shuaiyong Huang, Jingwen Mao, Wenping Yang, Yang Nie, Jiawei Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing China

A dynamic path planning algorithm, named TOACA-DWA, is proposed by fusing the TOACA (two-layer optimal ant colony algorithm) and DWA (improved dynamic window approach). Firstly, in the TOACA algorithm, the pseudo-random state transfer rules are used for path selection, and the state transfer function is optimized to enhance search efficiency and global search capability. Secondly, a reward-punishment mechanism is proposed to update the pheromone, and we also limit the maximum and minimum bounds of pheromone concentration. These two measures can accelerate the algorithm’s convergence speed and prevent the algorithm from falling into the local optimum. By introducing a dynamic penalty factor, we reduce the pheromone concentration on the deadlock position. Finally, the algorithm introduces a crucial node screening strategy to delete the redundant nodes on the global path and use the improved DWA for local path planning between every two adjacent critical nodes of the global path. Simulation in dynamic environment is conducted to verify the real-time obstacle avoidance ability of the proposed algorithm. Furthermore, the real environment experiments further demonstrate the effectiveness of the proposed algorithm in practical applications. © 2025 – IOS Press. All rights reserved.

关键词： Transfer functions

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State Estimation Moving Window Gradient Iterative Algorithm for Bilinear Systems Using the Continuous Mixed p-norm Technique

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Computer Modeling in Engineering & Sciences 2023年第2期134卷 873-892页

作者： Wentao Liu Junxia Ma Weili Xiong Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education) School of Internet of Things EngineeringJiangnan UniversityWuxi214122China

This paper studies the parameter estimation problems of the nonlinear systems described by the bilinear state space models in the presence of disturbances.A bilinear state observer is designed for deriving identification algorithms to estimate the state variables using the input-output *** on the bilinear state observer,a novel gradient iterative algorithm is derived for estimating the parameters of the bilinear systems by means of the continuous mixed p-norm cost *** gain at each iterative step adapts to the data quality so that the algorithm has good robustness to the noise ***,to improve the performance of the proposed algorithm,a dynamicmoving window is designed which can update the dynamical data by removing the oldest data and adding the newestmeasurement data.A numerical example of identification of bilinear systems is presented to validate the theoretical analysis.

关键词： Bilinear state space model parameter estimation moving window continuous mixed p-norm

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Design and Implementation of Industrial Gateway for AUTBUS and TSN Protocol Conversion 39

Design and Implementation of Industrial Gateway for AUTBUS a...

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39th International Conference on Information Networking, ICOIN 2025

作者： Rong, Zhengqi Wei, Min Dan, Jiayu Zhang, Lei Ministry of Education Chongqing University of Posts and Telecommunications Key Laboratory of Industrial Internet of Things and Networked Control Chongqing China

ISBN: (纸本)9798331506940

The integration of AUTBUS and Time-Sensitive Networking (TSN) enables real-time, deterministic control data transmission to underlying devices while supporting long-distance, large-scale data transfer. Despite their potential, limited research has been conducted on the interworking between AUTBUS and TSN, hindering the combined deployment of these advanced network technologies in industrial applications. This paper addresses this gap by focusing on seamless interconnection between AUTBUS and TSN. It explores protocol conversion methodologies, examines a heterogeneous network architecture, and details data link layer and comprehensive network frame format conversion techniques, as well as flow identification mapping. Additionally, the paper presents the design of a protocol conversion gateway, covering both its software and hardware architecture. Experimental results demonstrate that the gateway effectively bridges AUTBUS and TSN, ensuring seamless communication and successful protocol conversion between devices adhering to their respective standards. © 2025 IEEE.

关键词： Gateways (computer networks)

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3D Mesh Generation Model of Human Body based on Monocular Image and 2D Pose

3D Mesh Generation Model of Human Body based on Monocular Im...

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2024 China Automation Congress, CAC 2024

作者： Li, Yong Yi, Xinchang Chongqing University of Posts and Telecommunications Key Laboratory of Industrial Internet of Things and Network Control Ministry of Education Chongqing China

ISBN: (纸本)9798350368604

In this paper, we propose a model designed to generate a single human 3D mesh from monocular images and 2D human poses, even in highly occluded environments. The model employs a well-established 2D pose detector to capture the 2D pose information of the human body. Additionally, our proposed AFF module extracts robust features in occluded conditions. The model’s regressor, leveraging both 2D and 3D joint features, allows it to focus on the target person’s positional region while estimating depth information to distinguish the person from other objects. Ultimately, the model regresses the parameters of a parametric human body model. We validate the proposed method on public benchmark datasets, which qualitatively and quantitatively demonstrate its robustness in recovering 3D human body meshes in occluded environments. © 2024 IEEE.

关键词： Digital elevation model

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Grasp trajectory planning for vehicle-mounted robotic arm based on improved DDPG algorithm

Grasp trajectory planning for vehicle-mounted robotic arm ba...

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2024 China Automation Congress, CAC 2024

作者： Li, Yong Ke, Linbing Zhang, Chaoxing Chen, Yanjun Yang, Yang Qin, Yunjie Chongqing University of Posts and Telecommunications Key Laboratory of Industrial Internet of Things and Network Control Ministry of Education Chongqing China

ISBN: (纸本)9798350368604

In response to the problems of slow convergence and poor control effect when the traditional Deep Deterministic Policy Gradient (DDPG) algorithm is used to train the vehicle-mounted robotic arm, an improved DDPG algorithm is proposed in this paper. According to the control characteristics of the vehicle-mounted robotic arm, the state space, action space, and reward and punishment function are designed. Then the operation area is partitioned, and the baseline pose of each area is taught. A guidance function is designed and introduced to guide the algorithm training with the baseline pose to accelerate the algorithm's convergence. Finally, the traditional reward and punishment function is improved according to the guidance training characteristics. The simulation experiments show that the improved DDPG algorithm has significantly improved the convergence efficiency, planning success rate, and control efficiency compared with the traditional DDPG algorithm, especially since the planning success rate can reach about 93.8%. © 2024 IEEE.

关键词： Robotic arms

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Multi-robot formation obstacle avoidance based on virtual robots and improved artificial potential fields

Multi-robot formation obstacle avoidance based on virtual ro...

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2024 China Automation Congress, CAC 2024

作者： Li, Yong Chai, Liaoning Wu, Chao Chongqing University of Posts and Telecommunications Key Laboratory of Industrial Internet of Things and Network Control Ministry of Education Chongqing China

ISBN: (纸本)9798350368604

Aiming at the problem of multi-robot formation control to avoid obstacles, a formation obstacle avoidance algorithm based on virtual robot layer and improved artificial potential field is proposed. First, for information management, a member management mechanism based on the virtual swarm head is designed to realize information sharing and navigator designation. Second, the artificial potential field method is improved to establish the internal potential field of robots and the potential field of obstacles to ensure the obstacle avoidance of multiple robots in the formation process and the collision avoidance among members;finally, simulation experiments are designed, and it is finally proved that the method can effectively solve the obstacle avoidance and collision avoidance problems of the multi-robot system in the formation process. © 2024 IEEE.

关键词： Information management

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Design and Performance Test of an H-shaped Bionic Piezoelectric Robot Based on the Standing Wave Principle

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Journal of Bionic Engineering 2025年第2期22卷 608-625页

作者： Ying Li Chaofeng Li Zhiwei Wu Binbin Zhu Jinghu Tang School of Mechanical Engineering and Automation Northeastern UniversityShenyang110819People’s Republic of China Key Laboratory of Vibration and Control of Aero-propulsion Systems Northeastern UniversityShenyang110819People’s Republic of China State Key Laboratory of Internet of Things for Smart City University of MacaoMacao999078People’s Republic of China

In this paper,inspired by the running motion gait of a cheetah,an H-shaped bionic piezoelectric robot(H-BPR)based on the standing wave principle is proposed and *** piezoelectric robot realizes linear motion,turning motion,and turning motion with different radi by the voltage differential driving method.A prototype with a weight of 38 g and dimensions of 150×80×31 mm^(3) was ***,the dynamics and kinematics of the piezoelectric robot were analyzed to obtain the trajectory of a point at the end of the piezoelectric robot *** motion principle of the piezo-electric robot was analyzed,and then the piezoelectric robot's modal analysis and harmonic response analysis were carried out using finite element analysis ***,an experimental setup was built to verify the effectiveness and high efficiency of the robot's motion,and the effects of frequency,voltage,load,and height of the driving leg on the robot's motion performance were *** performance test results show that the piezoelectric robot has a maximum veloc-ity of 66.79 mm/s at an excitation voltage of 320 V and a load capacity of 55 *** addition,the H-BPR with unequal drive legs has better climbing performance,and the obtained conclusions are informative for selecting leg heights for piezoelectric robots.

关键词： Piezoelectric Standing wave principle Bionic Differential driving method Robot

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Energy Collaboration Based on Borrowing and Returning Mechanism with Demand Diffusion 14

Energy Collaboration Based on Borrowing and Returning Mechan...

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14th International Conference on Information and Communication Technology Convergence, ICTC 2023

作者： Li, Min Zhao, Jiafu Fu, Xuan Chongqing University of Posts and Telecommunications Key Laboratory of Industrial Internet of Things and Networked Control Chongqing400065 China

ISBN: (纸本)9798350313277

In wireless sensor networks, the nodes with impoverished energy will reduce transmission reliability because they have not enough energy to send data or are forced to decrease transmission power to save energy. Therefore, this paper proposes energy collaboration based on a borrowing and returning mechanism with demand diffusion to improve network transmission reliability. Firstly, a new transmission protocol is designed. Secondly, energy collaboration sets are formed by broadcasting energy demand from energy-deprived nodes and selected optimal forwarding nodes as well as by diffusion. Again, in energy collaboration sets, in order to encourage nodes to actively participate in energy cooperation, a borrowing and returning mechanism is used to prioritize nodes to select energy cooperation nodes. Finally, the selected energy collaboration nodes transfer energy to energy-deprived nodes according to certain principles. Simulation results show that the proposed method can effectively improve network transmission reliability in diverse energy collections. © 2023 IEEE.

关键词： borrowing and returning mechanism demand diffusion energy collaboration transmission reliability Wireless sensor networks

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Microservice cluster load balancing method based on improved least active number algorithm

Microservice cluster load balancing method based on improved...

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2023 International Conference on Intelligent Systems, Communications, and Computer Networks, ISCCN 2023

作者： Song, Yufei Xiang, Min Ren, Yupeng Chongqing University of Posts and Telecommunications Key Laboratory of Industrial Internet of Things and Networked Control Chongqing400065 China

ISBN: (纸本)9781510666238

Aiming at the problem of increased response delay of microservice clusters caused by the exponential growth of the number of internet users. A load balancing algorithm suitable for microservice clusters is proposed. By introducing dynamic weights to the least active number algorithm, when the load balancer receives a user request, the load balancer will select the server with the smallest active number to execute. If the active number of multiple servers is the same as the least active number at this time, use The CRITIC method recalculates the weights of memory size, memory usage, number of processor cores, processor usage, disk size, and disk usage indicators for servers with the same least active number, and combines each indicator to obtain the real-Time performance quantification value of the server. Select the server with the best real-Time performance quantification value for service. The experimental results show that, compared with the least active number algorithm before improvement, the proposed algorithm can reduce the overall response delay of the microservice cluster. © 2023 SPIE. All rights reserved.

关键词： Balancing

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An Adaptation Scheme for 5G and EtherCAT Integration 13

An Adaptation Scheme for 5G and EtherCAT Integration

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13th IEEE International Conference on CYBER Technology in Automation, control, and Intelligent Systems, CYBER 2023

作者： Wu, Hanping Jiang, Lianxin Wang, Heng Chongqing University of Posts and Telecommunications Key Laboratory of Industrial Internet of Things and Networked Control Chongqing400065 China

ISBN: (纸本)9798350315196

The integration of 5G and industrial networks is an important direction in the Industrial internet of things (IIoT). One of the most essential protocols in Industrial Ethernet is EtherCAT with efficient communication mechanism, diverse network topology, and low transmission latency. This paper proposes a protocol adaptation scheme between 5G networks and EtherCAT networks to ensure the quality of service of different EtherCAT service flow. Specifically, service flow sensing, service flow mapping, service flow re-encapsulation, and clock synchronization adaptation mechanisms are presented to achieve efficient adaptation. Also, the presented adaptation scheme is implemented on the open-air interface platform. The experimental results show that the proposed adaptation scheme can meet the quality of service of different EtherCAT service flow while achieving adaptation for 5G and EtherCAT integration. © 2023 IEEE.

关键词： Quality of service

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