Collision avoidance for mobile robots based on artificial potential field and obstacle envelope modelling

2016 ◽  
Vol 36 (3) ◽  
pp. 318-332 ◽  
Author(s):  
Zhenyu Wu ◽  
Guang Hu ◽  
Lin Feng ◽  
Jiping Wu ◽  
Shenglan Liu

Purpose This paper aims to investigate the collision avoidance problem for a mobile robot by constructing an artificial potential field (APF) based on geometrically modelling the obstacles with a new method named the obstacle envelope modelling (OEM). Design/methodology/approach The obstacles of arbitrary shapes are enveloped in OEM using the primitive, which is an ellipse in a two-dimensional plane or an ellipsoid in a three-dimensional space. As the surface details of obstacles are neglected elegantly in OEM, the workspace of a mobile robot is made simpler so as to increase the capability of APF in a clustered environment. Findings Further, a dipole is applied to the construction of APF produced by each obstacle, among which the positive pole pushes the robot away and the negative pole pulls the robot close. Originality/value As a whole, the dipole leads the robot to make a derivation around the obstacle smoothly, which greatly reduces the local minima and trajectory oscillations. Computer simulations are conducted to demonstrate the effectiveness of the proposed approach.

2018 ◽  
Vol 15 (4) ◽  
pp. 172988141878707 ◽  
Author(s):  
X Xu ◽  
Y Hu ◽  
JM Zhai ◽  
LZ Li ◽  
PS Guo

This article presents a non-collision trajectory planning algorithm in three-dimensional space based on velocity potential field for robotic manipulators, which can be applied to collision avoidance among serial industrial robots and obstacles, and path optimization in multi-robot collaborative operation. The algorithm is achieved by planning joint velocities of manipulators based on attractive, repulsive, and tangential velocity of velocity potential field. To avoid oscillating at goal point, a saturated function is suggested to the attractive velocity potential field that slows down to the goal progressively. In repulsive velocity potential field, a spring damping system is designed to eliminate the chattering phenomenon near obstacles. Moreover, a fuzzy logic approach is used to optimize the spring damping coefficients for different velocities of manipulators. Different from the usual tangential velocity perpendicular to the repulsive velocity vector for avoiding the local minima problem, an innovative tangential velocity potential field is introduced that is considering the relative position and moving direction of obstacles for minimum avoidance path in three-dimensional space. In addition, a path priority strategy of collision avoidance is taken into account for better performance and higher efficiency when multi-robots cooperation is scheduled. The improvements for local minima and oscillation are verified by simulations in MATLAB. The adaptabilities of the algorithm in different velocities and priority strategies are demonstrated by simulations of two ABB robots in Robot Studio. The method is further implemented in an experimental platform with a SCARA and an ABB robot cooperation around a stationary obstacle and a moving object, and the result shows real time and effectiveness of the algorithms.


2019 ◽  
Vol 85 (18) ◽  
Author(s):  
Yutaka Yawata ◽  
Tatsunori Kiyokawa ◽  
Yuhki Kawamura ◽  
Tomohiro Hirayama ◽  
Kyosuke Takabe ◽  
...  

ABSTRACT Here we analyzed the innate fluorescence signature of the single microbial cell, within both clonal and mixed populations of microorganisms. We found that even very similarly shaped cells differ noticeably in their autofluorescence features and that the innate fluorescence signatures change dynamically with growth phases. We demonstrated that machine learning models can be trained with a data set of single-cell innate fluorescence signatures to annotate cells according to their phenotypes and physiological status, for example, distinguishing a wild-type Aspergillus nidulans cell from its nitrogen metabolism mutant counterpart and log-phase cells from stationary-phase cells of Pseudomonas putida. We developed a minimally invasive method (confocal reflection microscopy-assisted single-cell innate fluorescence [CRIF] analysis) to optically extract and catalog the innate cellular fluorescence signatures of each of the individual live microbial cells in a three-dimensional space. This technique represents a step forward from traditional techniques which analyze the innate fluorescence signatures at the population level and necessitate a clonal culture. Since the fluorescence signature is an innate property of a cell, our technique allows the prediction of the types or physiological status of intact and tag-free single cells, within a cell population distributed in a three-dimensional space. Our study presents a blueprint for a streamlined cell analysis where one can directly assess the potential phenotype of each single cell in a heterogenous population by its autofluorescence signature under a microscope, without cell tagging. IMPORTANCE A cell’s innate fluorescence signature is an assemblage of fluorescence signals emitted by diverse biomolecules within a cell. It is known that the innate fluoresce signature reflects various cellular properties and physiological statuses; thus, they can serve as a rich source of information in cell characterization as well as cell identification. However, conventional techniques focus on the analysis of the innate fluorescence signatures at the population level but not at the single-cell level and thus necessitate a clonal culture. In the present study, we developed a technique to analyze the innate fluorescence signature of a single microbial cell. Using this novel method, we found that even very similarly shaped cells differ noticeably in their autofluorescence features, and the innate fluorescence signature changes dynamically with growth phases. We also demonstrated that the different cell types can be classified accurately within a mixed population under a microscope at the resolution of a single cell, depending solely on the innate fluorescence signature information. We suggest that single-cell autofluoresce signature analysis is a promising tool to directly assess the taxonomic or physiological heterogeneity within a microbial population, without cell tagging.


Author(s):  
Jun Tang ◽  
Jiayi Sun ◽  
Cong Lu ◽  
Songyang Lao

Multi-unmanned aerial vehicle trajectory planning is one of the most complex global optimum problems in multi-unmanned aerial vehicle coordinated control. Results of recent research works on trajectory planning reveal persisting theoretical and practical problems. To mitigate them, this paper proposes a novel optimized artificial potential field algorithm for multi-unmanned aerial vehicle operations in a three-dimensional dynamic space. For all purposes, this study considers the unmanned aerial vehicles and obstacles as spheres and cylinders with negative electricity, respectively, while the targets are considered spheres with positive electricity. However, the conventional artificial potential field algorithm is restricted to a single unmanned aerial vehicle trajectory planning in two-dimensional space and usually fails to ensure collision avoidance. To deal with this challenge, we propose a method with a distance factor and jump strategy to resolve common problems such as unreachable targets and ensure that the unmanned aerial vehicle does not collide into the obstacles. The method takes companion unmanned aerial vehicles as the dynamic obstacles to realize collaborative trajectory planning. Besides, the method solves jitter problems using the dynamic step adjustment method and climb strategy. It is validated in quantitative test simulation models and reasonable results are generated for a three-dimensional simulated urban environment.


2019 ◽  
Vol 29 (5) ◽  
pp. 1563-1589 ◽  
Author(s):  
Navid Ahmadi Cheloii ◽  
Omid Ali Akbari ◽  
Davood Toghraie

Purpose This study aims to numerically investigate the heat transfer and laminar forced and two-phase flow of Water/Cu nanofluid in a rectangular microchannel with oblique ribs with angle of attacks equal to 0-45°. This simulation was conducted in the range of Reynolds numbers of 5-120 in volume fractions of 0, 2 and 4 per cent of solid nanoparticles in three-dimensional space. Design/methodology/approach This study investigates the effect of the changes of angle of attack of rectangular rib on heat transfer and hydrodynamics of two-phase flow. This study was done in three-dimensional space and simulation was done with finite volume method. SIMPLEC algorithm and second-order discretization of equations were used to increase the accuracy of results. The usage of nanofluid, application of rips with different angles of attacks and using the two-phase mixture method is the distinction of this paper compared with other studies. Findings The results of this research revealed that the changing angle of attack of ribs is an effective factor in heat transfer enhancement. On the other hand, the existence of rib on the internal surfaces of a microchannel increases friction coefficient. By increasing the volume fraction of nanoparticles, due to the augmentation of fluid density and viscosity, the pressure drop increases significantly. For all of the angle of attacks studied in this paper, the maximum rate of performance evaluation criterion has been obtained in Reynolds number of 30 and the minimum amount of performance evaluation criterion was been obtained in Reynolds numbers of 5 and 120. Originality/value Many studies have been done in the field of heat transfer in ribbed microchannel. In this paper, the laminar flow in the ribbed microchannel Water/Cu nanofluid in a rectangular microchannel by using two-phase mixture method is numerically investigated with different volume fractions (0-4 per cent), Reynolds numbers (5-120) and angle of attacks of rectangular rib in the indented microchannel (0-45°).


2012 ◽  
Vol 271-272 ◽  
pp. 727-731 ◽  
Author(s):  
Ying Jie Liu ◽  
You Qun Zhao ◽  
Xiao Feng Zhou

Vehicle driving safety is the urgent key problem to be solved of automobile independent development while encountering collision avoidance. It is also the premise and one of the necessary conditions of vehicle active safety. A new technique for vehicle collision avoidance was proposed. Based on the artificial potential field theory, the lane potential, the road potential function and the obstacle potential function as well as the velocity potential function of the vehicle were constructed. Then the potential function of the vehicle obstacle avoidance problem was constructed with the three potential functions above. The vehicle obstacle avoidance problem was then converted into an optimization problem. The trajectory of the vehicle in the obstacle avoidance process was obtained by solving the optimal control problem. The simulation results show that the proposed method can solve the collision avoidance problem and provide the lane keeping and lane change problem with theoretical support


Robotica ◽  
1990 ◽  
Vol 8 (3) ◽  
pp. 195-205 ◽  
Author(s):  
T.M. Rao ◽  
Ronald C. Arkin

SUMMARYThe problem of path planning for a mobile robot has been studied extensively in recent literature. Much of the work in this area is devoted to the study of path planning for an earth-bound robot in two dimensions. In this paper, we explore the problem for a robot that can fly in three dimensional space or crawl on 3D surfaces or use a combination of both. We assume that the obstacles can be modeled as polyhedral objects.


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