scholarly journals Path Planning of a Sweeping Robot Based on Path Estimation of a Curling Stone Using Sensor Fusion

Electronics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 457 ◽  
Author(s):  
JaeHyeon Gwon ◽  
Hyeon Kim ◽  
HyunSoo Bae ◽  
SukGyu Lee
Keyword(s):  
Path Planning ◽  
Threshold Value ◽  
Main Task ◽  
Time Step ◽  
Robot System ◽  
Planning Strategy ◽  
Ice Surface ◽  
Smooth Path ◽  
Set Up ◽  
Exponential Smoothing Method

In this paper, we proposed an enhanced path planning strategy for sweeper robots, which were created for the curling Olympic games. The main task for the multi-robot system is to clean the ice surface making a smooth path for a curling stone. The sweeping robots should have a motion planning on how to follow the curling stone slide and to prevent any collisions. In order to find the next position of the sweeping robot, it needs to establish the current position and to compute the next position of the curling stone. The initial and goal points of the sweeping robots are found and set up based on the simulation results from the main server. While the curling stone moves, the sweeping robots measure its position and adjust their motions according to the stone position trajectory. If the distance between the current and the next positions of a curling stone exceeds the threshold value, the sweeping robots should activate the sweeping mechanism preventing collisions with the stone. Since the estimation of the sweeping robot motion solely depends on the stone’s trajectory, the accumulation of errors is undesirable. Thus, the stone trajectory should be recalculated in a certain time step using the trend-adjusted exponential smoothing method. Then, the formation of the sweeping robot system can be calibrated according to the stone path computation. The obtained experimental results proved the efficiency of the proposed path planning method.

Research on pull-type multi-AGV system dynamic path optimization based on time window

2021 ◽  
pp. 095440702098271
Author(s):  
Hongying Shan ◽  
Chuang Wang ◽  
Cungang Zou ◽  
Mengyao Qin
Keyword(s):  
Path Planning ◽  
Time Window ◽  
Planning Problem ◽  
Dijkstra Algorithm ◽  
Before And After ◽  
Common Planning ◽  
Planning Algorithm ◽  
Dynamic Path ◽  
Set Up ◽  
Path Planning Algorithm

This paper is a study of the dynamic path planning problem of the pull-type multiple Automated Guided Vehicle (multi-AGV) complex system. First, based on research status at home and abroad, the conflict types, common planning algorithms, and task scheduling methods of different AGV complex systems are compared and analyzed. After comparing the different algorithms, the Dijkstra algorithm was selected as the path planning algorithm. Secondly, a mathematical model is set up for the shortest path of the total driving path, and a general algorithm for multi-AGV collision-free path planning based on a time window is proposed. After a thorough study of the shortcomings of traditional single-car planning and conflict resolution algorithms, a time window improvement algorithm for the planning path and the solution of the path conflict covariance is established. Experiments on VC++ software showed that the improved algorithm reduces the time of path planning and improves the punctual delivery rate of tasks. Finally, the algorithm is applied to material distribution in the OSIS workshop of a C enterprise company. It can be determined that the method is feasible in the actual production and has a certain application value by the improvement of the data before and after the comparison.

scholarly journals Research Progress on Synergistic Technologies of Agricultural Multi-Robots

2021 ◽  
Vol 11 (4) ◽  
pp. 1448
Author(s):  
Wenju Mao ◽  
Zhijie Liu ◽  
Heng Liu ◽  
Fuzeng Yang ◽  
Meirong Wang
Keyword(s):  
Path Planning ◽  
Formation Control ◽  
Research Progress ◽  
Hybrid Architecture ◽  
Labor Costs ◽  
Robot System ◽  
System Architectures ◽  
Research Results ◽  
Robot Systems ◽  
Multi Robot

Multi-robots have shown good application prospects in agricultural production. Studying the synergistic technologies of agricultural multi-robots can not only improve the efficiency of the overall robot system and meet the needs of precision farming but also solve the problems of decreasing effective labor supply and increasing labor costs in agriculture. Therefore, starting from the point of view of an agricultural multiple robot system architectures, this paper reviews the representative research results of five synergistic technologies of agricultural multi-robots in recent years, namely, environment perception, task allocation, path planning, formation control, and communication, and summarizes the technological progress and development characteristics of these five technologies. Finally, because of these development characteristics, it is shown that the trends and research focus for agricultural multi-robots are to optimize the existing technologies and apply them to a variety of agricultural multi-robots, such as building a hybrid architecture of multi-robot systems, SLAM (simultaneous localization and mapping), cooperation learning of robots, hybrid path planning and formation reconstruction. While synergistic technologies of agricultural multi-robots are extremely challenging in production, in combination with previous research results for real agricultural multi-robots and social development demand, we conclude that it is realistic to expect automated multi-robot systems in the future.

scholarly journals Chaotic Path Planning for 3D Area Coverage Using a Pseudo-Random Bit Generator from a 1D Chaotic Map

Mathematics ◽  
2021 ◽  
Vol 9 (15) ◽  
pp. 1821
Author(s):  
Lazaros Moysis ◽  
Karthikeyan Rajagopal ◽  
Aleksandra V. Tutueva ◽  
Christos Volos ◽  
Beteley Teka ◽  
...  
Keyword(s):  
Path Planning ◽  
Chaotic Map ◽  
Dynamical Behavior ◽  
Area Coverage ◽  
Phase Portraits ◽  
Planning Strategy ◽  
Spline Curves ◽  
Key Space ◽  
Aerial Vehicle ◽  
Discrete Motion

This work proposes a one-dimensional chaotic map with a simple structure and three parameters. The phase portraits, bifurcation diagrams, and Lyapunov exponent diagrams are first plotted to study the dynamical behavior of the map. It is seen that the map exhibits areas of constant chaos with respect to all parameters. This map is then applied to the problem of pseudo-random bit generation using a simple technique to generate four bits per iteration. It is shown that the algorithm passes all statistical NIST and ENT tests, as well as shows low correlation and an acceptable key space. The generated bitstream is applied to the problem of chaotic path planning, for an autonomous robot or generally an unmanned aerial vehicle (UAV) exploring a given 3D area. The aim is to ensure efficient area coverage, while also maintaining an unpredictable motion. Numerical simulations were performed to evaluate the performance of the path planning strategy, and it is shown that the coverage percentage converges exponentially to 100% as the number of iterations increases. The discrete motion is also adapted to a smooth one through the use of B-Spline curves.

scholarly journals The use of plasma donor-derived, cell-free DNA to monitor acute rejection after kidney transplantation

2019 ◽  
Vol 35 (4) ◽  
pp. 714-721 ◽  
Author(s):  
Els M Gielis ◽  
Kristien J Ledeganck ◽  
Amélie Dendooven ◽  
Pieter Meysman ◽  
Charlie Beirnaert ◽  
...  
Keyword(s):  
Acute Rejection ◽  
Serum Creatinine ◽  
Characteristic Curve ◽  
Area Under The Curve ◽  
Threshold Value ◽  
Nucleotide Polymorphisms ◽  
Kidney Transplant Recipients ◽  
Cell Free Dna ◽  
Free Dna ◽  
Set Up

Abstract Background After transplantation, cell-free deoxyribonucleic acid (DNA) derived from the donor organ (ddcfDNA) can be detected in the recipient’s circulation. We aimed to investigate the role of plasma ddcfDNA as biomarker for acute kidney rejection. Methods From 107 kidney transplant recipients, plasma samples were collected longitudinally after transplantation (Day 1 to 3 months) within a multicentre set-up. Cell-free DNA from the donor was quantified in plasma as a fraction of the total cell-free DNA by next generation sequencing using a targeted, multiplex polymerase chain reaction-based method for the analysis of single nucleotide polymorphisms. Results Increases of the ddcfDNA% above a threshold value of 0.88% were significantly associated with the occurrence of episodes of acute rejection (P = 0.017), acute tubular necrosis (P = 0.011) and acute pyelonephritis (P = 0.032). A receiver operating characteristic curve analysis revealed an equal area under the curve of the ddcfDNA% and serum creatinine of 0.64 for the diagnosis of acute rejection. Conclusions Although increases in plasma ddcfDNA% are associated with graft injury, plasma ddcfDNA does not outperform the diagnostic capacity of the serum creatinine in the diagnosis of acute rejection.

A Path-Planning Strategy for Overhead Cranes With High Hoisting Speed

2002 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Path Planning ◽  
High Performance ◽  
Stability Theorem ◽  
Lyapunov Stability Theorem ◽  
Control Laws ◽  
Planning Strategy ◽  
Overhead Cranes ◽  
Time Control ◽  
Small Load ◽  
Load Swing

This paper proposes a path planning strategy for high-performance anti-swing control of overhead cranes, where the anti-swing control problem is solved as a kinematic problem. First, two anti-swing control laws, one for hoisting up and the other for hoisting down, are proposed based on the Lyapunov stability theorem. Then a new path-planning strategy is proposed based on the concept of minimum-time control and the proposed anti-swing control laws. The proposed path planning is free from the usual constraints of small load swing, slow hoisting speed, and small hoisting distance. The effectiveness of the proposed path planning is shown by computer simulation with high hoisting speed and hoisting ratio.

Some Trends in the Development of Aircraft Electrical and Starting Systems

1955 ◽  
Vol 59 (537) ◽  
pp. 587-603
Author(s):  
R. H. Woodall
Keyword(s):  
Power System ◽  
Complete System ◽  
Main Task ◽  
Aircraft Industry ◽  
Electrical System ◽  
Set Up

The main task of the aircraft accessory designer is to provide fully developed and type-tested equipment to meet the needs of the Aircraft Industry at the time when a new aircraft is at a stage in construction where accessories are to be fitted.But he must do more than this, particularly with equipment for multi-engined aircraft. He must endeavour to set up and test a complete aircraft ancillary power system. This is particularly important for the electrical system, where two or more generators have to operate in parallel, successfully sharing the load on the system and providing over-voltage and other protection in such a manner that failure of the complete system does not result from failure of one engine, generator or its attendant equipment.

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