scholarly journals Efficient and Safe Robotic Autonomous Environment Exploration Using Integrated Frontier Detection and Multiple Path Evaluation

2021 ◽  
Vol 13 (23) ◽  
pp. 4881
Author(s):  
Yuxi Sun ◽  
Chengrui Zhang
Keyword(s):  
High Efficiency ◽  
Optimal Path ◽  
Optimization Strategy ◽  
Autonomous Exploration ◽  
Distance Map ◽  
Complete Mapping ◽  
Smooth Path ◽  
Multiple Paths ◽  
Systematic Solution ◽  
Robot Position

Autonomous exploration and remote sensing using robots have gained increasing attention in recent years and aims to maximize information collection regarding the external world without human intervention. However, incomplete frontier detection, an inability to eliminate inefficient frontiers, and incomplete evaluation limit further improvements in autonomous exploration efficiency. This article provides a systematic solution for ground mobile robot exploration with high efficiency. Firstly, an integrated frontier detection and maintenance method is proposed, which incrementally discovers potential frontiers and achieves incremental maintenance of the safe and informative frontiers by updating the distance map locally. Secondly, we propose a novel multiple paths planning method to generate multiple paths from the robot position to the unexplored frontiers. Then, we use the proposed utility function to select the optimal path and improve its smoothness using an iterative optimization strategy. Ultimately, the model predictive control (MPC) method is applied to track the smooth path. Simulation experiments on typical environments demonstrate that compared with the benchmark methods, the proposed method reduce the path length by 27.07% and the exploration time by 27.09% on average. The real-world experimental results also reveal that our proposed method can achieve complete mapping with fewer repetitive paths.

Error Analysis of 6-DOF Welding Robot

2012 ◽  
Vol 220-223 ◽  
pp. 1111-1115
Author(s):  
Cai Dong Wang ◽  
Xin Jie Wang ◽  
Xue Dong Chen ◽  
Chao Hui Zhang
Keyword(s):  
High Efficiency ◽  
Manufacturing Sector ◽  
Differential Method ◽  
Error Model ◽  
Joint Movement ◽  
Welding Robot ◽  
Quality Stability ◽  
Robot Configuration ◽  
Six Degree Of Freedom ◽  
Robot Position

Welding robot has the advantages that welding quality stability, high efficiency, improving the working conditions of workers, and it is widely applied in the manufacturing sector. A six degree of freedom welding robot configuration is presented in this paper. The kinematics model of the robot is established by DH method and its kinematics was analyzed. At last the error model of the position-pose of the robot end-effecter, produced by the influence of robot joint movement variables deviation and structure deviation, was established by the differential method. The deviation influence on the end-effecter was analyzed by numerical simulation. The results prove the error model is right, and they will provide a reliable basis for robot position error compensation and accuracy optimum design.

Path Planning of Mobile Robot Based on Improved Artificial Potential Field Method

2014 ◽  
Vol 644-650 ◽  
pp. 154-157 ◽  
Author(s):  
Su Ying Zhang ◽  
Yan Kai Shen ◽  
Wen Shuai Cui
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Potential Field ◽  
High Efficiency ◽  
Field Method ◽  
Artificial Potential Field ◽  
Local Minima ◽  
Potential Field Method ◽  
Smooth Path ◽  
Artificial Potential Field Method

The artificial potential field method has been extensively used in mobile robot path planning for its characteristics of simpleness, high efficiency, and smooth path. In this paper, to solve the problem of local minima in traditional artificial potential field method, A modified form of repulsion function is proposed. A detour force is added to the repulsion function, the problem of local minima can be solved effectively. In the end, with the help of Matlab software simulating, the result shows that this method is simple and effective.

scholarly journals Collision Free Smooth Path for Mobile Robots in Cluttered Environment Using an Economical Clamped Cubic B-Spline

Symmetry ◽  
2020 ◽  
Vol 12 (9) ◽  
pp. 1567
Author(s):  
Iram Noreen
Keyword(s):  
Mobile Robots ◽  
Execution Time ◽  
Path Length ◽  
Mobile Robotics ◽  
Optimal Path ◽  
Post Processing ◽  
B Spline ◽  
Smooth Path ◽  
Path Smoothing ◽  
Narrow Passage

Mobile robots have various applications in agriculture, autonomous cars, industrial automation, planetary exploration, security, and surveillance. The generation of the optimal smooth path is a significant aspect of mobile robotics. An optimal path for a mobile robot is measured by various factors such as path length, path smoothness, collision-free curve, execution time, and the total number of turns. However, most of the planners generate a non-smooth less optimal and linear piecewise path. Post processing smoothing is applied at the cost of increase in path length. Moreover, current research on post-processing path smoothing techniques does not address the issues of post smoothness collision and performance efficiency. This paper presents a path smoothing approach based on clamped cubic B-Spline to resolve the aforementioned issues. The proposed approach has introduced an economical point insertion scheme with automated knot vector generation while eliminating post smoothness collisions with obstacles. It generates C2 continuous path without any stitching point and passes more closely to the originally planned path. Experiments and comparison with previous approaches have shown that the proposed approach generates better results with reduced path length, and execution time. The test cases used for experiments include a simple structure environment, complex un-structured environment, an environment full of random cluttered narrow obstacles, and a case study of an indoor narrow passage.

Surrogate Model Based Liner Optimization for Aeroengines and Comparison With Finite Elements

2018 ◽  
Vol 140 (3) ◽  
Author(s):  
Hanbo Jiang ◽  
Alex Siu Hong Lau ◽  
Xun Huang
Keyword(s):  
Finite Element ◽  
High Efficiency ◽  
Computational Cost ◽  
Low Noise ◽  
Optimization Strategy ◽  
Background Flow ◽  
Desktop Computer ◽  
Practical Applications ◽  
Reduction Effect ◽  
Hopf Method

Numerical optimizations are very useful in liner designs for low-noise aeroengines. Although modern computational tools are already very efficient for a single aeroengine noise propagation simulation run, the prohibitively high computational cost of a broadband liner optimization process which requires hundreds of thousands of runs renders these tools unsuitable for such task. To enable rapid optimization using a desktop computer, an efficient analytical solver based on the Wiener–Hopf method is proposed in the current study. Although a Wiener–Hopf-based solver can produce predictions very quickly (order of a second), it usually assumes an idealized straight duct configuration with a uniform background flow that makes it arguable for practical applications. In the current study, we employ the Wiener–Hopf method in our solver to produce an optimized liner design for a semi-infinite annular duct setup and compare its noise-reduction effect with an optimized liner designed by the direct application of a numerical finite element solver for a practical aeroengine intake configuration with an inhomogeneous background flow. The near-identical near- and far-field solutions by the Wiener–Hopf-based method and the finite element solvers clearly demonstrate the accuracy and high efficiency of the proposed optimization strategy. Therefore, the current Wiener–Hopf solver is highly effective for liner optimizations with practical setups and is very useful to the preliminary design process of low-noise aeroengines.

A Diehole Arranging Optimization Strategy in Multi-Hole Die Design for Profile Product Extrusion

2011 ◽  
Vol 201-203 ◽  
pp. 1548-1552
Author(s):  
Jin Biao Zhang ◽  
Jing Wen Wang ◽  
Zong Yin Duan
Keyword(s):  
Manufacturing Industry ◽  
High Efficiency ◽  
Extrusion Process ◽  
High Accuracy ◽  
Die Design ◽  
Optimization Strategy ◽  
Element Simulation ◽  
Key Factor ◽  
Optimized Model ◽  
Regression Theory

More and more attention is being paid to extrusion with multi-hole die in the manufacturing industry because of its advantages of high efficiency, high accuracy. However, there is a key factor that need to be taken into cosideration, such as diehole lacation on the multi-hole die. A optimization strategy integrated regression analysis for the multi-hole die design in profile extrusion process based on finite element simulation, GA, and regression theory was proposed, and an optimized model is established to predict the best location of diehole. A few examples show that the strategy is effective, feasible, and the model is accurate, applicable.

Modern Compressor Aerodynamic Blading Process Using Multi-Objective Optimization

2006 ◽  
Author(s):  
Akin Keskin ◽  
Amit Kumar Dutta ◽  
Dieter Bestle
Keyword(s):  
High Efficiency ◽  
Axial Compressor ◽  
Design Flow ◽  
Optimization Approach ◽  
Optimization Strategy ◽  
Multi Objective Optimization ◽  
Flow Conditions ◽  
Multi Objective ◽  
Blade Section ◽  
The Individual

Aerodynamic design of an axial compressor is a challenging design task requiring a compromise between contradicting requirements like wide operating range, high efficiency, low number of stages and high surge margin. Therefore, the design process is typically subdivided into a sequence of subproblems where the blading design is a key process. According to flow conditions, which result from throughflow calculations on axis-symmetric stream surfaces, 2-dimensional blade profiles have to be designed, which then may be stacked along a radial stacking line in order to find the 3D-blade geometry. The design of the blade sections is rather time consuming due to many iterations with different programs. Usually a geometry generation tool is used to describe the blade sections which are then evaluated by a blade-to-blade CFD solver. The quality of a single blade section is typically characterized by the overall loss at design flow conditions and the working range determined by an amount of loss increase due to incidence variation. The aerodynamic performance of the final airfoils and thus of the whole compressor depends significantly on the design of the individual blade sections. In this investigation an automated multi-objective optimization strategy is developed to find best blade section geometries with respect to loss and working range. The multi-objective optimization approach provides Pareto-optimal compromise solutions at reasonable computational costs outperforming a given Rolls-Royce datum design which has been ‘optimized’ manually by a human design engineer.

Navigation Method of the Transportation Robot Using Fuzzy Line Tracking and QR Code Recognition

2016 ◽  
Vol 14 (02) ◽  
pp. 1650027 ◽  
Author(s):  
Nguyen Thanh Truc ◽  
Yong-Tae Kim
Keyword(s):  
Optimal Path ◽  
Qr Code ◽  
Qr Codes ◽  
Grid Map ◽  
Planning Algorithm ◽  
Line Tracking ◽  
Stability And Accuracy ◽  
Path Planning Algorithm ◽  
Robot Position ◽  
Navigation Method

In this paper, a navigation method using fuzzy line tracking, QR code recognition and path planning algorithm is proposed for the transportation robot. We build a grid map by attaching QR codes on a floor and using lines that are gaps between tiles. The transportation robot is developed with a camera to capture floor images that is used to detect QR code and extract lines’ parameters by applying linear equation and FIR filter. A fuzzy decision-maker is designed to solve the deviation problem occurring during a navigation process between QR codes. The QR code is used to get the current position and recognize the direction to neighbor QR codes. Finally, the D*Lite algorithm is applied to search for an optimal path from the robot position to a goal position on the grid map using QR codes. The proposed method is verified by the navigation experiments of the transportation robot in the real environment. The robot can follow the optimal path obtained from planning algorithm with high stability and accuracy.

Path Planning of Multi-Robot Fish Based on Cooperative Game Model

2013 ◽  
Vol 341-342 ◽  
pp. 940-944
Author(s):  
Xue Lei Jia ◽  
Xu Qiong Yang ◽  
Yan Song Deng
Keyword(s):  
Path Planning ◽  
Cooperative Game ◽  
High Efficiency ◽  
Optimal Path ◽  
Robotic Fish ◽  
Planning Theory ◽  
Game Model ◽  
Robot Fish ◽  
Cooperative Game Model ◽  
Multi Robot

In order to improve the sense of cooperation of robotic fishes between each other to complete the task with high efficiency, this paper presents a path planning method for multi-robot fish based on the cooperative game model. With a mathematical model established on the cooperative game which is based on the game theory, the robotic fish in this system corresponds to the other participants in the game, benefit function of the game player on the cooperation model of multi-robot fish path construction is studied in this paper, which gets system Pareto optimal solution, then getting the optimal path of the entire system. Using the above method, the authors simulate and analyze on the robotic fish in water 2D simulation platform, and to use Matlab to simulate robot fishs track. The results of analysis indicate: Applying the path planning theory in the multi-robot fish movement system is effective and feasible, and that avoids planning only a single robotic fishs optimal path in the system, while leaving the movement of system in the beneath coordination.

Research on Vehicle Path Planning Based on the BDD in the Uncertain Environment

2013 ◽  
Vol 373-375 ◽  
pp. 1144-1149
Author(s):  
Ya Li Peng ◽  
Jia Yao Liu ◽  
Hong Yin
Keyword(s):  
Path Planning ◽  
Heuristic Search ◽  
High Efficiency ◽  
Road Traffic ◽  
Optimal Path ◽  
Search Space ◽  
Routing Problem ◽  
Uncertain Environment ◽  
The Road ◽  
Global Planning

Aimed at the high dynamics and uncertainty of road traffic, we propose a method combine BDD (binary decision diagram)-Based heuristic algorithm which used to do the initial path planning with BDD-Based incremental to solve the route replanning problem. In order to get the optimal path set, BDD-Based heuristic Search is firstly used for global planning. BDD is a compact data structure, the BDD-Based heuristic Search use this characteristic to represent state space and compress the search space through heuristic information at the same time; when the road network information changes, incremental replanning was used in difference type of congestion and the optimum path set again. The simulation results show that the BDD-Based heuristic Search and incremental replanning method has high efficiency and practicability in solving vehicle routing problem under dynamic and uncertain environment.

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