AbstractAn algorithm that integrates the improved artificial fish swarm algorithm with continuous segmented Bézier curves is proposed, aiming at the path planning and smoothing of mobile robots. On the one hand, to overcome the low accuracy problems, more inflection points and relatively long planning paths in the traditional artificial fish swarm algorithm for path planning, feasible solutions and a range of step sizes are introduced based on Dijkstra's algorithm. To solve the problems of poor convergence and degradation that hinder the algorithm's ability to find the best in the later stage, a dynamic feedback horizon and an adaptive step size are introduced. On the other hand, to ensure that the planned paths are continuous in both orientation and curvature, the Bessel curve theory is introduced to smooth the planned paths. This is demonstrated through a simulation that shows the improved artificial fish swarm algorithm achieving 100% planning accuracy, while ensuring the shortest average path in the same grid environment. Additionally, the smoothed path is continuous in both orientation and curvature, which satisfies the kinematic characteristics of the mobile robot.
Mobile robots can replace rescuers in rescue and detection missions in complex and unstructured environments and draw the interest of many researchers. This paper presents a novel six-wheeled mobile robot with a reconfigurable body and self-adaptable obstacle-climbing mechanisms, which can reconfigure itself to three locomotion states to realize the advantages of terrain adaptability, obstacle crossing ability and portability. Design criteria and mechanical design of the proposed mobile robot are firstly presented, based on which the geometry of the robot is modelled and the geometric constraint, static conditions and motion stability condition for obstacle crossing of the robot are derived and formulated. Numerical simulations are then conducted to verify the geometric passing capability, static passing capability and motion stability and find feasible structure parameters of the robot in obstacle crossing. Further, a physical prototype of the proposed mobile robot is developed and integrated with mechatronic systems and remote control. Using the prototype, field experiments are carried out to verify the feasibility of the proposed design and theoretical derivations. The results show that the proposed mobile robot satisfies all the criteria set and is feasible for applications in disastrous rescuing scenarios.
Background: With the increasing demand of mobile robots in warehousing, logistics and service fields, simple planar motion is difficult to meet the task requirements of complex environment. The combination of mobile robot and cooperative robot is helpful to improve the dexterity of robot movement and expand the application of robots. Methods: Aiming at the application requirements of dual-arm robots and mobile robots in practical applications, this paper designed the hardware of a platform, built a simulation platform based on ROS (Robot Operating System), and designed the actual software control framework. Finally, the feasibility of the platform design was verified by the coupling motion experiment of the two robots. Results: We have established a simulation of the dual-arm mobile platform in ROS, designed the actual software control framework, and verified the feasibility of the platform design through experiments. Conclusions: The mobile platform can meet a variety of application requirements and lay the foundation for subsequent development.