Path Planning for Mobile Robots Based on the Improved DAPF-QRRT* Strategy

Electronics, Год журнала: 2024, Номер 13(21), С. 4233 - 4233

Опубликована: Окт. 29, 2024

The rapidly exploring random tree star (RRT*) algorithm is widely used to solve path planning problems. However, the RRT* and its variants fall short of achieving a balanced consideration quality safety. To address this issue, an improved discretized artificial potential field-QRRT* (IDAPF-QRRT*) strategy introduced. Initially, APF method integrated into Quick-RRT* (Q-RRT*) algorithm, utilizing attraction goal points repulsion obstacles optimize expansion process, swiftly superior initial solutions. Subsequently, triangle inequality-based reconnection mechanism introduced create reconnect points, length, accelerate generation sub-optimal paths. Finally, by refining traditional method, repulsive orthogonal vector field obtained, orthogonalization between attractive fields. This places key within optimized adjusts their positions, thereby enhancing Compared Q-RRT* DPF-QRRT* achieves 37.66% reduction in time taken achieve 1.05 times optimal solution, IDAPF-QRRT* nearly doubles generated

Язык: Английский

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Enhancing Indoor Localization Accuracy through Multiple Access Point Deployment

Electronics, Год журнала: 2024, Номер 13(16), С. 3307 - 3307

Опубликована: Авг. 21, 2024

This study addresses the limitations of wireless local area networks in indoor localization by utilizing Extra-Trees Regression (ETR) to estimate locations based on received signal strength indicator (RSSI) values from a radio environment map (REM). We investigate how integrating numerous access points can enhance accuracy. By constructing an extensive REM using RSSI data various collected mobile robot intended interior setting, we evaluate several machine learning regression techniques. Our research pays special attention optimized ETR model, validated through 10-fold cross-validation and hyperparameter tuning. quantitatively efficiency our suggested multi-access-point approach root mean square error (RMSE) for evaluation location metrics accurate localization. The results show that incorporating multiple significantly improves accuracy, providing substantial improvement over single-access-point systems when assessing frequency environments.

Язык: Английский

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Autonomous Underwater Vehicle (AUV) Motion Design: Integrated Path Planning and Trajectory Tracking Based on Model Predictive Control (MPC)

Journal of Marine Science and Engineering, Год журнала: 2024, Номер 12(9), С. 1655 - 1655

Опубликована: Сен. 16, 2024

This paper attempts to develop a unified model predictive control (MPC) method for integrated path planning and trajectory tracking of autonomous underwater vehicles (AUVs). To deal with the computational burden online planning, an event-triggered (EMPC) is introduced by using environmental change as triggering mechanism. A collision hazard function utilizing changing rate threshold proposed guarantee safety. We further give illustration how calculate this threshold. Then, Lyapunov-based (LMPC) framework developed AUV solve problem. Leveraging nonlinear integral sliding mode strategy, we construct contraction constraint within formulated LMPC framework, thereby theoretically ensuring closed-loop stability. derive necessary sufficient conditions recursive feasibility, which are subsequently used prove stability system. In simulations, verified separately combined static dynamic obstacles.

Язык: Английский

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An Adaptive and Automatic Power Supply Distribution System with Active Landmarks for Autonomous Mobile Robots

Sensors, Год журнала: 2024, Номер 24(18), С. 6152 - 6152

Опубликована: Сен. 23, 2024

With the development of automation and intelligent technologies, demand for autonomous mobile robots in industry has surged to alleviate labor-intensive tasks mitigate labor shortages. However, conventional industrial robots’ route-tracking algorithms typically rely on passive markers, leading issues such as inflexibility changing routes high deployment costs. To address these challenges, this study proposes a novel approach utilizing active landmarks—battery-powered luminous landmarks that enable recognize adapt flexible navigation requirements. reliance batteries necessitates frequent recharging, prompting an automatic power supply system. This system integrates omnidirectional contact electrodes robots, allowing recharge without precise positional alignment. Despite advancements, challenges large size non-adaptive battery charging across persist, affecting efficiency. issues, research focuses miniaturizing optimizing distribution among landmarks. The experimental results demonstrated effectiveness our method accuracy landmark detection. Our calculation can adaptively manage energy distribution, improving system’s persistence by nearly three times. aims enhance practicality efficiency robot remote control systems simplifying installation processes extending operational durations with adaptive distribution.

Язык: Английский

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Vision Systems for a UR5 Cobot on a Quality Control Robotic Station

Applied Sciences, Год журнала: 2024, Номер 14(20), С. 9469 - 9469

Опубликована: Окт. 17, 2024

This paper addresses the development of a vision system for UR5 cobot and corresponding operating algorithm robotic quality control station. The hardware–software architecture developed station consisting equipped with web camera stationary industrial lighting is presented. Image processing analysis algorithms are described, method communication between components discussed, scenarios presented as single part line. Based on results which were obtained, level measurement noise, accuracy, repeatability estimated. A novel complete modules shown discussed. software based Python 3.12 language, OpenCV 4.7.0.68 libraries, PolyScope 1.8 environment incorporates calibration, image acquisition, preprocessing (for objects’ location geometric measurements) cell control. hardware PC two independent distinct cameras: one permanently affixed other mounted to cobot’s flange. innovative setup, combined architecture, broadens scope existing applications.

Язык: Английский

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