Pub Date : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208385
Qiaoqiao Zhao, Lichuan Zhang, Lu Liu, Shuchang Bai, Cao Yong, Li Han
Many large schools of fish exhibit collective behaviors, such as large-scale migration and the formation of cylindrical arrays to evade predators. Previous studies have shown that these collective behaviors do not rely on global explicit information exchange but are achieved through visual observation of neighboring individuals. Given the unique characteristics of the underwater environment, a global positioning system similar to that on land has not yet been developed. Therefore, it is meaningful to investigate swarm motion based on local information exchange for underwater robots. Drawing inspiration from the swarm motion of fish, this study focuses on the swarm motion of underwater manta ray-like robots based on local visual perception information interaction. Firstly, a deep convolutional neural network method is employed to design a neighbor detection algorithm. This algorithm enables real-time acquisition of relative distance, orientation, and tracking ID information of neighboring robots. The proposed method is deployed on underwater manta ray-like robots, and a series of underwater experiments are conducted. The experimental results demonstrate improved detection accuracy and processing speed. Subsequently, a swarm motion model based on local visual perception is proposed. The neighbor detection information obtained in the experiments is utilized as constraint information for the simulation-based swarm motion model. The results indicate that swarm motion of the robot can be achieved through the acquisition of neighbor robot information. The research is based on local visual perception of group movement, which can make up for the inability to achieve global positioning in the underwater environment. And this research provides a framework for underwater swarm motion in the context of manta ray-like robots.
{"title":"Swarm Motion of Underwater Robots Based on Local Visual Perception","authors":"Qiaoqiao Zhao, Lichuan Zhang, Lu Liu, Shuchang Bai, Cao Yong, Li Han","doi":"10.1109/CACRE58689.2023.10208385","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208385","url":null,"abstract":"Many large schools of fish exhibit collective behaviors, such as large-scale migration and the formation of cylindrical arrays to evade predators. Previous studies have shown that these collective behaviors do not rely on global explicit information exchange but are achieved through visual observation of neighboring individuals. Given the unique characteristics of the underwater environment, a global positioning system similar to that on land has not yet been developed. Therefore, it is meaningful to investigate swarm motion based on local information exchange for underwater robots. Drawing inspiration from the swarm motion of fish, this study focuses on the swarm motion of underwater manta ray-like robots based on local visual perception information interaction. Firstly, a deep convolutional neural network method is employed to design a neighbor detection algorithm. This algorithm enables real-time acquisition of relative distance, orientation, and tracking ID information of neighboring robots. The proposed method is deployed on underwater manta ray-like robots, and a series of underwater experiments are conducted. The experimental results demonstrate improved detection accuracy and processing speed. Subsequently, a swarm motion model based on local visual perception is proposed. The neighbor detection information obtained in the experiments is utilized as constraint information for the simulation-based swarm motion model. The results indicate that swarm motion of the robot can be achieved through the acquisition of neighbor robot information. The research is based on local visual perception of group movement, which can make up for the inability to achieve global positioning in the underwater environment. And this research provides a framework for underwater swarm motion in the context of manta ray-like robots.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131496881","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A farmland intelligent monitoring and irrigation system based on the Internet of Things and 5G technology is designed. The system mainly includes two templates: intelligent monitoring system and intelligent control system, in which the intelligent monitoring system is mainly responsible for detecting soil temperature and humidity and trace elements such as nitrogen, phosphorus and potassium, and the intelligent control system is mainly responsible for remote operation of intelligent irrigation. The system measures soil temperature, humidity and trace elements such as nitrogen, phosphorus and potassium through the sensors in the intelligent monitoring section, and uses 5G wireless transmission technology to send the data collected by the sensors to the Internet of Things, which then transmits the collected information to a mobile app. The system can solve the shortcomings of traditional irrigation methods which are cumbersome and seriously inefficient in irrigating agricultural facilities.
{"title":"Research on Intelligent Monitoring and Irrigation System for Farmland Based on IoT and 5GTechnology","authors":"Guangda Lu, Jianyi Dai, Zhuanping Qin, Tinghang Guo, Yu Han, Mingzhi Wei","doi":"10.1109/CACRE58689.2023.10209060","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10209060","url":null,"abstract":"A farmland intelligent monitoring and irrigation system based on the Internet of Things and 5G technology is designed. The system mainly includes two templates: intelligent monitoring system and intelligent control system, in which the intelligent monitoring system is mainly responsible for detecting soil temperature and humidity and trace elements such as nitrogen, phosphorus and potassium, and the intelligent control system is mainly responsible for remote operation of intelligent irrigation. The system measures soil temperature, humidity and trace elements such as nitrogen, phosphorus and potassium through the sensors in the intelligent monitoring section, and uses 5G wireless transmission technology to send the data collected by the sensors to the Internet of Things, which then transmits the collected information to a mobile app. The system can solve the shortcomings of traditional irrigation methods which are cumbersome and seriously inefficient in irrigating agricultural facilities.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131593480","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208954
Ranzhen Ren, Lichuan Zhang, Lu Liu, Guang-xu Pan, Qiaogao Huang, Yi Chen
The unmanned underwater platform cluster is suitable for tasks such as marine environmental monitoring, offshore exploration, and military tactical reconnaissance. The performance of an unmanned underwater platform cluster for cooperative sensing depends on the deployment of unmanned platforms and the sensing performance of a single-platform. In this paper, a hybrid heuristic algorithm for cooperative deployment planning of underwater unmanned cluster is proposed and verified by establishing a single-platform detection probability model based on the Boolean model considering the fault tolerance radius. The simulation results show that the proposed algorithm can effectively improve the cooperative observation probability of the surveillance area, because the rapid signal fading of the single-platform detection probability model seriously affects the efficiency of cooperative detection. The optimal coverage rate can reach 79.55% under certain conditions.
{"title":"Cooperative Deployment Planning of Underwater Unmanned Clusters Based on Hybrid Heuristic Algorithms","authors":"Ranzhen Ren, Lichuan Zhang, Lu Liu, Guang-xu Pan, Qiaogao Huang, Yi Chen","doi":"10.1109/CACRE58689.2023.10208954","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208954","url":null,"abstract":"The unmanned underwater platform cluster is suitable for tasks such as marine environmental monitoring, offshore exploration, and military tactical reconnaissance. The performance of an unmanned underwater platform cluster for cooperative sensing depends on the deployment of unmanned platforms and the sensing performance of a single-platform. In this paper, a hybrid heuristic algorithm for cooperative deployment planning of underwater unmanned cluster is proposed and verified by establishing a single-platform detection probability model based on the Boolean model considering the fault tolerance radius. The simulation results show that the proposed algorithm can effectively improve the cooperative observation probability of the surveillance area, because the rapid signal fading of the single-platform detection probability model seriously affects the efficiency of cooperative detection. The optimal coverage rate can reach 79.55% under certain conditions.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122308908","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Cable manipulator can play a lifting role in the dock stacking, mineral mining, marine fishing and other fields, which has a wide range of applications. However, the cable elasticity itself will affect the accuracy of the cable force control, which in turn affects the positional control accuracy of the end-effector. To solve the problem of control accuracy caused by simplifying the cable to a linear model without considering the cable elasticity, this paper adopts the model of simplifying the cable to a linear spring plus a lightweight connecting rod. The elasticity of the linear spring, i.e., the cable tension is derived through the static equilibrium equation. And a dynamics simulation analysis of the three-cable three-degree-of-freedom parallel manipulator is conducted. The end position and its derivative as the flat output of the system is selected and the linear process of nonlinear control theory is used to prove the differential flatness of the system. Through theoretical analysis and example simulation, the difference of the requested tension force when the cable elasticity is considered or not is compared and analyzed. It is shown that the proposed dynamics analysis of the cable parallel manipulator with cable elasticity has influence on the moment control of the whole manipulator. It is verified that the magnitude of the cable elasticity is ultimately affected by the change of the cable acceleration. And this dynamics analysis can improve the control process caused by the high speed change of the end-effector to analyze the effect of imprecise force control brought by the high speed change of cable elasticity of the cable, It provides a more accurate theoretical basis for establishing a more accurate theoretical model of dynamics
{"title":"Dynamic Differential Flatness of Cable Elasticity of a Cable-driven Parallel Manipulator","authors":"Qianqian Li, Haoling Ren, Tianliang Lin, Zhibo Tan, Qichen Huang, Yihong Peng","doi":"10.1109/CACRE58689.2023.10208769","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208769","url":null,"abstract":"Cable manipulator can play a lifting role in the dock stacking, mineral mining, marine fishing and other fields, which has a wide range of applications. However, the cable elasticity itself will affect the accuracy of the cable force control, which in turn affects the positional control accuracy of the end-effector. To solve the problem of control accuracy caused by simplifying the cable to a linear model without considering the cable elasticity, this paper adopts the model of simplifying the cable to a linear spring plus a lightweight connecting rod. The elasticity of the linear spring, i.e., the cable tension is derived through the static equilibrium equation. And a dynamics simulation analysis of the three-cable three-degree-of-freedom parallel manipulator is conducted. The end position and its derivative as the flat output of the system is selected and the linear process of nonlinear control theory is used to prove the differential flatness of the system. Through theoretical analysis and example simulation, the difference of the requested tension force when the cable elasticity is considered or not is compared and analyzed. It is shown that the proposed dynamics analysis of the cable parallel manipulator with cable elasticity has influence on the moment control of the whole manipulator. It is verified that the magnitude of the cable elasticity is ultimately affected by the change of the cable acceleration. And this dynamics analysis can improve the control process caused by the high speed change of the end-effector to analyze the effect of imprecise force control brought by the high speed change of cable elasticity of the cable, It provides a more accurate theoretical basis for establishing a more accurate theoretical model of dynamics","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"441 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115419460","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208933
Jojan Valle-De La Cruz, Luis Crisostomo-Soto, Gonzalo Sulca-Ramos, Kener Velasquez-Colorado, Hector Valcarcel-Castillo, Deyby Huamanchahua
The AdBlue system consists of inserting the urea-water mixture into the exhaust pipe to reduce the emission of polluting gases. Hence, the liquid and exhaust pipe temperatures are essential factors. This research aims to implement a temperature control and monitoring system for AdBlue deposits when they are affected by environmental temperature and climate change. To carry out the design of the control system, the VDI 2206 methodology was used based on four stages until the modeling and analysis of the model in the LabView software. The design of the controller was obtained before the change in temperature of the environment, which affects the urea deposits, so suitable and selected components are used through a morphological matrix. Finally, this research allows controlling the state of the AdBlue deposits, since to have a good performance of emission reduction, there is a temperature range ranging from -10 to 25 ° C, for this control system is created that allows to increase the temperature or decrease it, to obtain a good performance.
{"title":"Reducing Emissions through AdBlue Tank Temperature Control in Diesel Engines with SCR System","authors":"Jojan Valle-De La Cruz, Luis Crisostomo-Soto, Gonzalo Sulca-Ramos, Kener Velasquez-Colorado, Hector Valcarcel-Castillo, Deyby Huamanchahua","doi":"10.1109/CACRE58689.2023.10208933","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208933","url":null,"abstract":"The AdBlue system consists of inserting the urea-water mixture into the exhaust pipe to reduce the emission of polluting gases. Hence, the liquid and exhaust pipe temperatures are essential factors. This research aims to implement a temperature control and monitoring system for AdBlue deposits when they are affected by environmental temperature and climate change. To carry out the design of the control system, the VDI 2206 methodology was used based on four stages until the modeling and analysis of the model in the LabView software. The design of the controller was obtained before the change in temperature of the environment, which affects the urea deposits, so suitable and selected components are used through a morphological matrix. Finally, this research allows controlling the state of the AdBlue deposits, since to have a good performance of emission reduction, there is a temperature range ranging from -10 to 25 ° C, for this control system is created that allows to increase the temperature or decrease it, to obtain a good performance.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129089575","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208422
Kai Chang, B. Lu, Jian Yin, Guangchao Tan
A set of automatic locking nut tightening control system for a vision guided robot is designed and implemented. Through hand-eye calibration, the coordinate system is unified. By the designed tool plate and tapered tooling, the calibrated reference location for the tightening tool is realized. According to the position and orientation of the reference screw, the vision system detects the offset of the current screw position, and guides the robot to adjust the pose of the tightening tool. By setting up the network topology of the control system, the data interaction of each subsystem is completed, and the automatic workflow is realized. The application of the system can avoid the relative movement between the tool and screw during the tightening process, and improve the tightening quality.
{"title":"Design of an Automatic Locking Nut Tightening Control System for a Vision Guided Robot","authors":"Kai Chang, B. Lu, Jian Yin, Guangchao Tan","doi":"10.1109/CACRE58689.2023.10208422","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208422","url":null,"abstract":"A set of automatic locking nut tightening control system for a vision guided robot is designed and implemented. Through hand-eye calibration, the coordinate system is unified. By the designed tool plate and tapered tooling, the calibrated reference location for the tightening tool is realized. According to the position and orientation of the reference screw, the vision system detects the offset of the current screw position, and guides the robot to adjust the pose of the tightening tool. By setting up the network topology of the control system, the data interaction of each subsystem is completed, and the automatic workflow is realized. The application of the system can avoid the relative movement between the tool and screw during the tightening process, and improve the tightening quality.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128738537","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208889
Yang Yu, Heng Qiao, Zhi Fan, Fei Li, Ningyi Geng, Long Wang, J. Sun, Xuke Zhong
This paper proposes a dual-frequency image fusion algorithm to address the problem of poor preservation of image naturalness in GIS cavities. Firstly, the low-frequency image is obtained by low-pass filtering, and using an improved illumination estimating algorithm to improve low-frequency image brightness; At the same time, using homomorphic high-pass filtering suppresses the low-frequency components and enhances the high-frequency components of the image, and high-frequency image with increased details and uniform illumination is obtained; Then, linear fusion is used to perform linear fusion on the enhanced high and low-frequency images; Finally, experimental verification was conducted in GIS cavities environment, and the effectiveness of the image enhancement algorithm was verified by comparing multiple image evaluation indicators.
{"title":"Weakly Illumination Image Enhancement Algorithm in GIS Cavity","authors":"Yang Yu, Heng Qiao, Zhi Fan, Fei Li, Ningyi Geng, Long Wang, J. Sun, Xuke Zhong","doi":"10.1109/CACRE58689.2023.10208889","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208889","url":null,"abstract":"This paper proposes a dual-frequency image fusion algorithm to address the problem of poor preservation of image naturalness in GIS cavities. Firstly, the low-frequency image is obtained by low-pass filtering, and using an improved illumination estimating algorithm to improve low-frequency image brightness; At the same time, using homomorphic high-pass filtering suppresses the low-frequency components and enhances the high-frequency components of the image, and high-frequency image with increased details and uniform illumination is obtained; Then, linear fusion is used to perform linear fusion on the enhanced high and low-frequency images; Finally, experimental verification was conducted in GIS cavities environment, and the effectiveness of the image enhancement algorithm was verified by comparing multiple image evaluation indicators.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127792240","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1109/CACRE58689.2023.10209055
Jianhua Wang, Nan Wang, Y. Miao
This paper proposes a novel distributed task allocation method based on improved contract network protocol for collaborative task allocation of reconnaissance and strike tasks on heterogeneous unmanned aerial platforms. Firstly, considering the heterogeneity and endurance of unmanned aerial platforms, as well as the time-sensitive characteristics of tasks, a task allocation model was established with the goal of maximizing global benefits. In the proposed method, a single unmanned platform satisfies the constraints of the task allocation model by designing the encoding and decoding methods of the existing sparrow search algorithm, and achieves the selection of its local optimal task execution path (similar to the single traveling salesman problem); By sequentially auctioning a single task, conflicts between different unmanned platforms are resolved and global benefits are improved. The bidding method for bidders, task award rules for auctioneers to select winning bidders, and judgment mechanisms for auction termination are designed. The numerical simulation results validate the feasibility of the proposed method and its superiority in global benefits compared to the contract network protocol.
{"title":"A Distributed Task Allocation Method Based on Improved Contract Network Protocol for Air-Ground Collaboration","authors":"Jianhua Wang, Nan Wang, Y. Miao","doi":"10.1109/CACRE58689.2023.10209055","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10209055","url":null,"abstract":"This paper proposes a novel distributed task allocation method based on improved contract network protocol for collaborative task allocation of reconnaissance and strike tasks on heterogeneous unmanned aerial platforms. Firstly, considering the heterogeneity and endurance of unmanned aerial platforms, as well as the time-sensitive characteristics of tasks, a task allocation model was established with the goal of maximizing global benefits. In the proposed method, a single unmanned platform satisfies the constraints of the task allocation model by designing the encoding and decoding methods of the existing sparrow search algorithm, and achieves the selection of its local optimal task execution path (similar to the single traveling salesman problem); By sequentially auctioning a single task, conflicts between different unmanned platforms are resolved and global benefits are improved. The bidding method for bidders, task award rules for auctioneers to select winning bidders, and judgment mechanisms for auction termination are designed. The numerical simulation results validate the feasibility of the proposed method and its superiority in global benefits compared to the contract network protocol.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"218 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115982528","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1109/cacre58689.2023.10208917
{"title":"Cover","authors":"","doi":"10.1109/cacre58689.2023.10208917","DOIUrl":"https://doi.org/10.1109/cacre58689.2023.10208917","url":null,"abstract":"","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126850756","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1109/CACRE58689.2023.10209021
Yuanpei Ding, Pengfei Zhang, Ye Chen, Qiyuan Chen
This paper studies the positioning and obstacle avoidance control of automated guided vehicles (AGV). First, we have established the kinematics model for AGV by equivalent the obstacle to a circle. Different from the conventional obstacle avoidance methods, we use the polar coordinate method to express the obstacle position. Second, for the presented AGV system, we propose a safety heading angle base on the Line of sight (LOS) method. Unlike the traditional LOS method, this paper introduces the tangent angle of the circle formed by AGV and obstacles as the guidance of LOS. Therefore, AGV's heading will not be toward obstacles to achieve obstacle avoidance control. Then, to ensure that AGVs reach the target point, we propose a positioning heading angle that can achieve obstacle avoidance based on the above safety guidance algorithm. Compared with the traditional artificial potential field (APF) obstacle avoidance method, the proposed method has no misalignment of the balance point. Finally, experiments are conducted using a ROS-based AGV experimental platform to demonstrate the algorithm's feasibility. The experimental results show that the algorithm can effectively solve the problem of misalignment of target points in the traditional artificial potential field algorithm.
{"title":"Positioning Obstacle Avoidance Control of AGV with no Local Minimum Problem via Safety LOS Guidance","authors":"Yuanpei Ding, Pengfei Zhang, Ye Chen, Qiyuan Chen","doi":"10.1109/CACRE58689.2023.10209021","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10209021","url":null,"abstract":"This paper studies the positioning and obstacle avoidance control of automated guided vehicles (AGV). First, we have established the kinematics model for AGV by equivalent the obstacle to a circle. Different from the conventional obstacle avoidance methods, we use the polar coordinate method to express the obstacle position. Second, for the presented AGV system, we propose a safety heading angle base on the Line of sight (LOS) method. Unlike the traditional LOS method, this paper introduces the tangent angle of the circle formed by AGV and obstacles as the guidance of LOS. Therefore, AGV's heading will not be toward obstacles to achieve obstacle avoidance control. Then, to ensure that AGVs reach the target point, we propose a positioning heading angle that can achieve obstacle avoidance based on the above safety guidance algorithm. Compared with the traditional artificial potential field (APF) obstacle avoidance method, the proposed method has no misalignment of the balance point. Finally, experiments are conducted using a ROS-based AGV experimental platform to demonstrate the algorithm's feasibility. The experimental results show that the algorithm can effectively solve the problem of misalignment of target points in the traditional artificial potential field algorithm.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131227846","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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