Pub Date : 2023-07-01DOI: 10.1177/17298806231191947
Peng Zhang, Lu Bai, Dongri Shan, Xiaofang Wang, Shuang Li, W. Zou, Zhenxue Chen
Visual–tactile fusion information plays a crucial role in robotic object classification. The fusion module in existing visual–tactile fusion models directly splices visual and tactile features at the feature layer; however, for different objects, the contributions of visual features and tactile features to classification are different. Moreover, direct concatenation may ignore features that are more beneficial for classification and will also increase computational costs and reduce model classification efficiency. To utilize object feature information more effectively and further improve the efficiency and accuracy of robotic object classification, we propose a visual–tactile fusion object classification method based on adaptive feature weighting in this article. First, a lightweight feature extraction module is used to extract the visual and tactile features of each object. Then, the two feature vectors are input into an adaptive weighted fusion module. Finally, the fused feature vector is input into the fully connected layer for classification, yielding the categories and physical attributes of the objects. In this article, extensive experiments are performed with the Penn Haptic Adjective Corpus 2 public dataset and the newly developed Visual-Haptic Adjective Corpus 52 dataset. The experimental results demonstrate that for the public dataset Penn Haptic Adjective Corpus 2, our method achieves a value of 0.9750 in terms of the area under the curve. Compared with the highest area under the curve obtained by the existing state-of-the-art methods, our method improves by 1.92%. Moreover, compared with the existing state-of-the-art methods, our method achieves the best results in training time and inference time; while for the novel Visual-Haptic Adjective Corpus 52 dataset, our method achieves values of 0.9827 and 0.9850 in terms of the area under the curve and accuracy metrics, respectively. Furthermore, the inference time reaches 1.559 s/sheet, demonstrating the effectiveness of the proposed method.
{"title":"Visual–tactile fusion object classification method based on adaptive feature weighting","authors":"Peng Zhang, Lu Bai, Dongri Shan, Xiaofang Wang, Shuang Li, W. Zou, Zhenxue Chen","doi":"10.1177/17298806231191947","DOIUrl":"https://doi.org/10.1177/17298806231191947","url":null,"abstract":"Visual–tactile fusion information plays a crucial role in robotic object classification. The fusion module in existing visual–tactile fusion models directly splices visual and tactile features at the feature layer; however, for different objects, the contributions of visual features and tactile features to classification are different. Moreover, direct concatenation may ignore features that are more beneficial for classification and will also increase computational costs and reduce model classification efficiency. To utilize object feature information more effectively and further improve the efficiency and accuracy of robotic object classification, we propose a visual–tactile fusion object classification method based on adaptive feature weighting in this article. First, a lightweight feature extraction module is used to extract the visual and tactile features of each object. Then, the two feature vectors are input into an adaptive weighted fusion module. Finally, the fused feature vector is input into the fully connected layer for classification, yielding the categories and physical attributes of the objects. In this article, extensive experiments are performed with the Penn Haptic Adjective Corpus 2 public dataset and the newly developed Visual-Haptic Adjective Corpus 52 dataset. The experimental results demonstrate that for the public dataset Penn Haptic Adjective Corpus 2, our method achieves a value of 0.9750 in terms of the area under the curve. Compared with the highest area under the curve obtained by the existing state-of-the-art methods, our method improves by 1.92%. Moreover, compared with the existing state-of-the-art methods, our method achieves the best results in training time and inference time; while for the novel Visual-Haptic Adjective Corpus 52 dataset, our method achieves values of 0.9827 and 0.9850 in terms of the area under the curve and accuracy metrics, respectively. Furthermore, the inference time reaches 1.559 s/sheet, demonstrating the effectiveness of the proposed method.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41728429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1177/17298806231193891
Jinfu Liu, Shouqi Chen, Linsen Xu, Zhengyan Jiang, Hui Li
The existing deceleration systems in industrial robots often employ rotate vector (RV) or harmonic reducers to augment torque and decrease speed, yet achieving the motor’s peak power proves challenging. Given the extremely high space-size demands for reduction systems in robotic applications, an innovative compact continuously variable transmission is suggested, leveraging the transmission characteristics of spatial gear trains and metallic V-belts. The proposed system utilizes the input of an eccentric shaft to drive the planetary pulley’s rotation around the sun pulley. The pinhole, in cooperation with the eccentric shaft of the planetary pulley, achieves coaxial output of the transmission power. The article primarily explores the transmission and speed change mechanisms, then dissects the relationships between the transmission ratio and the effective radius of the pulley, the axial adjustment distance, and the factors influencing the pulley’s wrapping angle. Further, we use the Lagrange equation to derive the input equation, establishing the correlation between the planetary pulley’s rotation angle and system inertia, angular acceleration, angular velocity, and effective working radius over time. Finally, we simulate the continuously variable transmission’s motion to examine speed changes in forward, reverse, and neutral states. A continuously variable transmission prototype and a testing platform are also constructed to assess performance parameters, specifically input and output torque, and rotational speed.
{"title":"Design, analysis, and experiment of an innovative embedded compact continuously variable transmission with flexible metal V-belt","authors":"Jinfu Liu, Shouqi Chen, Linsen Xu, Zhengyan Jiang, Hui Li","doi":"10.1177/17298806231193891","DOIUrl":"https://doi.org/10.1177/17298806231193891","url":null,"abstract":"The existing deceleration systems in industrial robots often employ rotate vector (RV) or harmonic reducers to augment torque and decrease speed, yet achieving the motor’s peak power proves challenging. Given the extremely high space-size demands for reduction systems in robotic applications, an innovative compact continuously variable transmission is suggested, leveraging the transmission characteristics of spatial gear trains and metallic V-belts. The proposed system utilizes the input of an eccentric shaft to drive the planetary pulley’s rotation around the sun pulley. The pinhole, in cooperation with the eccentric shaft of the planetary pulley, achieves coaxial output of the transmission power. The article primarily explores the transmission and speed change mechanisms, then dissects the relationships between the transmission ratio and the effective radius of the pulley, the axial adjustment distance, and the factors influencing the pulley’s wrapping angle. Further, we use the Lagrange equation to derive the input equation, establishing the correlation between the planetary pulley’s rotation angle and system inertia, angular acceleration, angular velocity, and effective working radius over time. Finally, we simulate the continuously variable transmission’s motion to examine speed changes in forward, reverse, and neutral states. A continuously variable transmission prototype and a testing platform are also constructed to assess performance parameters, specifically input and output torque, and rotational speed.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42649652","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1177/17298806231183571
Tanzim Mashrur, Zeyad Ghulam, Gregory French, H. Abdullah
A personal care robotic system has been developed that can provide feeding assistance to those suffering from upper limb impairment. The system introduces a novel approach for feeding that prioritizes two ideas: generalized functionality to encompass multiple feeding tasks and seamless user interaction. Additionally, the system leveraged novel computer vision ideas to incorporate functionality that was not reported in the literature. For the functional prototype, the system was comprised of an off-the-shelf six degrees of freedom robotic manipulator, two depth cameras, and an electric gripper. Furthermore, various tools used during the operation were designed and constructed using a 3D printer. The system’s software has three main operation phases: food identification, acquisition, and delivery. One of the novel features of this system is that instead of attempting to identify the food, the robot identifies the method required for acquiring the food. During testing and validation, it was found that the system had minimal identification errors, high success rates for acquisition and delivery, and a fast safety response time.
{"title":"Assistive feeding robot for upper limb impairment—Testing and validation","authors":"Tanzim Mashrur, Zeyad Ghulam, Gregory French, H. Abdullah","doi":"10.1177/17298806231183571","DOIUrl":"https://doi.org/10.1177/17298806231183571","url":null,"abstract":"A personal care robotic system has been developed that can provide feeding assistance to those suffering from upper limb impairment. The system introduces a novel approach for feeding that prioritizes two ideas: generalized functionality to encompass multiple feeding tasks and seamless user interaction. Additionally, the system leveraged novel computer vision ideas to incorporate functionality that was not reported in the literature. For the functional prototype, the system was comprised of an off-the-shelf six degrees of freedom robotic manipulator, two depth cameras, and an electric gripper. Furthermore, various tools used during the operation were designed and constructed using a 3D printer. The system’s software has three main operation phases: food identification, acquisition, and delivery. One of the novel features of this system is that instead of attempting to identify the food, the robot identifies the method required for acquiring the food. During testing and validation, it was found that the system had minimal identification errors, high success rates for acquisition and delivery, and a fast safety response time.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47481097","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1177/17298806231182750
J. Pei, Siyang Yang
To promote the precision and flexibility of the dexterous robot finger, a novel impedance-based robust fuzzy sliding mode control approach is developed. In the proposed scheme, an impedance control part constructed aims to regulate the contact force; while the robust fuzzy sliding mode controller proposed accounts for enhancing the anti-interference of this uncertain robotic system. Specifically, by analyzing the forward and inverse kinematics of the finger, its dynamical model with unknown and uncertain force disturbances can be established, and based on this model, a novel robust sliding mode impedance force controller has been designed, also, several critical impedance control parameters can be quickly optimized by invoking the fuzzy logic system. Ultimately, the Lyapunov stability of the proposed control is strictly demonstrated in mathematics. The simulations present the efficacy of the proposed scheme in both constrained and unconstrained spaces.
{"title":"A novel impedance-based robust fuzzy sliding mode compliance control for the dexterous robot finger with uncertainties","authors":"J. Pei, Siyang Yang","doi":"10.1177/17298806231182750","DOIUrl":"https://doi.org/10.1177/17298806231182750","url":null,"abstract":"To promote the precision and flexibility of the dexterous robot finger, a novel impedance-based robust fuzzy sliding mode control approach is developed. In the proposed scheme, an impedance control part constructed aims to regulate the contact force; while the robust fuzzy sliding mode controller proposed accounts for enhancing the anti-interference of this uncertain robotic system. Specifically, by analyzing the forward and inverse kinematics of the finger, its dynamical model with unknown and uncertain force disturbances can be established, and based on this model, a novel robust sliding mode impedance force controller has been designed, also, several critical impedance control parameters can be quickly optimized by invoking the fuzzy logic system. Ultimately, the Lyapunov stability of the proposed control is strictly demonstrated in mathematics. The simulations present the efficacy of the proposed scheme in both constrained and unconstrained spaces.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44651747","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1177/17298806231191002
Fuwei Deng, Qu Wen, L. Yang
The article proposes a model-free sliding mode prescribed performance control method for robotic manipulator. For accelerating the errors converging rate as well as bringing down the real-time control torque, an error-driven nonsingular fast terminal sliding mode is employed in this control method. Besides, a modified power reaching law is newly designed, which is able to offer better chattering elimination performance than traditional power reaching law. To solve the problem that the controller’s performance highly relies on the accuracy of robotic model, a model-free control idea is introduced where an ultra-local model is established and the estimation of time delay is used to approximate the unknown part of the ultra-local model. Considering the transient performance is a significant element that effects the using security and system stability, the technique of prescribed performance control is introduced to limit the state errors in a prescribed region. The closed-loop stability proof of the whole system is achieved according to Lyapunov’s stability theorem. The proposed controller’s superiority and feasibility compared with other controllers are demonstrated by numerical simulations.
{"title":"Model-free sliding mode prescribed performance control of robotic manipulator based on new reaching law","authors":"Fuwei Deng, Qu Wen, L. Yang","doi":"10.1177/17298806231191002","DOIUrl":"https://doi.org/10.1177/17298806231191002","url":null,"abstract":"The article proposes a model-free sliding mode prescribed performance control method for robotic manipulator. For accelerating the errors converging rate as well as bringing down the real-time control torque, an error-driven nonsingular fast terminal sliding mode is employed in this control method. Besides, a modified power reaching law is newly designed, which is able to offer better chattering elimination performance than traditional power reaching law. To solve the problem that the controller’s performance highly relies on the accuracy of robotic model, a model-free control idea is introduced where an ultra-local model is established and the estimation of time delay is used to approximate the unknown part of the ultra-local model. Considering the transient performance is a significant element that effects the using security and system stability, the technique of prescribed performance control is introduced to limit the state errors in a prescribed region. The closed-loop stability proof of the whole system is achieved according to Lyapunov’s stability theorem. The proposed controller’s superiority and feasibility compared with other controllers are demonstrated by numerical simulations.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42033628","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Robot service failure and subsequent user behavioral responses have emerged as a prominent scientific issue, warranting attention from multiple disciplines. A review of existing literature is crucial to synthesizing and comprehensively evaluating these studies. To this end, the present study undertook a structured systematic literature review to assess the relevant research on the concepts, dimensions, user response (including cognitional and behavioral), and recovery strategies related to service robot failure. Prior studies have largely followed interpersonal service interaction concepts and have identified several major consequences of service robot failure, including emotional and cognitive responses, negative attitudes, attributions of failure, and related behavioral and action-based responses. Notably, recovery strategies for robot service failure can be categorized into two main types: robot-initiated strategy and human intervention strategy. Further research on robot service failure is recommended in five key areas, including exploring the uniqueness of robot service failure, psychologically investigating user responses to robot failure, identifying novel remedy strategies for robot service failures, evolving the concepts of robot service failure and its remedies, and employing mixed-method and complementary research approaches.
{"title":"Robot service failure and recovery: Literature review and future directions","authors":"Dewen Liu, Chang Li, Jieqiong Zhang, Weidong Huang","doi":"10.1177/17298806231191606","DOIUrl":"https://doi.org/10.1177/17298806231191606","url":null,"abstract":"Robot service failure and subsequent user behavioral responses have emerged as a prominent scientific issue, warranting attention from multiple disciplines. A review of existing literature is crucial to synthesizing and comprehensively evaluating these studies. To this end, the present study undertook a structured systematic literature review to assess the relevant research on the concepts, dimensions, user response (including cognitional and behavioral), and recovery strategies related to service robot failure. Prior studies have largely followed interpersonal service interaction concepts and have identified several major consequences of service robot failure, including emotional and cognitive responses, negative attitudes, attributions of failure, and related behavioral and action-based responses. Notably, recovery strategies for robot service failure can be categorized into two main types: robot-initiated strategy and human intervention strategy. Further research on robot service failure is recommended in five key areas, including exploring the uniqueness of robot service failure, psychologically investigating user responses to robot failure, identifying novel remedy strategies for robot service failures, evolving the concepts of robot service failure and its remedies, and employing mixed-method and complementary research approaches.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43844056","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1177/17298806231171244
Z. Chen, YH Meng, Rongrong Jiang, Ruei-yuan Wang, Timothy Chen
Due to the feasibility of the gray model for predicting time series with small samples, the gray theory is well investigated since it is presented and is currently evolved in an important manner for forecasting small samples. This study proposes a new gray prediction criterion based on the neural ordinary differential equation, which is named the neural ordinary differential gray mode. This neural ordinary differential gray mode permits the forecasting model to be learned by a training process which contains a new whitening equation. It is needed to prepare the structure and time series, compared with other models, according to the regularity of actual specimens in advance, therefore this model of neural ordinary differential gray mode can provide comprehensive applications as well as learning the properties of distinct data specimens. To acquire a better model which has highly predictive efficiency, afterward, this study trains the model by neural ordinary differential gray mode using the Runge–Kutta method to obtain the prediction sequence and solve the model. The controller establishes an advantageous theoretical foundation in adapting to novel wheels and comprehensively spreads the utilize extent of mechanical elastic vehicle wheel.
{"title":"Neural ordinary differential gray algorithm to forecasting models of controlled systems","authors":"Z. Chen, YH Meng, Rongrong Jiang, Ruei-yuan Wang, Timothy Chen","doi":"10.1177/17298806231171244","DOIUrl":"https://doi.org/10.1177/17298806231171244","url":null,"abstract":"Due to the feasibility of the gray model for predicting time series with small samples, the gray theory is well investigated since it is presented and is currently evolved in an important manner for forecasting small samples. This study proposes a new gray prediction criterion based on the neural ordinary differential equation, which is named the neural ordinary differential gray mode. This neural ordinary differential gray mode permits the forecasting model to be learned by a training process which contains a new whitening equation. It is needed to prepare the structure and time series, compared with other models, according to the regularity of actual specimens in advance, therefore this model of neural ordinary differential gray mode can provide comprehensive applications as well as learning the properties of distinct data specimens. To acquire a better model which has highly predictive efficiency, afterward, this study trains the model by neural ordinary differential gray mode using the Runge–Kutta method to obtain the prediction sequence and solve the model. The controller establishes an advantageous theoretical foundation in adapting to novel wheels and comprehensively spreads the utilize extent of mechanical elastic vehicle wheel.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47459469","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-01DOI: 10.1177/17298806231181966
Lei Chen, Jizhong Liu, Lei Hu
This article studies the multi-layer and multi-pass welding of the circumferential weld in the thick pipe welding of an aviation enterprise, based on the static characteristics of the welding arc, through data calculations and experiments to verify the relationship between arc voltage and arc length, proposes to use the arc voltage controller to accurately adjust the arc voltage in real time, improve the welding stability, use the welding torch wiggler to expand the welding fusion width, meet the adaptive adjustment of the wide weld, and build the main control system based on programmable logic controller (PLC) control. Integrating all subsystems and put them into the actual production of the enterprise, significantly improves the production efficiency of parts welding, reduces welding defects, and improves the quality of aviation parts.
{"title":"Design of girth welding system based on tungsten inert gas welding","authors":"Lei Chen, Jizhong Liu, Lei Hu","doi":"10.1177/17298806231181966","DOIUrl":"https://doi.org/10.1177/17298806231181966","url":null,"abstract":"This article studies the multi-layer and multi-pass welding of the circumferential weld in the thick pipe welding of an aviation enterprise, based on the static characteristics of the welding arc, through data calculations and experiments to verify the relationship between arc voltage and arc length, proposes to use the arc voltage controller to accurately adjust the arc voltage in real time, improve the welding stability, use the welding torch wiggler to expand the welding fusion width, meet the adaptive adjustment of the wide weld, and build the main control system based on programmable logic controller (PLC) control. Integrating all subsystems and put them into the actual production of the enterprise, significantly improves the production efficiency of parts welding, reduces welding defects, and improves the quality of aviation parts.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43621687","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The existing Bug algorithms, which are the same as wall-following algorithms, offer good performance in solving local minimum problems caused by potential fields. However, because of the odometer drift that occurs in actual environments, the performance of the paths planned by these algorithms is significantly worse in actual environments than in simulated environments. To address this issue, this article proposes a new Bug algorithm. The proposed algorithm contains a potential field function that is based on the relative velocity, which enables the potential field method to be extended to dynamic scenarios. Using the cumulative changes in the internal and external angles and the reset point of the robot during the wall-following process, the condition for state switching has been redesigned. This improvement not only solves the problem of position estimation deviation caused by odometer noise but also enhances the decision-making ability of the robot. The simulation results demonstrate that the proposed algorithm is simpler and more efficient than existing wall-following algorithms and can realise path planning in an unknown dynamic environment. The experimental results for the Kobuki robot further validate the effectiveness of the proposed algorithm.
{"title":"Path planning of a mobile robot using an improved mixed-method of potential field and wall following","authors":"Qiang Xing, Sheng Xu, Hao Wang, Jiajia Wang, Wei Zhao, Haoze Xu","doi":"10.1177/17298806231169186","DOIUrl":"https://doi.org/10.1177/17298806231169186","url":null,"abstract":"The existing Bug algorithms, which are the same as wall-following algorithms, offer good performance in solving local minimum problems caused by potential fields. However, because of the odometer drift that occurs in actual environments, the performance of the paths planned by these algorithms is significantly worse in actual environments than in simulated environments. To address this issue, this article proposes a new Bug algorithm. The proposed algorithm contains a potential field function that is based on the relative velocity, which enables the potential field method to be extended to dynamic scenarios. Using the cumulative changes in the internal and external angles and the reset point of the robot during the wall-following process, the condition for state switching has been redesigned. This improvement not only solves the problem of position estimation deviation caused by odometer noise but also enhances the decision-making ability of the robot. The simulation results demonstrate that the proposed algorithm is simpler and more efficient than existing wall-following algorithms and can realise path planning in an unknown dynamic environment. The experimental results for the Kobuki robot further validate the effectiveness of the proposed algorithm.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42779431","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-05-01DOI: 10.1177/17298806231177148
Zhaoyan Wang, Hengyu Li, Jun Liu, Tiehui Zhang, Xinru Ma, Shaorong Xie, Jun Luo
With the increasing complexity of modern industry, the traditional single-target control of swarm robots can no longer meet application requirements. Hence, this article addresses compound task control for swarm robot systems, where the control aim and the dynamics of the robot are modeled by static group-bipartite consensus and Euler–Lagrange systems, respectively. After introducing the concept of static group-bipartite consensus in networked Euler–Lagrange systems, a distributed group-bipartite consensus control protocol with integral action is designed, and the criterion that ensures that static group-bipartite consensus is reached is presented. The most remarkable feature of the proposed algorithm is that it can accurately calculate the final state of system convergence. Finally, simulation examples are presented to verify the theoretical results.
{"title":"Static group-bipartite consensus in networked robot systems with integral action","authors":"Zhaoyan Wang, Hengyu Li, Jun Liu, Tiehui Zhang, Xinru Ma, Shaorong Xie, Jun Luo","doi":"10.1177/17298806231177148","DOIUrl":"https://doi.org/10.1177/17298806231177148","url":null,"abstract":"With the increasing complexity of modern industry, the traditional single-target control of swarm robots can no longer meet application requirements. Hence, this article addresses compound task control for swarm robot systems, where the control aim and the dynamics of the robot are modeled by static group-bipartite consensus and Euler–Lagrange systems, respectively. After introducing the concept of static group-bipartite consensus in networked Euler–Lagrange systems, a distributed group-bipartite consensus control protocol with integral action is designed, and the criterion that ensures that static group-bipartite consensus is reached is presented. The most remarkable feature of the proposed algorithm is that it can accurately calculate the final state of system convergence. Finally, simulation examples are presented to verify the theoretical results.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47185724","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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