Pub Date : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10355003
Hang Gao, Xiaodong Zhang, Chao Ma, Cheng Zhou
This paper develops a combined active and passive adaptive variable admittance compliant control algorithm for space robotic manipulators. In fact, the assembly task for space robots requires compliance and precision while ensuring avoidance of any occurrences of rigid collision throughout the process. Therefore, we design a new combined active and passive variable admittance control structure combined with the following three parts to meet these acquirements. Firstly, we develop an active variable admittance algorithm to facilitate the space robot rapid movement, enabling it to achieve higher speeds while maintaining compliance. Then, to mitigate the occurrence of unforeseen rigid collisions during the robot motion, we devise a passive variable admittance control algorithm, which aims to minimize the impact of collision events and ensure the robot safe operation. Furthermore, by employing the Lyapunov theory, a new active adaptive variable admittance control algorithm is presented for robot constant force output. Consequently, through contrast experiments, we demonstrate the effectiveness and enhanced performance of the proposed algorithm.
{"title":"Combined active and passive adaptive variable admittance compliant control for space robotic manipulators","authors":"Hang Gao, Xiaodong Zhang, Chao Ma, Cheng Zhou","doi":"10.1109/ROBIO58561.2023.10355003","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10355003","url":null,"abstract":"This paper develops a combined active and passive adaptive variable admittance compliant control algorithm for space robotic manipulators. In fact, the assembly task for space robots requires compliance and precision while ensuring avoidance of any occurrences of rigid collision throughout the process. Therefore, we design a new combined active and passive variable admittance control structure combined with the following three parts to meet these acquirements. Firstly, we develop an active variable admittance algorithm to facilitate the space robot rapid movement, enabling it to achieve higher speeds while maintaining compliance. Then, to mitigate the occurrence of unforeseen rigid collisions during the robot motion, we devise a passive variable admittance control algorithm, which aims to minimize the impact of collision events and ensure the robot safe operation. Furthermore, by employing the Lyapunov theory, a new active adaptive variable admittance control algorithm is presented for robot constant force output. Consequently, through contrast experiments, we demonstrate the effectiveness and enhanced performance of the proposed algorithm.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"58 9","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187127","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 : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354821
Michelle Rossouw, Sridhar Ravi, Matt Garratt
A blimp, called FishBlimp, that uses fins for propulsion was built and source localisation capability was added to it. The blimp’s envelope is a spherical mylar foil balloon approximately 53 cm in diameter. To this, servos and fins were added in four equal positions along the equator of the envelope. A gondola was attached to the bottom with the rest of the hardware. Support for the blimp was added to the open source autopilot called ArduPilot. Blimp dynamics was also added to its simulation system called SITL. Then multiple-agent source localisation was performed within SITL, using a modified Particle Swarm Optimisation algorithm.
{"title":"Bio-Inspired blimps and multiple-agent source localisation","authors":"Michelle Rossouw, Sridhar Ravi, Matt Garratt","doi":"10.1109/ROBIO58561.2023.10354821","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354821","url":null,"abstract":"A blimp, called FishBlimp, that uses fins for propulsion was built and source localisation capability was added to it. The blimp’s envelope is a spherical mylar foil balloon approximately 53 cm in diameter. To this, servos and fins were added in four equal positions along the equator of the envelope. A gondola was attached to the bottom with the rest of the hardware. Support for the blimp was added to the open source autopilot called ArduPilot. Blimp dynamics was also added to its simulation system called SITL. Then multiple-agent source localisation was performed within SITL, using a modified Particle Swarm Optimisation algorithm.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"55 9","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187191","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}
Tracheal intubation is a crucial measure to ensure smooth respiration during general anesthesia surgeries. Currently, manual intubation is commonly employed, with its success heavily reliant on the proficiency of the physicians performing the procedure. In this paper, a 3 degree-of-freedom (DOF) master-slave operated tracheal intubation robotic system is proposed, wherein a flexible endoscope serves as the end effector. The structural components of the master-slave mechanism are described in detail, and the kinematic model of the flexible endoscope is established. Four participants were recruited to conduct experimental research on master-slave operation intubation. In the experiment, the shortest operation time recorded was 8.88 seconds, while the longest is 72.04 seconds, they are less than the clinically required safety threshold of 2 minutes. This validates the feasibility of the developed prototype in achieving robot-assisted intubation.
{"title":"Design and validation of a novel tracheal intubation robot*","authors":"Jingjing Luo, Yu Tian, Hongbo Wang, Jiawei Wang, Luyan Zhou, Jianhao Tang, Xing Zhu, Lili Feng, Yuan Han, Wenxian Li","doi":"10.1109/ROBIO58561.2023.10355029","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10355029","url":null,"abstract":"Tracheal intubation is a crucial measure to ensure smooth respiration during general anesthesia surgeries. Currently, manual intubation is commonly employed, with its success heavily reliant on the proficiency of the physicians performing the procedure. In this paper, a 3 degree-of-freedom (DOF) master-slave operated tracheal intubation robotic system is proposed, wherein a flexible endoscope serves as the end effector. The structural components of the master-slave mechanism are described in detail, and the kinematic model of the flexible endoscope is established. Four participants were recruited to conduct experimental research on master-slave operation intubation. In the experiment, the shortest operation time recorded was 8.88 seconds, while the longest is 72.04 seconds, they are less than the clinically required safety threshold of 2 minutes. This validates the feasibility of the developed prototype in achieving robot-assisted intubation.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"40 12","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187230","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 : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354554
Ningyuan Luo, Nailong Bu, Chao-yuan Liu, Zhenhua Xiong
Hyper-redundant robot is a type of special robot often used for detection and maintenance work in confined environments. With continuous research in recent years, various types of hyper-redundant robots have emerged. However, the dynamic modeling of hyper-redundant robots remains challenging. To address this issue, this paper introduces a hybrid degree-of-freedom configuration of hyper-redundant robots (HDHR), derives its kinematic model, and uses a modular dynamic modeling method to construct the dynamic model of hyper-redundant robot. Simulation results verify the feasibility of dynamic mode.
{"title":"Dynamical Modelling of a Hyper-Redundant Manipulator with a Hybrid Degree-of-Freedom Configuration","authors":"Ningyuan Luo, Nailong Bu, Chao-yuan Liu, Zhenhua Xiong","doi":"10.1109/ROBIO58561.2023.10354554","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354554","url":null,"abstract":"Hyper-redundant robot is a type of special robot often used for detection and maintenance work in confined environments. With continuous research in recent years, various types of hyper-redundant robots have emerged. However, the dynamic modeling of hyper-redundant robots remains challenging. To address this issue, this paper introduces a hybrid degree-of-freedom configuration of hyper-redundant robots (HDHR), derives its kinematic model, and uses a modular dynamic modeling method to construct the dynamic model of hyper-redundant robot. Simulation results verify the feasibility of dynamic mode.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"50 9","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187252","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 : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354960
Dingzhi Zhang, Lukas Birner, Vinicius Zinkernagel, C. Rehekampff, Darius Burschka, Tim C. Lueth
Despite the rapid development in robotics, the use of mobile robots in everyday life is currently not yet widespread. The complicated programming interface of mobile robots is often an obstacle to use for people who are not technically proficient. To this end, we present a novel method for teach-and-repeat of mobile robots by Ultra-Wideband (UWB) based human following. This approach has the following two advantages. First, the human following using UWB releases capacities for parallel activities during the teach-in process. Second, the programming of the robot path is conducted directly on the robot hardware using a self-developed UWB-based handset, which reduces setup time. Real-world experiments are conducted using our in-house developed mobile robot platform, the "Carrier Bot", whose hardware design has been specially selected to facilitate ease of use for indoor teach-in programming. Experiments show that the proposed system can reach a repeatability of 0.05 m of at least 12 meters path.
{"title":"Carrier Bot: A UWB-based Human Following Mobile Platform for Intra-Office Transport with an Intuitive Teach-and-Repeat Programming","authors":"Dingzhi Zhang, Lukas Birner, Vinicius Zinkernagel, C. Rehekampff, Darius Burschka, Tim C. Lueth","doi":"10.1109/ROBIO58561.2023.10354960","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354960","url":null,"abstract":"Despite the rapid development in robotics, the use of mobile robots in everyday life is currently not yet widespread. The complicated programming interface of mobile robots is often an obstacle to use for people who are not technically proficient. To this end, we present a novel method for teach-and-repeat of mobile robots by Ultra-Wideband (UWB) based human following. This approach has the following two advantages. First, the human following using UWB releases capacities for parallel activities during the teach-in process. Second, the programming of the robot path is conducted directly on the robot hardware using a self-developed UWB-based handset, which reduces setup time. Real-world experiments are conducted using our in-house developed mobile robot platform, the \"Carrier Bot\", whose hardware design has been specially selected to facilitate ease of use for indoor teach-in programming. Experiments show that the proposed system can reach a repeatability of 0.05 m of at least 12 meters path.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"38 9","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187264","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 : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354965
Michael Rose, Olivia Carnochan, Rhys Gamlin, Liam Tomlinson, A. Jafari, Appolinaire C. Etoundi
Comfort in prosthetic sockets remains a significant challenge for many amputees, particularly for above-knee amputees bearing substantial weight on their soft tissue [1], [2]. The predominant source of discomfort often originates from swelling of the residual limb, a factor traditional prosthetic sockets fail to accommodate [3]. While Osseointegration surgery, a unique method to connect prosthetics and residual limbs while removing the socket, is recognized as a superior solution for enhancing comfort and quality of life, its accessibility remains limited [4]. Hence, the motivation for this study is to explore the development of an automatically actuating and adjustable socket. This research aims to design and develop a prosthetic limb socket offering enhanced comfort, flexibility, and user control i.e. a robotic socket (RS). A comprehensive literature review was conducted to assess existing interactive sockets and sensory systems, focusing on their performance and specifications. The methodology employed in this study (Phase 1) involved the design and testing of small-scale circuits which will later (Phase 2) evolve into a more complex and up-scaled system. The prototype developed in this study features a plastic bottle equipped with a pressure valve, simulating residual limb swelling by modulating the internal pressure. A 3D-printed button and locking wire serve as a rigid socket, preventing unchecked bottle expansion. A motor integrated into the system modulates hoop tension on the conceptual socket, ensuring user-specific pressure regulation. The system was developed using a Raspberry Pi to manage motor fluctuations based on user-defined set points and bottle pressure readings. Preliminary testing demonstrated promising results, with the motor effectively adjusting the cable tension in response to the pressure sensor’s readings. The use of a plastic bottle in the prototype makes this design cost-effective and accessible.
对于许多截肢者来说，尤其是膝上截肢者，其软组织承受着巨大的重量[1]、[2]，假肢套筒的舒适性仍然是一个重大挑战。造成不适的主要原因通常是残肢肿胀，而传统的假肢套筒无法适应这一因素[3]。骨结合手术是一种独特的方法，可在移除假肢套的同时连接假肢和残肢，被认为是提高舒适度和生活质量的最佳解决方案，但其可及性仍然有限[4]。因此，本研究的动机是探索开发一种自动致动和可调节的插座。本研究旨在设计和开发一种可提高舒适度、灵活性和用户控制能力的义肢插座，即机器人插座（RS）。我们进行了全面的文献综述，以评估现有的交互式义肢套筒和传感系统，重点关注其性能和规格。本研究（第 1 阶段）采用的方法包括设计和测试小规模电路，随后（第 2 阶段）将发展成更复杂和更大规模的系统。本研究开发的原型是一个装有压力阀的塑料瓶，通过调节内部压力模拟残肢肿胀。3D打印的按钮和锁线可作为刚性插座，防止瓶子肆意膨胀。集成在系统中的电机可调节概念插座上的箍张力，确保用户特定的压力调节。该系统使用 Raspberry Pi 开发，可根据用户定义的设定点和瓶子压力读数管理电机波动。初步测试结果表明，电机能根据压力传感器的读数有效调节缆绳张力，效果良好。原型中塑料瓶的使用使这一设计既经济又方便。
{"title":"The Robotic Socket: A Robotic Design and Biomimetic Application of an Auto-Adjusting Prosthetic Socket Prototype for Above-Knee Amputees","authors":"Michael Rose, Olivia Carnochan, Rhys Gamlin, Liam Tomlinson, A. Jafari, Appolinaire C. Etoundi","doi":"10.1109/ROBIO58561.2023.10354965","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354965","url":null,"abstract":"Comfort in prosthetic sockets remains a significant challenge for many amputees, particularly for above-knee amputees bearing substantial weight on their soft tissue [1], [2]. The predominant source of discomfort often originates from swelling of the residual limb, a factor traditional prosthetic sockets fail to accommodate [3]. While Osseointegration surgery, a unique method to connect prosthetics and residual limbs while removing the socket, is recognized as a superior solution for enhancing comfort and quality of life, its accessibility remains limited [4]. Hence, the motivation for this study is to explore the development of an automatically actuating and adjustable socket. This research aims to design and develop a prosthetic limb socket offering enhanced comfort, flexibility, and user control i.e. a robotic socket (RS). A comprehensive literature review was conducted to assess existing interactive sockets and sensory systems, focusing on their performance and specifications. The methodology employed in this study (Phase 1) involved the design and testing of small-scale circuits which will later (Phase 2) evolve into a more complex and up-scaled system. The prototype developed in this study features a plastic bottle equipped with a pressure valve, simulating residual limb swelling by modulating the internal pressure. A 3D-printed button and locking wire serve as a rigid socket, preventing unchecked bottle expansion. A motor integrated into the system modulates hoop tension on the conceptual socket, ensuring user-specific pressure regulation. The system was developed using a Raspberry Pi to manage motor fluctuations based on user-defined set points and bottle pressure readings. Preliminary testing demonstrated promising results, with the motor effectively adjusting the cable tension in response to the pressure sensor’s readings. The use of a plastic bottle in the prototype makes this design cost-effective and accessible.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"47 8","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187318","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 : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354601
Runming Cai, Yisheng Guan, Haifei Zhu, Wangcheng Chen, Shixin Mao
Wheel-legged robots are widely used because they combine the ability of wheeled robots with high locomotion efficiency and legged robots with high environmental adaptability. However, it is important and challenging for wheel-legged robots to rationally plan the switching between wheeled and legged locomotion modes. In this paper, we propose a planning model based on energy optimization to solve the locomotion mode switching process with the self-developed wheel-legged robot (Mobot-WL) as the research object. The core idea is to solve a smooth and less energy-consuming locomotion mode switching trajectory based on the stabilization of the motion process. Simulation results and experiments with Mobot-WL show that the algorithm can plan the locomotion mode switching efficiently and robustly.
{"title":"Planning for Locomotion Mode Switching Based on Energy Optimization with a Wheel-legged Mobile Robot","authors":"Runming Cai, Yisheng Guan, Haifei Zhu, Wangcheng Chen, Shixin Mao","doi":"10.1109/ROBIO58561.2023.10354601","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354601","url":null,"abstract":"Wheel-legged robots are widely used because they combine the ability of wheeled robots with high locomotion efficiency and legged robots with high environmental adaptability. However, it is important and challenging for wheel-legged robots to rationally plan the switching between wheeled and legged locomotion modes. In this paper, we propose a planning model based on energy optimization to solve the locomotion mode switching process with the self-developed wheel-legged robot (Mobot-WL) as the research object. The core idea is to solve a smooth and less energy-consuming locomotion mode switching trajectory based on the stabilization of the motion process. Simulation results and experiments with Mobot-WL show that the algorithm can plan the locomotion mode switching efficiently and robustly.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"36 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187327","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 : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354776
Bohuai Su, Feifei Gu, Hubing Du, Zhan Song
Spatial structured light (SL) enables three-dimensional measurements in a single shot by projecting patterns with coded information. However, conventional structured light systems typically employ a digital light processing projector (DLP) to project specific light patterns or coded patterns onto the surface of the object under examination. This reliance on projectors limits the miniaturization potential of such structured light systems, thereby hindering their suitability for industrial applications. The main contributions of the work in this paper include: 1) We introduce a novel and practical depth-aware miniature solution for smart terminals that employs a diffractive optical element (DOE) instead of a digital projector to project coded patterns. 2) We propose a one-dimensional SL pattern generation method that is successfully etched onto a DOE. 3) In contrast to traditional image processing techniques, all crucial steps in the pattern decoding process, such as corner detection and block recognition, are executed using deep learning methods, ensuring heightened robustness in real-world applications. The experimental results verify the effectiveness of the proposed method.
空间结构光（SL）通过投射带有编码信息的图案，可在一次拍摄中实现三维测量。然而，传统的结构光系统通常采用数字光处理投影仪（DLP）将特定的光图案或编码图案投射到被测物体表面。对投影仪的依赖限制了此类结构光系统的微型化潜力，从而阻碍了它们在工业应用中的适用性。本文工作的主要贡献包括1) 我们为智能终端引入了一种新颖实用的深度感知微型解决方案，它采用衍射光学元件（DOE）而不是数字投影仪来投射编码图案。2) 我们提出了一种成功蚀刻到 DOE 上的一维 SL 图案生成方法。3) 与传统的图像处理技术相比，图案解码过程中的所有关键步骤，如角检测和块识别，均采用深度学习方法来执行，从而确保在实际应用中具有更高的鲁棒性。实验结果验证了所提方法的有效性。
{"title":"DOE-based Structured Light For Robust 3D Reconstruction","authors":"Bohuai Su, Feifei Gu, Hubing Du, Zhan Song","doi":"10.1109/ROBIO58561.2023.10354776","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354776","url":null,"abstract":"Spatial structured light (SL) enables three-dimensional measurements in a single shot by projecting patterns with coded information. However, conventional structured light systems typically employ a digital light processing projector (DLP) to project specific light patterns or coded patterns onto the surface of the object under examination. This reliance on projectors limits the miniaturization potential of such structured light systems, thereby hindering their suitability for industrial applications. The main contributions of the work in this paper include: 1) We introduce a novel and practical depth-aware miniature solution for smart terminals that employs a diffractive optical element (DOE) instead of a digital projector to project coded patterns. 2) We propose a one-dimensional SL pattern generation method that is successfully etched onto a DOE. 3) In contrast to traditional image processing techniques, all crucial steps in the pattern decoding process, such as corner detection and block recognition, are executed using deep learning methods, ensuring heightened robustness in real-world applications. The experimental results verify the effectiveness of the proposed method.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"22 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139186700","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 : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10355017
Guozheng Li, Qiyu Wang, Qinghan Hu, Zhiqing Li
In the traditional path planning of the Autonomous Underwater Vehicle (AUV), the algorithm’s time and the planned path’s length are more considered. Energy consumption, which greatly affects AUVs’ endurance, is rarely considered. Therefore, a path-planning algorithm based on energy consumption is proposed in this study. Firstly, the energy consumption function of the AUV during navigation is established. Then, based on the energy consumption function, the cost function of the A* algorithm is adaptively improved. Therefore, an improved A* algorithm with optimal energy consumption is proposed. After that, the algorithm, A* algorithm, ant colony algorithm and improved ant colony algorithm were simulated under raster map. Simulation results show that compared with the other three algorithms, the energy consumption of AUV sailing on the path planned by the algorithm is reduced by 6.0%∼22.9%.
{"title":"Path planning of AUV based on improved A* algorithm with optimal energy consumption*","authors":"Guozheng Li, Qiyu Wang, Qinghan Hu, Zhiqing Li","doi":"10.1109/ROBIO58561.2023.10355017","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10355017","url":null,"abstract":"In the traditional path planning of the Autonomous Underwater Vehicle (AUV), the algorithm’s time and the planned path’s length are more considered. Energy consumption, which greatly affects AUVs’ endurance, is rarely considered. Therefore, a path-planning algorithm based on energy consumption is proposed in this study. Firstly, the energy consumption function of the AUV during navigation is established. Then, based on the energy consumption function, the cost function of the A* algorithm is adaptively improved. Therefore, an improved A* algorithm with optimal energy consumption is proposed. After that, the algorithm, A* algorithm, ant colony algorithm and improved ant colony algorithm were simulated under raster map. Simulation results show that compared with the other three algorithms, the energy consumption of AUV sailing on the path planned by the algorithm is reduced by 6.0%∼22.9%.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"109 9","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139186751","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}
Trajectory prediction is crucial in enabling autonomous driving systems to make informed decisions, plan appropriate paths, and enhance traffic safety and efficiency. It remains an immensely challenging task due to complex interaction between vehicles, the difficulty of extracting traffic rules information, and the dynamic changes in traffic flow. Existing methods model the interactions among vehicles or extract traffic flow density features, but overlook the effects of neighboring vehicles’ movements and interactions, which contain traffic rules and the influence of surrounding traffic conditions. To achieve this, we propose a new method taking into account neighboring vehicles’ dynamic behaviors and history, allowing for a more comprehensive understanding of the traffic environment. Firstly, a novel dual-stream nearest vehicle attention mechanism method is proposed that leverages the historical state and position of the neighbors’ vehicle and captures its features. Secondly, in order to effectively encode these features, we recombine them by the multi-head attention mechanism. Lastly, in order to fusion these features and other inputs, we extract and combine the relationships between them by a self-attention mechanism. Our approach not only outperforms other methods in evaluation metrics but also demonstrates excellent results in real-world scenarios.
{"title":"Vehicle Trajectories Prediction via Nearest Neighbor Historical Behavior","authors":"Wanting Wang, Qieshi Zhang, Xuesong Li, Jian Tang, Dong Liu, Jun Cheng","doi":"10.1109/ROBIO58561.2023.10354539","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354539","url":null,"abstract":"Trajectory prediction is crucial in enabling autonomous driving systems to make informed decisions, plan appropriate paths, and enhance traffic safety and efficiency. It remains an immensely challenging task due to complex interaction between vehicles, the difficulty of extracting traffic rules information, and the dynamic changes in traffic flow. Existing methods model the interactions among vehicles or extract traffic flow density features, but overlook the effects of neighboring vehicles’ movements and interactions, which contain traffic rules and the influence of surrounding traffic conditions. To achieve this, we propose a new method taking into account neighboring vehicles’ dynamic behaviors and history, allowing for a more comprehensive understanding of the traffic environment. Firstly, a novel dual-stream nearest vehicle attention mechanism method is proposed that leverages the historical state and position of the neighbors’ vehicle and captures its features. Secondly, in order to effectively encode these features, we recombine them by the multi-head attention mechanism. Lastly, in order to fusion these features and other inputs, we extract and combine the relationships between them by a self-attention mechanism. Our approach not only outperforms other methods in evaluation metrics but also demonstrates excellent results in real-world scenarios.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"85 5","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139186802","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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