2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)最新文献_第3页

Jointly Develop and Test of Electrical-Hydraulic Stepping Cylinder 联合开发电液步进缸并进行试验

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI: 10.1109/ACIRS58671.2023.10240438

Rongbao Dong, Pen Jun

引用次数: 0

Modeling and Simulation Analysis of a Six Wheel Multimodal Mobile Robot 六轮多模态移动机器人建模与仿真分析

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI: 10.1109/ACIRS58671.2023.10240763

Qunwei Zhu, Jianzhong Shang, Xiaofeng Zeng, Minghai Xia, Yang Hong, Zirong Luo

{"title":"Modeling and Simulation Analysis of a Six Wheel Multimodal Mobile Robot","authors":"Qunwei Zhu, Jianzhong Shang, Xiaofeng Zeng, Minghai Xia, Yang Hong, Zirong Luo","doi":"10.1109/ACIRS58671.2023.10240763","DOIUrl":"https://doi.org/10.1109/ACIRS58671.2023.10240763","url":null,"abstract":"In order to solve the problems of traditional wheeled robots with large turning radius, low obstacle crossing ability, poor flexibility and manoeuvrability, a multimodal mobile robot with a six wheel drive and six wheel steering structure is proposed in this paper. By varying the rotation angle of the robot's six wheels, the robot is able to achieve four basic movement modes: straight travel, translation, steering in situ, and turning around any point. At the same time, the dual rocker arm suspension structure ensures that the robot can always land on six wheels, improving its overall passability and terrain adaptability. Firstly, the robot structure is designed. Then, by establishing a motion model of the six wheel drive and steering robot, the angle and velocity relationships of the six wheels under four different motion modes are established, which will provide a kinematic basis for the design of motion controller. Next, the virtual prototype is modelled in Gazebo software, and simulation tests are conducted for the four basic motion modes as well as the obstacle crossing ability of the robot. The simulation results verify the high flexibility and strong obstacle crossing ability of the robot.","PeriodicalId":148401,"journal":{"name":"2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)","volume":"138 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115966664","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}

引用次数: 0

Critical Node Identification for Power Communication Networks Based on an Improved Structural Hole Algorithm 基于改进结构孔算法的电力通信网络关键节点识别

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI: 10.1109/ACIRS58671.2023.10240297

Yibo Huo, Qi Sun, Chengliang Li, Yu Zou, Z. Qi, Bin Lu

引用次数: 0

Multi-AUV Static Target Search Based on Improved PSO 基于改进粒子群算法的多水下航行器静态目标搜索

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI: 10.1109/ACIRS58671.2023.10240832

Yue You, Wei Xing, Feng Xie, Yao Yao

{"title":"Multi-AUV Static Target Search Based on Improved PSO","authors":"Yue You, Wei Xing, Feng Xie, Yao Yao","doi":"10.1109/ACIRS58671.2023.10240832","DOIUrl":"https://doi.org/10.1109/ACIRS58671.2023.10240832","url":null,"abstract":"In recent years, with the development of AUVs, AUVs have been more applied in military and civilian fields, and the cooperative operation of multiple AUVs has become one of the research hotspots by virtue of its high efficiency and strong robustness in performing tasks. For the problem that it is difficult to fully cover the regional static target search in limited time, Voronoi diagram and biological competition model are used to realize the reasonable allocation of multiple AUVs and search area, and convert the multiple AUV search into single AUV search to simplify the problem and improve the search efficiency. In the search path planning within the sub-region, for the problems that the traditional particle swarm algorithm is easy to fall into local extrema and not applicable to continuous space, an improved particle swarm algorithm is proposed, combining the discrete particle swarm idea and adjusting the algorithm parameter factors to adapt the discrete space while accelerating the jump out of local extrema and improving the probability of detecting the target and the environment. The simulation results show that compared with the pure random route and the standard particle swarm route, the detection probability of target and environment is improved by 54.3% and 7.7%, respectively, which proves its effectiveness.","PeriodicalId":148401,"journal":{"name":"2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127938548","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}

引用次数: 1

Research on Occupancy Grid Map Creation Method Based on RPBF-SLAM 基于RPBF-SLAM的占用网格地图创建方法研究

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI: 10.1109/ACIRS58671.2023.10239753

Zhao Liang, Weiguang Shi, Shenghao Zhou, Junwei Chen

引用次数: 0

Improved Performance for Multi-Arm Harvest Robot System with Edge Computing and Distributed Communication 基于边缘计算和分布式通信的多臂收获机器人系统性能改进

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI: 10.1109/ACIRS58671.2023.10240736

Feng Xie, Tao Li, Qingchun Feng

引用次数: 0