J. Robotics Pub Date : 2023-11-25 DOI: 10.1155/2023/3264369

Anelize Zomkowski Salvi, Henrique Simas

{"title":"Assembly Sequence Planning for Rectangular Modular Robots with Accessibility Constraints","authors":"Anelize Zomkowski Salvi, Henrique Simas","doi":"10.1155/2023/3264369","DOIUrl":"https://doi.org/10.1155/2023/3264369","url":null,"abstract":"Product assembly is the final step in a manufacturing process where the individual components of a product are joined together. Assembly sequence planning (ASP) can be defined as the problem of finding a collision-free sequence of operations that allow the product assembly. Considering that during assembly individual modules cannot pass through a gap only as large as a module side, the ASP problem can be extended to modular robots, more specifically to rectangular modular robots. The main ASPs presented in the literature that are applicable to rectangular modules do not allow configurations with narrow corridors, i.e., corridors which are too narrow for a robot to transverse. Furthermore, these ASPs do not allow preassembled substructures or the free selection of the assembly starting point. Thus, the main goal of this work is to extend the classes of rectangular modular robot configurations that can be assembled without violating the accessibility condition. This paper introduces three novel ASP for constructing planar target structures composed of rectangular modular robots. Each ASP is adequate for a different scenario. Original implementation results and mathematical proofs for the three novel ASPs are also presented. To the best of the authors’ knowledge, this is the first work that presents, considering the accessibility condition, how to obtain centralized ASPs for assembling planar structures composed of rectangular modules with narrow corridors. Furthermore, the novel ASPs allow structures composed of subsets of preassembled modules and configurations with internal holes. They also allow the choice of the assembly starting point. Moreover, the third ASP proposed in this work allows achieving discontinuous assembly paths, i.e., wherever possible, the ASP allows a novel module to not connect to the latest added robot.","PeriodicalId":186435,"journal":{"name":"J. Robotics","volume":"101 1","pages":"3264369:1-3264369:20"},"PeriodicalIF":0.0,"publicationDate":"2023-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139236550","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

Study on Tracking Real-Time Target Human Using Deep Learning for High Accuracy 利用深度学习高精度跟踪实时目标人类的研究

J. Robotics Pub Date : 2023-11-17 DOI: 10.1155/2023/9446956

Van-Truong Nguyen, Duc-Tuan Chu

引用次数: 0

Motion Control of a Mobile Robot Using the Hedge-Algebras-Based Controller 利用基于对冲代数的控制器实现移动机器人的运动控制

J. Robotics Pub Date : 2023-11-15 DOI: 10.1155/2023/6613293

Sy-Tai Nguyen, Thi-Thoa Mac, H. Bui

{"title":"Motion Control of a Mobile Robot Using the Hedge-Algebras-Based Controller","authors":"Sy-Tai Nguyen, Thi-Thoa Mac, H. Bui","doi":"10.1155/2023/6613293","DOIUrl":"https://doi.org/10.1155/2023/6613293","url":null,"abstract":"Hedge–algebras (HA) theory provides a useful mathematical tool for modeling the linguistic values of a linguistic variable. These values are quantified by real numbers between 0 and 1. Therefore, the HA-based controller (HAC) has many advantages over the traditional fuzzy set theory-based controller (FC) in setup steps, control efficiency, computation time, and optimization. This study aims to control the avoidance of obstacles in the workspace and move to the destination of an autonomous robot using HAC, in which the HAC is optimized using the balancing composite motion optimization (BCMO) to return the optimal path. In which the investigated model is inherited from a reference. The HAC is established and optimized to minimize the traveling distance of the mobile robot and help it to avoid obstacles simultaneously. Simulations include one and two obstacle environments. Design variables, when optimizing, include the fuzzy parameters of linguistic variables and the reference range of state variables. This work is the first study in motion control of mobile robots based on the HA theory. The simulation data show that the proposed control rule base suits the mobile robot models. Therefore, the control efficiency of HAC is higher than that of a FC both in terms of the traveling distance of the robot and computation time (CPU time). Also, the establishment steps of the HAC controller show that HAC is more explicit, easier to optimize, and simpler to operate than FC. Research results in the present work also indicate that HAC can be developed and applied in motion control problems for different robot models with the advantages of a smaller traveling distance and faster computation time.","PeriodicalId":186435,"journal":{"name":"J. Robotics","volume":"66 7","pages":"6613293:1-6613293:13"},"PeriodicalIF":0.0,"publicationDate":"2023-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139275374","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

Research on Target Tracking Algorithm of Micro-UAV Based on Monocular Vision 基于单目视觉的微型无人机目标跟踪算法研究

J. Robotics Pub Date : 2023-07-04 DOI: 10.1155/2023/6657120

Yingbin Feng, Dian Wang, Kun Yang

引用次数: 0

Modelling and Control of a Two-Wheel Inverted Pendulum Using Fuzzy-PID-Modified State Feedback 基于模糊pid修正状态反馈的两轮倒立摆建模与控制

J. Robotics Pub Date : 2023-06-19 DOI: 10.1155/2023/4178227

Karima Nader, D. Sarsri

引用次数: 0

Research on Static/Dynamic Global Path Planning Based on Improved A ∗ Algorithm for Mobile Robots 基于改进A *算法的移动机器人静态/动态全局路径规划研究

J. Robotics Pub Date : 2023-06-16 DOI: 10.1155/2023/5098156

Huifang Bao, Jie Fang, Chao Wang, Zebin Li, Jinsi Zhang, Chuansheng Wang

{"title":"Research on Static/Dynamic Global Path Planning Based on Improved A ∗ Algorithm for Mobile Robots","authors":"Huifang Bao, Jie Fang, Chao Wang, Zebin Li, Jinsi Zhang, Chuansheng Wang","doi":"10.1155/2023/5098156","DOIUrl":"https://doi.org/10.1155/2023/5098156","url":null,"abstract":"In view of the problems of A\u0000 \u0000 \u0000 \u0000 ∗\u0000 \u0000 \u0000 algorithm in path planning, such as collision risk, the path is not necessarily optimal, and there are numerous turning nodes. Therefore, this study proposes an improved A\u0000 \u0000 \u0000 \u0000 ∗\u0000 \u0000 \u0000 algorithm to improve the quality of the planned path. First, the 8-neighborhood children of the parent node are generated, and the security of the planned path is improved by further investigating the properties of the neighbors of these children one by one to reasonably set virtual obstacles. Second, the heuristic function of A\u0000 \u0000 \u0000 \u0000 ∗\u0000 \u0000 \u0000 algorithm is ameliorated to make it closer to the actual cost, so as to enhance the accuracy of the planned path; finally, the planned path is smoothed by using the cubic uniform B-spline curve to eliminate corner sharp points in the path. The simulation results show that the improved A\u0000 \u0000 \u0000 \u0000 ∗\u0000 \u0000 \u0000 algorithm can not only ensure the safety and smoothness of the planned path but also obtain the shortest planned path in the static environment with different obstacle rates. In addition, we combine the improved A\u0000 \u0000 \u0000 \u0000 ∗\u0000 \u0000 \u0000 algorithm with the dynamic window algorithm to enable mobile robots to realize real-time dynamic obstacle avoidance while ensuring the optimality of global path planning.","PeriodicalId":186435,"journal":{"name":"J. Robotics","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131740620","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

Three-Dimensional Location and Mapping Analysis in Mobile Robotics Based on Visual SLAM Methods 基于视觉 SLAM 方法的移动机器人三维定位和绘图分析

J. Robotics Pub Date : 2023-06-16 DOI: 10.1155/2023/6630038

Gustavo Alonso Acosta Amaya, Juan M. Cadavid-Jimenez, J. Builes

{"title":"Three-Dimensional Location and Mapping Analysis in Mobile Robotics Based on Visual SLAM Methods","authors":"Gustavo Alonso Acosta Amaya, Juan M. Cadavid-Jimenez, J. Builes","doi":"10.1155/2023/6630038","DOIUrl":"https://doi.org/10.1155/2023/6630038","url":null,"abstract":"One of the essential tasks required from a mobile robot is the autonomous and safe navigation of its working environment. However, in many cases, a model of the environment or map is not available to execute this task. Indeed, navigation requires a permanent estimation of the location for a map, which is not available for unknown environments. In such a scenario, the robot must have extended capabilities to solve, concurrently, the problems of localization and mapping. The simultaneous solution of these two problems is known as SLAM (simultaneous localization and mapping) and is a complex problem, not yet fully solved by the scientific community. This is due to the fact that localization requires a map that is not yet available since it is still under construction. In turn, the elaboration of a map requires the estimation of the robot’s location. This is the reason why SLAM has been categorized as similar to the chicken and egg problem. In the case of a robot facing an unknown environment, it would be something like what to solve first, localization or mapping? The answer to this question is that the robot will have to solve both problems at the same time. This article presents a study of some of the most representative open source visual SLAM (vSLAM) methods, beginning from an analysis of their characteristics and presenting criteria selection for an experimental design that allows contrasting their advantages and disadvantages. Two of the most representative algorithms for solving vSLAM were considered (RTAB-Map and ORB-SLAM2). The experiments were validated with a robotic system designed for this purpose, which is fully compatible with ROS (robot operating system).","PeriodicalId":186435,"journal":{"name":"J. Robotics","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130039271","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

Application of Intelligent Robot Palletizer Technology in the Optimization of High-Speed Train Operation and Simulation Verification 智能机器人码垛技术在高速列车运行优化中的应用及仿真验证

J. Robotics Pub Date : 2023-05-31 DOI: 10.1155/2023/2656636

Xiaoling Zhang

{"title":"Application of Intelligent Robot Palletizer Technology in the Optimization of High-Speed Train Operation and Simulation Verification","authors":"Xiaoling Zhang","doi":"10.1155/2023/2656636","DOIUrl":"https://doi.org/10.1155/2023/2656636","url":null,"abstract":"With the continuous development of society and economy, energy consumption and exhaust emissions of high-speed trains have also gained more and more attention from the industry. Hence, optimizing the operation of high-speed trains is of pivotal significance to achieve optimization as required. On the basis of the intelligent robot palletizer technology, a spatial construction method and intelligent robot palletizer capable of operating through the dispatching of high-speed trains are put forward in this paper on the basis of the situation of high-speed trains assigned. The method of changing the arrival time of the trains and the order of departure are adopted to control the operation of the high-speed trains in an efficient and intelligent manner. With regard to the intervals of departure time, the overtaking of trains and other issues, a three-dimensional spatial travel route is established and used for processing. The intelligent robot palletizer is used to implement the dispatching of trains in the aspect of height. Subsequently, the minimum value method and secure network technology are used to verify that the technology of the intelligent robot palletizer is mature and reliable. Finally, a practical case analysis is carried out in this paper on some sections of the Harbin–Dalian high-speed railway to verify the accuracy and effectiveness of the method proposed in this paper. Through the comparative analysis with other methods, the advantages of the algorithm put forward in this paper can be observed.","PeriodicalId":186435,"journal":{"name":"J. Robotics","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114817155","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

Attitude Analysis and Evaluation of Camera Based on Planar Double Joint Robot 基于平面双关节机器人的摄像机姿态分析与评价

J. Robotics Pub Date : 2023-05-30 DOI: 10.1155/2023/8143828

Zhi Xu, Xin Wang, Chun Chen, Jiahai Zhang

{"title":"Attitude Analysis and Evaluation of Camera Based on Planar Double Joint Robot","authors":"Zhi Xu, Xin Wang, Chun Chen, Jiahai Zhang","doi":"10.1155/2023/8143828","DOIUrl":"https://doi.org/10.1155/2023/8143828","url":null,"abstract":"Planar double-jointed robot is a kind of widely used robot. In the past decades, with the development of science and technology, planar double-jointed robot has a great breakthrough in many aspects, especially in the actual camera and attitude analysis. In recent years, pun-section manipulator has made great progress in technology, but its kinematic characteristics and the human body’s ability to move have a great gap. So, in the moving plane, we need to study how to improve its camera ability to find a more stable and effective camera mode, and to a certain extent, to meet its requirements in complex working conditions. Simulating the pose of two joints, we seek a more stable and effective camera mode to improve its moving speed, expand its moving space, and lay a solid foundation for its application. Planar double-jointed robot is the most representative one at present. It includes machinery, material, electronics, computer, sensor, drive, intelligent control, artificial intelligence, and so on. Because it is closer to the human body, more suitable for people’s work and work, so it does not need to change its environment, so it is regarded as having a high affinity for people’s machinery. Its characteristic is that it has the good adaptability and the flexibility, but the double joint camera’s support discontinuity enables it to be able to adapt each kind of complex situation well. It can not only climb the stairs but also in the messy ground smooth through and also in the inconvenient passage through. The aim of this paper is to analyze the unique advantages and irreplaceable characteristics of the planar double-jointed robot based on the bionic and mechanical research results. This paper analyzes the mechanical technology by means of literature review and actual data analysis. The experimental results show that the biggest difference between the two articulated robots and other robots is that they have two human-like joint motions.","PeriodicalId":186435,"journal":{"name":"J. Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121403605","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

Mobile Robot Path Planning Based on Improved Particle Swarm Optimization and Improved Dynamic Window Approach 基于改进粒子群优化和改进动态窗口法的移动机器人路径规划

J. Robotics Pub Date : 2023-05-18 DOI: 10.1155/2023/6619841

Zhenjian Yang, Ning Li, Yunjie Zhang, Jin Li

{"title":"Mobile Robot Path Planning Based on Improved Particle Swarm Optimization and Improved Dynamic Window Approach","authors":"Zhenjian Yang, Ning Li, Yunjie Zhang, Jin Li","doi":"10.1155/2023/6619841","DOIUrl":"https://doi.org/10.1155/2023/6619841","url":null,"abstract":"To enable mobile robots to effectively complete path planning in dynamic environments, a hybrid path planning method based on particle swarm optimization (PSO) and dynamic window approach (DWA) is proposed in this paper. First, an improved particle swarm optimization (IPSO) is proposed to enhance the exploration capability and search accuracy of the algorithm by improving the velocity update method and inertia weight. Secondly, a particle initialization strategy is used to increase population diversity, and an addressing local optimum strategy is used to make the algorithm overcome the local optimum. Thirdly, a method of selecting navigation points is proposed to guide local path planning. The robot selects the appropriate navigation points as the target points for local path planning based on the position of the robot and the risk of collision with dynamic obstacles. Finally, an improved dynamic window approach (IDWA) is proposed by combining the velocity obstacle (VO) with the DWA, and the evaluation function of the DWA is improved to enhance trajectory tracking and dynamic obstacle avoidance capabilities. The simulation and experimental results show that IPSO has greater exploration capability and search accuracy; IDWA is more effective in trajectory tracking and dynamic obstacle avoidance; and the hybrid algorithm enables the robot to efficiently complete path planning in dynamic environments.","PeriodicalId":186435,"journal":{"name":"J. Robotics","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123536833","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

J. Robotics最新文献