{"title":"Attitude Estimation of Four-Rotor UAV Based on Extended Kalman Filter","authors":"Wang Miao Hui, M. Thompson","doi":"10.58291/ijec.v1i2.52","DOIUrl":"https://doi.org/10.58291/ijec.v1i2.52","url":null,"abstract":"Quadrotor unmanned aerial vehicle (UAV) is a typical multi-input multi-output (MIMO), nonlinear and strong coupling underactuated system. In the working process of the system, it is necessary to perform information fusion on the attitude detected by the sensor to achieve accurate measurement of attitude angle and angular velocity. Accurate and efficient measurement of UAV attitude angle is the basis of UAV flight control. In this paper, the extended Kalman filter (EKF) algorithm is used to estimate the attitude information of the four-rotor UAV. Firstly, a four-rotor UAV simulation model is established on Simulink in Matlab, and then the attitude information of the UAV is measured and estimated. The results show that the extended Kalman filter algorithm can effectively estimate the attitude information of UAV.","PeriodicalId":388974,"journal":{"name":"International Journal of Engineering Continuity","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129693602","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}
{"title":"Simulation and Application of Mobile Robot Vision Technology","authors":"Heru Suwoyo, Taufik Hidayat, Abdurohman Abdurohman, Minghao Yu","doi":"10.58291/ijec.v1i2.53","DOIUrl":"https://doi.org/10.58291/ijec.v1i2.53","url":null,"abstract":"This paper will focus on the application of machine vision in mobile robots and take moving to the appropriate position and grasping the designated target as the task. This paper will describe and simulate the vision technology that mobile robots need to apply in the task process. This paper mainly uses the camera as the sensor. The difficulties of vision technology are mainly divided into three parts: scene depth information acquisition, positioning and mapping, and image processing. In order to obtain the depth information of the scene, this paper mainly introduces the depth information acquisition methods of monocular camera and binocular camera. In the aspect of localization and mapping, this paper mainly introduces the simulation of visual odometer to understand the basic process of mobile robot obtaining navigation map and its own route. Then, the gray gradient 2D maximum entropy algorithm is introduced to segment the scene and target, and extract features to judge the required target. Compared with other segmentation algorithms, the gray gradient 2D maximum entropy algorithm has higher segmentation accuracy, but the operation time is longer. This paper has simply optimized its operation efficiency. Finally, this paper describes the positioning method of grasping the object with a two degree of freedom manipulator using the knowledge of inverse kinematics. Because of the epidemic situation, schools cannot obtain experimental equipment. This paper mainly demonstrates the effectiveness of the algorithm through simulation.","PeriodicalId":388974,"journal":{"name":"International Journal of Engineering Continuity","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125950218","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}
{"title":"Markerless Point Cloud Matching Algorithm Based on 3D Feature Extraction","authors":"Zhang Li Jun","doi":"10.58291/ijec.v2i2.114","DOIUrl":"https://doi.org/10.58291/ijec.v2i2.114","url":null,"abstract":"Since 3D scanners can only scan in a limited range and the scanning process is prone to occlusion and other problems, a complete 3D model cannot be obtained from a point cloud scanning result. Therefore, point cloud matching is necessary for most 3D scanning projects. We propose a point cloud registration algorithm based on a comprehensive approach, and the research contents include a new curvature-based point cloud feature extraction method, a three-dimensional spatial structure classifier of feature points, and an unmarked point cloud-matching algorithm based on three-dimensional feature extraction. The experiments are based on the simulation data and real data to verify the algorithm and evaluate the accuracy. The experimental results show that the matching accuracy reaches the millimetre level, and the fully automated and high-precision label-free point cloud matching based on 3D features is realized, which can provide innovative and breakthrough help for 3D reconstruction.","PeriodicalId":388974,"journal":{"name":"International Journal of Engineering Continuity","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115527966","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}
{"title":"Path Planning of Mobile Robots Based on Improved Genetic Algoritm","authors":"Zhang Ke-qi","doi":"10.58291/ijec.v2i1.84","DOIUrl":"https://doi.org/10.58291/ijec.v2i1.84","url":null,"abstract":"With the development of intelligent manufacturing, whether from the consideration of capacity, efficiency, or convenience, the requirements for mobile robots are increasing, reasonable regional path planning is one of the most critical needs, and a genetic algorithm is the best way to solve this problem, but in some complex working environments, traditional genetic algorithms will cause some problems, such as the path is not smooth, the steering angle is too large, the number of turns is large, etc. In this paper, an improved genetic algorithm is utilized to optimize the path-planning problem of mobile robots to circumvent the common issues arising from other approaches. The Improved Genetic Algorithm (IGA) has emerged as a significant advancement in the field of optimization techniques. By incorporating adaptive features, this refined approach yields enhanced performance and accuracy when compared to traditional genetic algorithms. Building on the foundational principles of evolutionary computation, the IGA employs innovative strategies, such as adaptive crossover and mutation operators, to navigate complex solution spaces effectively. It can also reduce computation time and increase efficiency by considering various considerations, such as environmental constraints and avoiding obstacle.","PeriodicalId":388974,"journal":{"name":"International Journal of Engineering Continuity","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133193218","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}
{"title":"A Transformable Wheel-Legged Mobile Robot","authors":"Heru Suwoyo, Taufik Hidayat, Feng Jia-nan","doi":"10.58291/ijec.v2i1.80","DOIUrl":"https://doi.org/10.58291/ijec.v2i1.80","url":null,"abstract":"This paper proposes a revolutionary new type of transformable wheel-legged mobile robot that can easily traverse both flat and rugged terrains. With its advanced wheel-legged design, this robot can traverse various terrain types with minimal additional effort on the user’s part. Its unique design also allows for greater flexibility in task execution and thus makes it highly applicable to multiple domains. It integrates the stability and maneuverability of a wheeled robot and obstacle climbing capability of the legged robot by means of a wheel-legged transformable mechanism. These two modes can be switched easily with two spokes touching terrain. In this paper, the motion analysis of the proposed robot under the wheeled, legged, and transformable modes is carried out after briefly introducing the concept and control system design. Then, the obstacle climbing strategies under wheeled and legged modes are obtained. Finally, a prototype of the proposed robot is designed and manufactured based on the simulation analysis. And the experiment results validate the effectiveness of the proposed transformable wheel-legged mobile robot.","PeriodicalId":388974,"journal":{"name":"International Journal of Engineering Continuity","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126828062","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}
{"title":"Improved Ant Colony Algorithm for AGV Path Planning","authors":"Liao Jia-ning","doi":"10.58291/ijec.v2i1.82","DOIUrl":"https://doi.org/10.58291/ijec.v2i1.82","url":null,"abstract":"Given the shortcomings of the ant colony algorithm in the path planning process, such as low convergence speed and easiness of falling into local optimization, an improved ant colony algorithm (ACO) suitable for AGV path planning was proposed. The initial pheromone concentration was differentiated on the grid map according to the distance, which avoided the blind search in the early stage of the ant colony and sped up the convergence speed of the algorithm. The distance between the current grid and the grid to be selected and the distance between the grid to be selected, and the target grid were synthesized to improve the heuristic function to increase the direction of ant colony pathfinding. The dynamic heuristic factor was introduced to avoid the phenomenon of prematurity and falling into local optimization. It was proposed to label the direction of the adjacent grid of each grid, which increased the distance between the optimal path and obstacles, enhanced the security of the optimal path, avoided the occurrence of the dead corner phenomenon, and improved the robustness of the algorithm. The simulation results show that in the same environment, the improved algorithm's search efficiency and iterative stability are better than that of basic ACO algorithms in AGV path planning.","PeriodicalId":388974,"journal":{"name":"International Journal of Engineering Continuity","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130540352","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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