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Journal Article 13

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obstacle avoidance 2

3-UPU (universal-prismatic-universal joint) 1

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Cooperative collision avoidance system (CCAS) 1

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Decision-making 1

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Application of PCI Bus in the Numerical-Control-System

Zhang Guoshun,Zhang Jian,Zhang Taishi,Yan Kun,Huang Fuqing

Strategic Study of CAE 2002, Volume 4, Issue 6,   Pages 25-28

Abstract:

PCI bus has become the primary bus standard of PC. It is widely used in numerical-control-system ,such as 3D laser formation, high speed laser marking, laser cut and so on. This article analyzes several technique problems and puts forward solving strategy. A graphic processing card for high speed laser marking machine has been designed, which can raise the efficiency by 25%～30%.

Keywords： PCI bus     linear burst transmission     reflected wave conversion     interfernce avoidance    

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Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based

Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,

Engineering doi: 10.1016/j.eng.2023.07.018

Abstract: functions, resulting in poor adaptability of the strategy and an inability to accurately generate obstacle avoidanceIn addition, owing to the strong time-varying dynamic characteristics of obstacle avoidance scenariosTherefore, an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenariosmodel is constructed by combining the key driving scenario information that affects vehicle obstacle avoidancewith the weight of the optimization function, and an anthropomorphic obstacle avoidance trajectory planning

Keywords： Obstacle avoidance trajectory planning     Inverse reinforcement theory     Anthropomorphic     Adaptive driving    

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Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism

Haibo QU, Yuefa FANG, Sheng GUO

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 210-218 doi: 10.1007/s11465-012-0317-4

Abstract: Finally, the method for avoidance of possible parasitic motions is presented by adding redundantly actuated

Keywords： parallel mechanism     3-UPU (universal-prismatic-universal joint)     parasitic motions     limited clearance     redundantly actuated limbs    

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The Shortest Path for Mobile Robots in Obstacle Avoidance

Guo Ge

Strategic Study of CAE 2003, Volume 5, Issue 5,   Pages 70-75

Abstract:

An obstacle avoidance strategy for mobile robot is presented based on obstacle position and size informationFurthermore, rational robot paths in obstacle avoidance are discussed in detail, which leads to the final

Keywords： mobile robot     ultrasonic sensor     obstacle avoidance     path planning     optimal path    

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Using improved particle swarm optimization totune PID controllers in cooperative collision avoidance Article

Xing-chen WU, Gui-he QIN, Ming-hui SUN, He YU, Qian-yi XU

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 9,   Pages 1385-1395 doi: 10.1631/FITEE.1601427

Abstract: The introduction of proportional-integral-derivative (PID) controllersinto cooperative collision avoidanceimproved particle swarm optimization (PSO) algorithm, and to bettermanipulate cooperative collision avoidance

Keywords： Cooperative collision avoidance system (CCAS)     Improved particle swarm optimization (PSO)     PID controller    

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A novel motion coordination method for variable-sized multi-mobile robots Research Article

Zichao XING, Xingkai WANG, Shuo WANG, Weimin WU, Ruifen HU,zcxing@zju.edu.cn,wmwu@iipc.zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 4,   Pages 521-535 doi: 10.1631/FITEE.2200160

Abstract: s (MMRSs) are widely used for transportation in industrial scenes such as manufacturing and warehousing. In an MMRS, is important as collisions and deadlocks may lead to losses or system stagnation. However, in some scenarios, robot sizes are different when loaded and unloaded, which means that the robots are variable-sized, making more difficult. The methods based on zone control need to first divide the environment into disjoint zones, and then allocate the zones statically or dynamically for . The zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reduce the efficiency of the system. This paper describes a method based on , which can dynamically avoid collisions and deadlocks according to the roadmap structure and the real-time paths of robots. Dynamic features make this method directly applicable to various scenarios, instead of dividing a roadmap into disjoint zones. The proposed method has been applied to many industrial projects, and this study is based on some manufacturing projects for experiments. Theoretical analysis and experimental results show that the proposed algorithm is effective and efficient.

Keywords： Multi-mobile robot system     Collision avoidance     Deadlock avoidance     Glued nodes     Motion coordination    

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A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm

Prases K. MOHANTY,Dayal R. PARHI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4,   Pages 317-330 doi: 10.1007/s11465-014-0304-z

Abstract: First we have framed an objective function that satisfied the conditions of obstacle avoidance and target

Keywords： mobile robot     obstacle avoidance     Invasive Weed Optimization     navigation    

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Optimization of aero-engine pipeline for avoiding vibration based on length adjustment of straight-line segment

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1,   Pages 11-11 doi: 10.1007/s11465-021-0667-x

Abstract: frequency of pipeline as the optimization objective and introducing process constraints and vibration avoidance

Keywords： length adjustment     spatial pipeline     aero-engine     vibration avoidance optimization     genetic algorithm    

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Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 120-134 doi: 10.1007/s11465-012-0321-8

Abstract:

In this paper the effect of kinematic redundancy in order to reduce the singularity loci of the direct kinematics and to increase the operational, i.e., singularity-free, workspace is demonstrated. The proposed approach consists of additional prismatic actuators allowing one or more base joints to move linearly. As a result, a selective reconfiguration can be performed in order to avoid singular configurations. Exemplarily, kinematically redundant schemes of four structures, the 3RRR, the 3RPR, the 6UPS, and the 6RUS, are considered. The relationship between the redundancy and the operational workspace is studied and several analysis examples demonstrate the effectiveness of the proposed concept. Furthermore, the additional benefit of an increasing number of redundant actuators is discussed.

Keywords： parallel robots     kinematic redundancy     singularity avoidance     operational workspace    

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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0753-3

Abstract: of the four-wheeled mobile robot (FMR), existing methods resolve the tracking control and obstacle avoidanceBy introducing sub-target points, a new sub-target dynamic tracking regression obstacle avoidance strategyis presented to transfer the obstacle avoidance problem into a dynamic tracking one, thereby reducingComparative experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance

Keywords： adaptive anti-disturbance terminal sliding mode control     sub-target dynamic tracking regression obstacle avoidance    

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Multi-UAV obstacle avoidance control via multi-objective social learning pigeon-inspired optimization Research

Wan-ying Ruan, Hai-bin Duan,wyruan@buaa.edu.cn,hbduan@buaa.edu.cn

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 5,   Pages 649-808 doi: 10.1631/FITEE.2000066

Abstract: We propose multi-objective social learning (MSLPIO) and apply it to for formation. In the algorithm, each pigeon learns from the better pigeon but not necessarily the global best one in the update process. A social learning factor is added to the map and compass operator and the landmark operator. In addition, a dimension-dependent parameter setting method is adopted to improve the blindness of parameter setting. We simulate the flight process of five UAVs in a complex obstacle environment. Results verify the effectiveness of the proposed method. MSLPIO has better convergence performance compared with the improved multi-objective and the improved non-dominated sorting genetic algorithm.

Keywords： 无人机；避障；鸽群优化；多目标社会学习鸽群优化    

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Stochastic pedestrian avoidance for autonomous vehicles using hybrid reinforcement learning Research Article

Huiqian LI, Jin HUANG, Zhong CAO, Diange YANG, Zhihua ZHONG,lihq20@mails.tsinghua.edu.cn,huangjin@tsinghua.edu.cn,caoc15@mails.tsinghua.edu.cn,ydg@tsinghua.edu.cn

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 1,   Pages 131-140 doi: 10.1631/FITEE.2200128

Abstract: Classical avoidance strategies cannot handle uncertainty, and learning-based methods lack performanceThe results indicate that it increases the success rate for avoidance to 98.8%, compared with 94.4%

Keywords： Pedestrian     Hybrid reinforcement learning     Autonomous vehicles     Decision-making    

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Distributed game strategy for unmanned aerial vehicle formation with external disturbances and obstacles Research Article

Yang YUAN, Yimin DENG, Sida LUO, Haibin DUAN

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 7,   Pages 1020-1031 doi: 10.1631/FITEE.2100559

Abstract: We investigate a for formations with external disturbances and obstacles. The strategy is based on a framework and . First, we propose a to estimate the influence of a disturbance, and prove that the observer converges in fixed time using a Lyapunov function. Second, we design an based on topology reconstruction, by which the UAV can save energy and safely pass obstacles. Third, we establish a distributed MPC framework where each UAV exchanges messages only with its neighbors. Further, the cost function of each UAV is designed, by which the UAV formation problem is transformed into a game problem. Finally, we develop LFPIO and use it to solve the Nash equilibrium. Numerical simulations are conducted, and the efficiency of LFPIO based distributed MPC is verified through comparative simulations.

Keywords： inspired optimization (LFPIO)     Non-singular fast terminal sliding mode observer (NFTSMO)     Obstacle avoidance    

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Title Author Date Type Operation

Application of PCI Bus in the Numerical-Control-System

Zhang Guoshun,Zhang Jian,Zhang Taishi,Yan Kun,Huang Fuqing

Journal Article

Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based

Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,

Journal Article

Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism

Haibo QU, Yuefa FANG, Sheng GUO

Journal Article

The Shortest Path for Mobile Robots in Obstacle Avoidance

Guo Ge

Journal Article

Using improved particle swarm optimization totune PID controllers in cooperative collision avoidance

Xing-chen WU, Gui-he QIN, Ming-hui SUN, He YU, Qian-yi XU

Journal Article

A novel motion coordination method for variable-sized multi-mobile robots

Zichao XING, Xingkai WANG, Shuo WANG, Weimin WU, Ruifen HU,zcxing@zju.edu.cn,wmwu@iipc.zju.edu.cn

Journal Article

A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm

Prases K. MOHANTY,Dayal R. PARHI

Journal Article

Optimization of aero-engine pipeline for avoiding vibration based on length adjustment of straight-line segment

Journal Article

Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

Journal Article

Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Journal Article

Multi-UAV obstacle avoidance control via multi-objective social learning pigeon-inspired optimization

Wan-ying Ruan, Hai-bin Duan,wyruan@buaa.edu.cn,hbduan@buaa.edu.cn

Journal Article

Stochastic pedestrian avoidance for autonomous vehicles using hybrid reinforcement learning

Huiqian LI, Jin HUANG, Zhong CAO, Diange YANG, Zhihua ZHONG,lihq20@mails.tsinghua.edu.cn,huangjin@tsinghua.edu.cn,caoc15@mails.tsinghua.edu.cn,ydg@tsinghua.edu.cn

Journal Article

Distributed game strategy for unmanned aerial vehicle formation with external disturbances and obstacles

Yang YUAN, Yimin DENG, Sida LUO, Haibin DUAN

Journal Article