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  • Open Access


    Finite Element Simulation Analysis of a Novel 3D-FRSPA for Crawling Locomotion

    Bingzhu Wang1,*, Xiangrui Ye2,*

    CMES-Computer Modeling in Engineering & Sciences, Vol.139, No.2, pp. 1401-1425, 2024, DOI:10.32604/cmes.2024.047364

    Abstract A novel three-dimensional-fiber reinforced soft pneumatic actuator (3D-FRSPA) inspired by crab claw and human hand structure that can bend and deform independently in each segment is proposed. It has an omni-directional bending configuration, and the fibers twined symmetrically on both sides to improve the bending performance of FRSPA. In this paper, the static and kinematic analysis of 3D-FRSPA are carried out in detail. The effects of fiber, pneumatic chamber and segment length, and circular air chamber radius of 3D-FRSPA on the mechanical performance of the actuator are discussed, respectively. The soft mobile robot composed of More >

  • Open Access


    LSDA-APF: A Local Obstacle Avoidance Algorithm for Unmanned Surface Vehicles Based on 5G Communication Environment

    Xiaoli Li, Tongtong Jiao#, Jinfeng Ma, Dongxing Duan, Shengbin Liang#,*

    CMES-Computer Modeling in Engineering & Sciences, Vol.138, No.1, pp. 595-617, 2024, DOI:10.32604/cmes.2023.029367

    Abstract In view of the complex marine environment of navigation, especially in the case of multiple static and dynamic obstacles, the traditional obstacle avoidance algorithms applied to unmanned surface vehicles (USV) are prone to fall into the trap of local optimization. Therefore, this paper proposes an improved artificial potential field (APF) algorithm, which uses 5G communication technology to communicate between the USV and the control center. The algorithm introduces the USV discrimination mechanism to avoid the USV falling into local optimization when the USV encounter different obstacles in different scenarios. Considering the various scenarios between the… More > Graphic Abstract

    LSDA-APF: A Local Obstacle Avoidance Algorithm for Unmanned Surface Vehicles Based on 5G Communication Environment

  • Open Access


    Improved RRT Algorithm for Automatic Charging Robot Obstacle Avoidance Path Planning in Complex Environments

    Chong Xu1, Hao Zhu1, Haotian Zhu2, Jirong Wang1, Qinghai Zhao1,3,*

    CMES-Computer Modeling in Engineering & Sciences, Vol.137, No.3, pp. 2567-2591, 2023, DOI:10.32604/cmes.2023.029152

    Abstract A new and improved RRT algorithm has been developed to address the low efficiency of obstacle avoidance planning and long path distances in the electric vehicle automatic charging robot arm. This algorithm enables the robot to avoid obstacles, find the optimal path, and complete automatic charging docking. It maintains the global completeness and path optimality of the RRT algorithm while also improving the iteration speed and quality of generated paths in both 2D and 3D path planning. After finding the optimal path, the B-sample curve is used to optimize the rough path to create a smoother More > Graphic Abstract

    Improved RRT<sup>∗</sup> Algorithm for Automatic Charging Robot Obstacle Avoidance Path Planning in Complex Environments

  • Open Access


    Improved Dijkstra Algorithm for Mobile Robot Path Planning and Obstacle Avoidance

    Shaher Alshammrei1, Sahbi Boubaker2,*, Lioua Kolsi1,3

    CMC-Computers, Materials & Continua, Vol.72, No.3, pp. 5939-5954, 2022, DOI:10.32604/cmc.2022.028165

    Abstract Optimal path planning avoiding obstacles is among the most attractive applications of mobile robots (MRs) in both research and education. In this paper, an optimal collision-free algorithm is designed and implemented practically based on an improved Dijkstra algorithm. To achieve this research objectives, first, the MR obstacle-free environment is modeled as a diagraph including nodes, edges and weights. Second, Dijkstra algorithm is used offline to generate the shortest path driving the MR from a starting point to a target point. During its movement, the robot should follow the previously obtained path and stop at each… More >

  • Open Access


    Steering Behavior-based Multiple RUAV Obstacle Avoidance Control

    Vishnu Kumar Kaliappan1, Tuan Anh Nguyen1, Dugki Min2,*, Jae-Woo Lee1, U. Sakthi3

    Intelligent Automation & Soft Computing, Vol.34, No.1, pp. 575-591, 2022, DOI:10.32604/iasc.2022.024577

    Abstract In recent years, the applications of rotorcraft-based unmanned aerial vehicles (RUAV) have increased rapidly. In particular, the integration of bio-inspired techniques to enhance intelligence in coordinating multiple Rotorcraft-based Unmanned Aerial Vehicles (RUAVs) has been a focus of recent research and development. Due to the limitation in intelligence, these RUAVs are restricted in flying low altitude with high maneuverability. To make it possible, the RUAVs must have the ability to avoid both static and dynamic obstacles while operating at low altitudes. Therefore, developing a state-of-the-art intelligent control algorithm is necessary to avoid low altitude obstacles and… More >

  • Open Access


    QRDPSO: A New Optimization Method for Swarm Robot Searching and Obstacle Avoidance in Dynamic Environments

    Mehiar, D.A.F., Azizul, Z.H.*, Loo, C.K.

    Intelligent Automation & Soft Computing, Vol.26, No.3, pp. 447-454, 2020, DOI:10.32604/iasc.2020.013921

    Abstract In this paper we show how the quantum-based particle swarm optimization (QPSO) method is adopted to derive a new derivation for robotics application in search and rescue simulations. The new derivation, called the Quantum Robot Darwinian PSO (QRDPSO) is inspired from another PSO-based algorithm, the Robot Darwinian PSO (RDPSO). This paper includes comprehensive details on the QRDPSO formulation and parameters control which show how the swarm overcomes communication constraints to avoid obstacles and achieve optimal solution. The results show the QRDPSO is an upgrade over RDPSO in terms of convergence speed, trajectory control, obstacle avoidance More >

  • Open Access


    Intelligent Service Robot Vision Control Using Embedded System

    Li-Hong Juang1, Shengxiang Zhang2

    Intelligent Automation & Soft Computing, Vol.25, No.3, pp. 451-458, 2019, DOI:10.31209/2019.100000126

    Abstract Intelligent robots are the combination of computer engineering, software engineering, control engineering, electronic engineering, mechanical engineering, and systems design engineering in order to design, and manufacture useful products. In this paper, the author derives some novel computing and algorithm applications on computer vision and image processing and intelligent control and navigation of mobile robots for the intelligent service robot system. In this paper, we proposed an idea of flexible design for a intelligent service robot, which refers to a single robot with a variety of flexure structure. We presented an integrated system for vision-guided finding More >

  • Open Access


    Distance Control Algorithm for Automobile Automatic Obstacle Avoidance and Cruise System

    Jinguo Zhao1, *

    CMES-Computer Modeling in Engineering & Sciences, Vol.116, No.1, pp. 69-88, 2018, DOI:10.31614/cmes.2018.02415

    Abstract With the improvement of automobile ownership in recent years, the incidence of traffic accidents constantly increases and requirements on the security of automobiles become increasingly higher. As science and technology develops constantly, the development of automobile automatic obstacle avoidance and cruise system accelerates gradually, and the requirement on distance control becomes stricter. Automobile automatic obstacle avoidance and cruise system can determine the conditions of automobiles and roads using sensing technology, automatically adopt measures to control automobile after discovering road safety hazards, thus to reduce the incidence of traffic accidents. To prevent accidental collision of automobile More >

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