This work aimed to find a proper control strategy to transfer loads using overhead cranes. The proposed control strategy, which is Fuzzy PD-based, should take into account two main factors. First, the time needed to m...This work aimed to find a proper control strategy to transfer loads using overhead cranes. The proposed control strategy, which is Fuzzy PD-based, should take into account two main factors. First, the time needed to move the payload from the initial pick up point to the destination point that must be minimized. Second, the oscillation of the payload must be reduced to prevent hazards for people and equipment in the work place. The current work, presents a comparative analysis of fuzzy PD based control basing on classical PD approach. A simplified model has been derived. The proposed control techniques have been designed and validated with MatLab. Numerical comparative results have been obtained and discussed.展开更多
Frontier-based exploration methods are efficient for multi-robot exploration systems. In this paper, enhanced frontier-based techniques are used with team of cooperating mobile robots to explore unknown environment. T...Frontier-based exploration methods are efficient for multi-robot exploration systems. In this paper, enhanced frontier-based techniques are used with team of cooperating mobile robots to explore unknown environment. The aim of the exploration algorithm is to minimize the exploration time by coordinating the robots to maximize overall utility by minimizing the potential of overlapping in information gained amongst the robots. The proposed frontier-based exploration algorithm is based on a new bidding function to decrease the overlap between the robots in addition to the utility and cost parameters. A special parameter depends on the future positions of the robots is also considered. The proposed algorithm has been tested with different environments. We also compared it to A* algorithm. Comparisons demonstrated the efficiency of proposed algorithm.展开更多
文摘This work aimed to find a proper control strategy to transfer loads using overhead cranes. The proposed control strategy, which is Fuzzy PD-based, should take into account two main factors. First, the time needed to move the payload from the initial pick up point to the destination point that must be minimized. Second, the oscillation of the payload must be reduced to prevent hazards for people and equipment in the work place. The current work, presents a comparative analysis of fuzzy PD based control basing on classical PD approach. A simplified model has been derived. The proposed control techniques have been designed and validated with MatLab. Numerical comparative results have been obtained and discussed.
文摘Frontier-based exploration methods are efficient for multi-robot exploration systems. In this paper, enhanced frontier-based techniques are used with team of cooperating mobile robots to explore unknown environment. The aim of the exploration algorithm is to minimize the exploration time by coordinating the robots to maximize overall utility by minimizing the potential of overlapping in information gained amongst the robots. The proposed frontier-based exploration algorithm is based on a new bidding function to decrease the overlap between the robots in addition to the utility and cost parameters. A special parameter depends on the future positions of the robots is also considered. The proposed algorithm has been tested with different environments. We also compared it to A* algorithm. Comparisons demonstrated the efficiency of proposed algorithm.
