Robot path planning in globally unknown environments based on rolling windows

In this paper, robot path planning in globally unknown environments is studied. Using the rolling optimization concept in predictive control for reference, a new strategy of path planning for a mobile robot, based on rolling windows, is proposed. The method makes full use of the real-time local environmental information detected by the robot and the on-line path planning is carried on in a rolling style. Optimization and feedback are combined in a reasonable way. The convergence of the planning algorithm is also discussed.

Sub-optimality analysis of mobile robot rolling path planning

Rolling planning is an efficient method for path planning in uncertain environment. In this paper, the general principle and algorithm of mobile robot path planning based on rolling windows are studied. The sub-optimality of rolling path planning is analyzed in details and explained with a concrete example.

Research and development of production planing management system in 2150 mm product line of Ansteel

Production planning management is the core function of manufacturing execution system(MES).It plays an important role in modern industry production.Using the MES of 2 150 mm hot milling product line in Ansteel as a background,this paper discusses the function and dynamic management strategy of Production planning management system,and the whole process of design,development and realization.For the production needs of 2 150 mm product line,the system uses the relationship model between planning items and the slab dimension,steel grade,weight and quality scale.Through a long time running,it has made the good progress,the feasibility and reliability of the system is fully proved,it can adequately meet the needs of hot milling,and and has achieved the anticipated target.

Time-Coordinated Path Following for Multiple Agile Fixed-Wing UAVs with End-Roll Expectations

This paper presents a control strategy for multiple unmanned aerial vehicle systems(multi-UAVs)time-coordinated path following with desired endpoint roll attitudes.It utilizes the strong maneuvering capabilities of agile fixed-wing UAVs and incorporates an end-roll expectation.The strategy consists of four steps:time-coordinated control,position control,roll angle planning and attitude control.The position and attitude controllers exhibit Lyapunov exponential stability.The time-coordinated controller addresses the synchronization problem by adjusting the speed based on the coordinated state to achieve progress adjustment.The position controller operates based on the cross-track error and altitude error in the Gravity-Referenced Moving frame.By employing an optimization approach and designing a penalty function,the roll angle sequence is computed.The attitude inner-loop control operates in the SO(3)space and allows for control of large deviations.High-fidelity simulation validates the effectiveness of the proposed method,with normalized coordination error and following error controlled within 2%and 1.2m.