Mobile robot path planning is an important research branch in the field of mobile robots.The main disadvantage of the traditional artificial potential field(APF)method is prone to local minima problems.Improved artifi...Mobile robot path planning is an important research branch in the field of mobile robots.The main disadvantage of the traditional artificial potential field(APF)method is prone to local minima problems.Improved artificial potential field(IAPF)method is presented in this paper to solve the problem in the traditional APF method for robot path planning in different conditions.We introduce the distance between the robot and the target point to the function of the original repulsive force field and change the original direction of the repulsive force to avoid the trap problem caused by the local minimum point.The IAPF method is suitable for mobile robot path planning in the complicated environment.Simulation and experiment results at the robot platform illustrated the superiority of the modified IAPF method.展开更多
ln order to ensure the safety and efficiency of the section tracking operation of a guided transport system,a safety headway control method of section tracking based on intersection conditions is proposed in this pape...ln order to ensure the safety and efficiency of the section tracking operation of a guided transport system,a safety headway control method of section tracking based on intersection conditions is proposed in this paper.Considering the difference of signal phase,the evaluation model of road conditions was established based on a fuzzy comprehensive evaluation method,FAGT.Based on the artificial potential field method,the time-varying hybrid artificial potential field(TH-APF)method was proposed,and the tracking headway control algorithm was designed to realize the dynamic control of the tracking headway of the guide transport vehicle.The simulation results verified the effectiveness and applicability of the evaluation model of intersection road conditions;the tracking headway can be maintained at about 120 s.The tracking headway control algorithm of guided transport vehicles can respond to the road conditions and avoid the local optimum of the artificial potential field method,thus improving the operating efficiency.展开更多
In this paper, we focus on circle formation control of multi-agent systems （MAS） with a leader. The circle formation is achieved based on the lead-following and the artificial potential field method. A distributed c...In this paper, we focus on circle formation control of multi-agent systems （MAS） with a leader. The circle formation is achieved based on the lead-following and the artificial potential field method. A distributed control law is given to make a group of agents form a circle and consequently achieve an expected angle. Finally, simulation results show that the proposed circle formation strategies are effective.展开更多
基金the National Nature Science Foundation of China(Nos.51579024,61374114)the Fundamental Research Funds for the Central Universities(DMU No.3132016311).
文摘Mobile robot path planning is an important research branch in the field of mobile robots.The main disadvantage of the traditional artificial potential field(APF)method is prone to local minima problems.Improved artificial potential field(IAPF)method is presented in this paper to solve the problem in the traditional APF method for robot path planning in different conditions.We introduce the distance between the robot and the target point to the function of the original repulsive force field and change the original direction of the repulsive force to avoid the trap problem caused by the local minimum point.The IAPF method is suitable for mobile robot path planning in the complicated environment.Simulation and experiment results at the robot platform illustrated the superiority of the modified IAPF method.
基金supported by National Key R&D Program of China(Grant No.2021YFF0501102)National Natural Science Foundation of China(Grant No.U1934219)+1 种基金National Science Fund for Excellent Young Scholars(Grant No.52022010)State Key Laboratory of Rail Traffic Control and Safety(Contract No.RCS2022ZI002).
文摘ln order to ensure the safety and efficiency of the section tracking operation of a guided transport system,a safety headway control method of section tracking based on intersection conditions is proposed in this paper.Considering the difference of signal phase,the evaluation model of road conditions was established based on a fuzzy comprehensive evaluation method,FAGT.Based on the artificial potential field method,the time-varying hybrid artificial potential field(TH-APF)method was proposed,and the tracking headway control algorithm was designed to realize the dynamic control of the tracking headway of the guide transport vehicle.The simulation results verified the effectiveness and applicability of the evaluation model of intersection road conditions;the tracking headway can be maintained at about 120 s.The tracking headway control algorithm of guided transport vehicles can respond to the road conditions and avoid the local optimum of the artificial potential field method,thus improving the operating efficiency.
基金supported by the National Natural Science Foundation of China(No.61233002)the Fundamental Research Funds for the Central Universities(No.N120404019)
文摘In this paper, we focus on circle formation control of multi-agent systems （MAS） with a leader. The circle formation is achieved based on the lead-following and the artificial potential field method. A distributed control law is given to make a group of agents form a circle and consequently achieve an expected angle. Finally, simulation results show that the proposed circle formation strategies are effective.
