Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults

This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to fail.To reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors.The nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external disturbances.By using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero.Compared with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously.Finally,the comparison results through simulations are given to verify the effectiveness of the proposed method.

Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based on Inverse Reinforcement Learning Theory

The forward design of trajectory planning strategies requires preset trajectory optimization functions,resulting in poor adaptability of the strategy and an inability to accurately generate obstacle avoidance trajectories that conform to real driver behavior habits.In addition,owing to the strong time-varying dynamic characteristics of obstacle avoidance scenarios,it is necessary to design numerous trajectory optimization functions and adjust the corresponding parameters.Therefore,an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenarios is proposed.First,numerous expert-demonstrated trajectories are extracted from the HighD natural driving dataset.Subsequently,a trajectory expectation feature-matching algorithm is proposed that uses maximum entropy inverse reinforcement learning theory to learn the extracted expert-demonstrated trajectories and achieve automatic acquisition of the optimization function of the expert-demonstrated trajectory.Furthermore,a mapping model is constructed by combining the key driving scenario information that affects vehicle obstacle avoidance with the weight of the optimization function,and an anthropomorphic obstacle avoidance trajectory planning strategy for adaptive driving scenarios is proposed.Finally,the proposed strategy is verified based on real driving scenarios.The results show that the strategy can adjust the weight distribution of the trajectory optimization function in real time according to the“emergency degree”of obstacle avoidance and the state of the vehicle.Moreover,this strategy can generate anthropomorphic trajectories that are similar to expert-demonstrated trajectories,effectively improving the adaptability and acceptability of trajectories in driving scenarios.

Multi-Robot Collaborative Hunting in Cluttered Environments With Obstacle-Avoiding Voronoi Cells

This work proposes an online collaborative hunting strategy for multi-robot systems based on obstacle-avoiding Voronoi cells in a complex dynamic environment. This involves firstly designing the construction method using a support vector machine(SVM) based on the definition of buffered Voronoi cells(BVCs). Based on the safe collision-free region of the robots, the boundary weights between the robots and the obstacles are dynamically updated such that the robots are tangent to the buffered Voronoi safety areas without intersecting with the obstacles. Then, the robots are controlled to move within their own buffered Voronoi safety area to achieve collision-avoidance with other robots and obstacles. The next step involves proposing a hunting method that optimizes collaboration between the pursuers and evaders. Some hunting points are generated and distributed evenly around a circle. Next, the pursuers are assigned to match the optimal points based on the Hungarian algorithm.Then, a hunting controller is designed to improve the containment capability and minimize containment time based on collision risk. Finally, simulation results have demonstrated that the proposed cooperative hunting method is more competitive in terms of time and travel distance.

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

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 USV and other dynamic obstacles such as vessels in the process of performing tasks,the algorithm introduces the concept of dynamic artificial potential field.For the multiple obstacles encountered in the process of USV sailing,based on the International Regulations for Preventing Collisions at Sea(COLREGS),the USV determines whether the next step will fall into local optimization through the discriminationmechanism.The local potential field of the USV will dynamically adjust,and the reverse virtual gravitational potential field will be added to prevent it from falling into the local optimization and avoid collisions.The objective function and cost function are designed at the same time,so that the USV can smoothly switch between the global path and the local obstacle avoidance.The simulation results show that the improved APF algorithm proposed in this paper can successfully avoid various obstacles in the complex marine environment,and take navigation time and economic cost into account.

Potential Benefits and Obstacles of the Use of Internet of Things in Saudi Universities: Empirical Study

Internet of Things (IoT) among of all the technology revolutions has been considered the next evolution of the internet. IoT has become a far more popular area in the computing world. IoT combined a huge number of things (devices) that can be connected through the internet. The purpose: this paper aims to explore the concept of the Internet of Things (IoT) generally and outline the main definitions of IoT. The paper also aims to examine and discuss the obstacles and potential benefits of IoT in Saudi universities. Methodology: the researchers reviewed the previous literature and focused on several databases to use the recent studies and research related to the IoT. Then, the researchers also used quantitative methodology to examine the factors affecting the obstacles and potential benefits of IoT. The data were collected by using a questionnaire distributed online among academic staff and a total of 150 participants completed the survey. Finding: the result of this study reveals there are twelve factors that affect the potential benefits of using IoT such as reducing human errors, increasing business income and worker’s productivity. It also shows the eighteen factors which affect obstacles the IoT use, for example sensors’ cost, data privacy, and data security. These factors have the most influence on using IoT in Saudi universities.

Effect of a static pedestrian as an exit obstacle on evacuation

Building exit as a bottleneck structure is the last and the most congested stage in building evacuation.It is well known that obstacles at the exit affect the evacuation process,but few researchers pay attention to the effect of stationary pedestrians(the elderly with slow speed,the injured,and the static evacuation guide)as obstacles at the exit on the evacuation process.This paper explores the influence of the presence of a stationary pedestrian as an obstacle at the exit on the evacuation from experiments and simulations.We use a software,Pathfinder,based on the agent-based model to study the effect of ratios of exit width(D)to distance(d)between the static pedestrian and the exit,the asymmetric structure by shifting the static pedestrian upward,and types of obstacles on evacuation.Results show that the evacuation time of scenes with a static pedestrian is longer than that of scenes with an obstacle due to the unexpected hindering effect of the static pedestrian.Different ratios of D/d have different effects on evacuation efficiency.Among the five D/d ratios in this paper,the evacuation efficiency is the largest when d is equal to 0.75D,and the existence of the static pedestrian has a positive impact on evacuation in this condition.The influence of the asymmetric structure of the static pedestrian on evacuation efficiency is affected by D/d.This study can provide a theoretical basis for crowd management and evacuation plan near the exit of complex buildings and facilities.

Improved RRT^(∗)Algorithm for Automatic Charging Robot Obstacle Avoidance Path Planning in Complex Environments

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 algorithmwhile 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 and more optimal path.In comparison experiments,the new algorithmyielded reductions of 35.5%,29.2%,and 11.7%in search time and 22.8%,19.2%,and 9%in path length for the 3D environment.Finally,experimental validation of the automatic charging of electric vehicles was conducted to further verify the effectiveness of the algorithm.The simulation experimental validation was carried out by kinematic modeling and building an experimental platform.The error between the experimental results and the simulation results is within 10%.The experimental results show the effectiveness and practicality of the algorithm.

A Novel Obstacle Avoidance Consensus Control for Multi-AUV Formation System

In this paper, the fixed-time event-triggered obstacle avoidance consensus control for a multi-AUV time-varying formation system in a 3D environment is presented by using an improved artificial potential field and leader-follower strategy(IAPF-LF). Firstly, the proposed fixed-time control can achieve the desired multi-AUV formation within a fixed settling time in any initial system state. Secondly, an event-triggered communication strategy is developed to govern the communication among AUVs, and the communication energy consumption can be decremented. The time-varying formation obstacle avoidance control algorithm based on IAPF-LF is designed to avoid static and dynamic obstacles, the desired formation is maintained in the presence of external disturbances, and there is no Zeno behavior under the fixed-time event-triggered consensus control strategy.The stability of the system is proved by the Lyapunov function and inequality scaling. Finally, simulation examples and water pool experiments are reported to verify the performance of the proposed theoretical algorithms.

Flow and clogging in a horizontal silo with a rotary obstacle

The external perturbation applied to a silo and the placement of an immobile obstacle before an exit are two common and effective ways to diminish clogging in the hopper/silo flow.Here,we incorporate the local perturbation into a fixed obstacle,and experimentally explore the effects of a rotary obstacle on clogging and the flowing characteristics in the horizontal silo flow driven by a conveyor belt.Even with a low spin rate,the total blocking probability that a particle constructs a stable blocking arch with its neighbors significantly drops.Correspondingly,the average flow rate of the particles through the exit abruptly rises,at least 1 order of magnitude better than that with an immobile obstacle and approaching the flow rate of continuous flow.The rotation enhances the breakage of clogging arches,which is responsible for improving the flowability in the horizontal silo.In addition,there always exists an optimal obstacle position at which the total blocking probability is minimal and the average flow rate peaks,regardless of the spin rate.Finally,clogging is relieved with the increase of the driving velocity of the conveyor belt,showing a“fast is fast”effect that is opposite to the“fast is slow”effect in other systems such as crowd evacuation and gravity-driven hoppers.

OBSTACLE PROBLEMS ON RCD(K,N)METRIC MEASURE SPACES

In this paper,we solve the obstacle problems on metric measure spaces with generalized Ricci lower bounds.We show the existence and Lipschitz continuity of the solutions,and then we establish some regularities of the free boundaries.

Effects of Allelochemicals on Root Growth and Pod Yield in Response to Continuous Cropping Obstacle of Peanut

Continuous cropping(CC)obstacle is a major threat in legume crops production;however,the underlying mechanisms concerning the roles allelochemicals play in CC obstacle are poorly understood.The current 2-year study was conducted to investigate the effects of different kinds and concentrations of allelochemicals,p-hydroxybenzoic acid(H),cinnamic acid(C),phthalic acid(P),and their mixtures(M)on peanut root growth and productivity in response to CC obstacle.Treatment with H,C,P,and M significantly decreased the plant height,dry weight of the leaves and stems,number of branches,and length of the lateral stem compared with control.Exogenous application of H,C,P,and M inhibited the peanut root growth as indicated by the decreased root morphological characters.The allelochemicals also induced the cell membrane oxidation even though the antioxidant enzymes activities were significantly increased in peanut roots.Meanwhile,treatment with H,C,P,and M reduced the contents of total soluble sugar and total soluble protein.Analysis of ATPase activity,nitrate reductase activity,and root system activity revealed that the inhibition effects of allelochemicals on peanut roots might be due to the decrease in activities of ATPase and NR,and the inhibition of root system.Consequently,allelochemicals significantly decreased the pod yield of peanut compared with control.Our results demonstrate that allelochemicals play a dominant role in CC obstacle-induced peanut growth inhibition and yield reduction through damaging the root antioxidant system,unbalancing the osmolytes accumulation,and decreasing the activities of root-related enzymes.

The Obstacles and Solutions to Improving Non English-major Students' Listening Comprehension

Listening has been playing an essential role in daily communication.However,listening is the most difficult part and has been an obstacle in the process of learning English for most of learners for a variety of reasons.The paper mainly discusses the linguistic and non—linguistic obstacles in the process of listening and aims to help English learners find out their own shortcomings and put forward some corresponding solutions to improve learners' listening ability.

The Obstacles in Cross-cultural Communication

In Cross-cultural communication,the ability of the languages and the ability of the cultures are the crucial factors in the communicating activities.People with the same cultural background communicate with each other easily and smoothly,and understand each other better,and there are fewer or no obstacles in their communication at all.The different cultural backgrounds and traditions,the different social customs and everyday living habits,and the different values all will affect the communication quality and will surely result in obstacles in cross-cultural communication. The obstacles which frequently occur in the cross-cultural communication are:ethnocentrism,stereotyping, prejudice,and the different cultural backgrounds.In order to do away with the obstacles and to make the communication smoothly and successfully,the communicating parties both should observe the cooperative principles and politeness principles.And what's more,they must discard their own prejudices,and respect others,together to fulfill the cross-cultural communicating activities.

LOCAL REGULARITY RESULT FOR SOLUTIONS OF OBSTACLE PROBLEMS

This paper gives the local regularity result for solutions to obstacle problems of A-harmonic equation divA(x, ξu(x)) = 0, |A.(x,ξ)|≈|?|p-1, when 1 < p < n and the obstacle function (?)≥0.

Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances

Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms （formation control term, velocity matching term, and obstacle avoidance term） is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.

Application of A* Algorithm for Real-time Path Re-planning of an Unmanned Surface Vehicle Avoiding Underwater Obstacles

This paper describes path re-planning techniques and underwater obstacle avoidance for unmanned surface vehicle(USV) based on multi-beam forward looking sonar(FLS). Near-optimal paths in static and dynamic environments with underwater obstacles are computed using a numerical solution procedure based on an A* algorithm. The USV is modeled with a circular shape in 2 degrees of freedom(surge and yaw). In this paper, two-dimensional(2-D) underwater obstacle avoidance and the robust real-time path re-planning technique for actual USV using multi-beam FLS are developed. Our real-time path re-planning algorithm has been tested to regenerate the optimal path for several updated frames in the field of view of the sonar with a proper update frequency of the FLS. The performance of the proposed method was verified through simulations, and sea experiments. For simulations, the USV model can avoid both a single stationary obstacle, multiple stationary obstacles and moving obstacles with the near-optimal trajectory that are performed both in the vehicle and the world reference frame. For sea experiments, the proposed method for an underwater obstacle avoidance system is implemented with a USV test platform. The actual USV is automatically controlled and succeeded in its real-time avoidance against the stationary undersea obstacle in the field of view of the FLS together with the Global Positioning System(GPS) of the USV.

Effects of Obstacles on Flame Propagation Behavior and Explosion Overpressure Development During Gas Explosions in a Large Closed Tube

AutoReaGas was used for the simulations of premixed gas/air mixtures explosion characteristics in obstacle-filled tubes with a cross-section of 0.2 m×0.2 m and the length of 28 m. Numerical analyses provide a quantitative description of dependence of flame propagation speed and explosion overpressure on obstacles number, blockage ratio and interval distance. Computational results indicate that the obstacles play a significant role in determining the flame transmission speed and explosion overpressure in gas explosions. With the increase of blockage ratio, the explosion overpressure gradually rises. Nevertheless, the flame speed does not always increase along with increasing blockage ratio, but subsequently begins to decrease as the blockage ratio increases to some extend. Also, the interval distance between obstacles strongly influences flame behavior and explosion overpressure. When the obstacle interval distance is equal to inner diameter of the tube, the average flame speed in the obstacle zone and the peak overpressure in tube all reach maximum values.

Obstacle avoidance method of three-dimensional obstacle spherical cap

Focusing on obstacle avoidance in three-dimensional space for unmanned aerial vehicle(UAV), the direct obstacle avoidance method in dynamic space based on three-dimensional velocity obstacle spherical cap is proposed, which quantifies the influence of threatening obstacles through velocity obstacle spherical cap parameters. In addition, the obstacle avoidance schemes of any point on the critical curve during the multi-obstacles avoidance are given. Through prediction, the insertion point for the obstacle avoidance can be obtained and the flight path can be replanned. Taking the Pythagorean Hodograph(PH) curve trajectory re-planning as an example, the three-dimensional direct obstacle avoidance method in dynamic space is tested. Simulation results show that the proposed method can realize the online obstacle avoidance trajectory re-planning, which increases the flexibility of obstacle avoidance greatly.

Regional ecological security anddiagnosisof obstaclefactors in underdevelopedregions：acasestudy in Yunnan Province,China

In order toclarify regional ecological security status and formation mechanism of regional ecological security barriers in underdeveloped regions of China,we took Yunnan province as a case to evaluate its regional ecological security by using entropy matter-element model,comprehensive index and GIS spatial method,and we diagnosed itsobstacle factors through obstacle degree model. We found a low overall level of regional ecological security in Yunnan. Only Kunmingfell into the good level, 68% of the regions were below the critical safe level. For the vast majority of regions in Yunnan, their regional ecological security was unstable. The indexes related to per capita resources, geological and topographyenvironment, economic, and technologywere at the unsafe or dangerous level.The indexes related to urban expansion, level of income, cultivated land quality were at the level of critical safety. The indexes concerning urban management capacity, airqualityand waterenvironment were at the good or ideallevel. Yunnan's regional ecological security was not good due to natural obstructive environment itself, simultaneously lower backward economic and social level restricted the ability of ecological security response to manage ragile ecological environment. The results of the composite index wereroughly consistent with those of the entropy weight matterelement model. The mean values of the classification index,from high to low, were: the state index>the response index>the pressure index. The state index and the response index had a significant mutual promotion to each other.The regions with good composite index, state index and response index mainly distributed in the central regions of Yunnan Province. Spatial autocorrelation of regional ecological security level in Yunnan was not obvious. Water resources, economic and social development were main obstacle factors of the regional ecological security.When distinguishing with obstacle type, Kunming belonged to natural ecological environment barrier type, while other regions belonged to economic and social barrier type.

Potential-based obstacle avoidance in formation control

Based on the double integrator mathematic model, a new kind of potential function is presented in this paper by referring to the concepts of the electric field; then a new formation control method is proposed, in which the potential functions are used between agent-agent and between agent-obstacle, while state feedback control is applied for the agent and its goal. This strategy makes the whole potential field simpler and helps avoid some local minima. The stability of this combination of potential functions and state feedback control is proven. Some simulations are presented to show the rationality of this control method.