In the context of motion planning in robotics, the problem of path planning based on artificial potential fields has been examined using different algorithms to avoid trapping in local minima. With this objective, this paper proposes a novel method based on a deterministic annealing strategy to improve the potential field function by introducing a temperature parameter to increase the robot's obstacle avoidance efficiency. The annealing and tempering strategies prevent the robot from being trapped at the local minima and allow it to continue towards its destination. The initial path is optimised using an annealing algorithm to enhance the overall performance. The time, length and success rate of the planned path measures the quality of the solution. Simulation results and comparative experiments demonstrate that the proposed algorithm can solve path planning in different environments. The proposed algorithm is suitable for complex environments with convex or non-convex polygon obstacles.
Download full-text PDF |
Source |
|---|---|
| http://dx.doi.org/10.1016/j.isatra.2023.02.018 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
Determinants for successful medullary fixation of the superior ramus.
Injury
January 2025
Department of Orthopaedic Surgery, Cedars - Sinai Medical Center, Los Angeles, CA, USA. Electronic address:
Objectives: The purpose of this study is to determine what demographic and anatomical variables affect successful placement of a superior medullary ramus screw, and how they affect the maximal diameter of that screw.
Methods: Design: Prognostic Level IV SETTING: Level I Trauma Center Patients/Participants: Two hundred consecutive patients underwent computed tomography (CT) of the pelvis. We included those patients aged 18 and older without osseous injury or abnormalities precluding measurement.
Psychoneurological Links Contributing to Body Mass Index and Eating Disorder Severity.
Nutrients
January 2025
Department of Psychobiology and Methodology, Universitat Autònoma de Barcelona, 08193 Barcelona, Spain.
Background-objectives: Multiple dynamic interacting factors contribute to the presence and progression of eating disorders (ED). Empirical research has provided mixed findings regarding the mechanisms explaining the contribution of body mass index (BMI) to the diverse ED endophenotypes. The present study aims to evaluate the underlying processes (direct and indirect effects) contributing to BMI and ED severity, considering the contribution of multiple neuropsychological constructs.
View Article and Find Full Text PDFSteam Generator Maintenance Robot Design and Obstacle Avoidance Path Planning.
Sensors (Basel)
January 2025
College of Resource Environmental and Safety Engineering, University of South China, Hengyang 421001, China.
To solve the issue of inconvenient and dangerous manual operation during the installation and removal of the main pipe plugging plate in the steam generator in nuclear power plants, a ten-degree-of-freedom plugging robot was designed in the present study that includes a collaborative robotic arm coupled with a servo electric cylinder. By establishing a joint coordinate system for the robot model, a D-H parameter model for the plate plugging robot was established, and the forward and inverse kinematics were solved. The volume level approximate convex decomposition algorithm was used to fit the steam generator model with a convex packet, and an experimental simulation platform was constructed.
View Article and Find Full Text PDFDesign of a Cost-Effective Ultrasound Force Sensor and Force Control System for Robotic Extra-Body Ultrasound Imaging.
Sensors (Basel)
January 2025
School of Biomedical Engineering and Imaging Sciences, King's College London, London SE1 7EH, UK.
Ultrasound imaging is widely valued for its safety, non-invasiveness, and real-time capabilities but is often limited by operator variability, affecting image quality and reproducibility. Robot-assisted ultrasound may provide a solution by delivering more consistent, precise, and faster scans, potentially reducing human error and healthcare costs. Effective force control is crucial in robotic ultrasound scanning to ensure consistent image quality and patient safety.
View Article and Find Full Text PDFA Fuzzy Control Strategy for Multi-Goal Autonomous Robot Navigation.
Sensors (Basel)
January 2025
Department of Product & Systems Design Engineering, University of the Aegean, 84100 Syros, Greece.
This paper addresses the complex problem of multi-goal robot navigation, framed as an NP-hard traveling salesman problem (TSP), in environments with both static and dynamic obstacles. The proposed approach integrates a novel path planning algorithm based on the Bump-Surface concept to optimize the shortest collision-free path among static obstacles, while a Genetic Algorithm (GA) is employed to determine the optimal sequence of goal points. To manage static or dynamic obstacles, two fuzzy controllers are developed: one for real-time path tracking and another for dynamic obstacle avoidance.
View Article and Find Full Text PDFWant AI Summaries of new PubMed Abstracts delivered to your In-box?
Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!