Artificial Potential Field Algorithm for Obstacle Avoidance in UAV Quadrotor for Dynamic Environment

Artificial potential field (APF) is the effective real-time guide, navigation, and obstacle avoidance for UAV Quadrotor. The main problem in APF is local minima in an obstacle or multiple obstacles. In this paper, some modifications and improvements of APF will be introduced to solve one-obstacle local minima, two-obstacle local minima, Goal Not Reachable Near Obstacle (GNRON), and dynamic obstacle. The result shows that the improved APF gave the best result because it made the system reach the goal position in all of the examinations. Meanwhile, the APF with virtual force has the fastest time to reach the goal; however, it still has a problem in GNRON. It can be concluded that the APF needs to be modified in its algorithm to pass all of the local minima problems

An hybridization of global-local methods for autonomous mobile robot navigation in partially-known environments

This paper deals with the navigation problem of an autonomous non-holonomic mobile robot in partially-known environment. In this proposed method, the entire process of navigation is divided into two phases: an off-line phase on which a distance-optimal reference trajectory enables the mobile robot to move from an initial position to a desired target which is planned using the B-spline method and the Dijkstra algorithm. In the online phase of the navigation process, the mobile robot follows the planned trajectory using a sliding mode controller with the ability of avoiding unexpected obstacles by the use of fuzzy logic controller. Also, the fuzzy logic and fuzzy wall-following controllers are used to accomplish the reactive navigation mission (path tracking and obstacle avoidance) for a comparative purpose. Simulation results prove that the proposed path planning method (B-spline) is simple and effective. Also, they attest that the sliding mode controller track more precisely the reference trajectory than the fuzzy logic controller (in terms of time elapsed to reach the target and stability of two wheels velocity) and this last gives best results than the wall-following controller in the avoidance of unexpected obstacles. Thus, the effectiveness of our proposed approach (B-spline method combined with sliding mode and fuzzy logic controllers) is proved compared to other techniques

Industry 4.0 With Intelligent Manufacturing 5G Mobile Robot Based On Genetic Algorithm

A manufacturing fifth-generation (5G) mobile robot is a new development of industry 4.0 application, deploying an unmanned system. This study aims to implement a robot system for industrial applications in real-time with remote sensors to enable humans. Moreover, there is still some obstacle to cope with the better optimization solution for manufacturing 5G robot. This paper proposed a latency network algorithm for the manufacturing 5G mobile robot. An improved genetic algorithm (GA) by restructuring the genes is applied to plan a mobile robot path. The process of the robot path in a complex workspace is proposed, considering the node's collision-free constraint in the moving phase of a robot. The proposed scheme improves the robot path and delivery efficiency of the robot on average at 68% by moving on the industrial environment's shortest path and time average of the mobile robot reach its destination

A review: On path planning optimization criteria and mobile robot navigation

Mobile robots are growing more significant from time to time and have been applied to many fields such as agriculture, space, and even human life. It could improve mobile robot navigation efficiency, ensure path planning safety and smoothness, minimize time execution, etc. The main focus of mobile robots is to have the most optimal functions. An intelligent mobile robot is required to travel autonomously in various environments, static and dynamic. This paper article presents the optimization criteria for mobile robot path planning to figure out the most optimal mobile robot criteria to fulfill, including modeling analysis, path planning and implementation. Path length and path smoothness are the most parameters used in optimization in mobile robot path planning. Based on path planning, the mobile robot navigation is divided into three categories: global navigation, local navigation and personal navigation. Then, we review each category and finally summarize the categories in a map and discuss the future research strategies

AN IMPROVED BARE-BONES PARTICLE SWARM ALGORITHM FOR MULTI-OBJECTIVE OPTIMIZATION WITH APPLICATION TO THE ENGINEERING STRUCTURES

In this paper, an improved bare-bones multi-objective particle swarm algorithm is proposed to solve the multi-objective size optimization problems with non-linearity and constraints in structural design and optimization. Firstly, the development of particle individual guide and the randomness of gravity factor are increased by modifying the updated form of particle position. Then, the combination of spatial grid density and congestion distance ranking is used to maintain the external archive, which is divided into two parts: feasible solution set and infeasible solution set. Next, the global best positions are determined by increasing the probability allocation strategy which varies with time. The algorithmic complexity is given and the performance of solution ability, convergence and constraint processing are analyzed through standard test functions and compared with other algorithms. Next, as a case study, a support frame of triangle track wheel is optimized by the BB-MOPSO and improved BB-MOPSO. The results show that the improved algorithm improves the cross-region exploration, optimal solution distribution and convergence of the bare-bones particle swarm optimization algorithm, which can effectively solve the multi-objective size optimization problem with non-linearity and constraints

Feature Papers of Drones - Volume I

[EN] The present book is divided into two volumes (Volume I: articles 1–23, and Volume II: articles 24–54) which compile the articles and communications submitted to the Topical Collection ”Feature Papers of Drones” during the years 2020 to 2022 describing novel or new cutting-edge designs, developments, and/or applications of unmanned vehicles (drones). Articles 1–8 are devoted to the developments of drone design, where new concepts and modeling strategies as well as effective designs that improve drone stability and autonomy are introduced. Articles 9–16 focus on the communication aspects of drones as effective strategies for smooth deployment and efficient functioning are required. Therefore, several developments that aim to optimize performance and security are presented. In this regard, one of the most directly related topics is drone swarms, not only in terms of communication but also human-swarm interaction and their applications for science missions, surveillance, and disaster rescue operations. To conclude with the volume I related to drone improvements, articles 17–23 discusses the advancements associated with autonomous navigation, obstacle avoidance, and enhanced flight plannin