Collision-free trajectory control for multiple robots based on neural optimization network

Robotica ◽  
1990 ◽  
Vol 8 (3) ◽  
pp. 185-194 ◽  
Author(s):  
Jihong Lee ◽  
Zeungnam Bien
Keyword(s):  
Differential Equation ◽  
Mobile Robots ◽  
Neural Circuit ◽  
Heuristic Method ◽  
Trajectory Control ◽  
New Method ◽  
Multiple Robots ◽  
Simulation Results ◽  
Articulated Robot ◽  
Neural Optimization

SUMMARYA collision-free trajectory control for multiple robots is proposed. The proposed method is based on the concept of neural optimization network. The positions or configurations of robots are taken as the variables of the neural circuit, and the energy of network is determined by combining various functions, in which one function is to make each robot approach to its goal and another helps each robot from colliding with other robots or obstacles. Also a differential equation of the circuit which tends to minimize the energy is derived. A new method for describing collision between articulated arms is presented and some heuristic method to improve the feasibility and the safety of the trajectory is proposed. Also illustrative simulation results for mobile robots and articulated robot arms are presented.

Cooperative Towing With Multiple Robots

2008 ◽  
Author(s):  
Jonathan Fink ◽  
Peng Cheng ◽  
Vijay Kumar
Keyword(s):  
Mobile Robots ◽  
Dry Friction ◽  
Equations Of Motion ◽  
Static Model ◽  
Multiple Robots ◽  
Coordinated Motion ◽  
Multiple Mobile Robots ◽  
Basic Concepts ◽  
Simulation Results

In this paper, we address the cooperative towing of payloads by multiple mobile robots in the plane. Robots are attached via cables to a planar object or a pallet carrying a payload. Coordinated motion by the robots allow the payload to be manipulated through a planar, warehouse-like environment. We formulate a quasi-static model for manipulation and derive equations of motion that yield the motion of the payload for a prescribed motion of the robots in the presence of dry friction and tension constraints. We present experimental and simulation results that demonstrate the basic concepts.

An Obstacle-resistant Relay Node Placement in Constrained Environment

2019 ◽  
Author(s):  
Abhishek Verma ◽  
Virender Ranga
Keyword(s):  
Wireless Sensor Networks ◽  
Sensor Networks ◽  
Mobile Robots ◽  
Relay Node ◽  
Wireless Sensor ◽  
Relay Node Placement ◽  
Node Placement ◽  
Simulation Results ◽  
Additional Hardware ◽  
Shape And Size

Relay node placement in wireless sensor networks for constrained environment is a critical task due to various unavoidable constraints. One of the most important constraints is unpredictable obstacles. Handling obstacles during relay node placement is complicated because of complexity involved to estimate the shape and size of obstacles. This paper presents an Obstacle-resistant relay node placement strategy (ORRNP). The proposed solution not only handles the obstacles but also estimates best locations for relay node placement in the network. It also does not involve any additional hardware (mobile robots) to estimate node locations thus can significantly reduce the deployment costs. Simulation results show the effectiveness of our proposed approach.

scholarly journals A Convergent Collocation Approach for Generalized Fractional Integro-Differential Equations Using Jacobi Poly-Fractonomials

Mathematics ◽  
2021 ◽  
Vol 9 (9) ◽  
pp. 979
Author(s):  
Sandeep Kumar ◽  
Rajesh K. Pandey ◽  
H. M. Srivastava ◽  
G. N. Singh
Keyword(s):  
Differential Equation ◽  
Fractional Derivative ◽  
Collocation Method ◽  
Caputo Fractional Derivative ◽  
Fractional Derivatives ◽  
Special Cases ◽  
Collocation Approach ◽  
Linear And Nonlinear ◽  
Simulation Results ◽  
Theoretical Results

In this paper, we present a convergent collocation method with which to find the numerical solution of a generalized fractional integro-differential equation (GFIDE). The presented approach is based on the collocation method using Jacobi poly-fractonomials. The GFIDE is defined in terms of the B-operator introduced recently, and it reduces to Caputo fractional derivative and other fractional derivatives in special cases. The convergence and error analysis of the proposed method are also established. Linear and nonlinear cases of the considered GFIDEs are numerically solved and simulation results are presented to validate the theoretical results.

A New Method of Rolling Prediction for Gas Emission Based on Wavelet Neural Network

2011 ◽  
Vol 383-390 ◽  
pp. 1500-1506
Author(s):  
Yu Min Pan ◽  
Xiao Yu Zhang ◽  
Peng Qian Xue
Keyword(s):  
Neural Network ◽  
Input Data ◽  
Wavelet Neural Network ◽  
New Method ◽  
Neutral Network ◽  
Gas Emission ◽  
Sample Data ◽  
Simulation Results

A new method of rolling prediction for gas emission based on wavelet neural network is proposed in this paper. In the method, part of the sample data is selected, which length is constant, and the data is reselected as the next prediction step. Then a wavelet neutral network is adopted to prediction which input data is rolling, the sequence model of rolling prediction is thus constructed. Simulation results have proved that the method is valid and feasible.

A Reformative Simulation Method of Motor Pole Core Vibration Characteristics

2013 ◽  
Vol 331 ◽  
pp. 118-123
Author(s):  
Tian Hui Ding ◽  
Yun Hua Chen ◽  
Lei Tian
Keyword(s):  
Reference Value ◽  
Simulation Method ◽  
Vibration Characteristics ◽  
New Method ◽  
Motor Design ◽  
Simulation Results ◽  
Vibration Performance

As to directing motor design, it is very important to make sure that the motor’s forecast of vibration performance has reference value. So, it must need motor’s parts vibration characteristics simulation results are so close to their characteristics. This paper puts forward a new simulation method of motor pole core vibration characteristics, this method includes setting anisotropy material attributes multipartite, getting attributes parameters values which are based on recommended fitting curves, modeling and equating windings, equating dipping lacquer and so on. Combining with experiments, the new method is validated its availability.

Path Following System for Cooperative Mobile Robots

2010 ◽  
Vol 166-167 ◽  
pp. 161-166
Author(s):  
Ionut Dinulescu ◽  
Dorin Popescu ◽  
Mircea Nitulescu ◽  
Alice Predescu
Keyword(s):  
Artificial Intelligence ◽  
Mobile Robots ◽  
Path Following ◽  
Path Generation ◽  
Cooperative Robots ◽  
Generation System ◽  
Robot Systems ◽  
Simulation Results ◽  
Trajectory Generator

Recent advances in the domains of social and life artificial intelligence have constituted the basis for a new discipline that studies cooperation in multi-robot systems and its utility in applications where some tasks cannot be carried out by a single robot. This paper introduces a trajectory generator which is used for determination of the most appropriate trajectory which a robot needs to track in order to perform different tasks specific to cooperative robots, such as moving in a given formation or pushing an object to a given destination. Different algorithms are described in this paper, starting from simple polyline and circular paths to complex Bezier trajectories. Simulation results of the proposed path generation system are also provided, along with the description of its implementation on real mobile robots. An implementation of real robots is also presented in this paper.

Differential Equation Based Adaptive Distance Relaying Setting Method for Series Compensated Line

2014 ◽  
Vol 1044-1045 ◽  
pp. 482-485
Author(s):  
Jin Hu Zhang ◽  
Zhen Yu Xu ◽  
Zhi Peng Su
Keyword(s):  
Differential Equation ◽  
Transmission Lines ◽  
Distance Relay ◽  
Iterative Calculation ◽  
Simple Simulation ◽  
Simulation Results ◽  
Distance Relays ◽  
Distance Relaying

The distance relays of transmission lines find limitations in the presence of series compensated capacitor. One of them is the distance relay setting issue, in which either over-reach problem or under-reach problem may occur. To deal with this issue, a differential equation based adaptive distance relaying setting method for series compensated line is proposed. As for it do not need to identify whether SC/MOV is in fault loop, not need to know the parameters and the operating states of SC/MOV/GAP, and furthermore, it can be realized without the iterative calculation, it is very suitable to be used for the distance relaying adaptive setting of series compensated line. Simple simulation results certificate the proposed adaptive setting method.

scholarly journals Study On Setting Method of Flatness Target Curve of SUNDWIG 20-High Mill Considering Target Crown

2021 ◽  
Author(s):  
Jianliang Sun ◽  
Mingze Yan ◽  
Mingyuan Li ◽  
Tongtong Hao
Keyword(s):  
Control Theory ◽  
Cold Rolling ◽  
Hot Rolling ◽  
New Method ◽  
Discrimination Model ◽  
Flatness Control ◽  
Simulation Results ◽  
The Stability ◽  
And Control

Abstract The flatness target curve is important in the flatness control theory. The accuracy of flatness target curve is an important factor to determine the load of flatness control means and flatness quality. Aiming at the defect that crown of each pass after rolling cannot be controlled quantitatively in the traditional target curve formulation of cold rolling, a new method considering the target crown was proposed. Specifically, the target crown of each pass can be set by combining the total proportional crown change in hot rolling field to each pass and the instability discrimination model in cold rolling field. the total proportional crown change of incoming material and finished product is allocated to each pass, and the instability discrimination model is applied to ensure the stability of the plate. The purpose of new method is to control of the crown of each pass quantitatively, so that the flatness and thickness of plate can meet the production requirements. Taking SUNDWIG 20-high mill and typical rolling products as an example, the simulation results show that, on the basis of ensuring the flatness and obtaining the minimum available crown after rolling, the model can make the flatness and crown meet the production requirements at the same time and control the crown of each pass after rolling quantitatively by setting the target crown of each pass.

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