scholarly journals Navigation Simulation of a Mecanum Wheel Mobile Robot Based on an Improved A* Algorithm in Unity3D

Sensors ◽  
2019 ◽  
Vol 19 (13) ◽  
pp. 2976 ◽  
Author(s):  
Yunwang Li ◽  
Sumei Dai ◽  
Yong Shi ◽  
Lala Zhao ◽  
Minghua Ding
Keyword(s):  
Mobile Robot ◽  
Effective Means ◽  
Three Dimensional ◽  
Simulation Method ◽  
Virtual Prototype ◽  
Visual Navigation ◽  
A Algorithm ◽  
Navigation Algorithm ◽  
Navigation Simulation ◽  
Mecanum Wheel

Computer simulation is an effective means for the research of robot navigation algorithms. In order to implement real-time, three-dimensional, and visual navigation algorithm simulation, a method of algorithm simulation based on secondary development of Unity3D is proposed. With this method, a virtual robot prototype can be created quickly with the imported 3D robot model, virtual joints, and virtual sensors, and then the navigation simulation can be carried out using the virtual prototype with the algorithm script in the virtual environment. Firstly, the scripts of the virtual revolute joint, virtual LiDAR sensors, and terrain environment are written. Secondly, the A* algorithm is improved for navigation in unknown 3D space. Thirdly, taking the Mecanum wheel mobile robot as an example, the 3D robot model is imported into Unity3D, and the virtual joint, sensor, and navigation algorithm scripts are added to the model. Then, the navigation is simulated in static and dynamic environments using a virtual prototype. Finally, the navigation tests of the physical robot are carried out in the physical environment, and the test trajectory is compared with the simulation trajectory. The simulation and test results validate the algorithm simulation method based on the redevelopment of Unity3d, showing that it is feasible, efficient, and flexible.

Design and Simulation of a Variable Structure Mobile Robot

2013 ◽  
Vol 457-458 ◽  
pp. 672-676
Author(s):  
Zhang Jun Sun ◽  
Jing Long Yan ◽  
Chao Quan Li ◽  
Yue Ju Li ◽  
Chao Di
Keyword(s):  
Mobile Robot ◽  
Mechanism Design ◽  
Three Dimensional ◽  
Variable Structure ◽  
Virtual Prototype ◽  
Motion Simulation ◽  
Global State ◽  
Design Scheme ◽  
Good Protection ◽  
Wheeled Robot

Combined with the advantages of good protection of global robot, self-equilibrium, easy control of wheeled robot and strong obstacle surmounting ability of turbofan robot, a variable structure mobile robot which has three kinds of basic modalities of global, turbofan and three-wheel is designed. The balancing leg is retracted and the two polymorphic wheels of the robot are closed into a sphere while in the global state, and it could be conveniently threw, carried and make all directional movements on the flat grounds. When confronted with the complicated terrain environments of sand, slopes etc., the two polymorphic wheels will be outspread to the turbofan state, and the balancing leg will be opened out as a third supporting wheel so as to strengthen the ability to adapt to the environment. When the two polymorphic wheels are expanded into two wheels, the robot motions are more smoothly and easily to be controlled. A virtual prototype of the robot is designed by three-dimensional technology, as well as the motion simulation. Rationality of the mechanism design scheme of the variable structure mobile robot is verified.

A method for autonomous collision-free navigation of a quadrotor UAV in unknown tunnel-like environments

Robotica ◽  
2021 ◽  
pp. 1-27
Author(s):  
Taha Elmokadem ◽  
Andrey V. Savkin
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicles ◽  
Practical Implementation ◽  
Challenging Problem ◽  
Quadrotor Uav ◽  
Navigation Algorithm ◽  
Aerial Vehicles ◽  
Quadrotor Uavs

Abstract Unmanned aerial vehicles (UAVs) have become essential tools for exploring, mapping and inspection of unknown three-dimensional (3D) tunnel-like environments which is a very challenging problem. A computationally light navigation algorithm is developed in this paper for quadrotor UAVs to autonomously guide the vehicle through such environments. It uses sensors observations to safely guide the UAV along the tunnel axis while avoiding collisions with its walls. The approach is evaluated using several computer simulations with realistic sensing models and practical implementation with a quadrotor UAV. The proposed method is also applicable to other UAV types and autonomous underwater vehicles.

scholarly journals Research on path planning of three-neighbor search A* algorithm combined with artificial potential field

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110264
Author(s):  
Jiqing Chen ◽  
Chenzhi Tan ◽  
Rongxian Mo ◽  
Hongdu Zhang ◽  
Ganwei Cai ◽  
...  
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Path Length ◽  
Search Time ◽  
Experimental Results ◽  
Artificial Potential Field ◽  
A Algorithm ◽  
Neighbor Search

Among the shortcomings of the A* algorithm, for example, there are many search nodes in path planning, and the calculation time is long. This article proposes a three-neighbor search A* algorithm combined with artificial potential fields to optimize the path planning problem of mobile robots. The algorithm integrates and improves the partial artificial potential field and the A* algorithm to address irregular obstacles in the forward direction. The artificial potential field guides the mobile robot to move forward quickly. The A* algorithm of the three-neighbor search method performs accurate obstacle avoidance. The current pose vector of the mobile robot is constructed during obstacle avoidance, the search range is narrowed to less than three neighbors, and repeated searches are avoided. In the matrix laboratory environment, grid maps with different obstacle ratios are compared with the A* algorithm. The experimental results show that the proposed improved algorithm avoids concave obstacle traps and shortens the path length, thus reducing the search time and the number of search nodes. The average path length is shortened by 5.58%, the path search time is shortened by 77.05%, and the number of path nodes is reduced by 88.85%. The experimental results fully show that the improved A* algorithm is effective and feasible and can provide optimal results.

scholarly journals Practical Model for Energy Consumption Analysis of Omnidirectional Mobile Robot

Sensors ◽  
2021 ◽  
Vol 21 (5) ◽  
pp. 1800
Author(s):  
Linfei Hou ◽  
Fengyu Zhou ◽  
Kiwan Kim ◽  
Liang Zhang
Keyword(s):  
Energy Consumption ◽  
Power Consumption ◽  
Mobile Robot ◽  
Load Capacity ◽  
Working Environment ◽  
Energy Consumption Analysis ◽  
Mecanum Wheel ◽  
Save Energy ◽  
Energy Consumption Modeling ◽  
Robot Platform

The four-wheeled Mecanum robot is widely used in various industries due to its maneuverability and strong load capacity, which is suitable for performing precise transportation tasks in a narrow environment. While the Mecanum wheel robot has mobility, it also consumes more energy than ordinary robots. The power consumed by the Mecanum wheel mobile robot varies enormously depending on their operating regimes and environments. Therefore, only knowing the working environment of the robot and the accurate power consumption model can we accurately predict the power consumption of the robot. In order to increase the applicable scenarios of energy consumption modeling for Mecanum wheel robots and improve the accuracy of energy consumption modeling, this paper focuses on various factors that affect the energy consumption of the Mecanum wheel robot, such as motor temperature, terrain, the center of gravity position, etc. The model is derived from the kinematic and kinetic model combined with electrical engineering and energy flow principles. The model has been simulated in MATLAB and experimentally validated with the four-wheeled Mecanum robot platform in our lab. Experimental results show that the accuracy of the model reached 95%. The results of energy consumption modeling can help robots save energy by helping them to perform rational path planning and task planning.

scholarly journals Strata behavior and control strategy of backfilling collaborate with caving fully-mechanized mining

2020 ◽  
Vol 12 (1) ◽  
pp. 703-717
Author(s):  
Yin Wei ◽  
Wang Jiaqi ◽  
Bai Xiaomin ◽  
Sun Wenjie ◽  
Zhou Zheyuan
Keyword(s):  
Numerical Simulation ◽  
Control Strategy ◽  
Three Dimensional ◽  
Simulation Method ◽  
Mine Pressure ◽  
Hydraulic Support ◽  
Transition Area ◽  
Pressure Concentration ◽  
Strata Behavior ◽  
And Control

AbstractThis article analyzes the technical difficulties in full-section backfill mining and briefly introduces the technical principle and advantages of backfilling combined with caving fully mechanized mining (BCCFM). To reveal the strata behavior law of the BCCFM workface, this work establishes a three-dimensional numerical model and designs a simulation method by dynamically updating the modulus parameter of the filling body. By the analysis of numerical simulation, the following conclusions about strata behavior of the BCCFM workface were drawn. (1) The strata behavior of the BCCFM workface shows significant nonsymmetrical characteristics, and the pressure in the caving section is higher than that in the backfilling section. φ has the greatest influence on the backfilling section and the least influence on the caving section. C has a significant influence on the range of abutment pressure in the backfilling section. (2) There exits the transition area with strong mine pressure of the BCCFM workface. φ and C have significant effect on the degree of pressure concentration but little effect on the influence range of strong mine pressure in the transition area. (3) Under different conditions, the influence range of strong mine pressure is all less than 6 m. This article puts forward a control strategy of mine pressure in the transition area, which is appropriately improving the strength of the transition hydraulic support within the influence range (6 m) in the transition area according to the pressure concentration coefficient. The field measurement value of Ji15-31010 workface was consistent with numerical simulation, which verifies the reliability of control strategy of the BCCFM workface.

scholarly journals Study of the Effect of Centrifugal Force on Rotor Blade Icing Process

2017 ◽  
Vol 2017 ◽  
pp. 1-9 ◽  
Author(s):  
Zhengzhi Wang ◽  
Chunling Zhu
Keyword(s):  
Numerical Simulation ◽  
Centrifugal Force ◽  
Rotor Blade ◽  
Flow Direction ◽  
Three Dimensional ◽  
Simulation Method ◽  
Two Phase ◽  
Numerical Simulation Method ◽  
Calculation Results ◽  
Flow Field Characteristics

In view of the rotor icing problems, the influence of centrifugal force on rotor blade icing is investigated. A numerical simulation method of three-dimensional rotor blade icing is presented. Body-fitted grids around the rotor blade are generated using overlapping grid technology and rotor flow field characteristics are obtained by solving N-S equations. According to Eulerian two-phase flow, the droplet trajectories are calculated and droplet impingement characteristics are obtained. The mass and energy conservation equations of ice accretion model are established and a new calculation method of runback water mass based on shear stress and centrifugal force is proposed to simulate water flow and ice shape. The calculation results are compared with available experimental results in order to verify the correctness of the numerical simulation method. The influence of centrifugal force on rotor icing is calculated. The results show that the flow direction and distribution of liquid water on rotor surfaces change under the action of centrifugal force, which lead to the increasing of icing at the stagnation point and the decreasing of icing on both frozen limitations.

Thermo-mechanical coupling particle simulation of three-dimensional large-scale non-isothermal problems

2017 ◽  
Vol 34 (5) ◽  
pp. 1551-1571 ◽  
Author(s):  
Ming Xia
Keyword(s):  
Large Scale ◽  
Three Dimensional ◽  
Simulation Method ◽  
Particle Simulation ◽  
Similarity Criteria ◽  
Particle Model ◽  
Length Scale ◽  
Content Type ◽  
Mechanical Coupling ◽  
Particle Simulation Method

Purpose The main purpose of this paper is to present a comprehensive upscale theory of the thermo-mechanical coupling particle simulation for three-dimensional (3D) large-scale non-isothermal problems, so that a small 3D length-scale particle model can exactly reproduce the same mechanical and thermal results with that of a large 3D length-scale one. Design/methodology/approach The objective is achieved by following the scaling methodology proposed by Feng and Owen (2014). Findings After four basic physical quantities and their similarity-ratios are chosen, the derived quantities and its similarity-ratios can be derived from its dimensions. As the proposed comprehensive 3D upscale theory contains five similarity criteria, it reveals the intrinsic relationship between the particle-simulation solution obtained from a small 3D length-scale (e.g. a laboratory length-scale) model and that obtained from a large 3D length-scale (e.g. a geological length-scale) one. The scale invariance of the 3D interaction law in the thermo-mechanical coupled particle model is examined. The proposed 3D upscale theory is tested through two typical examples. Finally, a practical application example of 3D transient heat flow in a solid with constant heat flux is given to illustrate the performance of the proposed 3D upscale theory in the thermo-mechanical coupling particle simulation of 3D large-scale non-isothermal problems. Both the benchmark tests and application example are provided to demonstrate the correctness and usefulness of the proposed 3D upscale theory for simulating 3D non-isothermal problems using the particle simulation method. Originality/value The paper provides some important theoretical guidance to modeling 3D large-scale non-isothermal problems at both the engineering length-scale (i.e. the meter-scale) and the geological length-scale (i.e. the kilometer-scale) using the particle simulation method directly.

Calculation and Design Method Study of the Coil-Wound Heat Exchanger

2014 ◽  
Vol 1008-1009 ◽  
pp. 850-860 ◽  
Author(s):  
Zhou Wei Zhang ◽  
Jia Xing Xue ◽  
Ya Hong Wang
Keyword(s):  
Heat Transfer ◽  
Numerical Simulation ◽  
Heat Exchanger ◽  
Design Method ◽  
Fluid Velocity ◽  
Exchange Process ◽  
Three Dimensional ◽  
Simulation Method ◽  
Physical Parameters ◽  
Numerical Result

A calculation method for counter-current type coil-wound heat exchanger is presented for heat exchange process. The numerical simulation method is applied to determine the basic physical parameters of wound bundles. By controlling the inlet fluid velocity varying in coil-wound heat exchanger to program and calculate the iterative process. The calculation data is analyzed by comparison of numerical result and the unit three dimensional pipe bundle model was built. Studies show that the introduction of numerical simulation can simplify the pipe winding process and accelerate the calculation and design of overall configuration in coil-wound heat exchanger. This method can be applied to the physical modeling and heat transfer calculation of pipe bundles in coil wound heat exchanger, program to calculate the complex heat transfer changing with velocity and other parameters, and optimize the overall design and calculation of spiral bundles.

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