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This paper discusses the problem of local path planning in a static-obstacle environment by designing a PSO-based receding horizon control approach. In order to avoid obstacles, a virtual robot is first designed and moves along the boundary of obstacles. Then, in the framework of receding horizon control, a cost function is proposed where the virtual robot and the target position are integrated, which...
In this paper, a local path planning algorithm based on particle swarm optimization is adopted. The obstacle avoidance principle of this method is to build a virtual robot on the edge of the obstacle and allowing it to move along the edge of the obstacle. The information of the virtual robot can be given based on the message of the actual mobile robot. The corresponding cost function can be designed...
This paper deals with the problem of odor source localization by designing and analyzing a finite-time motion control strategy (FTMCS), which consists of a finite-time parallel motion control algorithm and a finite-time circular motion control algorithm. Specifically, a motion control architecture is first given and includes two important modules: 1) a coordinating control module; and 2) a tracking...
To ensure that citrus picking robot operates safely in complex natural scenes, the branches must be recognized to prepare for avoiding obstacle and path planning. Due to the complexity of natural environment and the deficiency of identifying branches by the traditional methods, five narrow band filters in the Vis-NIR region were selected to capture five images. The first four principal component images...
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