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The use of a swarm of autonomous robots for simulated bushfire fighting is studied in this work. A distributed and behavioral control strategy, the Ants based Control of Swarm Robots (ACSR), is proposed. In this approach, each fire fighting robot can operate independently from decentralized controllers and the goal is accomplished by the individual robot's own ability. In particular, improvements...
In the dynamic environment, a path planning method of autonomous mobile robot based on fusing and genetic simulated annealing approach is introduced. In this paper, the accurate dynamic environment data is acquired firstly by building ultrasonic data predictive model and the method based on multisensor fusing. Finally, on the based of path planning by using genetic algorithms, forming a genetic simulated...
This paper introduced the basic principles of the ant algorithm. On this basis, the method of dynamic mobile robot path planning based on ant algorithm is also proposed. Finally, the algorithm is certificated by Visual C++ simulation. It has a certain sense to solve the optimization problem that ant algorithm is applied to the mobile robot path planning.
Adaptive sampling aims to predict the types and locations of additional observations that are most useful for specific objectives, under the constraints of the available observing network. Path planning refers to the computation of the routes of the assets that are part of the adaptive component of the observing network. In this paper, we present two path planning methods based on Mixed Integer Linear...
In this paper, backstepping-based robust path following controllers are presented to tackle the skidding problem for a type (1,1) car-like WMR. The controllers are designed based on a new general model, which allows the perturbations to be estimated effectively. Backstepping-based controllers are designed based on the estimated information and enhanced by robust control techniques. Simulation results...
This paper considers a flatness-based boundary control of a hub-beam system with tip payload moving in a vertical plane in the presence of gravity. The homogeneous flexible beam is modelled using an Euler-Bernoulli hypothesis which assumes no shear deformation or rotatory inertia. As well, small transverse deformations are assumed. A linearized system model involving a coupled PDE-ODE is derived and...
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