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Four-point bending tests were adopted to investigate the influences of the number of textile layers, volume content of steel fibres, and prestress on the flexural behaviour of carbon textile-reinforced concrete (TRC). The failure mode of the specimen changed from debonding failure to shear failure, accompanied by the matrix-textile interfacial debonding with an increasing number of textile layers. The interfacial bonding performance between the textile and matrix improved with the addition of steel fibres in the TRC specimens. The presence of prestress or steel fibres improved first-crack and ultimate stresses of the TRC specimen. In comparison with the first-crack stress, a more pronounced enhancement in the ultimate stress was achieved by the addition of steel fibres. However, the effect of prestress on the first-crack stress was found to be more significant than on the ultimate stress. The prestress combined with steel fibres further improved the flexural behaviour of the TRC specimens. The prestressed TRC specimens with 1% volume content of steel fibres effectively avoided debonding. Thus, the utilization of the textiles could be improved.

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An algorithm that integrates the improved artificial fish swarm algorithm with continuous segmented Bézier curves is proposed, aiming at the path planning and smoothing of mobile robots. On the one hand, to overcome the low accuracy problems, more inflection points and relatively long planning paths in the traditional artificial fish swarm algorithm for path planning, feasible solutions and a range of step sizes are introduced based on Dijkstra's algorithm. To solve the problems of poor convergence and degradation that hinder the algorithm's ability to find the best in the later stage, a dynamic feedback horizon and an adaptive step size are introduced. On the other hand, to ensure that the planned paths are continuous in both orientation and curvature, the Bessel curve theory is introduced to smooth the planned paths. This is demonstrated through a simulation that shows the improved artificial fish swarm algorithm achieving 100% planning accuracy, while ensuring the shortest average path in the same grid environment. Additionally, the smoothed path is continuous in both orientation and curvature, which satisfies the kinematic characteristics of the mobile robot.