Cable deployment system for unmanned ground vehicle (UGV) mobile microgrids

Naglak, John; Kase, Caleb; McGinty, Max; Majhor, Casey D.; Greene, Carl S.; Bos, Jeremy P.; Weaver, Wayne W.

doi:10.1016/j.ohx.2021.e00205

Cited by 3 publications

(3 citation statements)

References 9 publications

(10 reference statements)

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“…Vehicles that manage cables by adjusting the cable length and tension using cable reels have been developed [18] [19]. In particular, [19] reports an example of cable untying while avoiding the obstacles in a multi-obstacle environment.…”

Section: Overview Of a Multi-robot System Formentioning

confidence: 99%

Cooperative Towing by Multi-Robot System That Maintains Welding Cable in Optimized Shape

Suzuki

Okada

Yokota

et al. 2022

IEEE Robot. Autom. Lett.

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As considerable amounts of welding are required during ship construction, robotic automation is being promoted. However, current welding robots do not automate work in high or narrow places. One reason is that welding cannot be performed with sufficient accuracy because a welding robot with a torch cannot tow a heavy cable and thus may go off path.This paper proposes a multi-robot system for automating the execution of long welds in high and narrow places to address this problem. In the proposed method, towing vehicles are placed along the supply cable to reduce the load on the lead welding vehicle. In confined-space welding, the cable must not be excessively loaded, and obstacles such as walls must be avoided. Under the proposed method, autonomous movement of the towing vehicles is achieved by solving an optimization problem that considers these aims and minimizes the amount of change from the estimated current cable shape. The method was evaluated through simulation and real-world tests, in which it was applied successfully to tow the cable with a welding torch in a working area of 2.6 × 10 m 2 (simulation) and of 3.4 × 5.5 m 2 (real-world environment) without disturbing the lead vehicle's movement.

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Section: Overview Of a Multi-robot System Formentioning

confidence: 99%

Cooperative Towing by Multi-Robot System That Maintains Welding Cable in Optimized Shape

Suzuki

Okada

Yokota

et al. 2022

IEEE Robot. Autom. Lett.

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“…Second, the movement cost, for example, the moving distance, should be taken into account in practice. For simplicity, it is omitted in Problem 1, whereas the solution is useful for wired Tx vehicles, to which power is supplied via a long cable [19]. Third, in the previous work [16], a general form of the objective function

J

has been addressed.…”

Section: Problem Descriptionmentioning

confidence: 99%

Broadcast control of radar surveillance systems for unexpected drones

Fujishima

Azuma

2022

Asian Journal of Control

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Summary In this paper, we propose a new antidrone surveillance system with multiple vehicles and bistatic radars whose antennas are mounted in each vehicle. The proposed system is based on the broadcast control technique recently proposed. We show that our method provides the optimal formation in terms of the received signal level of echoes from the drone intruders, without the information about the relation among the signal level, the locations of vehicles, and the locations of intruders. The proposed system is demonstrated by numerical simulation.

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“…The dynamics of the autonomous navigation landscape change and the effectiveness and robustness of path planning algorithms are critical for the operational success of Unmanned Ground Vehicles (UGVs) [1][2][3][4][5][6][7][8][9][10][11][12]. These vehicles are used in various applications including military operations [13][14][15][16][17][18][19][20][21][22][23][24][25][26][27][28][29][30], disaster reliefs, as well as agricultural automation and require sophisticated navigation techniques that can allow them to navigate safely and effectively through difficult environments [31][32][33][34][35][36][37][38][39][40][41][42][43][44][45]. Traditional path planning methods mainly face an optimization task of path length and computational efficiency in dynamic and unpredictable terrains .…”

Section: Introductionmentioning

confidence: 99%

Path planning for a UGV using Salp Swarm Algorithm

AlShabi,

Ballous,

Bou Nassif

et al. 2024

Autonomous Systems: Sensors, Processing, and Security for Ground, Air, Sea, and Space Vehicles and Infrastructure 2024

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The paper researches a utilization of the Salp Swarm Algorithm (SSA), a bio-mimetic optimization technique, to improve path planning in Unmanned Ground Vehicles (UGVs). Because of the crucial role of the efficient and reliable path planning in the implementation of UGVs in such sectors as military, rescue operations, and agriculture, there is a need for algorithms that are capable of navigating complex environments. The concept of SSA, based on the natural swarming behavior of salps, represents a very promising approach that is characterized by the exploration and exploitation properties of the algorithm. This study evaluates the performance of the SSA relative to existing particle swarm optimization (PSO), in terms of path optimality, computational efficiency, and dynamic obstacle adaptability, through a number of simulated environments. Results show that the SSA has the potential to compete with the traditional algorithms in path efficiency and computational load. However, PSO shows slight superiority results compared to SSA. This study highlights the potency of bio-inspired algorithms, specifically the SSA, in enhancing the field of autonomous navigation for UGVs. It introduces new possibilities of practical application of SSA in real-life scenarios, demonstrating its scalability and resilience. The findings of this study make a contribution to the general discussion on the improvement of planning of autonomous routes and provide a possible way for more sustainable and effective UGV activities.

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Cable deployment system for unmanned ground vehicle (UGV) mobile microgrids

Cited by 3 publications

References 9 publications

Cooperative Towing by Multi-Robot System That Maintains Welding Cable in Optimized Shape

Cooperative Towing by Multi-Robot System That Maintains Welding Cable in Optimized Shape

Broadcast control of radar surveillance systems for unexpected drones

Path planning for a UGV using Salp Swarm Algorithm

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