Dynamic Modeling and Hybrid Fireworks Algorithm-Based Path Planning of an Amphibious Robot

Qi, Yuanyang; Liu, Jincun; Yu, Junzhi

doi:10.1142/s2737480722500029

Cited by 11 publications

(5 citation statements)

References 32 publications

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“…Experiments showed that the performance of the algorithm was better than other traditional algorithms. 8 Moudoud et al proposed a fuzzy adaptive sliding mode controller based on a nonlinear dynamic model of the handling robot and a finite time motion controller. Experimental results showed that the algorithm could optimize the smoothness of robot motion, speed, and attitude errors under the computational planning.…”

Section: Related Workmentioning

confidence: 99%

“…The optimal parameters are optimized by cross-variance operators of the genetic algorithm to achieve accurate control of the kinetic model. The model of the cascaded neural network is first represented as Equation (8).…”

Section: F I G U R Ementioning

confidence: 99%

“…Qi et al expressed the motion characteristics of amphibious robots by building a flow mechanics model, and used an improved hybrid rework algorithm to plan the robot's motion path. Experiments showed that the performance of the algorithm was better than other traditional algorithms 8 . Moudoud et al proposed a fuzzy adaptive sliding mode controller based on a nonlinear dynamic model of the handling robot and a finite time motion controller.…”

Section: Related Workmentioning

confidence: 99%

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Design of nonlinear control system for motion trajectory of industrial handling robot

Zhao,

Zhang

2023

Adv Control Appl

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Industrial robot is a and multi‐output complex system with strong coupling and high nonlinearity. The motion control accuracy of the system is affected by many factors. To solve the difficulty in establishing the input and output characteristics of robot dynamics modeling, the robot motion model is established through the Lagrangian energy function. At the same time, the nonlinear relationship between angular velocity, angular acceleration, and robot torque is accurately expressed through improved cascaded neural network. In addition, the optimal time planning of the robot's trajectory in joint space is studied using multinomial interpolation method and the particle swarm optimization (PSO). In the simulation experiment, the effect of the proposed dynamic model fitting was outstanding. Under the mixed multinomial difference calculation planning, the angular position trajectories of the three joints changed very smoothly. In the data set application test, the average error of the PSO algorithm was 0.4061 mm and the average task time was 9.101 s, which were lower than other planning algorithms. Experiments showed that the Lagrangian dynamic model analysis based on genetic algorithm cascaded neural network and PSO trajectory scheduling method under mixed multinomial difference had better trajectory planning performance in handling tasks.

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Section: Related Workmentioning

confidence: 99%

Section: F I G U R Ementioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

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Design of nonlinear control system for motion trajectory of industrial handling robot

Zhao,

Zhang

2023

Adv Control Appl

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“…The omnidirectional wheel layout is shown in Figure 4(b).In response to the needs of underwater navigation, a rectangular layout of 4 horizontal thrusters and 2 vertical thrusters was adopted to realize the underwater fixed-point hovering control function, which is shown in Figure 4(a). [4,5] (a). thruster arrangement (b).…”

Section: Control System Design Of the Beijing Winter Olympics Amphibi...mentioning

confidence: 99%

Research on a curling-like amphibious robot for ground and underwater torch relay of Beijing 2022 Winter Olympics

Yang

Tang

Liu

et al. 2022

International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022)

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An innovative curling-like amphibious robot was developed for the 2022 Beijing Winter Olympics ground and underwater torch relay. The shape design of imitation curling was applied to the robot in response to the theme of Winter Olympics. The amphibious robot had ground mode and water mode. In ground mode omnidirectional wheels drove the robot to rotate and move forward. The method of constant angular velocity rotation superimposed forward motion overcame ground slip. The nonlinear control of the system was improved by applying this actuation method when the robot slipped. In water mode the X-layout horizontal thrusters and vertical thrusters were applied to sail and hover. The position, depth, attitude and heading of the robot were precisely controlled when the amphibious robot dived into water for torch docking, which was realized through DVL, heading and attitude reference system. The multiple PD controllers with large control damping and phase margin were employed for the robot's control algorithm, so the control system was not diverge when the torch was collided or squeezed. Ultimately, the first underwater torch relay between robots in Olympic history was completed at the Beijing 2022 Winter Olympics.

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“…Output regulation aims to guarantee that the performance output can converge to the reference trajectory, although in the presence of external uncertainties and system uncertainties. This can be also encountered in intelligent robots [1][2][3]. There have been plenty of works proposing observer-based control [4][5][6], adaptive control [7][8][9], and fuzzy control [10] for the output regulation and disturbances rejection, most of which is however sensitive to the locations of the disturbances and references.…”

Section: Introductionmentioning

confidence: 99%

Robust output regulation of a non‐uniform Euler‐Bernoulli beam

Meng

Huang

et al. 2023

Asian Journal of Control

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For an Euler‐Bernoulli beam with variable coefficients, all the disturbances and references are supposed to be from an exosystem. Two observer‐based controls are proposed to regulate two non‐collocated outputs to track prescribed references. First, we construct an uncertain disturbance‐free beam system, which is determined by the inputs, measurable outputs, and unknown initial conditions. New exosystems are then defined to address the undetectability of the original exosystem and the uncertainties of input disturbances. We then propose two observer‐based controls through an extended observer for the disturbance‐free beam and the new exosystems. For the closed‐loop system, the tracking errors are proved to be exponentially regulated toward zero. A simulation example is provided to describe the theoretical result.

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Dynamic Modeling and Hybrid Fireworks Algorithm-Based Path Planning of an Amphibious Robot

Cited by 11 publications

References 32 publications

Design of nonlinear control system for motion trajectory of industrial handling robot

Design of nonlinear control system for motion trajectory of industrial handling robot

Research on a curling-like amphibious robot for ground and underwater torch relay of Beijing 2022 Winter Olympics

Robust output regulation of a non‐uniform Euler‐Bernoulli beam

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