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Abstract-Traditional APF-based mobile robot path planning approaches posses an inherent problem which is the formation of local minimum that probably prevent robot from arriving at the target. In view of those considerations, an improved potential field function is proposed to settle this problem. The new method includes an improved attractive potential function and an improved repulsive potential function. The attractive potential function takes into account the minimum separation between robot and obstacles, while the repulsive potential function takes into account the relative position between robot and the target. As a result, the target is ensured as the global minimum in working space. Simulation experiments are performed and the results demonstrate the effectiveness of the improved method.

Abstract-The small-scale fading behavior in common wireless communication systems can be predicted by a series of propagation models. Although these types of models are feasible and effective for the situations of transmitting/receiving (Tx/Rx) antennas in relatively open surrounding environments, they are unable to address the coupling between the antenna and environment. In order to overcome this difficulty, a full-wave numerical method is applied in terms of the advantage in considering the interaction between complicated environments and the Tx/Rx antennas, and it can take into account the effect of the interaction on signals. In this paper, an integrative modeling technique involving FDTD method, two-path propagation model and multi-path statistical distribution model is presented, which combines the deterministic and statistical methods. For achieving reliable communication especially in high-speed railway environment, high sampling rate and adequate sampling points are needed for analyzing the propagation properties of the radio frequency (RF) link. This can be easily achieved by the integrative modeling technique, and the output voltage and current of train antenna under the illumination of base-station (BS) antenna along the railway can be given in detail. Results obtained from the integrative simulation for three different multi-path statistical distribution models are presented and analyzed.

When the Autonomous Mobile Robot(AMR) is dynamic systems control, navigation, and communication, but popular in unknown environment, accurate estimation of SOC(State is not widely known in the battery field[7]. Kalman Filter of Charge) is becoming one of the primary challenges in constrains the state vector to include SOC as one component. Autonomous Mobile Robots research. However, as defects of the Gregory L Plett firstly proposed to apply liner Kalman Filter Extended Kalman Filter(EKF) in nonlinear estimation, there exists