Obstacle avoidance behavior of an autonomous mobile robot in a radioactive environment based on fuzzy logic

Haddi, Yassine; Kharchaf, A.

doi:10.1051/e3sconf/202123400044

Cited by 3 publications

(3 citation statements)

References 8 publications

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“…Therefore, reasonable obstacle avoidance and navigation algorithms are crucial to the practicality of mobile robots. Common obstacle avoidance and navigation algorithms include the Bug algorithm 5 , fuzzy control algorithm 6 , and artificial potential field algorithm (APF) 7 .…”

Section: Introductionmentioning

confidence: 99%

Obstacle avoidance of mobile robots using modified artificial potential field algorithm based on vortex and PID adjustment

Sheng

Wang²

2022

International Conference on Advanced Sensing and Smart Manufacturing (ASSM 2022)

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In recent years, autonomous mobile robot has become a key research direction in academia due to their good application prospects. The ability to autonomously avoid obstacles and reach a preset target point is the basic requirement of an intelligent mobile robot. As a common obstacle avoidance algorithm for mobile robots, artificial potential field algorithm (APF) has defects such as local minima problem and GNRON problem. Aiming at the shortcomings of the traditional APF algorithm, this paper proposes an improved artificial potential field algorithm based on point vortex and PID adjustment. The implementation of the improved algorithm is based on the two following main points. Firstly, an irrotational point vortex flow field is added to the original repulsion field of the obstacle to form a composite potential field. Properties of point vortex are used to provide additional virtual deflection force to the robot to avoid getting stuck. Secondly, aiming at GNRON problem, the strength of vortex and the range of action of the vortex repulsive composite potential field are adjusted in real time by means of PID adjustment. Finally, in order to verify the feasibility of the improved algorithm proposed in this paper, a comparison with the traditional APF algorithm was performed in seven environments with different obstacle layouts. The results show that the improved algorithm can be effectively applied to a variety of obstacle environments. Moreover, the local minimal value problem and GNRON problem of the traditional APF algorithm are successfully solved. The mobile robot can flexibly and efficiently avoid obstacles and reach the end point.

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Section: Introductionmentioning

confidence: 99%

Obstacle avoidance of mobile robots using modified artificial potential field algorithm based on vortex and PID adjustment

Sheng

Wang²

2022

International Conference on Advanced Sensing and Smart Manufacturing (ASSM 2022)

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“…Various kinds of robots for applications such as monitoring equipment conditions [1][2][3][4], radiation measurements [5,6], etc., are needed in nuclear environments to replace manual work and protect personal safety [7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

“…A crawler robot combined with Compton cameras [6] was used for radiation imaging and recognizing radioactive contamination in Fukushima Daiichi NPP. In order to navigate in radioactive environments and search for sources in nuclear accidents, obstacle avoidance robots [1] were developed based on fuzzy logic.…”

Section: Introductionmentioning

confidence: 99%

The Characterization of Silicone-Tungsten-Based Composites as Flexible Gamma-Ray Shields

et al. 2021

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Robots are very essential for modern nuclear power plants to monitor equipment conditions and eliminate accidents, allowing one to reduce the radiations on personnel. As a novel robot, a soft robot with the advantages of more degrees of freedom and abilities of continuously bending and twisting has been proposed and developed for applications in nuclear power industry. Considering the radiation and high-temperature environment, the overall performance improvement of the flexible materials used in the soft nuclear robot, such as the tensile property and gamma-ray shielding property, is an important issue, which should be paid attention. Here, a flexible gamma-ray shielding material silicone-W-based composites were initially doped with nano titanium oxide and prepared, with the composition of 20 silicone-(80-x) W-(x) TiO2, where x varied from 0.1 to 2.0 wt.%. Structural investigations on SEM and EDS were performed to confirm the structure of the prepared composites and prove that all the chemicals were included in the compositions. Moreover, the tensile property of the composites at 25, 100, and 150 °C were investigated to study the effect of working temperature on the flexibility of the compositions. The attenuation characteristics including the linear attenuation coefficients and mass attenuation coefficients of the prepared silicone-W or silicone-W-TiO2-based composites with respect to gamma ray were investigated. The stability of the silicone–tungsten-TiO2-based composite at high temperature was studied for the first time. In addition, the influence of nano TiO2 additive on the property’s variation of silicone-W-based composites was initially studied. The comparison of the properties such as the tensile elongation, thermal stability, and gamma-ray shielding of the synthesized silicone-W and silicone-W-TiO2 composites showed that the addition of nano TiO2 powders could be useful to develop novel gamma-ray-shielding materials for radiation protection of soft robots or other applications for which soft gamma-ray-shielding materials are needed.

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The Inverse Kinematics of 3-DOF Planar Robotic Arm

Ed-Deryouch,

Ech-Chhibat,

Mansouri

2023

2023 7th IEEE Congress on Information Science and Technology (CiSt)

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Obstacle avoidance behavior of an autonomous mobile robot in a radioactive environment based on fuzzy logic

Cited by 3 publications

References 8 publications

Obstacle avoidance of mobile robots using modified artificial potential field algorithm based on vortex and PID adjustment

Obstacle avoidance of mobile robots using modified artificial potential field algorithm based on vortex and PID adjustment

The Characterization of Silicone-Tungsten-Based Composites as Flexible Gamma-Ray Shields

The Inverse Kinematics of 3-DOF Planar Robotic Arm

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