Optimizing Heuristic Graph Formation with Application in Kinematic Synthesis of a Robot Arm with Revolute Joints

Ali, Doaa Mahmood Badr; Ghafil, Hazim Nasir; Jármai, Károly

doi:10.36478/jeasci.2019.1976.1984

Cited by 3 publications

(1 citation statement)

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“…Cubic spline curves are piecewise polynomials consisting of adjacent segments. The most crucial engineering application for splines is path planning (Mahmood et al, 2019) in robotics (Ghafil and Jármai, 2019). The heat exchanger (Bouchenna et al, 2021) is a device used to heat transfer between two or more fluids for various applications, including power plants, nuclear reactors, refrigeration and air condition system, automotive industries, heat recovery system, chemical processing and food industries.…”

Section: Introductionmentioning

confidence: 99%

Interpolated spline method for a thermal distribution of a pipe with a turbulent heat flow

Ghafil

Askar

Jármai

et al. 2021

MDT

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This work presents an interpolated spline method to mathematically represent experimental data of a thermal distribution on a tube with heat flux. Linear regression was compared with the double linear interpolation process with an optimization algorithm and cubic spline curve method with the proposed problem. The results show that the interpolated experimental data can highly improve the efficiency of the cubic spline curves and lead to a smooth empirical equation for the experiments. The optimization algorithm chooses the interpolated points in a way that provides more minor errors.

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Section: Introductionmentioning

confidence: 99%

Interpolated spline method for a thermal distribution of a pipe with a turbulent heat flow

Ghafil

Askar

Jármai

et al. 2021

MDT

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An Extensive Review of Shortest Path Problem Solving Algorithms

Kumawat

Dudeja

Kumar

2021

2021 5th International Conference on Intelligent Computing and Control Systems (ICICCS)

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Collaborative Multi-Robot Formation Control and Global Path Optimization

2022

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For multi-robot cooperative formation and global path planning, we propose to adjust the repulsive field function and insert a dynamic virtual target point to solve the local minima and target unreachability problems of the traditional artificial potential field (APF) method. The convergence speed and global optimization accuracy of ant colony optimization (ACO) are improved by introducing improved state transfer functions with heuristic information of the artificial potential field method and optimizing the pheromone concentration update rules. A hybrid algorithm combining APF and improved ACO is used to calculate an optimal path from the starting point to the end point for the leader robot. A cooperative multi-robot formation control method combining graph theory and consistency algorithm is proposed based on path planning of the leader robot. Taking AGVs in a logistics distribution center as an example, the feasibility of the improved algorithm and its effectiveness in solving the multi-robot path planning problem are verified.

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Optimizing Heuristic Graph Formation with Application in Kinematic Synthesis of a Robot Arm with Revolute Joints

Cited by 3 publications

References 0 publications

Interpolated spline method for a thermal distribution of a pipe with a turbulent heat flow

Interpolated spline method for a thermal distribution of a pipe with a turbulent heat flow

An Extensive Review of Shortest Path Problem Solving Algorithms

Collaborative Multi-Robot Formation Control and Global Path Optimization

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