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In the context of security systems, adequate signal coverage is paramount for the communication between security personnel and the accurate positioning of personnel. Most studies focus on optimizing base station deployment under the assumption of static obstacles, aiming to maximize the perception coverage of wireless RF (Radio Frequency) signals and reduce positioning blind spots. However, in practical security systems, obstacles are subject to change, necessitating the consideration of base station deployment in dynamic environments. Nevertheless, research in this area still needs to be conducted. This paper proposes a Dynamic Indoor Environment Beacon Deployment Algorithm (DIE-BDA) to address this problem. This algorithm considers the dynamic alterations in obstacle locations within the designated area. It determines the requisite number of base stations, the requisite time, and the area’s practical and overall signal coverage rates. The experimental results demonstrate that the algorithm can calculate the deployment strategy in 0.12 s following a change in obstacle positions. Experimental results show that the algorithm in this paper requires 0.12 s to compute the deployment strategy after the positions of obstacles change. With 13 base stations, it achieves an effective coverage rate of 93.5% and an overall coverage rate of 97.75%. The algorithm can rapidly compute a revised deployment strategy in response to changes in obstacle positions within security systems, thereby ensuring the efficacy of signal coverage.

In the field of AGV, a path planning algorithm is always a heated area. However, traditional path planning algorithms have many disadvantages. To solve these problems, this paper proposes a fusion algorithm that combines the kinematical constraint A* algorithm and the following dynamic window approach algorithm. The kinematical constraint A* algorithm can plan the global path. Firstly, the node optimization can reduce the number of child nodes. Secondly, improving the heuristic function can increase efficiency of path planning. Thirdly, the secondary redundancy can reduce the number of redundant nodes. Finally, the B spline curve can make the global path conform to the dynamic characteristics of AGV. The following DWA algorithm can be dynamic path planning and allow the AGV to avoidance moving obstacle. The optimization heuristic function of the local path is closer to the global optimal path. The simulation results show that, compared with the fusion algorithm of traditional A* algorithm and traditional DWA algorithm, the fusion algorithm reduces the length of path by 3.6%, time of path by 6.7% and the number of turns of final path by 25%.

While different species in nature have safely solved the problem of navigation in a dynamic environment, this remains a challenging task for researchers around the world. The paper addresses the problem of autonomous navigation in an unknown dynamic environment for a single and a group of three wheeled omnidirectional mobile robots (TWOMRs). The robot has to track a dynamic target while avoiding dynamic obstacles and dynamic walls in an unknown and very dense environment. It adopts a behavior-based controller that consists of four behaviors: “target tracking”, “obstacle avoidance”, “dynamic wall following” and “avoid robots”. The paper considers the problem of kinematic saturation. In addition, it introduces a strategy for predicting the velocity of dynamic obstacles based on two successive measurements of the ultrasonic sensors to calculate the velocity of the obstacle expressed in the sensor frame. Furthermore, the paper proposes a strategy to deal with dynamic walls even when they have U-like or V-like shapes. The approach can also deal with the formation control of a group of robots based on the leader-follower structure and the behavior-based control, where the robots have to get together and maintain a given formation while navigating toward the target, avoiding obstacles and walls in a dynamic environment. The effectiveness of the proposed approaches is demonstrated via simulation.

Under unknown environments, drones should always maintain vigilance to address potential threats. In fact, unknown obstacles suddenly moving and blocking the way could generate great flight safety risks. Besides conventional static and moving obstacles, addressing such unknown malicious obstacles is crucial for enhancing drone safety, yet relevant research is scarce. In this work, we propose a systematic planning framework for drones with switchable obstacle avoidance strategies based on risk estimation of unknown obstacles. When the risk value in the unknown environment is low, the drone adopts a global planning strategy. However, when encountering high-risk obstacles that move suddenly, the drone switches to a reactive obstacle avoidance strategy. Firstly, an online dynamic point cloud recognition method is employed to identify dynamic and static obstacles in unknown environments. Obstacle trajectories are then predicted based on historical positions, without the need for predefined motion models. A risk estimation function based on field theory is devised to assess the potential risk caused by static obstacles in unknown environments. To accommodate different obstacle threats, a gradient-based global path planning method is utilized to avoid conventional static and dynamic obstacles, while a reactive avoidance strategy is promptly activated to avoid high-risk malicious obstacles that move suddenly. Extensive simulations and real flight tests validate the efficacy of the proposed approach. The reaction time from detecting the sudden movement of a static obstacle to planning a safe trajectory is less than 3 ms .

Obstacle detection is an essential task for the autonomous navigation by robots. The task becomes more complex in a dynamic and cluttered environment. In this context, the RGB-D camera sensor is one of the most common devices that provides a quick and reasonable estimation of the environment in the form of RGB and depth images. This work proposes an efficient obstacle detection and tracking method using depth images to facilitate quick dynamic obstacle detection. To achieve early detection of dynamic obstacles and stable estimation of their states, as in previous methods, we applied a u-depth map for obstacle detection. Unlike existing methods, the present method provides dynamic thresholding facilities on the u-depth map to detect obstacles more accurately. Here, we propose a restricted v-depth map technique, using post-processing after the u-depth map processing to obtain a better prediction of the obstacle dimension. We also propose a new algorithm to track obstacles until they are within the field of view (FOV). We evaluate the performance of the proposed system on different kinds of data sets. The proposed method outperformed the vision-based state-of-the-art (SoA) methods in terms of state estimation of dynamic obstacles and execution time.

Radar is an important sensor to realise intelligent driving environment perception, enabling the detection of static obstacles and dynamic obstacles, and the tracking of a dynamic obstacle. The models, quantities, and installing location of the platform radar sensors as well as the information processing modules differ from each other on different intelligent driving testing platforms, resulting in different quantities and interfaces on the intelligent driving system. Here, the authors build the software architecture of intelligent driving vehicle based on driving brain which is used to adapt to different types of radar sensors and use the variable granularity road ownership radar for radar information fusion. Under the condition of complete driving information, increasing or reducing the number of radar sensors and changing the radar sensor model or installing location will not affect the intelligent driving decision directly. Therefore, the authors meet the demands of multi-radar sensor adapting to different intelligent driving hardware testing platforms.

Designed to meet the demands of AGV global optimal path planning and dynamic obstacle avoidance, this paper proposes a combination of an improved A* algorithm and dynamic window method fusion algorithm. Firstly, the heuristic function is dynamically weighted to reduce the search scope and improve the planning efficiency; secondly, a path-optimization method is introduced to eliminate redundant nodes and redundant turning points in the path; thirdly, combined with the improved A* algorithm and dynamic window method, the local dynamic obstacle avoidance in the global optimal path is realized. Finally, the effectiveness of the proposed method is verified by simulation experiments. According to the results of simulation analysis, the path-planning time of the improved A* algorithm is 26.3% shorter than the traditional A* algorithm, the search scope is 57.9% less, the path length is 7.2% shorter, the number of path nodes is 85.7% less, and the number of turning points is 71.4% less. The fusion algorithm can evade moving obstacles and unknown static obstacles in different map environments in real time along the global optimal path.

To solve the intelligent substation inspection robot path planning with low global efficiency, search node redundancy, and may even fail under a dynamic obstacle environment, which is normally based on the A* or dynamic window approach (DWA) algorithms. This study attempted to use the improved A* algorithm and an enhanced DWA algorithms for intelligent substation inspection robot path planning to improve its path planning ability under dynamic inspection. In this study, The neighborhood traversal rule of the A* is refined, and the DWA evaluation function is adjusted to align with the specific demands of intelligent substation inspection. Simulation results demonstrate that combining the improved A* algorithm with the enhanced DWA significantly reduces the inspection path length by 24.4% compared to traditional A* in fixed point inspection condition. This integration greatly enhances the dynamic path-planning performance of substation inspection robots, particularly in terms of path smoothness and inspection efficiency.

Traditional path planning algorithms often encounter challenges in complex dynamic environments, including local optima, excessive path lengths, and inadequate dynamic obstacle avoidance. Thus, the development of innovative path planning algorithms is essential. This article addresses the challenges of mobile robot path planning in complex environments, where traditional methods often converge to local optima, leading to suboptimal path lengths, and struggle with dynamic obstacle avoidance. To overcome these limitations, we propose an integrated algorithm, the enhanced sparrow search algorithm combined with the dynamic window approach (ESSA-DWA). The algorithm first utilizes ESSA for global path planning, followed by local path planning facilitated by the DWA. Specifically, ESSA incorporates Tent chaotic initialization to enhance population diversity, effectively mitigating the risk of premature convergence to local optima. Moreover, dynamic adjustments to the inertia weight during the search process enable an adaptive balance between exploration and exploitation. The integration of a local search strategy further refines individual updates, thereby improving local search performance. To enhance path smoothness, the Floyd algorithm is employed for path optimization, ensuring a more continuous trajectory. Finally, the combination of ESSA and DWA uses key nodes from the global path generated by ESSA as reference points for the local planning process of DWA. This approach ensures that the local path closely follows the global path while also enabling real-time dynamic obstacle detection and avoidance. The effectiveness of the algorithm has been validated through both simulations and practical experiments, offering an efficient and viable solution to the path planning problem.

Autonomous navigation in dynamic environments is a significant challenge in robotics. The primary goals are to ensure smooth and safe movement. This study introduces a control strategy based on an Adaptive Neuro-Fuzzy Inference System (ANFIS). It enhances autonomous robot navigation in dynamic environments with a focus on collision-free path planning. The strategy uses a path-planning technique to develop a trajectory that allows the robot to navigate smoothly while avoiding both static and dynamic obstacles. The developed control system incorporates four ANFIS controllers: two are tasked with guiding the robot toward its end point, and the other two are activated for obstacle avoidance. The experimental setup conducted in CoppeliaSim involves a mobile robot equipped with ultrasonic sensors navigating in an environment with static and dynamic obstacles. Simulation experiments are conducted to demonstrate the model’s capability in ensuring collision-free navigation, employing a path-planning algorithm to ascertain the shortest route to the target destination. The simulation results highlight the superiority of the ANFIS-based approach over conventional methods, particularly in terms of computational efficiency and navigational smoothness.