Ant colony algorithm is an intelligent optimization algorithm that is widely used in path planning for mobile robot due to its advantages, such as good feedback information, strong robustness and b...

https://journals.sagepub.com/doi/pdf/10.1177/1729881418774673

Mobile robot path planning using an improved ant colony optimization

Applications of mobile ground robots demand high speed and agility while navigating in complex indoor environments. These present an ongoing challenge in mobile robotics. A system with these specifications would be of great use for a wide range of indoor inspection tasks. This paper introduces Ascento, a compact wheeled bipedal robot that is able to move quickly on flat terrain, and to overcome obstacles by jumping. The mechanical design and overall architecture of the system is presented, as well as the development of various controllers for different scenarios. A series of experiments with the final prototype system validate these behaviors in realistic scenarios.

/pdf/ascento-a-two-wheeled-jumping-robot-52lo4gjhru.pdf

Ascento: A Two-Wheeled Jumping Robot

Design and analysis of a scissors double-ring truss deployable mechanism for space antennas

The ant colony optimization algorithm is an effective way to solve the problem of unmanned vehicle path planning. First, establish the environment model of the unmanned vehicle path planning, process and describe the environmental information, and finally realize the division of the problem space. Next, the biomimetic behavior of the ant colony algorithm is described. The ant colony algorithm has been improved by adding a penalty strategy. This penalty strategy can enhance the utilization of resources and guide the ants to explore other unknown areas by using the worse value in the search history to enhance the volatility of the pheromone.

/pdf/unmanned-vehicle-path-planning-using-a-novel-ant-colony-1zn92660dh.pdf

Unmanned vehicle path planning using a novel ant colony algorithm

Deployable mechanisms constructed by connecting orthogonal Bricard linkages, 8R or 10R single-loop linkages using S joints

Design and Mobility Analysis of Large Deployable Mechanisms Based on Plane-Symmetric Bricard Linkage

Path planning is an important part in Mobile robot researches. For the characteristics of mobile environment, it builds two kind of environment models including obstacle environment and barrier free environment. On the basis of the model, TSP model is a traditional template for path planning with kinds of intelligence algorithm. This paper introduces an improved colony algorithm and it performs well in getting an optimization patrol path for mobile robot in situation with obstacle.

An improved ACO algorithm for mobile robot path planning

Existing biped robots mainly fall into two categories: robots with left and right feet and robots with upper and lower feet. The load carrying capability of a biped robot is quite limited since the two feet of a walking robot supports the robot alternatively during walking. To improve the load carrying capability, a novel biped walking robot is proposed based on a 2-UPU+2-UU parallel mechanism. The biped walking robot is composed of two identical platforms(feet) and four limbs, including two UPU(universal-prismatic-universal serial chain) limbs and two UU limbs. To enhance its terrain adaptability like articulated vehicles, the two feet of the biped walking robot are designed as two vehicles in detail. The conditions that the geometric parameters of the feet must satisfy are discussed. The degrees-of-freedom of the mechanism is analyzed by using screw theory. Gait analysis, kinematic analysis and stability analysis of the mechanism are carried out to verify the structural design parameters. The simulation results validate the feasibility of walking on rugged terrain. Experiments with a physical prototype show that the novel biped walking robot can walk stably on smooth terrain. Due to its unique feet design and high stiffness, the biped walking robot may adapt to rugged terrain and is suitable for load-carrying.

Biped walking robot based on a 2-UPU+2-UU parallel mechanism

While exploring complex environments, conventional mobile robots can overcome obstacles of limited height and jumping robots can overcome obstacles several times their own size. When jumping motion...

https://journals.sagepub.com/doi/pdf/10.1177/1729881417745608

Wheeled hopping robot with combustion-powered actuator:

A novel rolling mechanism is proposed based on a 3-UPU parallel mechanism in this paper. The rolling mechanism is composed of two platforms connected by three UPU (universal-prismatic-universal) serial-chain type limbs. The degree-of-freedom of the mechanism is analyzed using screw theory. Gait analysis and stability analysis are presented in detail. Four rolling modes of the mechanism are discussed and simulated. The feasibility of the rolling mechanism is verified by means of a physical prototype. Finally, its terrain adaptability is enhanced through planning the rolling gaits.

Zhihuai Miao

Papers

Design and Mobility Analysis of Large Deployable Mechanisms Based on Plane-Symmetric Bricard Linkage

An improved ACO algorithm for mobile robot path planning

Biped walking robot based on a 2-UPU+2-UU parallel mechanism

Wheeled hopping robot with combustion-powered actuator:

A rolling 3-UPU parallel mechanism