Xuzhou Institute of Technology

About: Xuzhou Institute of Technology is a education organization based out in Xuzhou, China. It is known for research contribution in the topics: Catalysis & Adsorption. The organization has 1696 authors who have published 1521 publications receiving 13541 citations.

Navigation Simulation of a Mecanum Wheel Mobile Robot Based on an Improved A* Algorithm in Unity3D

Abstract: Computer simulation is an effective means for the research of robot navigation algorithms. In order to implement real-time, three-dimensional, and visual navigation algorithm simulation, a method of algorithm simulation based on secondary development of Unity3D is proposed. With this method, a virtual robot prototype can be created quickly with the imported 3D robot model, virtual joints, and virtual sensors, and then the navigation simulation can be carried out using the virtual prototype with the algorithm script in the virtual environment. Firstly, the scripts of the virtual revolute joint, virtual LiDAR sensors, and terrain environment are written. Secondly, the A* algorithm is improved for navigation in unknown 3D space. Thirdly, taking the Mecanum wheel mobile robot as an example, the 3D robot model is imported into Unity3D, and the virtual joint, sensor, and navigation algorithm scripts are added to the model. Then, the navigation is simulated in static and dynamic environments using a virtual prototype. Finally, the navigation tests of the physical robot are carried out in the physical environment, and the test trajectory is compared with the simulation trajectory. The simulation and test results validate the algorithm simulation method based on the redevelopment of Unity3d, showing that it is feasible, efficient, and flexible.

Global synchronization of stochastic delayed complex networks

Abstract: This paper is concerned with the delay-dependent synchronization criterion for stochastic complex networks with time delays. Firstly, expectations of stochastic cross terms containing the Ito integral are investigated by utilizing stochastic analysis techniques. In fact, in order to obtain less conservative delay-dependent conditions for stochastic delay systems including stochastic complex (or neural) networks with time delays, how to deal with expectations of these stochastic cross terms is an important problem, and expectations of these stochastic terms were not dealt with properly in many existing results. Then, based on the investigation of expectations of stochastic cross terms, this paper proposes a novel delay-dependent synchronization criterion for stochastic delayed complex networks. In the derivation process, the mathematical development avoids bounding stochastic cross terms. Thus, the method leads to a simple criterion and shows less conservatism. Finally, a numerical example is provided to demonstrate the effectiveness of the proposed approach.