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Publications (16)
In human‐centric smart manufacturing (HCSM), the robot's dynamic obstacle avoidance function is crucial to ensuring human safety. Unlike the static obstacle avoidance of manipulators or mobile robots, the dynamic obstacle avoidance in mobile manipulators presents challenges such as high‐dimensional planning and motion deadlock. In this paper, an ad...
Existing mobile robots mostly use graph search algorithms for path planning, which suffer from relatively low planning efficiency owing to high redundancy and large computational complexity. Due to the limitations of the neighborhood search strategy, the robots could hardly obtain the most optimal global path. A global path planning algorithm, deno...
In the process of remote operation minimally invasive puncture microwave ablation surgery, due to the regular breathing ups and downs of the human chest cavity, it is easy to cause tearing of human tissue near the rigid needle. In order to avoid secondary damage to surrounding living tissues caused by relative movement between the puncture needle a...
Current research on autonomous mobile robots focuses primarily on perceptual accuracy and autonomous performance. In commercial and domestic constructions, concrete, wood, and glass are typically used. Laser and visual mapping or planning algorithms are highly accurate in mapping wood panels and concrete walls. However, indoor and outdoor glass cur...
Existing studies on rehabilitation robots are generally devoted to robot-assisted active rehabilitation training, which is conducive to facilitating muscle and nerve regeneration. However, human–robot interaction (HRI) requires imposing a limit on the workspace within which the robot operates, so as to ensure patient safety. A safe admittance bound...
A wall surface inspection robot mainly relies on the inertial measurement unit and global positioning system (GPS) signal during intelligent wall surface inspection. The robot may encounter incorrect positioning under a GPS-denied environment, easily triggering safety accidents. In order to obtain a path suitable for the safe work of the robot wall...
Aiming at the problems of scattered operating functions, low non-line-of-sight remote control efficiency and poor stability in the practical application of tracked special robots, this paper proposes a convenient movement planning and control method of special robot over obstacle based on centroid monitoring. Firstly, the typical structure of the t...
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Tracking and grasping a moving target is currently a challenging topic in the field of robotics. The current visual servo grasping method is still inadequate, as the real-time performance and robustness of target tracking both need to be improved. A target tracking method is proposed based on improved geometric particle filtering (IGPF). Following...
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A global path planning method is proposed based on improved ant colony optimization according to the slow convergence speed in mobile service robot path planning. The distribution of initial pheromone is determined by the critical obstacle influence factor. The influence factor is introduced into the heuristic information to improve the convergence...
