Pusat Pengajian Kejuruteraan Mekanikal - Tesis

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Browsing Pusat Pengajian Kejuruteraan Mekanikal - Tesis by Author "Cao, Yanjie"

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    Obstacle avoidance strategy for Mobile robots formation in complex Scenes.
    (2025-05)
    Cao, Yanjie
    Mobile robots are widely used in modern logistics. However, they can easily get trapped in concave areas formed by obstacles in complex environments, leading to self-locking. This requires constant reorientation of the robot for search an exit, which results in wasted energy and reduced transport efficiency. In this study, a concave obstacle avoidance strategy was introduced to help the mobile robot avoid concave areas. It achieves this by creating a virtual wall and determining the best inflection point to stop the mobile robot from falling into a self-locking state and successfully avoiding concave obstacle areas. Additionally, this study proposes a formation change strategy to enable robot formations to navigate complex static obstacles, such as narrow passages and scattered obstacles. Once the environment is identified, the algorithm computes the formation change factor and selects the appropriate formation type, allowing a rapid transition from the regular formation to the corresponding state. This strategy supports formation maintenance, similarity transformation, linear transformation, and scattered obstacle traversal, enhancing the flexibility and adaptability of the queuing system. Finally, an improved dynamic obstacle avoidance strategy is designed. By increasing the velocity change evaluation factor and safety distance evaluation factor, the strategy reduces the robot formation's obstacle avoidance time when encountering dynamic obstacles by 37.3%, reduces the obstacle avoidance distance by 16.8%, and improves the motion smoothness by 47.9% compared with the traditional dynamic window method. Simulation and physicalexperiment results show the effectiveness of the proposed algorithms.