In this paper, we proposed a hybrid control methodology using improved artificial potential field with modify cat swarm algorithm to path planning of decoupled multi-mobile robot in dynamic environment. The proposed method consists of two phase: in the first phase, Artificial Potential Field method (APF) is used to generate path for each one of robots and avoided static obstacles in environment, and improved this method to solve the local minimum problem by using A* algorithm with B-Spline curve while in the second phase, modify Cat Swarm Algorithm (CSA) is used to control collision that occurs among robots or between robot with movable obstacles by using two behaviour modes: seek mode and track mode. Experimental results show that the proposed method success to find a complete, optimal, and collision free path for all robot.
Collision Avoidance Using Cat Swarm Algorithm for Multi Mobile Robot Path Planning in Dynamic Environment
Decoupled planning
Artificial potential field method (APF)
A* algorithm
B-Spline curve (B-S)
Cat swarm algorithm (CSA)
Publication Date
Tue Oct 02 2018
Journal Name
Iraqi Journal Of Physics
Study of effect acidic solution (HCl) and (EP/Al2O3 & EP/ TiO2) hybrid on thermal conductivity of epoxy resin.
This research studies the effect of adding micro
nano and hybrid by ratio (1:1) of (Al2O3
TiO2) to epoxy resin on thermal conductivity before and after immersion in HCl acid for (14 day) with normality (0.3 N) at weight fraction (0.02
0.04
0.06
0.08) and thickness (6mm). The results of thermal conductivity reveled that epoxy reinforced by (Al2O3) and mixture (TiO2 Al2O3) increases with increasing the weight fraction
but the thermal conductivity (k) a values for micro and Nano (TiO2) decrease with increasing the weight fraction of reinforced
while the immersion in acidic solution (HCl) that the (k) values after immersion more than the value in before immersion.
This research studies the effect of adding micro, nano and hybrid by ratio (1:1) of (Al2O3,TiO2) to epoxy resin on thermal conductivity before and after immersion in HCl acid for (14 day) with normality (0.3 N) at weight fraction (0.02, 0.04, 0.06, 0.08) and thickness (6mm). The results of thermal conductivity reveled that epoxy reinforced by (Al2O3) and mixture (TiO2+Al2O3) increases with increasing the weight fraction, but the thermal conductivity (k) a values for micro and Nano (TiO2) decrease with increasing the weight fraction of reinforced, while the immersion in acidic solution (HCl) that the (k) values after immersion more than the value in before immersion.
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