Yufang Wen

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 surface inspection robot in a GPS-denied environment, a global path-planning method for wall surface inspection robots was proposed based on the improved generic algorithm (GA). The influencing factor for GPS signal strength was introduced into the heuristic function in path planning for GA to address the aforementioned problem. Using the PSO algorithm, GA was initialized and the influencing term of GPS signal was introduced into the fitness degree function so as to achieve point-to-point path planning of vertical wall surface inspection robot. Path angle and probability of intersection and variation was taken into account for better path planning capability. Finally, the simulation experiments were performed. The generated path using the improved GA was found to avoid the blind area of the GPS signal. The algorithm proposed has a good performance with average convergence times of 35.9 times and an angle of 55.88° in simple environment. Contrary to the traditional GA and PSO algorithm, the method showed advantages in terms of the convergence rate, path quality, path angle change, and algorithm stability. The research presented in this article is meaningful and relatively sufficient. The simulation test is also quite convincing. The proposed method was proved to be effective in global path planning for a wall surface inspection robot.

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 the geometric particle filtering (GPF) tracking framework, affine groups are proposed as state particles. Resampling is improved by incorporating an improved conventional Gaussian resampling algorithm. It addresses the problem of particle diversity loss and improves tracking performance. Additionally, the OTB2015 dataset and typical evaluation indicators in target tracking are adopted. Comparative experiments are performed using PF, GPF and the proposed IGPF algorithm. A dynamic target tracking and grasping method for the robot is proposed. It combines an improved Gaussian resampling particle filter algorithm based on affine groups and the positional visual servo control of the robot. Finally, the robot conducts simulation and experiments on capturing dynamic targets in the simulation environment and actual environment. It verifies the effectiveness of the method proposed in this paper.