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2024

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Articles 5041 - 5070 of 9242

Full-Text Articles in Engineering

Improving Wifi Sensor Network Security Through Unassociated Device Communication Using Wireless Latency Shift Keying, Jacob Edward Johnson Apr 2024

Improving Wifi Sensor Network Security Through Unassociated Device Communication Using Wireless Latency Shift Keying, Jacob Edward Johnson

Theses and Dissertations

IEEE 802.11 (WiFi) only has two modes of trust--complete trust or complete untrust. The lack of nuance leaves no room for sensors that a user does not fully trust, but wants to connect to their network, such as a WiFi sensor. Solutions exist, but they require advanced knowledge of network administration. We solve this problem by introducing a new way of modulating data in the latency of the network, called Latency Shift Keying. We use specific characteristics of the WiFi protocol to carefully control the latency of just one device on the network. We build a transmitter, receiver, and modulation …


Gps-Denied Localization Of Landing Evtol Aircraft, Aaron C. Brown Apr 2024

Gps-Denied Localization Of Landing Evtol Aircraft, Aaron C. Brown

Theses and Dissertations

This thesis presents a dedicated GPS-denied landing system designed for electric vertical takeoff and landing (eVTOL) aircraft. The system employs active fiducial light pattern localization (AFLPL), which provides highly accurate and reliable navigation during critical landing phases. AFLPL utilizes images of a constellation comprised of modulating infrared lights strategically positioned on the landing site, to determine the aircraft pose through the use of a perspective-n-point (PnP) solver. The AFLPL system underwent thorough development, enhancement, and implementation to address and demonstrate its potential in navigation and its inherent limitations. A proposed method addresses the limitations of AFLPL by using an extended …


Energy-Absorbing Helmet For Safer Football, Aidan Laudeman Apr 2024

Energy-Absorbing Helmet For Safer Football, Aidan Laudeman

Honors Theses

Football-related injuries are a common occurrence and are often detrimental to the player’s health. Force impacts frequently occur at the front, back, and sides of a player’s helmet, resulting in head injuries like concussions. The goal of this project is to reduce recurrent head injuries by designing a solution involving the use of energy-absorbing metallic materials that are inserted into a football helmet. These energy-absorbing materials are configured in target zones inside the helmet to reduce the acceleration of the head based on impact locations. The chosen materials are nitinol and spring steel, which display energy-absorbing properties. Various energy-absorbing material …


Electric Ducted Fan Lander, Maggie Waechter Apr 2024

Electric Ducted Fan Lander, Maggie Waechter

Honors Theses

This report, and corresponding project, addresses the fact that there are not many student experiments with controlling real spacecrafts due to the scarceness of the craft, cost, risk, and finite fuel supply. This project demonstrates the possibility of a classroom substitute for students to understand how landers would operate on planetary bodies. In order to achieve flight from the drone, there were two separate designs produced, the electrical and structural system, that were integrated together to form a full prototype. The performance of the electric ducted fans (EDFs) as well as the batteries were tested to ensure that the components …


Hydrogen Fuel Cell Catalyst Test Stand For Single Cell Evaluation, Tyler Johnson Apr 2024

Hydrogen Fuel Cell Catalyst Test Stand For Single Cell Evaluation, Tyler Johnson

Honors Theses

The main objective of this project was to develop at test stand and relevant testing procedures to aid in ongoing research being conducted by Dr. Ghantasala’s team on platinum-alternative catalyst materials used in proton exchange membrane fuel cells (PEMFCs). To do this, various software (Microsoft Excel, Python, and Simscape) were used to create fuel cell simulations of increasing complexity. These simulations served as baselines for PEMFC evaluation in experimental testing, and they were used to create polarization curves, a standard method for evaluating steady state fuel cell performance. A test stand was also created in order to effectively and efficiently …


Soil Stabilization With Gypsum: A Review, Yasaman Abdolvand, Mohammadhossein Sadeghiamirshahidi Apr 2024

Soil Stabilization With Gypsum: A Review, Yasaman Abdolvand, Mohammadhossein Sadeghiamirshahidi

Michigan Tech Publications

The demand for sustainable ground improvement methods is rising as urban development expands into areas with challenging soil conditions. Traditional approaches, mostly reliant on cement and lime, contribute significantly to anthropogenic greenhouse gas emissions. Researchers, therefore, are constantly searching for new environmentally friendly stabilization methods to improve the engineering properties of soils. One alternative material used for this purpose is gypsum in its hydrated and dehydrated (hemihydrate/anhydrate) states. Not only can natural gypsum be used for ground improvement but also industrial waste and by-products (e.g. used or waste plasterboard, phosphogypsum, flue gas desulfurization gypsum, titanium dioxide production gypsum by-product) can …


Development Of Deep Neural Architecture For Continuous Sign Language Video Generation, Natarajan B Apr 2024

Development Of Deep Neural Architecture For Continuous Sign Language Video Generation, Natarajan B

Theses and Dissertations

This dissertation presents a deep neural network based sign language video generation framework for translating the multilingual sentences into sign videos. This thesis addresses the challenges persist with the sign language video generation such as (i) Handling longer sequences of input sentences and new words (ii) Pose estimation with higher accuracy (iii) High quality photo realistic sign gesture video generation (iv) Improving realism in sign video generation. Hence, the thesis focuses four contributions to address the above issues.

The first contribution of this thesis automates the translation of multilingual sentences into sign glosses without manual intervention by incorporating Hybrid Neural …


Techno-Economic Analysis Of Solar Pv Systems Under Various Environmental Conditions, Ramkiran B Apr 2024

Techno-Economic Analysis Of Solar Pv Systems Under Various Environmental Conditions, Ramkiran B

Theses and Dissertations

World Energy Council has predicted that the global electricity demand will peak in 2030. The need for renewable energy has grown rapidly due to the rising energy demand in this ever-growing population. Green house gas emissions are predominantly due to the energy generation and consumption of fossil fuels. On the other hand, fossil fuels supply nearly 74% of India's energy demand, making India one of the world's largest coal consumers.

According to World Resource Institute, India ranks fourth in the world in terms of carbon emissions. Investments in renewable energy sources and energy-saving technologies should be part of a solution …


Ssnet: Exploiting Spatial Information For Tobacco Stem Impurity Detection With Hyperspectral Imaging, Chao Zhou, Zhenye Li, Dongyi Wang, Sheng Xue, Tingting Zhu, Chao Ni Apr 2024

Ssnet: Exploiting Spatial Information For Tobacco Stem Impurity Detection With Hyperspectral Imaging, Chao Zhou, Zhenye Li, Dongyi Wang, Sheng Xue, Tingting Zhu, Chao Ni

Biological and Agricultural Engineering Faculty Publications and Presentations

Tobacco stems are a critical component in cigarette production in China. However, accurately and promptly identifying impurities in tobacco stems remains a challenge with current deep learning methods, often failing to meet industry standards. This study introduces the Spectral-Spatial Network (SSNet), which is specifically optimized for rapid and precise detection of impurities in tobacco stems, leveraging spatial information in hyperspectral imaging. Designed to align with the high-speed requirements of industrial processing, SSNet effectively overcomes the complexities associated with analyzing hyperspectral data. The integration of spatial information particularly enhances recognition accuracy, especially in areas affected by fringe patterns. Our experiments reveal …


Tunable Dual-Phase Dual-Drug Delivery System Using A Plga Microparticle/Pva Hydrogel Composite, Timothy John Eck Apr 2024

Tunable Dual-Phase Dual-Drug Delivery System Using A Plga Microparticle/Pva Hydrogel Composite, Timothy John Eck

Theses and Dissertations

Current drug-eluting coatings have demonstrated controlled long-term, sustained release but have only tried to mitigate short-term burst release as a negative side effect. For applications like wound healing, there is a need for a drug-eluting coating which is adjustable in both short- and long-term release, independent of each other. We present a tunable dual-phase dual-drug delivery coating composed of drug-loaded polymer microparticles and drug-loaded hydrogel which can control short term and long term release individually in this study. This coating was created using lidocaine and dexamethasone encapsulated in poly(D,L-lactide-co-glycolide) particles combined with lidocaine- and dexamethasone-loaded poly(vinyl alcohol) hydrogel. Hydrogel drug …


Optimal Aoi For Systems With Queueing Delay In Both Forward And Backward Directions, Chih-Chun Wang Apr 2024

Optimal Aoi For Systems With Queueing Delay In Both Forward And Backward Directions, Chih-Chun Wang

Department of Electrical and Computer Engineering Technical Reports

Age-Of-Information (AoI) is a metric that focuses directly on the application-layer objectives, and a canonical AoI minimization problem is the update-through-queues models. Existing results in this direction fall into two categories: The open-loop setting for which the sender is oblivious of the packet departure time, versus the closed-loop setting for which the decision is based on instantaneous Acknowledgment (ACK). Neither setting perfectly reflects modern networked systems, which almost always rely on feedback that experiences some delay. Motivated by this observation, this work subjects the ACK traffic to a second queue so that the closed-loop decision is made based on delayed …


Controlling The Broadband Enhanced Light Chirality With L-Shaped Dielectric Metamaterials, Ufuk Kilic, Matthew Hilfiker, Shawn Wimer, Alexander Ruder, Eva Schubert, Mathias Schubert, Christos Argyropoulos Apr 2024

Controlling The Broadband Enhanced Light Chirality With L-Shaped Dielectric Metamaterials, Ufuk Kilic, Matthew Hilfiker, Shawn Wimer, Alexander Ruder, Eva Schubert, Mathias Schubert, Christos Argyropoulos

Department of Electrical and Computer Engineering: Faculty Publications

The inherently weak chiroptical responses of natural materials limit their usage for controlling and enhancing chiral light-matter interactions. Recently, several nanostructures with subwavelength scale dimensions were demonstrated, mainly due to the advent of nanofabrication technologies, as a potential alternative to efficiently enhance chirality. However, the intrinsic lossy nature of metals and the inherent narrowband response of dielectric planar thin films or metasurface structures pose severe limitations toward the practical realization of broadband and tailorable chiral systems. Here, we tackle these problems by designing all-dielectric silicon-based L-shaped optical metamaterials based on tilted nanopillars that exhibit broadband and enhanced chiroptical response in …


Production Of Mrna Vaccine For Influenza, Christina Miller Apr 2024

Production Of Mrna Vaccine For Influenza, Christina Miller

Honors Theses

The objective of this project is to design a process to produce an mRNA influenza vaccine that serves as an alternative to conventional influenza vaccines, replacing current options with innovative mRNA technologies. Given that older populations are most likely to follow up on immunizations consistently, and the increasing average age worldwide, the market for this project appears to be expanding in the next 80 years. Additionally, experts predict more frequent mutations and outbreaks of viral disease from a variety of factors including globalization and global temperature trends. Rapid response to these viral outbreaks will continue to be as, or even …


Microplastics Fouling Mitigation In Forward Osmosis Membranes By The Molecular Assembly Of Sulfobetaine Zwitterion, Javad Farahbakhsh, Mitra Golgoli, Mehdi Khiadani, Amir Razmjou, Masoumeh Zargar Apr 2024

Microplastics Fouling Mitigation In Forward Osmosis Membranes By The Molecular Assembly Of Sulfobetaine Zwitterion, Javad Farahbakhsh, Mitra Golgoli, Mehdi Khiadani, Amir Razmjou, Masoumeh Zargar

Research outputs 2022 to 2026

Forward osmosis (FO) membranes have potential for the efficient water and wastewater treatment applications. However, their development has faced significant challenges due to their fouling propensity. In this study, FO membranes modified with sulfobetaine zwitterions (i.e., [2-(Methacryloyloxy)ethyl]dimethyl-(3-sulfopropyl) ammonium hydroxide) were fabricated and used for the first time to address microplastic (MP) fouling issue. Water flux, reverse salt flux (RSF), fouling, and flux recovery were evaluated for the membranes loaded with different quantities of the zwitterions ranging from 0.25 % to 2 %. The developed membranes were tested over 49 h with feed solutions containing polyethylene MPs and bovine serum albumin …


Systems, Models, And Simulation For Novel Microfabrication Of Silicon Carbide And Metal Mesh Filters, Hunter R. J. Stevenson Apr 2024

Systems, Models, And Simulation For Novel Microfabrication Of Silicon Carbide And Metal Mesh Filters, Hunter R. J. Stevenson

Theses and Dissertations

As the boundaries of Moore's Law rapidly approach, research is increasingly turning to exotic materials and metamaterials to advance the capabilities of electronic and micromechanical systems. This thesis presents systems, models, and simulation techniques for novel microfabrication in the realms of silicon carbide (SiC) and metal mesh filters. Through the unification of femtosecond laser pulses, high numerical aperture (NA) objective lenses, and system power and motion control, a system capable of achieving arbitrary 3D features without line-of-sight with aspect ratios up to 109:1 in SiC is developed. Additionally, a model of a direct-write femtosecond-laser-ablation fabricated metal mesh filter (MMF) is …


Chatting With Online Agent, Guoxi Robert Zhang Apr 2024

Chatting With Online Agent, Guoxi Robert Zhang

Honors Theses

This study investigates trust in AI-generated language fluency. Participants engaged with both human and AI-generated content, varying in fluency. Findings were to favor trust in fluent human and AI interactions over disfluent ones. Understanding fluency's impact can inform AI design and encourage critical thinking when dealing with AI-generated content. By using qualitative analysis of think-aloud reports, we examined strategies that people use to assess texts labeled as human-generated and AI-generated content.


Development Of Novel Analytical Methods For The Investigation Of Mammalian Tissues And Cells, Grace A. Binder Apr 2024

Development Of Novel Analytical Methods For The Investigation Of Mammalian Tissues And Cells, Grace A. Binder

USF Tampa Graduate Theses and Dissertations

This dissertation endeavors to advance the frontiers of analytical chemistry by addressing critical challenges across three distinct chapters. In the first chapter, the focus is on the evaluation of digestion methods for the analysis of trace metals in mammalian tissues and the Standard Reference Material NIST 1577c. The primary goal is to optimize methodologies, laying the groundwork for reliable trace metal analysis and furthering our understanding of their roles in biological systems.

Transitioning into the realm of immunomodulation, the second chapter elucidates immune response, disease and treatment through the optimization and discovery of STING modulators, utilizing the luciferase assay for …


Modified Coulomb Approach For Squat Silos, Mitchell Cade South Apr 2024

Modified Coulomb Approach For Squat Silos, Mitchell Cade South

Theses and Dissertations

Traditional methods for calculating lateral pressures in silos, such as Janssen's Method and Coulomb's Method, have limitations due to the underlying assumptions of each methodology. This research investigates an approach which adapts Coulomb's Method to account for the cylindrical geometry of silos. The Silo Wedge Method (SWM) distinguishes between two cases based on the aspect ratio (height/diameter) of the silo. Comparative analysis reveals that the SWM accurately matches Coulomb's Method for linear retaining walls when the silo aspect ratio approaches zero. As the aspect ratio increases above 0.25, the SWM exhibits behavior similar to Janssen's Method. This suggests a potential …


1st Person Ev With Electronic Differential, Tessa Biondo Apr 2024

1st Person Ev With Electronic Differential, Tessa Biondo

Honors Theses

The First Person EV with Electronic Differential for Vehicle Dynamics Analysis project makes a significant leap forward in the exploration of electric vehicle (EV) stability and performance enhancement. Lead by a team of skilled electrical engineering students under the guidance of WMU’s associate Professor Dr. Sandun Kuruppu, this project aims to improve EV stability by optimizing power and torque distribution between wheels using an electronic differential system. The project encompasses the design and assembly of a 1/7th scale custom electric vehicle, capable of remote control via a first-person view (FPV) camera and modified USB wheel and pedal assembly. The …


Design Of Telemetry And Remote-Control System For Electric Propulsion Testing, Logan Alvesteffer Apr 2024

Design Of Telemetry And Remote-Control System For Electric Propulsion Testing, Logan Alvesteffer

Honors Theses

Ground testing of electric propulsion (EP) devices occurs inside vacuum chambers and is monitored using high-frequency and low-frequency telemetry systems. These systems provide critical operational information about the device’s performance by monitoring values such as voltage, current, gas flow rates, and chamber pressures. Ground facility telemetry systems can operate as integrated control and safety architecture while testing EP devices. EP testing at Western Michigan University (WMU) is located within the Aerospace Laboratory for Plasma Experiments (ALPE). The Cold plasma Experimental Research Station (CEReS) is outfitted with CTI-250F and CTI-10 cryogenic pumps for a combined pumping capacity of 5,200L/s-air. CEReS facilitates …


Analysis, Design, And Validation Of The Structural System Of Alainsat-1 Cubesat, Abdalla Saad Elshaal Apr 2024

Analysis, Design, And Validation Of The Structural System Of Alainsat-1 Cubesat, Abdalla Saad Elshaal

Thesis/ Dissertation Defenses

This thesis presents the process of conducting structural analysis on AlAinSat-1 CubeSat through numerical solutions using Siemens NX. AlAinSat-1 is a 3U remote-sensing CubeSat equipped with two Earth observation payloads and is scheduled for launch using SpaceX's Falcon 9 rocket. To ensure the mission's success and its ability to endure the launch environment, several scenarios must be analyzed. For the AlAinSat-1 model, the Finite Element Analysis (FEA) method is employed, covering four types of structural analyses: modal, quasi-static, buckling, and random vibration analyses. The workflow cycle includes idealization, meshing, assembly, applying connections and boundary conditions, and finally, running simulations using …


Synthesis And Structure-Property Relationships Of Sustainable Nanostructured Materials Towards Energy And Environment Applications, Nizamudeen Alungal Cherupurakal Apr 2024

Synthesis And Structure-Property Relationships Of Sustainable Nanostructured Materials Towards Energy And Environment Applications, Nizamudeen Alungal Cherupurakal

Thesis/ Dissertation Defenses

This doctoral research aims to advance clean energy technologies by developing specialized nanostructured materials. The study covers significant research themes, each forming separate sections in the thesis, explaining the important role of nanostructures in enhancing the efficiency and sustainability of energy devices and photocatalytic technologies. The enduring effort toward stabilizing and improving the efficiency of dye-sensitized solar cells (DSSCs) has stirred the solar research community to follow innovative approaches. The primary objective of the research is centered on electrode materials design, which improves photoanodes' light-harvesting efficiency (LHE). To improve the Photoanode of DSSCs, a Metal-Organic Framework (MOF) derived porous photoanodes …


Box Packaging Waste Reduction By Largest Area First Fit Algorithm And Minimum Cuboid Estimation Of Irregular Shape Products, Jimmy Kwon, Sungmin Kwon Apr 2024

Box Packaging Waste Reduction By Largest Area First Fit Algorithm And Minimum Cuboid Estimation Of Irregular Shape Products, Jimmy Kwon, Sungmin Kwon

Journal of Applied Packaging Research

Nowadays, packaging waste is a prevalent issue due to the increase in deliveries from online shopping. In this research paper, a new approach to the issue of cardboard box packaging waste is proposed by selecting an optimal box that will contain both regular and irregular products while minimizing wasted volume. The method can be utilized so that packaging workers can select an appropriate, yet sustainable box. For computing a minimal cuboid of irregular objects, the system setup with two cameras is prepared to capture the overhead and sideview images, estimating the box's width, depth, and height in pixels. The proposed …


Deficiencies In Safe Practices By Pilots Operating General Aviation Aircraft In Weather Conducive For Icing, Douglas Boyd Phd, Thomas Guinn Phd Apr 2024

Deficiencies In Safe Practices By Pilots Operating General Aviation Aircraft In Weather Conducive For Icing, Douglas Boyd Phd, Thomas Guinn Phd

Journal of Aviation Technology and Engineering

Introduction: Flights of general aviation aircraft in icing conditions pose safety hazards especially since few airplanes are equipped with ice protection systems (FIKI). Herein, we sought to answer the following questions not previously addressed: (i) Has the general aviation icing-related accident rate declined over time? (ii) Which phase(s) of flight lead(s) to the highest fraction of fatal accidents? (iii) Do general aviation pilots adhere to safe practices when operating in forecasted icing?

Methods: Retrospectively, icing-related accidents were per the National Transportation Safety Board database. Prospectively, non-FIKI single-engine airplanes, operating in forecasted icing, were tracked (January–March 2023) using FlightAwareR. Presumptive icing …


Intelligent Optimization Method Of Cloud Manufacturing Swarm Based On Incomplete Information Game, Kunpeng Zhang, Yan Wang, Zhicheng Ji Apr 2024

Intelligent Optimization Method Of Cloud Manufacturing Swarm Based On Incomplete Information Game, Kunpeng Zhang, Yan Wang, Zhicheng Ji

Journal of System Simulation

Abstract: In the process of cloud manufacturing, the incomplete information status and the mutual competition and restriction relationship between cloud platform operator and demander lead to the difficult choice of manufacturing services. A cloud manufacturing swarm intelligent optimization method based on incomplete information game model is proposed. A static game model based on incomplete information is established for the interest competition between demand-side and cloud platform, with the goal of rationally pursuing the maximization of their own revenue function. The competition rules between demand-side and cloud platform are proposed, which are introduced into nature through Harsanyi transformation and converted into …


Hyper-Heuristic Approach With K-Means Clustering For Inter-Cell Scheduling, Yanlin Zhao, Yunna Tian Apr 2024

Hyper-Heuristic Approach With K-Means Clustering For Inter-Cell Scheduling, Yanlin Zhao, Yunna Tian

Journal of System Simulation

Abstract: According to the actual production situation of China's manufacturing industry, a hyperheuristic algorithm based on K-means clustering is proposed for inter-cell scheduling problem of flexible job-shop. K-means clustering is applied to group entities with similar attributes into the corresponding work cluster decision blocks, and the ant colony algorithm is used to select heuristic rules for each decision block. The optimal scheduling solutions are generated by using corresponding heuristic rules for scheduling of entities in each decision block. Computational results show that, the computational granularity is properly increased by the form of decision blocks, and the computational efficiency of the …


Distributed Energy Management Strategy Of Microgrid Based On Master-Slave Game, Miaomiao Ma, Hao Wang, Lipeng Dong, Xiangjie Liu Apr 2024

Distributed Energy Management Strategy Of Microgrid Based On Master-Slave Game, Miaomiao Ma, Hao Wang, Lipeng Dong, Xiangjie Liu

Journal of System Simulation

Abstract: Under the operation mode of power market, based on two-layer master-slave game, a distributed energy management strategy for the microgrid is proposed to tackle the conflict between the overall optimal operation of renewable microgrid and the maximum profit of each investor. To fully consider the balance between energy supply and demand, the concept of power trading agent is introduced, and an integrated demand response strategy based on consumer satisfaction and adjustable load is proposed on the user side. Considering the initiative and decision-making ability of power supply and load, the decision-making game model is established with power trading agent …


Optimization Of Urban Traffic Microsimulation Model For Carbon Emission Reduction, Bo Liu, Jianxin Lin, Yini Liu, Dong Zhang Apr 2024

Optimization Of Urban Traffic Microsimulation Model For Carbon Emission Reduction, Bo Liu, Jianxin Lin, Yini Liu, Dong Zhang

Journal of System Simulation

Abstract: To assess the environmental benefits of transportation management or control strategies, a method to effectively integrate the micro-traffic simulation model and the micro-vehicle emission model is proposed. VISSIM platform is used to build a case micro traffic simulation model. K-means clustering method is used to divide the driving behavior into 4 types based on the acceleration and deceleration characteristics of different speed intervals of the trajectory data, and the global parameters of the simulation model are calibrated based on the driving characteristics, which quantitatively describe the total sensitivity of the parameters and the sensitivity of the interactions between the …


Modeling And Analysis Of Hybrid Traffic Flow Considering Actual Behavior Of Platoon, Xi Wang, Xiujian Yang, Xiaohan Jia, Shenyi Wang Apr 2024

Modeling And Analysis Of Hybrid Traffic Flow Considering Actual Behavior Of Platoon, Xi Wang, Xiujian Yang, Xiaohan Jia, Shenyi Wang

Journal of System Simulation

Abstract: To explore the effect of actual behavior of autonomous vehicular platoon on traffic flow, aiming at the hybrid traffic flow mixed with predecessor following(PF) platoon which is modeled according to the actual control strategy, a hybrid traffic flow model is established based on cellular automata(CA) modeling method. Simulation analysis shows that the effect of platoon characteristics such as time headway, market penetration, platoon size, and control gains on hybrid traffic flow presents coupling and nonlinear properties. The spatiotemporal behavior of hybrid traffic flow with different platoon characteristics is generally much different. Reducing time headway or increasing platoon market penetration …


Dynamic Path Planning For Mobile Robot Based On Rrt* And Dynamic Window Approach, Rui Zhang, Li Zhou, Zhengyang Liu Apr 2024

Dynamic Path Planning For Mobile Robot Based On Rrt* And Dynamic Window Approach, Rui Zhang, Li Zhou, Zhengyang Liu

Journal of System Simulation

Abstract: A dynamic path planning method combining RRT* and dynamic window approach(DWA) is proposed to realize the obstacle avoidance of mobile robot in complex environment of dynamic obstacles. Improved RRT* algorithm is used to generate the global optimal safe path based on the known environment information. By eliminating the dangerous nodes generated by RRT* algorithm, the security of global path is ensured. Greedy algorithm is used to remove the redundant nodes in the path to reduce the length of global path. DWA is used to track along the global optimal path planned by the improved RRT* algorithm. When static obstacles …