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学者姓名：陈彦杰
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PurposeThis study aims to introduce the fast reactive tree (FRT*) algorithm for enhancing replanning speed and reducing the overall cost of navigation in unknown dynamic environments.Design/methodology/approachFRT* comprises four key components: inverted tree build, convex hull construction, dead nodes inform activation and lazy-rewiring replanning. First, an initial path is found from the inverted tree where the valid structure is preserved to minimise re-exploration areas during the replanning phase. As the robot encounters environment changes, convex hulls are extracted to sparsely describe impacted areas. Next, the growth direction of the modified tree is biased by the inform activation of dead nodes to avoid unnecessary exploration. In the replanning phase, the tree structure is optimized using the proposed lazy-rewiring replanning to find a high-quality path with low computation burden.FindingsA series of comprehensive simulation experiments demonstrate that the proposed FRT* algorithm can efficiently replan short-cost feasible paths in unknown dynamic environments. The differential wheeled mobile robot with varying reference linear velocities is used to validate the effectiveness and adaptability of the proposed strategy in real word scenarios. Furthermore, ablation studies are conducted to analyze the significance of the key components of FRT*.Originality/valueThe proposed FRT* algorithm introduces a novel approach to addressing the challenges of navigation in unknown dynamic environments. This capability allows mobile robots to safely and efficiently navigate through unknown and dynamic environments, making the method highly applicable to real-world scenarios.
Keyword ：
Mobile robot Mobile robot Replanning Replanning Time efficiency and navigation cost Time efficiency and navigation cost Unknown dynamic environment Unknown dynamic environment
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| GB/T 7714 | Li, Zheng , Chen, Yanjie , Zhang, Zhixing et al. FRT*: fast reactive tree for mobile robot replanning in unknown dynamic environments [J]. | ROBOTIC INTELLIGENCE AND AUTOMATION , 2025 , 45 (2) : 173-186 . |
| MLA | Li, Zheng et al. "FRT*: fast reactive tree for mobile robot replanning in unknown dynamic environments" . | ROBOTIC INTELLIGENCE AND AUTOMATION 45 . 2 (2025) : 173-186 . |
| APA | Li, Zheng , Chen, Yanjie , Zhang, Zhixing , Zhong, Hang , Wang, Yaonan . FRT*: fast reactive tree for mobile robot replanning in unknown dynamic environments . | ROBOTIC INTELLIGENCE AND AUTOMATION , 2025 , 45 (2) , 173-186 . |
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The wheeled bipedal robots have great application potential in environments with a mixture of structured and unstructured terrain. However, wheeled bipedal robots have problems such as poor balance ability and low movement level on rough roads. In this paper, a novel and low-cost wheeled bipedal robot with an asymmetrical five-link mechanism is proposed, and the kinematics of the legs and the dynamics of the Wheeled Inverted Pendulum (WIP) are modeled. The primary balance controller of the wheeled bipedal robot is built based on the Linear Quadratic Regulator (LQR) and the compensation method of the virtual pitch angle adjusting the Center of Mass (CoM) position, then the whole-body hybrid torque-position control is established by combining attitude and leg controllers. The stability of the robot's attitude control and motion is verified with simulations and prototype experiments, which confirm the robot's ability to pass through complex terrain and resist external interference. The feasibility and reliability of the proposed control model are verified.
Keyword ：
Wheeled Robots Legged Robots Motion Control Mechanism Design Wheeled Robots Legged Robots Motion Control Mechanism Design
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| GB/T 7714 | Xiong, Yi , Liu, Haojie , Chen, Bingxing et al. Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot [J]. | JOURNAL OF BIONIC ENGINEERING , 2025 , 22 (2) : 626-641 . |
| MLA | Xiong, Yi et al. "Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot" . | JOURNAL OF BIONIC ENGINEERING 22 . 2 (2025) : 626-641 . |
| APA | Xiong, Yi , Liu, Haojie , Chen, Bingxing , Chen, Yanjie , Yao, Ligang , Lu, Zongxing . Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot . | JOURNAL OF BIONIC ENGINEERING , 2025 , 22 (2) , 626-641 . |
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This research paper addresses the formation control problem in a swarm of quadrotor unmanned aerial vehicles (UAVs) over directed interaction topologies, with the primary objective of achieving persistent motion based on bearing measurements. A novel bearing-only formation controller is proposed, eliminating the need for relative position or linear velocity measurements between quadrotors. Specifically, a distributed hierarchical formation control scheme is adopted for the quadrotors. This scheme consists of an outer-loop translation controller designed for target formations using only bearing vector measurements, as well as an inner-loop attitude controller for precise attitude adjustments. To overcome the absence of bearing rate measurement in the translational controller, a filter is introduced to estimate it, effectively compensating for the lack of linear velocity measurement. Additionally, a differentiator is employed to estimate the high-order control input of the translational dynamics, enabling convenient derivation of the desired angular velocity and its derivatives required for the torque controller. The stability analysis of the underactuated systems of multi-UAVs under directed graphs is conducted using Lyapunov stability theory. Simulation results demonstrate the convergence properties of the proposed protocols, while real-world tasks validate its practicality. IEEE
Keyword ：
Autonomous aerial vehicles Autonomous aerial vehicles Bearing-only measurement Bearing-only measurement bearing persistence bearing persistence directed acyclic graphs directed acyclic graphs formation control formation control Formation control Formation control Quadrotors Quadrotors quadrotor UAVs quadrotor UAVs Rigidity Rigidity Stability analysis Stability analysis Topology Topology Velocity measurement Velocity measurement
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| GB/T 7714 | Lin, Q. , Miao, Z. , Chen, Y. et al. Bearing-only Formation Maneuvering for UAV Swarm over Directed Interaction Topologies [J]. | IEEE Transactions on Intelligent Vehicles , 2024 : 1-12 . |
| MLA | Lin, Q. et al. "Bearing-only Formation Maneuvering for UAV Swarm over Directed Interaction Topologies" . | IEEE Transactions on Intelligent Vehicles (2024) : 1-12 . |
| APA | Lin, Q. , Miao, Z. , Chen, Y. , Wang, X. , He, W. , Wang, Y. . Bearing-only Formation Maneuvering for UAV Swarm over Directed Interaction Topologies . | IEEE Transactions on Intelligent Vehicles , 2024 , 1-12 . |
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This study proposes an image-based visual servoing (IBVS) method based on a velocity observer for an unmanned aerial vehicle (UAV) for tracking a dynamic target in Global Positioning System (GPS)denied environments. The proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target. A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is proposed. The depth model ensures image feature accuracy and image trajectory smoothness in rotating target tracking. The relative velocities of the UAV and the dynamic target are estimated using the proposed velocity observer. Thanks to the velocity observer, translational velocity measurements are not required, and the control chatter caused by noise-containing measurements is mitigated. An integral-based filter is proposed to compensate for unpredictable environmental disturbances in order to improve the antidisturbance ability. The stability of the velocity observer and IBVS controller is analyzed using the Lyapunov method. Comparative simulations and multistage experiments are conducted to illustrate the tracking stability, anti-disturbance ability, and tracking robustness of the proposed method with a dynamic rotating target. (c) 2023 THE AUTHORS. Published by Elsevier LTD on behalf of Chinese Academy of Engineering and Higher Education Press Limited Company. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
Keyword ：
Target tracking Target tracking Unmanned aerial vehicle Unmanned aerial vehicle Velocity observer Velocity observer Visual servoing Visual servoing
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| GB/T 7714 | Chen, Yanjie , Wu, Yangning , Lan, Limin et al. Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances [J]. | ENGINEERING , 2024 , 35 : 74-85 . |
| MLA | Chen, Yanjie et al. "Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances" . | ENGINEERING 35 (2024) : 74-85 . |
| APA | Chen, Yanjie , Wu, Yangning , Lan, Limin , Zhong, Hang , Miao, Zhiqiang , Zhang, Hui et al. Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances . | ENGINEERING , 2024 , 35 , 74-85 . |
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This paper investigates the stable control problem of unmanned aerial manipulator (UAM) in the presence of lumped disturbance, including modelling uncertainties and external inferences. These disturbances typically involve limited prior knowledge and change rapidly, presenting considerable challenges to real-time control accuracy. To address this issue, a Takagi-Sugeno-Kang estimator (TSKE) with K-closest fuzzy rules interpolation (K-FRI) is proposed to derive an approximation for the uncertain disturbances. The incorporation of K-FRI enhances the accuracy and convergence rate of the estimation under the conditions of a sparse fuzzy rule base with an incomplete fuzzy quantity space. Subsequently, a backstepping controller with arbitrary convergence time is introduced to guarantee the rapid and precise control of the UAM. The stability of both the TSKE and the controller with arbitrary convergence time is analysed through Lyapunov theory. The feasibility and performance of the proposed control strategy are validated via comparative experimental simulations, demonstrating its ability for robust estimation capability with stable control performance, at any convergence time of the UAM working under lumped disturbance. © 2024 IEEE.
Keyword ：
arbitrary convergence time control arbitrary convergence time control fuzzy rule interpolation fuzzy rule interpolation TSK estimator TSK estimator Unmanned aerial manipulator Unmanned aerial manipulator
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| GB/T 7714 | Chen, Y. , Liu, X. , Shang, C. et al. Arbitrary Convergence Time Control for Aerial Manipulator with TSK Estimator [未知]. |
| MLA | Chen, Y. et al. "Arbitrary Convergence Time Control for Aerial Manipulator with TSK Estimator" [未知]. |
| APA | Chen, Y. , Liu, X. , Shang, C. , Chen, J. , Chang, X. , Chao, F. et al. Arbitrary Convergence Time Control for Aerial Manipulator with TSK Estimator [未知]. |
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In this article, an robust adaptive stiffness visual servoing control method is proposed to guarantee a compliant physical interaction with a prescribed performance of the unmanned aerial manipulator (UAM) in the presence of disturbances and modeling uncertainties. First, to address the slow response speed of visual servoing control when image features change, a visual servo position controller with prescribed performance is adopted to enhance the convergence speed through the gradually convergent error boundary. Second, considering the influence of disturbances and modeling uncertainties caused by the flight platform on the admittance accuracy during physical interaction, an robust adaptive stiffness physical interaction controller is introduced, generating stable admittance command image features to ensure a reliable interaction force. Finally, physical comparative and real-world experimental studies are conducted to validate the feasibility and performance of the proposed method. The results demonstrate that the UAM under control is capable of exhibiting specified performance during contact operations, allowing smooth adaptation to changes in contact forces.
Keyword ：
Adaptive stiffness Adaptive stiffness admittance control admittance control Cameras Cameras Force Force Manipulators Manipulators prescribed performance prescribed performance Target tracking Target tracking Uncertainty Uncertainty unmanned aerial manipulator (UAM) unmanned aerial manipulator (UAM) Visualization Visualization visual servo visual servo Visual servoing Visual servoing
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| GB/T 7714 | Chen, Yanjie , Lan, Limin , Liu, Xincheng et al. Adaptive Stiffness Visual Servoing for Unmanned Aerial Manipulators With Prescribed Performance [J]. | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2024 , 71 (9) : 11028-11038 . |
| MLA | Chen, Yanjie et al. "Adaptive Stiffness Visual Servoing for Unmanned Aerial Manipulators With Prescribed Performance" . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 71 . 9 (2024) : 11028-11038 . |
| APA | Chen, Yanjie , Lan, Limin , Liu, Xincheng , Zeng, Guohang , Shang, Changjing , Miao, Zhiqiang et al. Adaptive Stiffness Visual Servoing for Unmanned Aerial Manipulators With Prescribed Performance . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2024 , 71 (9) , 11028-11038 . |
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In this article, we propose sampling-focused marching tree (SMT) to guarantee optimal solutions in complex environments efficiently. By synergistically integrating heuristic path planning, homotopy space computation, and adaptive sampling exploration, SMT swiftly identifies homotopic solutions to the optimal solution and focuses sampling efforts in their vicinity, continually refining the solution to efficiently attain the global optimum. In the heuristic path planning phase, the generalized Voronoi graph feature nodes are extracted by a filter to facilitate subsequent computations. Next, the feature visibility graph is constructed based on the feature nodes to plan a heuristic path. In the homotopy space computation phase, feature cell decomposition is executed using the feature nodes as well to refine the obstacle-free space. Then, the homotopy space is computed by examining the topological connections between cells and the heuristic path to narrow down the sampling space. In the adaptive sampling exploration phase, the sampling factor is adjusted based on the area of the sampling space to enhance the quality of samples. After adaptive sampling based on the factor, the fast marching tree is leveraged to rapidly explore the samples and find the optimal solution. A thorough analysis of SMT is provided, including completeness, asymptotic optimality, and computational complexity. Comprehensive simulation comparisons with current-leading planning approaches in complex scenarios, along with a series of convincing real-world studies have been conducted to provide evidence for verifying optimality and high-efficiency computation of the proposed SMT.
Keyword ：
Convergence Convergence Costs Costs Feature extraction Feature extraction Homotopy-heuristic exploration Homotopy-heuristic exploration Measurement Measurement Mechanical engineering Mechanical engineering Mechatronics Mechatronics mobile robot mobile robot Mobile robots Mobile robots optimality optimality Path planning Path planning Planning Planning Research and development Research and development sampling-based planning sampling-based planning topological refinement topological refinement
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| GB/T 7714 | Chen, Yanjie , Jiang, Wensheng , Zhang, Zhixing et al. Sampling-Focused Marching Tree: Optimal Planning Based on Minimized Topological Refinement and Homotopy-Heuristic Exploration [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 . |
| MLA | Chen, Yanjie et al. "Sampling-Focused Marching Tree: Optimal Planning Based on Minimized Topological Refinement and Homotopy-Heuristic Exploration" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS (2024) . |
| APA | Chen, Yanjie , Jiang, Wensheng , Zhang, Zhixing , Zhang, Liping , Zhu, Guangyu , Zhang, Hui et al. Sampling-Focused Marching Tree: Optimal Planning Based on Minimized Topological Refinement and Homotopy-Heuristic Exploration . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 . |
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Sliding inspections at heights and in harsh environments generally pose significant challenges for the autonomous operation of unmanned aerial manipulator (UAM). This article investigates the issue of reliable physical interaction by UAM for sliding inspections under uncertain disturbances. First, a second-order image dynamics model is derived using the virtual camera image moment to provide a foundation for autonomous positioning. Next, a sliding-mode disturbance observer is designed to estimate the uncertain disturbances from environments. Then, a hybrid image-based compliant control strategy is proposed to meet the physical interaction requirements of UAM. Particularly, a visual positioning controller is adopted to maintain precise positions of UAM, while a visual impedance control method is introduced to achieve reliable force tracking performance in the contact direction. The stability of the proposed strategy is analysed through Lyapunov theory. Finally, physical in-loop implementation and real-world experimental studies are conducted to validate the feasibility and performance of the developed method, demonstrating accurate tracking performances in both position and force and thereby, exhibiting the potential of proposed approach to work for sliding inspection effectively.
Keyword ：
Disturbance observer Disturbance observer image-based impedance control image-based impedance control unmanned aerial manipulator (UAM) unmanned aerial manipulator (UAM) visual servoing visual servoing
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| GB/T 7714 | Wu, Yangning , Chen, Yanjie , Zeng, Guohang et al. Dynamic Image-Based Impedance Control of Aerial Manipulator for Sliding Inspection [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 . |
| MLA | Wu, Yangning et al. "Dynamic Image-Based Impedance Control of Aerial Manipulator for Sliding Inspection" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS (2024) . |
| APA | Wu, Yangning , Chen, Yanjie , Zeng, Guohang , Shang, Changjing , Miao, Zhiqiang , Wang, Hesheng et al. Dynamic Image-Based Impedance Control of Aerial Manipulator for Sliding Inspection . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 . |
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This article proposes a reference optimization-based compliant control framework for aerial pipeline inspection using a hexacopter with a robotic contact device. The system dynamics is modeled, and the aerial interaction performance is quantified by a cost function, which is regulated by the trajectory tracking error and the interaction force. Then, the iteration-based reference learning scheme is introduced to minimize the cost function and realize the optimal interaction performance without the knowledge of the contact environment. Next, a command filter-based adaptive backstepping trajectory tracking controller is designed to avoid the complexity explosion problem as well as implement stable and accurate tracking performance under external wrenches. Simulation studies and real-world experiments illustrate the feasibility of the proposed framework and provide promising results.
Keyword ：
Aerial contact inspection Aerial contact inspection command filter-based adaptive backstepping control command filter-based adaptive backstepping control optimization-based compliant interaction control framework optimization-based compliant interaction control framework reference learning reference learning
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| GB/T 7714 | Liang, Jiacheng , Zhong, Hang , Wang, Yaonan et al. Reference Optimization-Based Compliant Control for Aerial Pipeline Inspection Using a Hexacopter With a Robotic Contact Device [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 . |
| MLA | Liang, Jiacheng et al. "Reference Optimization-Based Compliant Control for Aerial Pipeline Inspection Using a Hexacopter With a Robotic Contact Device" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS (2024) . |
| APA | Liang, Jiacheng , Zhong, Hang , Wang, Yaonan , Chen, Yanjie , Mao, Jianxu , Wang, Wei et al. Reference Optimization-Based Compliant Control for Aerial Pipeline Inspection Using a Hexacopter With a Robotic Contact Device . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 . |
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As one of the most fundamental operations in mechanical production, hole-making plays a crucial role. However, existing hole-making sequence optimization models are not suitable for workshops with variable production parameters. To address this issue, a new model, named multi-objective multi-tool hole-making sequence optimization with precedence constraints (MO-MTpcHSO), is proposed in this paper. The model has two objectives: spindle travel distance and tool switching time. To solve MO-MTpcHSO, a customized Q-learning based genetic algorithm (QLGA) is proposed. The adaptive encoding method allows chromosomes to express feasible solutions, the population is considered as the agent, and the states are intervals of the diversity coefficient. Different insertion methods in the crossover operator are set as actions, and the reward is related to the diversity and values of objective functions of the population. The effectiveness of QLGA is validated by comparing it with other algorithms in practical workpieces. Moreover, the reasonability of actions and the necessity of the Q-learning framework in QLGA are validated.
Keyword ：
genetic algorithm genetic algorithm hole-making sequence optimization hole-making sequence optimization multi-objective problem multi-objective problem Q-learning Q-learning
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| GB/T 7714 | Zhang, Desong , Chen, Yanjie , Zhu, Guangyu . Multi-Objective Hole-Making Sequence Optimization by Genetic Algorithm Based on Q-Learning [J]. | IEEE TRANSACTIONS ON EMERGING TOPICS IN COMPUTATIONAL INTELLIGENCE , 2024 , 8 (6) : 3793-3806 . |
| MLA | Zhang, Desong et al. "Multi-Objective Hole-Making Sequence Optimization by Genetic Algorithm Based on Q-Learning" . | IEEE TRANSACTIONS ON EMERGING TOPICS IN COMPUTATIONAL INTELLIGENCE 8 . 6 (2024) : 3793-3806 . |
| APA | Zhang, Desong , Chen, Yanjie , Zhu, Guangyu . Multi-Objective Hole-Making Sequence Optimization by Genetic Algorithm Based on Q-Learning . | IEEE TRANSACTIONS ON EMERGING TOPICS IN COMPUTATIONAL INTELLIGENCE , 2024 , 8 (6) , 3793-3806 . |
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