In recent decades, the Timed Elastic Band (TEB) algorithm is widely used for the AGV local path panning because of its convenient and efficiency. However, it may make a local detour when encountering a curve turn and cause excessive energy consumption. To solve this problem, this paper proposed an improved TEB algorithm to make the AGV walk along the wall when turning, which shortens the planning time and saves energy. Experiments were implemented in the Rviz visualization tool platform of the robot operating system (ROS). Simulated experiment results reflect that an amount of 5% reduction in the planning time has been achieved and the velocity curve implies that the operation was relatively smooth. Practical experiment results demonstrate the effectiveness and feasibility of the proposed method that the robots can avoid obstacles smoothly in the unknown static and dynamic obstacle environment.

Noise, as undesired sound, severely affects the quality of human life. Currently, active noise control method has demonstrated its capability in low-frequency noise cancellation and the advance in saving money and reducing weight and volume of related materials used in the passive noise control technology. The widespread configuration for active noise control technology is finite impulse response filter with filtered-x least mean squares (FxLMS) algorithm. However, the nonlinearities in the secondary path, which mainly arise from sensors, actuators and amplifiers used in the active noise control system, will cause instability and degrade the performance while using the FxLMS algorithm. In order to cope with this challenge, many new approaches have been proposed and fuzzy logic control is one of these. In this paper, a Takagi–Sugeon–Kang-type fuzzy logic control-based feedforward active noise control system with focus on the geometry configuration is introduced. In contrast to previous work, all physical paths are modelled by pure time delay transfer function and the acoustic feedback is added as part of inputs for the fuzzy logic control. Computational experiments are implemented within the Matlab/Simulink platform, and several case studies are presented with time and frequency domain analyses to demonstrate the cancellation ability of the proposed feedforward active noise control system and investigate the influence of distance ratio on the overall noise cancellation performance.

This study proposes a nonsingular barrier-function-based terminal sliding mode control technique for nth-order nonlinear dynamic systems. Its main objective is to guarantee the finite-time tracking performance in the presence of unmodeled dynamics, external disturbances and parameter variations. The proposed approach is synthesized using a novel barrier function-based terminal sliding surface to ensure the effective estimation of the system perturbations using the barrier adaptation laws, and thereby achieve the desired tracking performance. The dynamics of chaotic models are strongly dependent upon the initial conditions, parameters of the system, parametric uncertainty and external disturbances which are required to be controlled/synchronized by a robust nonlinear control technique. By designing the terminal sliding mode control approach combined with the adaptive control law, the tracking problem of the nth-order nonlinear dynamical system with unmodeled dynamics, parametric variations and external disturbances is investigated. Moreover, the application of the proposed method is studied using the color-image scrambling system. The scrambling keys are created by transmitter chaotic systems, where using the chaotic keys and scrambling techniques, the original color image is encrypted. The performance and applicability of the proposed design is assessed using two practical applications: a chaotic hyper-jerk system and a color image encryption system. The simulation and analytical results obtained with both systems confirmed the ability of the proposed control method to guarantee the finite time convergence of sliding surface, ensure chattering-free dynamics and avoid the singularity problems.

In this article, a switched quantizer is proposed to solve the bandwidth limitation application problem for distributed wireless sensor networks (WSNs). The proposed estimator based on switched quantitative event‐triggered Kalman consensus filtering (KCF) algorithm is used to monitor the aircraft cabin environmental parameters when suffering packet loss and path loss issues during the communication process for WSN. The quantization error of the novel switched quantizer structure is bounded, and the corresponding stability theory for the quantitative estimation approach is proved. Compared with other methods, the simulation results for the introduced method verify that the environmental parameters can be estimated accurately and timely and reduce the burden of network communication bandwidth.

This paper presents a physical configuration-based feedforward active noise control scheme with an adaptive second-order truncated Volterra filter for point source cancellation in three-dimensional free-field acoustic environment. The inertial particle swarm optimization (PSO) algorithm is used as the parameter adjustment mechanism for tuning the coefficients of the adaptive Volterra filter. The first motivation of this paper is to provide a precise description of the relationship between the degree of cancellation and the physical distances between system components. The second motivation is to improve the cancellation performance in the presence of nonlinearities with the adaptive Volterra filter in light of the characteristics of sensing microphone and actuating loudspeaker. The reason for choosing the inertial PSO algorithm is that it can avoid the trap of local optima. The work thus presented makes two main contributions. The first is using the degree of cancellation as a function of the physical distances between system components to provide a quantitative analysis of system performance. The second is the application of the adaptive Volterra filter, which achieves improvements in the cancellation performance of the system under different physical configurations with a reasonable compromise with complexity. For consistency with the numerical analysis, several simulation experiments are conducted using MATLAB/Simulink.

The energy hole is a severe problem for underwater acoustic distributed networks in that it affects the normal operations of the network and shortens the network’s life span. To deal with this problem, a loop‐free routing control technique is proposed in this paper. The classical shortest‐path routing control method is used to generate multiple disjointed routing tables. The residual energy of the nodes and the changing information of the uplink/downlink matrix are added to the data frames for distribution. The source node specifies the routing path to transmit the data frames based on the changing information, and the relay nodes route the data frames strictly according to the routing path designated by the source node. Besides, the energy consumption of the relay node is saved by replying to the pseudo‐ACK frame. Simulation experiments are implemented in four typical scenarios, and the results reflect that the proposed technique could extend the network’s life span by approximately 10% when compared to other mature techniques. Besides, it has no other negative effects on the normal operations of the network.