Lu Chang

Nanjing University of Science and Technology | NJUST · School of Automation

In a large-scale oceanic environment with spatially variable ocean currents, it is vital for unmanned surface vehicles (USVs) to navigate with a safe and energy-efficient path. In this article, a stream-based VF-RRT* (SVF-RRT*) is proposed for path planning in ocean current fields defined by the stream function. Firstly, SVF-RRT* quantifies the ext...

Mobile robots have been used in a wide variety of applications, and path planning algorithm is one of the key technologies to realize autonomous navigation. The existing JPS+ algorithm usually operates on the square grid map, which has some disadvantages that are not suitable for robot control. Aiming at the above problems, this paper studies the p...

Unsupervised domain adaptation (UDA) aims to enable autonomous vehicles to understand complex road information without semantic labels. However, traditional UDA methods face challenges under adverse conditions, leading to suboptimal segmentation. These methods grapple with two core problems: distinguishing visually similar classes and misclassifyin...

Mobile robot path planning in an unknown environment is a fundamental and challenging problem in the field of robotics. Dynamic window approach (DWA) is an effective method of local path planning, however some of its evaluation functions are inadequate and the algorithm for choosing the weights of these functions is lacking, which makes it highly d...

The study of pedestrian evacuation in channels with different structures is important among optimizing through efficiency, avoiding accidents and designing passageway. It is of significant reference to set up a specific model on account of the real traffic system and design an appropriate controller to apply on it. This paper establishes a macrosco...

The study of pedestrian evacuation in channels with different structures is important among optimizing through efficiency, avoiding accidents and designing passageway. It is of significant reference to set up a specific model on account of the real traffic system and design an appropriate controller to apply on it. This paper establishes a macrosco...

Pedestrian evacuation and modification of traffic facilities were previously studied to increase the traffic efficiency and the safety of pedestrians. In this article, we first design a new robot-assisted pedestrian control scheme. We consider a different scenario that the inflow of all the entrances to the corridor can be controlled by mobile robo...