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The artificial potential field method has efficient obstacle avoidance ability, but this traditional method suffers from local minima, unreasonable paths, and sudden changes in heading angles during obstacle avoidance, leading to rough paths and increased energy consumption. To enable autonomous mobile robots (AMR) to escape from local minimum traps and move along reasonable, smooth paths while reducing travel time and energy consumption, in this paper, an artificial potential field method based on subareas is proposed. First, the optimal virtual subgoal was obtained around the obstacles based on the relationship between the AMR, obstacles, and goal points in the local environment. This was done according to the virtual subgoal benefit function to solve the local minima problem and select a reasonable path. Secondly, when AMR encountered an obstacle, the subarea-potential field model was utilized to solve problems such as path zigzagging and increased energy consumption due to excessive changes in the turning angle; this helped to smooth its planning path. Through simulations and actual testing, the algorithm in this paper demonstrated smoother heading angle changes, reduced energy consumption, and a 10.95% average reduction in movement time when facing a complex environment. This proves the feasibility of the algorithm. [ABSTRACT FROM AUTHOR]

Existing research in metasurface design was based on trial-and-error high-intensity iterations and requires deep acoustic expertise from the researcher, which severely hampered the development of the metasurface field. Using deep learning enabled the fast and accurate design of hypersurfaces. Based on this, in this paper, an integrated learning approach was first utilized to construct a model of the forward mapping relationship between the hypersurface physical structure parameters and the acoustic field, which was intended to be used for data enhancement. Then a dual-feature fusion model (DFCNN) based on a convolutional neural network was proposed, in which the first feature was the high-dimensional nonlinear features extracted using a data-driven approach, and the second feature was the physical feature information of the acoustic field mined using the model. A convolutional neural network was used for feature fusion. A genetic algorithm was used for network parameter optimization. Finally, generalization ability verification was performed to prove the validity of the network model. The results showed that 90% of the integrated learning models had an error of less than 3 dB between the real and predicted sound field data, and 93% of the DFCNN models could achieve an error of less than 5 dB in the local sound field intensity. [ABSTRACT FROM AUTHOR]

The obstacle avoidance system of a drone affects the quality of its flight path. The artificial potential field method can react quickly when facing obstacles; however, the traditional artificial potential field method lacks consideration of the position information between drones and obstacles during flight, issues including local minima, unreachable targets, and unreasonable obstacle avoidance techniques that lengthen flight times and consume more energy get encountered. Therefore, an improved artificial potential field method is proposed. First, a collision risk assessment mechanism was introduced to avoid unreasonable obstacle avoidance actions and reduce the length of unmanned aerial vehicle flight paths. Then, to solve the problem of local minimum values and unreachable targets, a virtual sub-target was set up and the traditional artificial potential field model was modified to enable the drone to avoid obstacles and reach the target point. At the same time, a virtual sub-target evaluation factor was set up to determine the reasonable virtual sub-target, to achieve a reasonable obstacle avoidance path compared to the traditional artificial potential field method. The proposed algorithm can plan a reasonable path, reduce energy consumption during flight, reduce drone turning angle changes in the path, make the path smoother, and can also be applied in complex environments. [ABSTRACT FROM AUTHOR]