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Wheeled mobile robots (WMR) are the most widely used robots. Avoiding obstacles in unstructured environments, especially dynamic obstacles such as pedestrians, is a serious challenge for WMR. This paper aims to present a hybrid obstacle avoidance method that combines an informed-rapidly exploring random tree* algorithm with a three-dimensional (3D)-object detection approach and model prediction controller (MPC) to conduct obstacle perception, collision-free path planning and obstacle avoidance for WMR in unstructured environments.

Given a reference orientation and speed, the hybrid method uses parametric ellipses to represent obstacle expansion boundaries based on the 3D target detection results, and a collision-free reference path is planned. Then, the authors build on a model predictive control for tracking the collision-free reference path by incorporating the distance between the robot and obstacles. The proposed framework is a mapless method for WMR.

The authors present experimental results with a mobile robot for obstacle avoidance in indoor environments crowded with obstacles, such as chairs and pedestrians. The results show that the proposed hybrid obstacle avoidance method can satisfy the application requirements of mobile robots in unstructured environments.

In this study, the parameter ellipse is used to represent the area occupied by the obstacle, which takes the velocity as the parameter. Therefore, the motion direction and position of dynamic obstacles can be considered in the planning stage, which enhances the success rate of obstacle avoidance. In addition, the distance between the obstacle and robot is increased in the MPC optimization function to ensure a safe distance between the robot and the obstacle.

In recent decades, advancements in biosensors technology have made fluorescent biosensor pivotal for biomolecular recognition. This paper aims to provide an in-depth analysis of polymerase chain reaction (PCR) fluorescent biosensor detection technology for identifying Escherichia coli (E. coli), setting the stage for future developments in the field.

The review of literature on PCR fluorescent biosensor detection technology for E. coli over the past decades includes discussions on traditional biological fluorescent detection, quantitative PCR fluorescent detection and digital fluorescent detection technology.

Advancements in fluorescent biosensor technology enable precise measurement of fluorescent signals, and when integrated with microfluidic technology, produce compact, reagent-efficient digital sensor devices.

This paper provides a comprehensive review of recent fluorescent detection technology for pathogenic E. coli, assessing method efficiencies and offering insights to advance the field.