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This paper presents a multi-ultrasonic-sensor system designed for Simultaneous Localization and Mapping (SLAM) on the open source robot Kobuki Turtlebot. The operating system used in this research project, Robot Operating System (ROS), is also an open source project initially released in 2007. Our system has reduced response time and lower cost than traditional laser sensors. It consists of 8 HY-SRF05...
This work describes a mobile system that has been developed to precisely and reliably carry out echolocation experiments (data collection) for later analysis. A Kobuki robot was used as a base unit, providing mobility and accurate odometry. Custom mounting hardware was designed for the robot to accommodate a laptop for controlling the robot, along with a Microsoft Kinect sensor and ultrasonic transducers...
Biologically inspired snake robots have been widely studied for their various motion patterns. Most research has focused on the design of a controller for a given motion pattern. However, relatively limited work appears to have been done on the design of a controller for self-adaptive locomotion. In this brief, we add sensory inputs to a control system in order to investigate collision avoidance in...
Biologically inspired control approaches based on the central pattern generator (CPG) have been studied to apply to a snake-like robot. One of the important problems is to determine how to construct a sensor-driven neural system in order to control the robot for adaptive locomotion. To solve this problem, a sensor-based neural network is presented in this paper. To realize collision-free behavior...
Point stabilization is the major control problem of nonholonomic wheeled mobile robots (WMRs). In this paper, a novel simple tracking controller is presented based on the kinematics models. An artificial potential field is used to navigate the wheeled robot in the controller. Easy design, fast convergence, and adaptability to other nonholonomic mobile are obvious advantages. The control parameters...
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