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This paper considers the remote tracking problem of a nonholonomic mobile robot under the situation of constant communication delay in both the feedback and forward channels. A tracking controller in the discrete-time domain for the case of ideal network conditions is used, and then, based on above tracking controller, a networked predictive controller as well as an algorithm for dealing with constant...
With the development of science and technology, mobile robots have more and more extensive applications to complete the task in unknown environment. Create the environmental map of the unknown space is a key to control and navigation of mobile robots. We focus on the related problems of topological map building in unknown environment. The main studies undertaken in this paper are listed as follows:...
The backward motion control problem for the mobile robot with two off-axle hitching trailers is firstly addressed in this paper. For the kinematic model of this system can not be transformed to chained form or power form due to the complexity added by the off-hitching connection, the motion problem of this kind of system is known as difficult. This paper proposes a new approach to stably reverse a...
Path tracking control problem of a mobile robot is discussed in this paper. It's a typical problem in the field of robot locomotion. A control strategy combined with fuzzy control based on the Line of Sight (LOS) is proposed. According to the experience of driver, fuzzy control rule is selected with hierarchical method. With Line-of-sight method, a fuzzy control approach is then constructed. The results...
This paper presents a new method for odor source localization using a Wireless Sensor Network (WSN) by means of collaboration with a mobile robot. The method has two steps: an initial estimation of the position of odor-source is obtained centrally by one robot and is based on particle filtering. It does not require any prior information about the position of the nodes. In the second stage, the nodes...
A backward motion control method for the stabilization problem of a tractor-trailer mobile robot is proposed in this paper. The idea of the proposed method relies basically on the fact that the trailer is stable when the tractor goes forward. Others, when the robot goes backward, a virtual tractor is constructed that drags the trailer with forward speed and equivalent kinematics with respect to the...
In this paper, we propose the adaptive walking control system by using CPG networks for the quadruped robot with bi-articular muscle models. Parameters of CPG networks can be changed to adjust gait patterns of the quadruped robot by using internal feedback information. To confirm the validity of the proposed control system, we conduct several simulations of an adaptive walking on the irregular terrain...
Trajectory tracking problem of a tractor-trailer mobile robot with backward speed is addressed in this paper. Due to the nonholonomic constraints, tracking control of the tractor-trailer mobile robot is a more challenging task. Fuzzy control combined with hierarchical method is often shown to be effective for the complex system. With line-of-sight method, a fuzzy control approach is then proposed...
This paper describes the research of genetic algorithm (GA) based PID for autonomous underwater vehicle (AUV) motion control. A simulation of heading control application is considered using GA and improved GA based PID. The dynamic model of AUV is established. The design method of GA and improved GA based PID is introduced. The heading control design model is obtained by the AUV linearization model...
This paper presents an unknown environment robot path planning algorithm. The robot working environments are expressed by grid model; Using digital potential field generated initial path population, and its optimization find the shortest path, and individual evaluation function were processed fitness function both feasible path and unfeasible path fitness function, and then by increasing the deleted...
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