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The paper deals with the optimization of local path for the mobile robot, whereas the safety of the route is the major criterion. The robot equipped with differential chassis with kinematic constraints is considered for the task. The optimization is based on genetic algorithm (GA), optimizing the polyline representation of the path. The core idea of the method presented is to sequentially increase...
Data acquisition in smart homes is common activity to ensure a stable, natural and energy saving environment inside the building. However, typical usage of acquired data is limited to temperature/humidity monitoring connected to thermostat or AC control. Modern smart homes try to interconnect all standalone control systems into one smart solution with information downloaded from internet as weather...
Equally distributed covering of working space is essential in some mobile robot applications, such as presentation robotics or security robot patrol. This paper explores a method for such covering based on rapidly exploring random trees (RRT) algorithm. RRTs can cover the working space close to completeness while uncovered areas are quickly reduced. The algorithm can be modified to emphasize certain...
Presented paper presents ARM mbed microcontroller usage as a control unit in student's autonomous convoy project. The ARM mbed devices are based on 32-bit ARM Cortex-M microcontrollers and are widely used for a number of students and science projects. Proper selection of appropriate HW platform is typical issue, especially nowadays when students can choose from many different and low-cost platforms...
Presented paper deals with sensor failure detection and identification (FDI) in navigation task of autonomous mobile robot. Mobile robots use ultrasonic range finders to solve a collision avoidance task, which is crucial for successful navigation. When the sensory readings are invalid the robot should be able to detect such a failure and interrupt its actual movement. To solve this task, the method...
This paper deals with a complex energy harvesting system which generates electric energy from its surroundings. The source of an ambient energy can be available in the form of solar, thermal or mechanical energy. The paper is focused on the energy harvesting from mechanical energy of vibrations. The mechatronic approach was used for development of the energy harvesting source which harvests electrical...
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