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The purpose of this study is to realize a control method of snake-like robots in order to climb up trees. The control method is able to divide into locomotion controls on a tree trunk and staying controls to avoid falling off. This paper shows the force for squeezing a tree trunk to avoid falling off is calculated by the relationship between the actuator torque and the friction force at each link...
We present a high-speed planning method with compact precomputed search trees using a new pruning method and evaluate the effectiveness and the efficiency of our precomputation planning. Its speed is faster than an A* planner in maps in which the obstacle rate is the same as indoor environments. Precomputed search trees are one way of reducing planning time; however, there is a time-memory trade off...
We present a new pruning method for compact precomputed search trees and evaluate the effectiveness and the efficiency of our precomputation planning with steering sets. Precomputed search trees are one method for reducing planning time; however, there is a time-memory trade off. Our precomputed search tree (PCS) is built with pruning based on a rule of constant memory, the maximum-size pruning method...
This paper presents and describes the approach for achieving long distance autonomous navigation with a mobile robot on outdoor cluttered pedestrian paths. The task was to finish an event launched by the City of Tsukuba in Japan, called ldquoReal World Robot Challengerdquo, of navigating 1km autonomously in a real environment with real pedestrians and bicycles. The hardware, software and strategy...
This study describes a group robot system "CHOBIE II". The feature of the CHOBIE II is a function to form a reconfigurable structure. In the previous paper, we introduced a control method of the robots and realized transformation of the structure. In this paper, we focus on a motion planning method to obtain control algorithms. For this purpose, we introduce a numerical criterion for generating...
In this paper, we propose an FPGA-based collision warning system for advanced automobile driver assistance systems or autonomous moving robots. The system consists of three function blocks: coarse edge detection using a resistive-fuse network, moving-object detection inspired by neuronal propagation in the hippocampus, and danger evaluation and collision warning using fuzzy inference. The first two...
This paper describes a new path planning method for car-like robots using predesigned steering sets including three trajectory types: straight, right and left. A trajectory using a zigzagged path planned by grid-based shortest path search (A* method or Dijkstra) is not suitable for car-like robots. Path planning with steering sets is used to generate trajectories with smooth changes in direction....
We studied smooth path planning using predesigned steering sets including three trajectory types. Path planning with a steering set is used to generate trajectories with smooth changes in direction. To put our path planning to practical use in dynamic environments, it needs to detect the movement of humans and to avoid moving humans. It is important that robot motion is fast and efficient, while also...
This paper presents a robust robot self-localization method where robot will identify its own position based on visual appearance features in the environment. Many research studies have been conducted on the navigation method for the autonomous mobile robot, and introduced precise and accurate robot self-localization methods. However, we believe that in some situation, it is not necessary for a robot...
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