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A Simple Path Planning algorithms for Automatic Guided Vehicle in Unknown Environment based on D∗ lite algorithm is proposed in this paper. The proposed algorithm changes method determining traversal cost of edge between two adjacent nodes to prevent AGV from traversing across obstacle's sharp corners, avoid complicated obstacles and prevent AGV from traversing in between two obstacles. The simulation...
By the number of people aged 60 or over and people with disabilities growing, homecare mobile robot draws increasing attention. However, there are challenges of autonomous navigation for homecare robot such as frequent changes of environment, obstacles and goal position. In this paper, we focus on verifying potential of neural network-based autonomous navigation for homecare mobile. And we compare...
This paper proposes a new algorithm for improving the estimation accuracy of travel distance of a mobile robot at the outdoor environment by estimating the slanted angle of road. When a mobile robot is movement on the flat surface, the travel distance can be estimated by the encoder values directly even though it includes some errors caused by the slippage and the disturbances. However, when the mobile...
Artificial Potential Field (APF) is widely used for an autonomous robot path planning and navigation because of light complexity and elegance of results. Although it is useful in single robot path planning, appropriate algorithm for multi-robot path planning has not been proposed. Existing APFs which can apply to multi-robot only regard robots as obstacles even if these robots are not obstacles, or...
This work introduces an autonomous jumping robot, capable of moving over the ground, and identifying obstacles as well as jumping over stairs. The robot could be employed to patrol in a building subject to stairs. The robot requires fast autonomous motion and makes use of novel jumping mechanisms to be fit into small-packed volume, reducing the weight enough to be held on human's hand. Several sensors...
Pet has been serving as an emotional companion to people. However, nowadays it is common that people are too busy to take care of their pet due to everyday work. This research is to see the possibility that robot can replace the role of taking care of pets on behalf of their owner and the conventional human-robot interaction (HRI) can be extended to the interaction of robots and animals. In this paper,...
In this paper, we propose an formation-keeping and changing methods for outdoor multiple mobile robots in chained form. The proposed method is designed to maintain the follower to its desired distance and orientation with respect to the pole using the concept of virtual force such as potential field. We use the centralized system and the client robots use the behavior-based control to perform kinematic...
This paper proposes a multi-layered architecture of middleware for ubiquitous robots. Ubiquitous robots consist of different platforms with various functions and interfaces. Without a middleware, software agents have to hold information of all ubiquitous robots in advance to access other sensors or mobile robots. This decreases modularity and scalability of the entire system, therefore makes it difficult...
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