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This paper describes the development of an autonomous mapping system (AMS) for basic terrain mapping and quantifies it's performance relative to conventional survey instruments. The AMS platform is an off-the-shelf robotic chassis equipped with wheel encoders, IMU and a survey-grade GNSS RTK receiver. The AMS is autonomously controlled by the Robot Operating System (ROS) using open-source and purpose-written...
This paper presents a novel vision based technique for navigation of agricultural mobile robots in orchards. In this technique, the captured color image is clustered by mean-shift algorithm, then a novel classification technique based on graph partitioning theory classifies clustered image into defined classes including terrain, trees and sky. Then, Hough transform is applied to extract the features...
This paper analyzes the motion planning of a custom-built all position autonomous mobile welding robot. It proposes a novel motion planning method that allows the robot to complete fillet seam welding while the vehicle turns around the right angle seam simultaneously. The global optimal solution is obtained through model modification.
Biomimetic robots have recently received increasing attention, as people try to learn from nature in which exist amazing and uniquely evolved mechanisms shown by very species. Fleas, as such one example, are best jumper of all known animals in the world, considering their body size. It can jump about 150 to 200 times its own body length. This paper reports on modeling and simulation of a jumping biomimetic...
The leg design of a cockroach robot ensure that they can generate movements used by the cockroach to walk and climb over a range of objects. However, in order to take advantage of these complex designs, we must first solve difficult problem in control. To the foot trajectory tracking control problem for cockroach robot, a new global non-singular adaptive fuzzy terminal sliding mode controller (NFTSM)...
This paper discusses an experimental comparison of three user interface techniques for interaction with a mobile robot located remotely from the user. A typical means of operating a robot in such a situation is to teleoperate the robot using visual cues from a camera that displays the robot's view of its work environment. However, the operator often has a difficult time maintaining awareness of the...
It is a challenge for mobile robots to climb a vertical wall primarily due to requirements for reliable locomotion, high manoeuvrability, and robust and efficient attachment and detachment. Such robots have immense potential to automate tasks which are currently accomplished manually, offering an extra degree of human safety in a cost effective manner. In contrast to vacuum suction, magnetic adhesion,...
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