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In this paper, an alternative to provide mobile robot with the ability-skill to detect and avoidance object in unknown environments is proposed. The robot can detect objects using infrared sensor to avoidance it with hybrid system through distance measurement and vision system. Low latency calculation allow for direct usage within control loops of mobile robot. The velocity of the robot is from 0...
Mecanum wheels give vehicles and robots autonomous omni-directional capabilities, while regular wheels don't. The omni-directionality that such wheels provide makes the vehicle extremely maneuverable, which could be very helpful in different indoor and outdoor applications. However, current Mecanum wheel designs can only operate on flat hard surfaces, and perform very poorly on rough terrains. This...
This paper presents a Modular Architecture for Robotic Control (MARC) for unconventional Unmanned Vehicle Systems (UVS) with search and rescue applications. The MARC architecture is able to produce complex UVS behaviors with the interaction of multiple independent modular controllers, which are extremely difficult or impossible to execute via traditional control methodologies. This paper presents...
We present a novel perception system for mapping of indoor/outdoor environments with an unmanned ground vehicle (UGV). The system uses image classification techniques to determine the operational environment of theUGV (indoor or outdoor). Based on the classification results, the appropriate mapping system is then deployed.Image features are extracted from video imagery andused to train a classification...
This paper presents a modular architecture for robotic control (MARC) for unconventional unmanned aerial vehicles (UAV). MARC was developed for a double-ducted vertical take-off and landing (VTOL) vehicle, capable of maneuvering within densely obstructed environments. The focus of this paper is to present the characteristics of the MARC architecture for the use of a twin-duct VTOL as an optimal platform...
Swarm robotics is a rising paradigm which aims at designing new robot artifacts by extracting engineering guidelines from Nature. The work presented here shows the use of a particular swarm of robots called swarm-bot for carrying out distributed missions of fetching and retrieval of objects. To solve this task, a high level description plan defined in terms of behaviors is synthesized. A mission is...
Detection and removal of antipersonnel landmines in infested fields is an important worldwide problem. Around 100 million landmines have been deployed over the last two decades, and demining can take several more decades, even if no more mines were deployed in future. A high mine-clearance rate can only be accomplished by using new technologies such as improved sensors, efficient manipulators and...
In this study a reactive navigation controller using fuzzy logic has been designed. The reactive controller deals with the uncertamty and ambiguity of the information the system (mobile robot) receives. The technique has been used on MOBIRO, an experimental mobile robot holding a set of five ultrasonic proximity sensors to extract the knowledge from its surroundings. The developed technique generates...
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