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An interval type-2 fuzzy logic controller using the switching type-1 fuzzy Takagi-Sugeno model is presented for the position control of wheeled mobile robot. The control gains for the switched regions are determined using linear quadratic regulator approach. The blending of the local controllers based on the interval type-2 design scheme yields the final motion commands for the wheeled mobile robot...
This paper presents a hierarchical method of region division for mobile robot system based on spectral clustering algorithm. Firstly, to improve the exploration efficiency, topological map is constructed incrementally using a hybrid map model with grid-topplogy structure. And then, topology-based Voronoi Diagram is introduced to divide the map and express the whole environment uniquely. Meanwhile,...
A 2D simulator for vision based autonomous road following is designed using MATLAB. The simulator provides options for selecting road image, placing hurdles on road and the algorithm for following the road autonomously. With the road image containing hurdles and algorithm selected, the simulator draws the robot trajectory and also plots the error curves. A real time implementation of simulated algorithms...
A robust omni-directional vision based localization method that allows us to obtain accurate mobile robot pose of large indoor environments is proposed. To implement the localization based on vision. In a learning step, the robot is manually guided on a path and an omni-directional image frames sequence is recorded. From this sequence a topological map is built with robust affine and scale invariant...
As the smart phone becomes a remote processor for more functions in people daily lifes, the operators of the indoor survelience robots can be located anywhere if they have the smart phone. This paper presents the design of a mobile robotic system remotely controlled by a smart mobile phone via the Internet. A control client on the Android smart phone was the command center while the mobile robot was...
One of the challenges of Autonomous Systems navigating in real world is to deal with the large amounts of uncertainties which are inherent in such environment while maintaining stability. Higher order Fuzzy Logic Systems (FLS), such as Interval Type-2 Fuzzy Logic Systems (IT2FLS), that use type-2 fuzzy sets, can model and handle such uncertainties, and give good performances that outperform their...
Pose estimation problem is a key problem for a mobile robot system. In this paper, a new pose estimation method for the mobile robot is presented based on 2D (two dimensional) laser range finder. To get the increments between reference scan and current scan, a scan matching algorithm based on 1D Fourier Transform is presented. It is different from other methods. Because of 1D Fourier-transform-based...
A two-wheeled self-balancing robot is a special type of wheeled mobile robot, its balance problem is a hot research topic due to its unstable state for controlling. In this paper, human transporter model has been established. Kinematic and dynamic models are constructed and two control methods: Proportional-integral-derivative (PID) and Linear-quadratic regulator (LQR) are implemented to test the...
Crossing a door is usually a necessary action for autonomous patrol of an indoor surveillance robot. However, it is difficult for a large robot to cross narrow doors. In this paper, a method for detecting, locating and crossing a door for an indoor surveillance robot with Kinect is presented. Firstly, doors are detected and located based on RGB-D data collected form Kinect. Then, the conversion between...
The paper presents a new method to realize mobile robot arm grasping in indoor laboratory environments. This method adopts a blind strategy, which does not need the robot arms be mounted any kind sensors and avoid calculating the complex kinematic equations of the arms. The method includes: (a) two robot on-board ultrasonic sensors in base are utilized to measure the distances between the robot base...
This paper describes an automated interaction for triggering the cricket's pheromone behavior by controlling a micro mobile robot based on pose estimation. In our developing systems a micro mobile robot : Ecobe mounted a cricket s head is introduced as a physical agent to interact with the cricket. Both of location of the cricket and mobile robot is estimated by on-line particle filter based color...
Tethered Space Robot (TSR) is a new kind of space robot, which consists of robot platform, space tether and operational robot. This paper introduces the task of TSR, and it proposes coordinated position and attitude control method in order to save thruster fuel of operational robot for approaching the target. First, the linear quadratic regulator (LQR) controller calculates the traditional position...
A solution by hybrid algorithms is proposed in this paper for real-time map building and navigation for multiple goals purpose. In real world applications, an intelligent mobile vehicle is required to reach multiple goals with a shortest path that, in this paper, is capable of being implemented in TSP (Traveling Salesman Problem) by a Genetic Algorithm (GA) with minimized overall distance. A D∗-Lite-based...
This paper presents a predictive kinematic control method for a three-wheeled omnidirectional mobile robot on the basis of MY wheel-II assemblies. Firstly, the kinematic analysis is conducted, which shows that eight possible models can be employed in the controller to produce the desired motor velocity for servo motors. Then for each finite fixed prediction horizon, a predictive control strategy is...
This paper presents simulation and analysis on dynamics of a hybrid mobile robot. The robot is designed to take advantage of both rolling and jumping locomotion ways on the ground. The most outstanding feature of the robot is the minimum use of actuator. The robot is designed to be able to execute both jumping and rolling skillfully by using only one DC motor. Mechanism design and control logic are...
A vision-based method is proposed in this paper for mobile robot localization. The proposed method mainly consists of two parts: mapping and localization. First, to build the map, robot moves randomly in the target enviroment and captures images using its camera. The SURF descriptor is used to extract the features of each image. Then map can be built with the SURF features and their positions. For...
This paper proposes a new approach for a mobile robot to avoid obstacles based self-defined landmarks when it moves in the indoor environment. In this work, a 2D laser rangefinder is employed to detect the interior environment. The environmental maps, including global map and local map, are built by a series of feature extraction algorithms. Then, depending on self-defining landmarks, the mobile robot...
This paper proposes a novel FastSLAM based on UT (Unscented Transform). A novel proposal distribution which integrates current observation is proposed, wherein the particles sampled from the proposal distribution based on Unscented Transform is driven to move to the high probability region of posterior distribution. The landmarks in map are updated with UKF (Unscented Kalman Filter) to avoid the problem...
The iArm is a service robot arm to help people with upper-limb disability in their daily lives. The iArm has been produced for about 10 years in the Netherlands. The National Institute of Advanced Industrial Science and Technology has developed RAPUDA (Robotic Arm for Persons with Upper-limb DisAbility). The effectiveness of the RAPUDA was evaluated by conducting ergonomics experiments. We analyze...
In this paper, we present a Robot Technology component implementation of the simultaneous path planning and topological mapping algorithm. Firstly, Simultaneous Path Planning and Topological Mapping (SP2ATM) algorithm is applied for robot path planning and environment exploration with map construction incrementally. And at the same time, Rao-Blackwellized Particle Filter (RBPF) is utilized for robot's...
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