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Among the issues discussed in this article the main problem concerns a neuro-fuzzy system (ANFIS) for controlling a mobile robot, which is considered one of the methods of artificial intelligence. The first part discusses the classical approach to control a mobile robot. Firstly, a mathematical model was presented describing the kinematics of a two-wheel mobile robot, which was later used for the...
The article deals with the analysis of selected hazardous states caused by the failure of some of the critical subsystems of a mobile robot and describes mechanisms ensuring well-defined behavior in case of such a failure. The failures include communication problems (low quality of wireless communication or complete interruption), software problems (freezing or crashing of a software subsystem) and...
The article focuses on modifications made on an existing gripper mounted on a teleoperated manipulator arm of the military mobile robotic system TAROS. The reason of these modifications was to allow handling of objects with a large range of weight and strength, which requires fully and precisely adjustable gripping force with feedback. The implemented solution uses a strain gauge applied to a selected...
Environment detection is important task for an autonomous robot. Obstacle avoidance is a must when the robot do indoor activity. I this case robot movement is done in corridors and rooms, which is similar to a maze. Distance from the walls can be sensed with different sensors, in the experiment infra-red sensors were used. There are several methods for obstacle detection and calculating the distance...
Crossing over obstacles or riding up in steep terrain is still not completely solved problem in wheeled-mobile robotics. This paper describes a concept of four-wheeled mobile robot with unique patented wheels made of rotary segments. Rotation of segments changes the surface of wheels from normal wheel for movement on roads or flat ground to wheels for movement in terrain, over obstacles or upstairs...
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