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In this paper, we develop decentralized control to drive a swarm of mobile agents into a moving target region while avoiding collisions among themselves. This is achieved with the help of target potential functions and collision avoidance potential functions in Lyapunov synthesis. A basic control framework is designed on a kinematic model. There are neither requirements for pre-specified desired trajectories...
This paper addresses two problems in visually-controlled robots. The first consists of positioning the end-effector of a robot manipulator on a plane of interest by using a monocular vision system. The problem amounts to estimating the transformation between the coordinates of an image point and its three-dimensional location supposing that only the camera intrinsic parameters are known. The second...
With an accurate estimate of the robot pose, robots will be capable of navigating in the environment autonomously and efficiently. In this paper, an infrastructure comprises of simultaneous camera calibration and robot localization is presented. The presented approach utilizes particle filter that integrates odometry data from robot and images captured from overhead cameras in the environment to localize...
This paper presents a novel approach on the implementation of the concept of ldquovirtual pheromonesrdquo for use in controlling autonomous mobile robots. Rather than being deployed in the environment, the virtual pheromones are stored in a map of the environment maintained and updated by a ldquopheromone serverrdquo. This map acts like a shared memory for all the agents, by means of a radio communication...
This paper describes an experiment aimed to demonstrate that a distributed system of embedded microcontrollers, wherein a number of control modules are located on the mobile robot, while others are deployed in an “intelligent environment” can significantly reduce the cost of developing a robotic assistant for the elderly and disabled. The structure of the experimental setup is described in detail,...
This paper addresses a closed-loop control for a mobile robot in navigation. The sonar-based obstacle avoidance algorithm utilizes a region partition strategy by analyzing three forward sensory regions and finds out a navigable region candidate. A probabilistic motion model and the Monte Carlo method are used to estimate the robot pose. The supervisor inside the controller makes a decision to allow...
Complete coverage path planning is a key problem for autonomous mobile robot, which concerns both efficiency and completeness of coverage. This paper proposed a novel strategy of combined coverage path planning method, which combines the template-based and the heuristic coverage path planning. The template-based mode allows the robot to run under some predefined motion templates which can realize...
In this paper, least squares support vector machine (LS-SVM) based motion control and obstacle avoidance of a mobile robot are proposed under measured data with uncertainty. The proposed scheme can control the mobile robot by using a potential field function, where the potential field function is based on Lyapunov function candidate. The Lyapunov function candidate includes a flat plane, the flat...
Real bounded inputs of nonholonomic wheeled mobile robot systems are typically needed in practical designs of control systems. Some state transformations are exploited to convert these systems to new systems while the control inputs of the two systems are the same. Then using the intrinsic structure of the new systems and variable structure control, a novel discontinuous multiple step stabilizing...
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