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Path planning of spherical robots is usually carried out based on a continuous motion. However, actuators such as stepping motors are driven by discrete input signals that generate motion in rotational steps. The results would therefore be different from the continuous path planned for the spherical robot. The spherical robot under study incorporates two stepping motors, which generate the rotation...
Robot path planning in known and dynamic environments is feasible for mobile robots and its main purpose is to find a collision free path for a robot from an initial position to a goal position in an environment with obstacles. In this paper the goal position is assumed to be moving over the time. Also our environment includes moving obstacles as well as static ones. We present a new approach for...
We describe a method of generating new motions associatively from unfamiliar indications. The associative motion generation system is composed of two neural networks: nonlinear principal component analysis (NLPCA) and Jordan recurrent neural network (JRNN). First, the system learns the correspondence relationship between an indication and a motion using training data. Second, associative values are...
An adaptive controller for a class of unknown nonaffine discrete-time plants is introduced in this article. The proposed control law is constructed by the estimated system linearization with adjustable networks called Muti-input Fuzzy Rules Emulated Networks or MIFRENs. Only on-line learning phase, the bounded parameters inside MIFRENs and the boundary of control error are given by the proposed theorem...
Multi agent systems are being applied to a wide range of applications from territorial explorations to unmanned combat missions. Agents operate as distributed problem solvers and work together to accomplish the tasks in the system. Various control frameworks have been developed for execution of tasks by agents in the system. Control frameworks consider that the agents are aware of their tasks and...
In this paper, a combined intelligent technique is introduced for the trajectory tracking control of a nonholonomic wheeled mobile robot (WMR), which comprises an interval type-2 fuzzy kinematic control (IT2-FKC) and an interval type-2 fuzzy terminal sliding-mode dynamic control (IT2-FTSMDC). Firstly, an interval type-2 fuzzy logic controller designed for the kinematic model of the WMR is introduced,...
This paper deals with human interface for iPod touch used for the tele-operation of robot partners. We develop a tele-operation system based on touch interface of iPod touch. The environmental information is measured through the sensor network, and is stored in the remote host computer. The iPod touch accesses the environment information through wireless LAN, and sends the control outputs to the partner...
The ability of mobile robots to generate feasible trajectories online is an important requirement for their autonomous operation in unstructured environments. Many path generation techniques focus on generation of time- or distance-optimal paths while obeying dynamic constraints, and often assume precise knowledge of robot and/or environmental (i.e. terrain) properties. In uneven terrain, it is essential...
This paper presents a novel approach to on-line, robot-motion planning for multiple moving-objects interception with constant acceleration. The position, velocity and acceleration of the free particles TFL are used as a kinematic information to generate the multiple interception trajectory TFP. The polynomial interpolation technique is implemented in a 2 dof robot with an operational space control...
In this contribution we present the mutual synchronization of an ensemble of robots with strictly different architecture. The main idea is to achieve synchronization in a group of robots composed by rotational-rotational and rotational-prismatic architecture. The synchronization is achieved into the workspace, this is, and the end position of each robot is equal to the rest of the robots. It implies...
The box-pushing problem, where a community of mobile robots must move an object in cluttered environments, represents a very interesting challenge for the development of coordination schemes for multiagent systems, with multiple practical applications (e.g. industrial processes automatization, people rescue, movement of dangerous objects). In this paper we introduce a new path-planner so the resulting...
This paper presents two examples of usage of fuzzy signatures in the field of mobile robotics. The first shows a complex lateral drift control method base on fuzzy signatures. This method inspects the motion system of the robot as a whole, unlike as simple parts of a complex system. The state space is written down by fuzzy signatures which add up flexibility, adaptability and learning ability to the...
The purpose of this paper is to represent that the techniques of computer aided geometric design such as spatial rational frames could be applied to robot kinematics for arm motion design and to computer graphics for generating smooth animation of a rigid body specially in complicated sets of control points and orientations. In application requiring control of the orientation of a rigid body, as its...
Aiming at solving the problem of trajectory tracking of the wheeled mobile robot, the paper presents an adaptive trajectory tracking method based on the kinematics model. After analyzing the shortage of classical trajectory tracking control rule, the idea of the single point preview is introduced to the method to improve the effect of trajectory tracking, as well as an artificial field is combined...
We define a leader-follower flocking system in which a few members are group leaders who have global trajectory knowledge, while majority members are group followers who can communicate with neighbors, but do not have global trajectory information. The followers even do not know who are the leaders in the group. All group members estimate the position of flocking center by using a consensus algorithm...
Robot curve tracking is used in many aspects of industry, such as automatic welding and incising. In this paper, the technique of structure light triangulation is used for camera calibration of curve tracking system at first, and then an improved curve detection algorithm is presented. This algorithm adopts an extended chain code template. The discrete sampling point sequence of curve can be obtained...
This paper addresses the problem of coordinating great numbers of vehicles in large geographical areas under network connective constraints. We leverage previous work on hierarchical potential fields to create advanced skills in multi-robot systems. Skills group together various field objectives to accomplish the performance requirements in response to highlevel commands. Our framework calculates...
Autonomous personal robots are currently being equipped with hands and arms that have kinematic redundancy similar to those of humans. Humans exploit the redundancy in their motor system by optimizing secondary criteria. Tasks which are executed repeatedly lead to movements that are highly optimized over time, which leads to stereotypical and pre-planned motion patterns. This stereotypical motion...
This paper discusses visual servoing stabilization of nonholonomic mobile robots with uncertain camera parameters. To cope with the nonholonomic property of the system, we propose a time varying feedback controller for robustly stabilizing the position and orientation of the mobile robot to desired ones using visual feedback when the depth of the image features and the camera parameters are not known...
In this paper we present a multi-agent coordination algorithm suitable for systems with aircraft-like kinematic constraints. A model of a system of input-constrained non-holonomic agents is constructed, suitable for use with formal verification tools. The agents considered are uniform and have bounded velocities and limited turning capabilities. We demonstrate how a model checker can be used to generate...
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