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In this paper, the principal possibility of using modal logic in the tasks of self-learning of intelligent mobile robots operating in an unknown environment is considered. The methodology for creating a model of the intelligent mobile robot control system with a self-learning module is presented. The basic principles and concepts of modal logic are described. To substantiate the applicability of the...
We explore the problem of synergetic control law design for a group of mobile robots. To solve this problem we present the new approach to control of a group of mobile robot based on principals and methods of synergetic control theory. The design of group control synergistic transport robots is considered with the analysis of mathematic model and with specified aim. In the theory of synergetic control...
In this paper road marking recognition based on computer vision technology is considered. This system provides autonomous motion in public road of mobile robot that has kinematics of four-wheeled drive vehicle. As a result successful tests were taken on practice ground with road markings without considering static and dynamic obstacles. Obtained results prove the truth of offered solutions.
This paper deals with control system of skid steered robotic vehicle. Skid steering offers very simple way to achieve good traction on rough terrain. On the other hand it is difficult to precisely control the speed and the position of the vehicle. The presented solution uses modern approaches to control drives of the robotic vehicle such as visual odometry with stereo camera in combination with precise...
The paper presents a new approach to non-linear control of the omnidirectional mobile robotic platform. The omnidirectional mobile robot was chosen as the object of control because among other ground vehicles it is the most maneuverable and intended for a work in conditions of limited space, e.g. it is designed for solving transport tasks in warehouses. The omnidirectional platform has the shape of...
This article describes the embedded control system for a tracked robot based on a single-board computer. This system was developed for educational purposes and for rapid prototyping of small mobile robots software. The issues of power supply stability and network connection for visual feedback through the integrated camera, the modularity of the design and the chassis robustness are considered. The...
In mobile robotics, there are already various highly manoeuvrable structures that, in order to be exploited to their full capacity, require specially designed control systems. Often, the sensing elements available for these structures are either limited or costly. The former is the case in odometry, where information is scarce and needs corroboration with other measurement methods. To overcome this...
The control Lyapunov function (CLF) plays an important role in feedback control design. Nakamura et al. proposed the minimum method for designing CLFs on noncontractible manifolds. However, as yet, there are no methods of designing CLFs for nonholonomic systems on noncontractible manifolds. In this paper, we design such a CLF by combining a revived transformation and the minimum projection method...
The Vector-Field-Orientation (VFO) methodology was applied and experimentally tested so far for the planar wheeled robots. The main contribution of this paper is an extension of the VFO path following controller to the class of mobile robots moving in the three-dimensional space. Path following problem is most commonly defined for the parametrized curves, what usually leads to the necessity of calculation...
The paper considers control problems of a group of frontsteering wheels kinematic nonholonomic vehicles with three wheels. The problems of driving the vehicles towards desired rigid and stringlike formations are considered. Special attention is given to the string stability problem and a control algorithm has been established for regulating propagation of disturbances through the vehicle string. Finally,...
The problem of protecting the power supply of separate units of a mobile robot is quite similar to the problems of protecting the electrical mains. In one case we have to re-distribute the electrical energy due to lack of stability in its consumption, in another case we have to re-distribute the energy due to uneven load on separate units of mobile robots. It is impossible to predict, when this load...
Mobile networked robots are distributed systems controlled by a distant station i.e, the controller is implemented on a control station. The main mission of the mobile robot is reaching a target position starting from an initial one while receiving the instructions from the control station via a wireless network. The wireless network is characterized by a stochastic behavior and is sensitive to perturbations...
Manipulation complexity of teleoperation increases the necessity of shared autonomy. However designing an autonomy while keeping in mind the environmental uncertainty is challenging. This paper proposes shared autonomy and virtual guidance generation for a human interactive teleoperation. The major concept of both shared autonomy and virtual guidance generation is utilizing the cognitive ability of...
This paper proposes an omni-directional mobile base utilizing spherical robots as its wheels. In particular, the mobile base can move in an omni-directional manner by controlling translational and rotational motion of the spherical robots. However, in practice, unnecessary rotation of the spherical robots may occur due to the presence of friction and individually controlled wheel's-direction. To overcome...
Robots deployment is becoming so popular due to its applications in different aspects, especially in areas where human intervention is not possible or poses a high risk. Multi-robots deployment in an unknown environment is a new challenging problem that needs to be investigated to understand the behavior of robotics applications under real parameters. For instance, in industrial place robots can be...
Autonomous systems able to react and change their behaviour in response to events during operation. These established abilities are based on the preprogrammed action or actions to be taken when encounter certain states in the deployed environment. Therefore prior to deployment, a knowledge expert with comprehensive understanding of the physical system and the deployed environment must specify anticipated...
In this paper, a fuzzy PID based steering control system of an omnidirectional mobile robot with three-wheels is proposed. For omnidirectional motions, a design concept of a mobile robot using active steerable driving wheels is described. The mobile robot is built with a front steering wheel and two rear active steerable driving wheels. When all active steerable driving wheels are controlled perfectly,...
A novel design of pose deformation system for mobile robots is presented in this paper, which transforms the position of moveable wheels by pushrods mechanism to adapt rough road conditions. A simulation method, which combined the control schemes and physical structures through the Bond Graph and Simulink, is utilized to model the pose deformation and running control process of the proposed design...
Traditionally, insulator was cleaned manually which is high-risk, labor-intensive and low efficiency. In addition, it is impact of supply to clean insulator manually. Aim of solving the problem upon, a robot was designed for cleaning insulator which can make the clean work consistent and more reliable, and it can be operated at the highest voltage level of 345kV live-line. In this paper, mechanical...
A ball segway, a ballbot-type robot that can carry a person is developed. The robot is of a sufficient size and has a car-like structure mounted on a single spherical tire with a seat that a human can ride. Based on the kinematic model of the ball segway, the full 3D dynamic model is simplified and decoupled into two orthogonal 2D dynamic models, where one is related sagittal motion and the other...
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