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Obstacle detection is one of the most important tasks for mobile robots moving along a plane, and it is critical to avoid damages, either to the robot or to human operators. In the past decades, several techniques were proposed for visual navigation of mobile robots, relying on different kind of sensors and algorithms: sonar sensors, laser stripes, and stereo vision are commonly used techniques. Even...
Closed loop systems are traditionally analysed using simulation. We show how a formal approach, namely model checking, can be used to enhance and inform this analysis. Specifically, model checking can be used to verify properties for any execution of a system, not just a single experimental path. We describe how model checking has been used to investigate a system consisting of a robot navigating...
In path planning, potential fields introduce force constraints to ensure curvature continuity of trajectories and thus to facilitate path-tracking design. In previous works, a path planning design by fractional (or generalized) repulsive potential has been developed to avoid fixed obstacles: danger level of each obstacle was characterized by the fractional order of differentiation, and a fractional...
In path planning, potential fields introduce force constraints to ensure curvature continuity of trajectories and thus to facilitate path-tracking design. In previous works, a path planning design by fractional (or generalized) repulsive potential has been developed to avoid fixed obstacles: danger level of each obstacle was characterized by the fractional order of differentiation, and a fractional...
The paper presents the work for development of a telematics application for robotics field. First, it was developed a client-server application and then a Web based application. A range of remote experiments with a mobile robot with particular emphasis on motor control, obstacle avoidance, image processing and their application to trajectory control can be done by the users. The users learn the microcontroller...
Autonomous system have been interesting topic in the world of robotics, in order to replace human being. Intelligent vehicle is one of the popular autonomous system that gives many advantage for this world, not only in military but also civilian. Route control and obstacle avoidance are now considered as major problems in autonomous system. In this paper, new methods of routing and avoidance algorithm...
This paper introduces a behavioral design that models and simulates the motion and the control algorithms for Hexapod 2 robot locomotion. The control algorithm aims to move the robot from one point to another while avoiding any obstacles. The design flow comprises modeling of all electrical & mechanical components, the process and the control algorithm using VHDL_AMS. Moreover, it models the infra...
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