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In this article, fuzzy control theory is used to solve the robot's obstacle avoidance problem. The inputs and the outputs of the fuzzy logic control system are selected suitably to establish the fuzzy control rules and the fuzzy-controller. Computer simulation results show that, by using this algorithm, the robot can avoid the obstacle accurately, and arrive at the destination quickly.
Scan matching as a basic part of SLAM has a key role in localization and even mapping of mobile robots. Our innovative method named ICE matching presents a fast and accurate method to solve the challenges of this problem. Novelty in defining new features, matching mechanism and new state estimation approach congregated in this method creates a robust practical technique. Comparison with some high...
The field of object searching and recognition systems is an increasingly popular area of focus for industry and research labs alike. Object searching mechanism is a challenging task. The proposed system makes use of computer vision techniques. Real time object search poses many difficulties in recognizing objects. These difficulties can be overcome by Triangular Matrix Search Algorithm and Real Time...
One of the current challenges in the development of robot control systems is making them capable of intelligent and suitable responses to changing environments. But, the control of the robot's behavior in uncertain and dynamic environments is very challenging when the problem is how to guarantee the robot's safety by minimizing the interaction with other actors. The most popular methods are based...
A wireless tracking and controlling the mobile robot using video capturing feature (VCF) for unmanned applications is presented. It is a wheel-based and Radio frequency (RF wireless communicated) is used for communication between controller and the robot. The available motions of the robot are forward, backward, right, left and the combination of these movements. Besides, a camera is built in the...
The following topics are dealt with: machine learning; swarm intelligence; constraint programming; evolutionary algorithms; data mining; uncertainty handling; natural language processing; image processing; robotics; and multiagent systems.
This paper considers a group of mobile agents moving in Euclidean space with switched network topology. We propose a feedback control algorithm that achieves velocity consensus with weighted directed switched velocity graph and stabilize all position neighboring agents inter-distance to a same desired value. The main results are that the position and velocity graph remaining connected are satisfied...
Roadmap methods were widely used in route planning fields, both for robots and unmanned aircrafts. Traditional roadmap is constituted by connecting the vertexes of convex obstacle, which is related to the locations of start and goal of route, so the roadmap can not be reused when anyone of start and goal changed. Absence of reusability reduces the efficiency of route planning by using roadmap. A new...
Precise localization has attracted considerable traction in the area of cooperative assignments for robots in indoor applications. When dealing with indoor applications we are limited to the type of signals that can be used for precise localization which is our prime goal. There are limitations to the well known GPS and also vision-based modality where the non-line-of-sight (NLOS) conditions can significantly...
A local positioning system (LPS) for tracking mobile robots using a newly developed ultra-wideband (UWB) ranging radio technology is presented in this paper. However, measured ranges from these radios often have uncertain biases and large sporadic errors due to multipath and attenuation effect. A fuzzy neighborhood tracking filtering technique was developed to deal with the range outlier problems...
This paper presents a simple visual servoing and navigation algorithm for guiding a holonomic or omnidirectional robot. The algorithm facilitates a mobile robot equipped mainly with a webcam to autonomously navigate an unknown environment and explore the path from start configuration to goal configuration along some checkpoints while avoiding obstacles. We have adopted an off-the-shelf toy robot,...
This paper proposes a novel face detection method that finds tiny faces located at a long range even with low-resolution input images captured by a moving robot. The proposed approach can locate extremely small-sized face regions of 12x12 pixels by combining the results from mean-shift color tracking, short- and long-range face detection, and omega shape detection. According to the experimental results...
In order to minimize the computational bottlenecks associated with centralized architectures for multi-robot localization, an algorithm based on distributed UKF for the localization of a team of robots is described. The scheme is that each of robots maintains a pose estimate using UKF that is local to every robot. When some of robots in the team can not receive the signal of GPS or does not set the...
One of the most important issues for autonomous mobile robots is finding paths in their environment. A local path planner must be able to design the path immediately and if possible with high accuracy and efficiency. In this paper genetic algorithm is used in order to devise a path planner that reaches high accuracy like global path planners and at the same time with acceptable speed like local path...
This paper introduces the evolvement rule of Cellular Automata (CA) into robot soccer competition and combines CA with Ant Colony Algorithm, then utilizes them to help soccer robot avoid obstacles. In order to avoid local convergence of the algorithm, we present a pheromone-diffusion mechanism and a target distance stimulating factor to increase the guidance quality of the ant colony in optimization,...
In order to obtain the optimal scheme of task allocation problem for multiple mobile robots. Considering task allocation problem is a multi-objective optimization problem in essence, a general multi-objective task allocation model is established. A new method named multi-objective optimization genetic algorithm based on decision preference information (DPIMOGA) is proposed to solve the optimal allocation...
This paper presents a novel artificial potential field method for obstacle avoidance and path planning of mobile robots. By analyzing the shortcoming of the artificial potential field methods for robot path planning, we propose an obstacle avoidance method based on gravity chain. Suppose that there is a rubber band which connects with the beginning and the ending in the obstacle potential field space...
According to the apple's growth distribution space and ecological characteristics, we developed a five-DOF articulated robot manipulator (including robot arm and its end-effector), which had redundancy to avoid obstacles and had metamorphic mechanism to reach targets flexibly. The real-time image is acquired from a camera with the installation method of Eye-in-hand and the apple's position will be...
The task of planning trajectories for a mobile robot has received considerable attention in the research literature. The problem involves computing a collision-free path between a start point and a target point in environment of known obstacles. In this paper, we introduced the generalized and modified ant algorithm for solving robot path planning, by the term generalized we mean ant can select either...
In this paper, design and development of a peg placement robot for participating in National Engineering Robotics Contest (NERC) 2009 is presented. The robot needs to place the pre-loaded pegs in pigeon holes while navigating through a grid of white reflecting lines. The sensory system of the robot comprises of infrared sensors for line following and peg placement tasks. Twelve infrared sensors are...
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