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The demand for flexible industrial robotic solutions that are able to accomplish tasks at different locations in a factory is growing more and more. When deploying mobile robots in a factory environment, the predictability and reproducibility of their behaviors become important and are often requested. In this paper, we propose an easy-to-use motion planning scheme that can take into account user...
Two robust kinematic controllers for position trajectory tracking of a perturbed wheeled mobile robot are presented. We address a final objective of fixed-time pose-regulation, which means that the robot position and orientation must reach desired final values simultaneously in a user-defined time. To achieve that, we propose the robust tracking of adequate trajectories for position, which drives...
This paper presents two models for the generalized differential wheeled mobile robot where the origin of the frame of reference of the robot may be placed away from the center of the prolongation of the axes of the actuated wheels of the robot. One model relates the angular speeds of the actuated wheels with the posture of the robot. A position tracking control is exemplified via numerical simulations...
The efficiency of autonomous robots depends on how well they understand their operating environment. While most of the traditional environment models focus on the spatial representation, long-term mobile robot operation in human populated environments requires that the robots have a basic model of human behaviour.
Omnidirectional mobile robots with four Mecanum wheels are used in various homes, military, nuclear power plant, industrial, hospital and space applications. A lot of research has been done using three universal wheels but trajectory control for four Mecanum wheeled mobile robot (FMWMR) in presence of uncertainties still needs attention. Thus, to obtain smooth motion of mobile robots, with chattering...
We consider the problem of self-localisation for a mobile robot in an environment with a requested level of accuracy. The robot moves in a known environment following typical trajectories, which can be characterised in statistical terms. One of the main drivers of this paper is its application to assistive robots guiding senior or impaired users in shopping centres or in other public spaces. To localise...
This work focuses on how to compute trajectories for an autonomous wheelchair based on indoor GIS maps, in particular on IndoorGML maps, which set the standard in this context. Good wheelchair trajectories are safe and comfortable for the user and the people sharing the space with him, turn gently, are high legible, and smooth (at least G2 continuos). We derive a navigation graph from a given IndoorGML...
In this paper, we discussed the simultaneous intervention problem that arises from human-robot teams. The problem concerns with the case that one human operator has to intervene with several robots at almost the same time and it cannot be handled properly by existing methods. A model predictive control(MPC) based mixed initiative controller was proposed to solve this problem by embedding an intention...
A common objective in mobile robotics is to find an optimal trajectory to reach a final destination from a starting point location. Obstacles are likely to be encountered in the robot's trajectory that need to be avoided. In this article, a path planning approach for mobile robots that uses the algorithms of potential field in conjunction with Local Minimal Avoidance (LMA) is presented in order to...
In this paper, we propose a framework to map stationary sound sources while simultaneously localise a moving robot. Conventional methods for localisation and sound source mapping rely on a microphone array and either, 1) a proprioceptive sensor only (such as wheel odometry) or 2) an additional exteroceptive sensor (such as cameras or lasers) to get accurately the robot locations. Since odometry drifts...
In this paper the problem of posture stabilization for differential drive robots where there are constraints on the stabilization time and input control signals has been studied. Various methods have been developed for posture stabilization of differential drive robots, however, many of these methods cannot provide control over stabilization time. In this paper, a stabilizing controller is used to...
This paper presents a controller design and its implementation for an omnidirectional robot. Due to the holonomic nature of an omnidirectional robot, the mobile robot are able to follow any planned trajectory. The path are calculated on the world frame and then transformed using inverse kinematic to each of the mobile robot motor speed. Therefore a kinematic model for the robot are derived and a PID...
Differential Dynamic Programming (DDP) can effectively solve an optimal control problem; however, it cannot deal with temporally changing environments such as an appearance of a moving obstacle. In this paper, we present the segmentation of locally optimal trajectories under an environment with a moving obstacle. The agent finds locally optimal trajectories by sampling Gaussian samples according to...
This paper describes the mechanism of a human-friendly robot. The robot consists of two arms, a body and a mobile base. An air cushion bag is developed to cover the entire exterior of the robot. It can reduce the generated impact forces in a collision between any part of the robot and a human. A passive collision suppression mechanism is also developed to deal with greater impact forces. The suppression...
This paper presents a nested marsupial robotic system and its execution of a notional disaster response task. Human supervised autonomy is facilitated by tightly-coupled, high-level user feedback enabling command and control of a bimanual mobile manipulator carrying a quadrotor unmanned aerial vehicle that carries a miniature ground robot. Each robot performs a portion of a mock hazardous chemical...
The main purpose of this paper is to describe the method of group robot control in non-deterministic environments. Here the group structure is proposed for creation with the use of space lattice concept minimizing the computational cost for robot to determine its spatial position in the ranks of the structure. The stages of the solution of two interrelated tasks of robot group motion organization...
This papers focuses on a time-varying version of the containment problem for multi-agent systems. This problem consists in that a subgroup of agents, called leaders, achieve trajectory tracking while they carry out a time-varying formation. At the same time, another subgroup of agents, called followers, converge to the convex hull formed by the leaders. We propose a decentralized control strategy,...
The advances of information and communication technologies have impacted in control education. Virtual laboratories are increasingly been used to enhance the way that students interact with simulations. High degree of visualization and interaction offered by modern computers open the opportunity to teach theory fundamentals with a more natural approach. This work describes the use of the robot simulator...
This paper develops a new compensation control scheme for two linked wheeled mobile robots with actuator failurs. First, a configuration of two linked two-wheel drive (2WD) mobile robots is described, and its kinematics and dynamics are modeled. Then, a multiple-model based control scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers...
The present work proposes the implementation of a collision-free path with automatic assignment of repulsion parameters, the solution space where this path is located includes rectangle-shape and circled-shape obstacles with different dimensions, all this information generates a Nonlinear Algebraic Equations System (NAES). The Homotopic Path Planning Method (HPPM) is being used to find points that...
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