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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...
The wheeled mobile robot navigation is represent by teleoperation system. That is communications are shared by master robot, as based current communication the wheeled mobile action like wheeled slippage and position which is observed by slave robot. Finite time control of wheeled mobile robot with Soft Computing system under unknown environment of obstacle avoidance and parametric uncertainties is...
This paper treated the path planning problem of a group of robots working in the same workspace. The objective of each robot is to reach its goal point and avoid collision with the other robots or any static obstacles. The idea consists to express the repulsive force of each robots in function of the position of the other robots and then the overall system equations are solved. This system is used...
This paper deals with the navigation of a mobile robot in cluttered environment. It presents in particular an approach based on the Potential Field method. This approach is widespread in the area of path planning thanks to its smartness mathematical analysis. Its mechanism is to consider the robot as a particle plunged in a force field. Thus, the robot will be attracted by an attractive force created...
The physical violation of a nonholonomic system's idealized constraints in the form of skidding has recently elucidated interest in new models in order to directly incorporate the phenomenon into the system dynamics. However, such models either are too simple to capture physical attributes or have otherwise been tested only on systems with simple behaviors, such as the rolling disk. In this work,...
This paper considers one of the most widespread problems in mobile robotics called the natural environmental constraint evolution of terrestrial mobile robots problems. The lands with severe slopes are among the unreachable areas by mobile robots. To overcome this critical problem, a particular architecture is proposed to help wheeled robots to maintain steady movement on acute slopes. The principle...
This paper proposes a piezoelectric wheelbarrow based on stick-slip principle. The mechanical structure and the motion principle are presented. A series of experiments are carried out to investigate the performance of the wheelbarrow and the experimental results indicate that the displacement outputs under various driving voltages and various driving frequencies show good linear relationships with...
This paper presents a design and stability analysis of a crawler-type pipeline robot which has the radial adjustment ability and can adapt to the changing of pipe diameter, therefore the environment adaptability of the robot is improved. To analysis the motion stability of the robot, the posture model of the robot that works in different pipes, including elbow and straight pipe are established, some...
A kind of tracked pipeline robot with three-axis driving structures and radially adjustable characteristic is designed. The structure and the working principle of robot are introduced, the mechanical model of adjustable mechanism and its obstacle states are established, the mechanical properties of adjustable mechanism are analyzed, the relationship between traveling-capability and obstacle-climbing...
Omnidirectional mobile robots have been widely developed due to its high maneuverability in a narrow workspace. However, there are two main shortcomings: vibration and low load bearing capacity, always with the omnidirectional wheel. At present, no a unified method is absent to analyze the performance of omnidirectional wheels systematically. In this paper, a fission model is established to study...
This paper focuses on mechanical property of a articulated multi-unit wheel type in-pipe locomotion robot system. Through establishing the posture model of the robot system, can get the coordinates of wheel center and its corresponding contact point with pipe wall of each wheel for robot unit. Based on the posture model, the mechanical model of the robot unit is presented and the analysis is carried...
This paper deals with the interaction forces between robotic foot and the soft terrain, in conjunction with the Terzaghi theory. To date, some basic assumptions and conclusions for Terzaghi theory are analyzed. Terzaghi is recognized as a popular option to predict the bearing capacity of the terrain with upper structures. In this paper, static models in Terzaghi theory and its extended versions are...
Snake-like robot which has active joints and thruster mechanisms has been proven to have its high mobility on narrow and rough terrain because of its slim and long trunk. However, larger space than its slim trunk is necessary for snakelike robot to turn. Thus, in order to improve the mobility of snake-like robot, turning method which makes turning radius smaller is needed. In this paper, a new turning...
This paper presents a mechatronic design and development of a new Wheeled Mobile Robot prototype for autonomous road marks painting. The platform comprises four main units, namely, the differential drive, the measurement and vision, the processing and the painting units. The mechanical design of the platform is derived from the equilibrium of active/reactive forces theorem and the electrical motors...
This paper proposes a self-learner mobile robot to navigate among social environment under social force framework. It addresses a drawback of the Social Force Navigation Model (SFNM) based approaches which used a set of fixed-SFNM parameters that is not always in accordance with various conditions. Those fixed parameters are usually assumed as the most optimal generated parameters by optimizing a...
Window cleaning of skyscrapers and façades is one of the most essential and arduous task that is carried out manually and hence posing a threat to manual cleaner's life. Over years, researchers have created skyscraper / window cleaning robots to automate the process of window cleaning, and they have their own limitations. We introduced a tethered guiding vehicle system (TGV) that would carry an already...
Cable-climbing robot is designed to inspect the cable-stayed bridge, releasing workers from dangerous environment. Meanwhile, the vibration of cable with a robot should be researched. The cables of bridge will be seriously damaged when large amplitude occurs. Not only that, the inertial force by acceleration should be emphasized as well. In this paper, a cable-climbing robot is introduced first. Then...
We report a swarm robots circle formation control model that is based on intra virtual viscoelastic connectivity between the neighbors. The model can dynamically form a uniform circle using only the distance estimation among the neighbors, the model is fully decentralized and scalable by which a circle can be dynamically formed whatever the number of the robots being implicated. Based on the equilibrium...
This research study here deals with the Stochastic Petri-Nets (SPNs) modeling of an interacting task (getting up from a sitting position) in a human-machine interaction model. The machine is an Intelligent Robotic Wheelchair (IRW) appropriately modified to provide assistance to a human user, who utilizes the IRW. SPNs are recognized as useful modeling tools for analyzing the reliability and performance...
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...
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