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Living organisms have various kinds of flexibility and robustness which are realized by ??yuragi,?? i.e. biological fluctuations or noises. Bacterial motion is a form of noise-based motion, since bacteria can move towards a higher concentration of some chemical which they prefer even though they have only a limited 1-DOF of flagella for mobility. Bacteria also have only a limited sensory device which...
In this paper we present a novel approach to estimating the trajectory of a robot by means of inexpensive passive RFID tags and odometry in unknown environments. We show how trajectory estimation, a prerequisite of mapping RFID transponder positions without a reference positioning system, can be achieved using a particle filter. The presented technique is based on a non-parametric model of spatial...
This paper addresses the problem of path generation and motion control for the autonomous maneuvers of a farm vehicle in headland. A reverse turn planner is firstly investigated, based on primitives connected together to easily generate the reference motion. Then, both steering and speed control algorithms are presented to accurately guide the vehicle. They are based on a kinematic model extended...
This paper describes how a non-stationary multi-objective optimization model can be used for synthesis of control of mobile robot in unknown environment. The modelled problem is solved using multi-objective genetic algorithm (MOGA). Results of experiments conducted in simulation environment demonstrate the application of the described approach.
Orientation and position information are indispensable in mobile robot navigation. In this paper, a novel polarization sensor for getting orientation information is introduced. It exports an absolute azimuth angle. To take it effect in mobile robot navigation, a fuzzy logic controller is designed. It can direct the robot walking along the designed trajectory according to the information from the polarization...
When the intelligent system takes experimental actions or its state transition, it will form control experiences impersonally. According to this fact, the paper proposes to acquire motion rule and programming rule under unsupervised condition from the experiences in parallel so as to form the control knowledge of this system. In the system study, the system deduces rules from experiences and further...
In this paper, an improved sliding mode algorithm with global asymptotic stability is presented for tracking control of nonholonomic mobile robot. Centroid offset parameters are used in the design of the controller, which can drive the position error to zero quickly in the premise of guaranteeing stability of the whole system. The Kinematics mathematical model and the position and posture error model...
Aiming at solving the problem of trajectory tracking of the wheeled mobile robot, the paper presents an adaptive trajectory tracking method based on the kinematics model. After analyzing the shortage of classical trajectory tracking control rule, the idea of the single point preview is introduced to the method to improve the effect of trajectory tracking, as well as an artificial field is combined...
In this paper, a dynamic obstacle avoidance strategy for mobile robots is proposed. The strategy consists of two key elements: an on-line reference generator and a control scheme to make the robot track the reference signals so as to reach a pre-specified goal point. To generate the online reference signals, a harmonic potential field for dynamic environments is exploited. The potential field is modified...
The problem of robot navigation is treated under constraints of limited perception horizon in complex, cluttered, natural environments. We propose a solution based on our previous work in fast constrained motion planning, where arbitrary mobility constraints could be satisfied while the planning problem is reduced to unconstrained heuristic search in state lattices. By trading off optimality, we improve...
This paper deals with the problem of guiding mobile sensors (or robots) to a phenomenon across a region covered by static sensors. We present a distributed, reliable and energy-efficient algorithm to construct a smoothed moving trajectory for a mobile robot. The reliable trajectory is realized by first constructing among static sensors a distributed hop count based artificial potential field (DH-APF)...
For a problem of trajectory tracking control of a polishing robot for large free form surfaces, according to the kinematics model the robot, this paper has achieved the trajectory tracking control using the method of interpolation. The process of trajectory tracking control is analyzed in the paper as well as how to implement it. Experiments show that the method presented in this paper can get a better...
This paper describes a general framework for the study of multiple vehicle, time-coordinated path following (TC-PF) control problems. An example is the situation where a group of vehicles is tasked to maneuver and arrive at pre-assigned final positions at the same time in a collision-free manner, while reducing some optimality criterion. The time of arrival is not fixed a priori, and the vehicles...
This paper presents a methodology to estimate the 2D reconstruction of an object on a given horizontal plane using a laser range-finder mounted on a mobile robot. To complete the reconstruction process, scans of the object from all sides are required and hence the robot must go completely around the object in a full circle. Since no apriori information about the object is used, the path planning for...
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...
A new method of adaptive binocular vision calibration has been studied, in order to meet the accuracy requirement of target tracking mobile robot. On the basis of theoretical analysis of mobile robot, the project has been designed a fuzzy controller. The algorithms of controllers have been applied to mobile robot in the process of tracking target in complex environment. The accuracy, stability and...
In this paper, we propose a path planning method for nonholonomic multi-vehicle system in presence of moving obstacles. The objective is to find multiple fixed length paths for multiple vehicles with the following properties: (i) bounded curvature (ii) obstacle avoidant (iii) collision free. Our approach is based on polygonal approximation of a continuous curve. Using this idea, we formulate an arbitrarily...
In this paper we present the approach for autonomous planetary exploration developed at the Canadian Space Agency. The goal of this work is to autonomously navigate to remote locations, well beyond the sensing horizon of the rover, with minimal interaction with a human operator. We employ LIDAR range sensors due to their accuracy, long range and robustness in the harsh lighting conditions of space...
When a mobile robot does not have perfect knowledge of its position, conventional controllers can experience failures such as collisions because the uncertainty of the position is not considered in choosing control actions. In this paper, we show how global planning and local feedback control can be combined to generate control laws in the space of distributions over position, that is, in information...
This paper introduces a new method to determine a person's pose based on laser range measurements. Such estimates are typically a prerequisite for any human-aware robot navigation, which is the basis for effective and time extended interaction between a mobile robot and a human. The robot uses observed information from a laser range finder to detect persons and their position relative to the robot...
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