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Accurate odometry is required for robust and reliable localization of mobile wheeled robots. Therefore, odometry is combined often with a positioning system and data fusion algorithms. However, odometry parameters are not known in advance and vary depending on environment and age of the vehicle. A typically approach to solve this problem is to employ on-demand calibration. Current approaches are sensitive...
Lawn mower trajectory tracking by a wheeled mobile robot, which is a nonholonomic system, is a challenging task. The study of this kind of trajectory is essential for precise survey, lawn mowing and other applications. Lawn mower trajectories can be generated by various ways. A continuous function of lawn mower path is an approximated lawn mower and may not be useful for prospective applications....
In this paper the possibilities that Matlab provides to design, implementation and monitoring programs of autonomous navigation for mobile robots, on both simulated and real platforms, through its new toolbox for robotics will be explored. Robotics System Toolbox has established itself as a solid tool of integration between Matlab and robot operating under ROS environment. It will be studied the tools...
A solution for precise indoor localization is sought by the robot navigation scientific community. There are many approaches to solve this problem, including sensor fusion: inertial sensors, cameras, lasers and signal strength-based methods (Wi-Fi). This paper presents an approach using a single camera embedded on the robot, pointing to the floor. To validate this method, an application using an electric...
Recently we can see significant increase in consumer demand for autonomous mobile robots that are used for a wide range of functional tasks in a not completely determined environment. The actual task that we consider is solution problem of development of an effective situational planning subsystem for the behaviour of autonomous mobile robots. The purpose of writing this article is a brief coverage...
Modeling and control strategies for an autonomous three wheeled mobile robot with front wheel steer and front wheel drive have been presented in this paper. Although, three-wheeled vehicles with front wheel steer are commonly used automotives in public transport (especially in Asian countries), the advantages of such a design in navigation and localization of autonomous vehicles are seldom utilized...
This paper presents a novel method of sonar vision, called side sonar vision (SSV), to navigate mobile robots in a known environment. It adopts Omni-directional images and divides surrounding sonar vision into three parts: front, right and left sides. These sides are under continuous scrutiny of individual agents. SSV analyses data of each side, separately, and produces two key parameters: angle and...
This manuscript presents a universal control law for a class of complex dynamic systems, such as mobile robots. The trajectory tracking problem is among the major problems in the field of robotics. The proposed universal control law solves the trajectory tracking problem of mobile robots. Despite a large body of research on developing robot's control laws conducted in the literature, the dynamic effects...
Aimed at the trajectory tracking control problem and dynamic collision avoidance problem of the nonholonomic car-like mobile robots under the unknown circumstance, a dynamic collision avoidance method based on nonlinear trajectory tracking control is proposed. Firstly, we develop mathematical model of the car-like mobile robot and design a trajectory tracking controller based on backstepping method...
This paper deals with a design of specific marker detector and tracker for semiautonomous convoy purpose. The solution is based on computer vision. The detectors main requirement is the specific marker recognition ability for various environments. The next part of this paper deals with tracking of marker by KLT algorithm. This solution was primary designed for a semi-autonomous convoy task, where...
This paper presents an intelligent method to detect statistic obstacles and generate an optimum and safe path for an autonomous mobile robot. An USB Camera is used to capture the robot environmental top-view image. Then image processing programs are used to extract the mobile robot initial position, the goal position and the static obstacles positions. The optimum path from the start position to the...
This work details Visio and path following control system of a non-holonomic Two-Wheeled Mobile Robot. We present a control algorithm based on two control blocs. A speed inner loop regulation is first studied based on state feedback theorem to ensure stability of the structure. A second outer loop regulation is proposed to enable the robot navigate along a desired destination presented as a set of...
A new tracking controller for a wheeled mobile robot based on backstepping approach is presented. The proposed controller was developed based on the kinematic model of the nonholonomic wheeled mobile robot. The controller is verified through a well-established method Lyapunov function.
Mathematical kinematic model of a wheeled robot, operating according to the algorithm to achieve the specified coordinates was developed. Model was designed in visual programming platform LabView. The problem of control of autonomous mobile wheeled robot moving in two dimensions without obstacles was considered. Applicability of this model to the real problems of motor control and drive wheel robots...
Leapfrog Algorithm incorporates Pontryagin's Maximum Principle (PMP) to generate a control law for a control system which optimizes a given cost function. The Leapfrog algorithm begins with a feasible trajectory, which is divided into smaller subdivisions where the local optimal control problems are solved. The locally optimal trajectories are concatenated and following a certain scheme of updating...
Moving target tracking with free final-time is a special case of optimal control problem where both the final state and the final time are free but dependent on each other. In this paper, the necessary first order conditions for a candidate optimal trajectory and admissible optimal control inputs for a two wheeled differential drive robot have been derived in the light of Pontryagin's Maximum Principle...
Our goal is to enable robots to better assist people with motor impairments in day-to-day tasks. Currently, such robots are teleoperated, which is tedious. It requires carefully maneuvering the robot by providing input through some interface. This is further complicated because most tasks are filled with constraints, e.g. on how much the end effector can tilt before the glass that the robot is carrying...
The Complete Coverage Path Planning (CCPP) algorithm finds a collision free path while covering every accessible region within an environment. CCPP is fundamental to many real world robotic applications such as mine sweeping, cleaning, painting, surveillance, and agriculture field operations. The current state of the art coverage algorithms usually generate a linear path with sharp turns. Such a path...
In this paper an optimal controller is designed for a self-balancing two-wheeled robot system based on the robust Model Predictive Control (MPC) scheme. The MPC controller computes the trajectory of the manipulated variable in order to optimize the behavior of the system future output. A limited time window is used for the optimization described by the length of time and initial time. By minimizing...
In this paper, a novel assembling omni-directional mobile robot is designed for assemble work and adapting to confined space in the automated factories. In order to complete the assembly operation tasks more precisely, a new trajectory tracking method based on infrared array module is proposed in the control system of the robot. The different patterns of the infrared array and trajectory width are...
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