The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The problem of mobile robot navigation is a broad topic and it covers a large spectrum of different methods and technologies. In this paper we will present the new concept for local navigation. The concept is based on object identification technique by means of origin fragment identification algorithm (ICPF). The main idea, theory and practical examples of object identification using ICPF are presented...
This work extends the framework of bilateral shared control of mobile robots with the aim of increasing the robot autonomy and decreasing the operator commitment. We consider persistent autonomous behaviors where a cyclic motion must be executed by the robot. The human operator is in charge of modifying online some geometric properties of the desired path. This is then autonomously processed by the...
Cylinders exhibits characteristic dynamic behavior such as rolling with lateral-side or edges. In this paper, we propose a new type of rolling mobile robot with cylindrical aspect, which performs two contrastive modes of motion due to the geometry of its shape. In the first mode called lateral-side rolling, the robot is statically stable except few degree of freedom, whereas the robot is only dynamically...
An approach using potential functions applied to formation control (including aggregation, collision-free goal following behavior, and trajectory tracking one) is proposed. The formation control is considered as a special form of agent aggregation, where the final aggregated form has to constitute a particular previously determined geometrical configuration that is defined by a set of desired interagent...
Fuzzy logic Systems (FLSs) are credited with providing very good performances which are able to handle the uncertainty and imprecision present in real-world environments and applications. Using type-2 FLSs can enable handling higher levels of uncertainty when compared to type-1 FLSs. The majority of the type-2 FLSs employ singleton type-2 FLSs which handle the encountered input uncertainty through...
We present a general method of estimating a snake robot's motion over flat ground using only knowledge of the robot's shape changes over time. Estimating world motion of snake robots is often difficult because of the complex way a robot's cyclic shape changes (gaits) interact with the surrounding environment. By using the virtual chassis to separate the robot's internal shape changes from its external...
The ballbot with arms is an underactuated balancing mobile robot that moves on a single ball. Achieving desired motions in position space is a challenging task for such systems due to their unstable zero dynamics. This paper presents a novel approach that uses the dynamic constraint equations to plan shape trajectories, which when tracked will result in optimal tracking of desired position trajectories...
Nanoparticles are getting more and more in the focus of the scientific community since the potential for the development of very small particles interacting with each other and completing medical and other tasks is getting bigger year by year. In this work we introduce a distributed local algorithm for arranging a set of nanoparticles on the discrete plane into specific geometric shapes, for instance...
This paper presents controllers called motion policies that achieve fast, graceful motions in small, collision-free domains of the position space for balancing mobile robots like the ballbot. The motion policies are designed such that their valid compositions will produce overall graceful motions. An automatic instantiation procedure deploys motion policies on a 2D map of the environment to form a...
This paper proposes a new synchronous control law to perform multiple mobile robots trajectory tracking while maintaining time-varying formations. Each robot is controlled to track its desired trajectory while synchronizing its motion with the two nearby robots to maintain the desired time-varying formation. The dynamic model of the wheeled mobile robot (WMR) is derived, so as, it can be divided into...
In this paper, we propose a new exploration re-planning framework integrated with Reaction-Diffusion on a Graph (RDEG) for exploration in a boundary environment with unknown obstacles. In many cases, we have prior boundary information of an environment, utilizing this information has the advantage of creating more efficient coverage path planning. RDEG is an efficient method for coverage path planning...
This paper describes a method of road recognition, which is useful in outdoor environments, using a multi-layered laser range finder (MLRF) for a smart electric wheelchair. Road recognition means detecting the road in front of a wheelchair on which it can travel. The MLRF captures laser scanned images from the road surface and maps them onto a grid map. Paved roads are almost flat and have boundaries...
This paper presents the relationship between spring stiffness and motor torque of a screw drive in-pipe robot that passes through a bent pipe. Their values are derived from a cross-sectional analysis of a bent pipe and a static analysis of the robot that rotates with repeating expansion and contraction of its diameter in that cross-sectional shape. To verify the validity of the analysis results, a...
Locomotion in a hyper redundant serpentine robot is generated through body undulations. These body undulations are often three dimensional in nature and are combinations of two body waves on two orthogonal planes passing through snake's body. In an articulated serpentine robot these waves are generated through actuation of joints. This paper presents a new formalism for meaningful actuation of the...
A snake robot would be applied to a machine that goes into a narrow space to investigate the inside of a structure. Recently, multiple locomotion modes of snake robots have been realized. In the previous study, we also achieved some kind of locomotion modes such as undulatory locomotion mode, sidewinding locomotion mode, lateral rolling locomotion mode and helical rolling locomotion mode to move along...
This article presents a new technique for obtaining a flexible trajectory based on the deformation of a Bézier curve through a field of vectors. This new technique is called Bézier Trajectory Deformation (BTD). The trajectory deformation is computed with a constrained optimization method (Lagrange Multipliers Theorem). A linear system is solved to achieve the result. As a consequence, the deformed...
When studying mobile robot to recognize shape of object in dynamic surroundings, we proposed a hybrid recognition algorithm based on the combination of rough set theory and BP neural network. RS has the capability for intelligent data analysis, and BP network can approach most problems accurately and exactly, the algorithm put respective advantages of two theories to use. Firstly, information table...
This Proposed Reinforcement learning supports for optimal path selection for Mobile Robot Navigation in an indoor grid (10×10) environment. Without Prior knowledge in the environment, mobile robot calculates Q-values using current and future discounted reward in each time step. Based on the reinforcement, mobile robot learns the environment, selects the navigation path to reach the goal. Markov Decision...
This paper focuses on the construction of a novel belt tactile interface and telepresence system intended for mobile robot control. The robotic system consists of a mobile robot and a wearable master robot. The elaborated algorithms allow the robot to precisely recognize the shape, boundaries, movement direction, speed, and distance to the obstacle by means of the laser range finders. The designed...
In material handing operations, raw materials are often stacked in a number of layers and subsequently reclaimed by benches. The quality grade may be different between layers. Also, the blending effect happens simultaneously with the stacking and reclaiming operations, how to meet the target grade required by the customers while lowering operation costs are rising academic concerns. By acquiring the...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.