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This work proposes a way to make a group of mobile robots which are navigating as a formation to avoid obstacles in their paths. A trajectory tracking controller is proposed to guide the robots during the navigation, to which an obstacle deviation subsystem is added. Such subsystem is implemented in each robot in the formation, whereas the proposed controller is applicable to subsets of three robots...
This paper describes the development of a FPGA-based object detection algorithm for manipulation purposes in a mobile robot. The target application is a robotic system which aids workers in a manufacturing plant. The whole system is provided with a camera which captures images of the objects that can be found in the environment. The FPGA extracts the most useful data from these images and performs...
Intelligent Space (iSpace) is a space which has ubiquitous sensory intelligence. In iSpace, positions of objects inside the space are one of the most basic information to implement various applications. This paper describes a method to localize the target objects using distributed laser range finders. Since data from a laser range finder is only distances and angles to object surfaces, we need to...
This paper presents a new formulation to the waypoints following control of mobile robotic platforms, which directly uses the original waypoints sequence, typically obtained from discrete path planning, in order to achieve proper motion behaviors with regards to speed transitions, overall motion duration and path smoothness. The approach produces realtime smooth effective paths while ensuring waypoints...
In this paper, we investigate the formation control of multiple mobile robots in an unknown environment with obstacles. A hybrid approach based on leader-follower scheme is proposed for formation control. The approach, using the relative position bias between virtual formation targets and follower robots, includes the active behavior-based control strategy and the virtual target structure. Furthermore,...
A complete program of object search and recognition is proposed in the paper in order to realize the object recognition in the complex indoor environment. We design a kind of new object mark to assist object recognition. The mark is composed of two parts: the inner information representation and the outer logo. The inner information including attribute information and operating information is stored...
The Leader/Follower formation control of mobile robots with uncertain dynamical models is investigated in this paper and adaptive shape tracking and trajectory tracking controllers are developed for the follower and leader, respectively. Firstly, a kinematic shape tracking controller is presented for the follower based on the formation equation, then the shape tracking error equation is derived with...
This paper discusses the design of a flexible micro robotic fish that takes advantage of the energy saving feature of fish. The body of the fish is made of soft material with embedded electromagnets. It has a flexure link made of polyimide. Carbon-fiber reinforced composite material sandwiches the flexible link at four locations, allowing the four rigid links to be connected by a flexure joint. Nd-Fe-B...
We present a method for fast collision checking that is suitable for application in motion planning for intelligent vehicles. One of the difficulties that arises in this domain is the fact that typical, car-like autonomous vehicles cannot easily be approximated by a rotationally invariant disk shape. Instead, the orientation of the vehicle must be accounted for explicitly. Our proposal is to decompose...
This paper presents a new interactive force in shape control to deal with group fragmentation during movement toward a desired shape. The proposed interactive force can maintain minimum distance between agents as well as group unity. Unlike other collective potential functions which have only one local minima, the proposed one has a local minima area which increase the flexibility of group during...
When the autonomous mobile robot moves, it depends on vision system to catch the targeted objects, so vision system is one of the key technologies for intelligent robot. In order to solve the problem of recognizing objects characterized by specified color and shape in the autonomous robot, a seed fill method based on HUV model is proposed and improved in this paper. First the hue histogram and brightness...
This paper describes a biomimetic underwater fish robot prototype and its design methodology. The key question directing our design is the transfer of functionality from fish to a fish robot with respect to efficient mobility. We want to minimize mechanical complexity and achieve a low-cost fabrication. We argue for the case of morphological computation, i.e. achieving high mobility and efficiency...
This paper presents a novel approach based on Jacobi shape theory and geometric reduction for formation control of autonomous underwater vehicles (AUVs). We consider a three degree-of-freedom (DOF) dynamic model for the horizontal motion of each AUV that has control inputs over surge force and yaw moment. By using the Jacobi transform, the horizontal dynamics of AUVs are expressed as dynamics for...
Shape memory alloys are functional materials with favourable properties as actuating elements. The most important characteristics of these materials are presented, a description of shape memory effect principle is done and the specific operation of shape memory wires is described. Thus, such wire is initially elongated and when is heated over the phase transformation temperature, it will contract...
Motion planning of deformable objects is challenging due to the high degrees-of-freedom inherent in deformation as well as the computational cost of producing physically accurate deformations. This paper develops a method for fast, physically plausible deformations using a sampling-based planner in a reduced dimensionality configuration space containing position, orientation, and a reduced deformation...
Suppose we want to move a passive object along a given path, among obstacles in the plane, by pushing it with an active robot. We present two algorithms to compute a push plan for the case that the object and robot are disks and the obstacles are non-intersecting line segments. The first algorithm assumes that the robot must maintain contact with the object at all times, and produces a shortest path...
Sidewinding is an efficient translation gait used by snakes over flat ground. When implemented on snake robots, it retains its general effectiveness, but becomes unstable on sloped surfaces. Flattening the sidewinding motion along the surface to provide a more stable base corrects for this instability, but degrades other performance characteristics, such as efficiency and handling of rough terrain...
There are several applications for which it is important to both detect and communicate changes in data models. For instance, in some mobile robotics applications (e.g. surveillance) a robot needs to detect significant changes in the environment (e.g. a layout change) which it may achieve by comparing current data provided by its sensors with previously acquired data (e.g. map) of the environment...
There has been significant progress recently in object recognition research, but many of the current approaches still fail for object classes with few distinctive features, and in settings with significant clutter and viewpoint variance. One such setting is visual search in mobile robotics, where tasks such as finding a mug or stapler require robust recognition. The focus of this paper is on integrating...
We are presenting a proceeding of registering and evaluating data of the environment using a laser scanner and ultrasonic sensor cells programmable in Embedded Matlab/Simulink Software, having the aim of real time navigation and path determination of a car like vehicle. We assume that laser scanners have the advantage of producing reliable data with well understood characteristics for map generation...
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