Obstacle Avoidance by a Mobile Platform Using an Ultrasound Sensor

2017 ◽  
pp. 238-248 ◽  
Author(s):  
Adam Ziebinski ◽  
Rafal Cupek ◽  
Marek Nalepa
Keyword(s):  
Obstacle Avoidance ◽  
Mobile Platform ◽  
Ultrasound Sensor

Robotic System Used for Navigation and Tracking, in Real Time, with the Obstacle Avoidance

2014 ◽  
Vol 1077 ◽  
pp. 221-226
Author(s):  
Dan Popescu ◽  
Loretta Ichim ◽  
Radu Fratila ◽  
Diana Gornea
Keyword(s):  
Real Time ◽  
Obstacle Avoidance ◽  
Robotic System ◽  
Indoor Navigation ◽  
Object Localization ◽  
Mobile Platform ◽  
Mobile Object ◽  
Central Unit ◽  
The Road ◽  
Localization And Tracking

Tracking the road or a mobile object and also obstacle avoidance are very important components that must be considered in the process of developing a robotic system. In this paper we propose a mobile platform for indoor navigation, based on a cheap computing hardware, which is able to be configured in two scenarios: the first refers to the movement of the robot on a predetermined path and to avoidance the obstacles, while maintaining the final target, and the second refers to the possibility of identifying and tracking a target. The robotic system aggregates the information acquired from different sensors and combines the computing resources from the mobile platform with those from the central unit. MATLAB is used for all the implementations and tests, to develop algorithms and to create models and applications. The robot's communication with central unit is wireless. Experimental results show that the mobile platform is able to perform, in real time, the following tasks in indoor environment: the recognition of the object, localization and tracking and also the obstacles avoidance.

Motion Planning of a Nonholomonic Mobile Manipulator for Moving Object Grasping

2013 ◽  
Vol 380-384 ◽  
pp. 591-594
Author(s):  
Nai Jian Chen ◽  
Fang Zhen Song ◽  
Hong Hua Zhao ◽  
Ying Jun Li
Keyword(s):  
Motion Planning ◽  
Obstacle Avoidance ◽  
Moving Objects ◽  
Nonholonomic Constraints ◽  
Moving Object ◽  
Experimental Results ◽  
Mobile Platform ◽  
Planning System ◽  
Mobile Manipulator

This paper studies a nonholonomic mobile manipulator that consists of a wheeled mobile platform with a mounted serial manipulator. It is designed and developed to navigate autonomously in handling moving objects subjected to nonholonomic constraints. A camera is mounted on the front of the platform and employed to identify and collect information about distance, velocity and direction of the object. With that information collected, a motion planning system determines the preferred operation region and the obstacle-avoidance area, and thus generates the expected trajectory of the mobile manipulator. Experimental results are shown that the mobile manipulator can identify the target, generate trajectories and grasp the moving object autonomously.

Autonomous motion of a mobile manipulator using a combined torque and velocity control

Robotica ◽  
2004 ◽  
Vol 22 (6) ◽  
pp. 623-632 ◽  
Author(s):  
Damir Omrčen ◽  
Leon Žlajpah ◽  
Bojan Nemec
Keyword(s):  
Real Time ◽  
Motion Control ◽  
Obstacle Avoidance ◽  
Control Method ◽  
Mobile Platform ◽  
Mobile Manipulator ◽  
Velocity Control ◽  
Unstructured Environments ◽  
Time Motion ◽  
Fixed Base

The paper presents an algorithm for real-time motion control of a mobile manipulator in unstructured environments. The mobile manipulator consists of a velocity controlled mobile platform and a torque controlled manipulator. Therefore, a combination of torque and velocity control is used. For the obstacle avoidance two different principles are used: virtual repulsive velocity and action-reaction principle. The proposed control method has been verified on real system, composed of a mobile platform and a four DOFs manipulator arms. The results have been compared to the manipulator with a fixed base.

scholarly journals Arduino Powered GPS Motor Vehicle

2020 ◽  
Vol 9 (8) ◽  
pp. 982-986
Keyword(s):  
Real Time ◽  
Obstacle Avoidance ◽  
Pulse Wave ◽  
Motor Vehicle ◽  
Mobile Platform ◽  
Wave Modulation ◽  
Current Location ◽  
Pulse Wave Modulation ◽  
Sd Card ◽  
The Way

This whole study helps us in implementing and making an obstacle avoidance car. This robot is a mobile platform robot that navigates through each and every designated waypoints while trying to avoid any obstruction which comes in the way of the vehicle. We can move the vehicle from one point to another with the help of designated waypoints. This car is based on commonly used RC cars and are made with some modifications and advancements. We can do potential future enhancements by adding a SD card for logging GPS track. We can also add a camera for taking photos and videos. The arduino board acts as a controller which help us to control the speed and change the speed. It also controls the steering of the car to achieve automatic obstacle avoidance. The vehicle’s speed is controlled with the help of pulse wave modulation (PWM) provided to us by the Motor shield. GPS helps us in providing global coordinates of the current location that where the vehicle is present in real time and it also tell us that where that vehicle is heading towards. With the combination of hardware and software we can easily navigate the vehicle and guide it towards right direction..

scholarly journals Obstacle Avoidance and Path Finding for Mobile Robot Navigation

2020 ◽  
Author(s):  
Poojith Kotikalapudi ◽  
Vinayak Elangovan
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Dijkstra’S Algorithm ◽  
Path Finding ◽  
Dijkstra's Algorithm ◽  
Navigation Algorithms ◽  
Ultrasound Sensor ◽  
Target Source

This paper investigates different methods to detect obstacles ahead of a robot using a camera in the robot, an aerial camera, and an ultrasound sensor. We also explored various efficient path finding methods for the robot to navigate to the target source. Single and multi-iteration anglebased navigation algorithms were developed. The theta-based path finding algorithms were compared with the Dijkstra’s Algorithm and their performance were analyzed.

scholarly journals Real-Time Obstacle Avoidance for Humanoid-Controlled Mobile Platform Navigation

2017 ◽  
Vol 105 ◽  
pp. 34-39 ◽  
Author(s):  
Ilmi Mohd Ariffin ◽  
Azhar Baharuddin ◽  
Anderson Cyril Atien ◽  
Hanafiah Yussof
Keyword(s):  
Real Time ◽  
Obstacle Avoidance ◽  
Mobile Platform

NXT Mobile Inverted Pendulum

2008 ◽  
Author(s):  
Tony Le ◽  
Paul Oh
Keyword(s):  
Obstacle Avoidance ◽  
Pid Controller ◽  
Inverted Pendulum ◽  
Angular Rate ◽  
Experimental Results ◽  
Software Components ◽  
Velocity Control ◽  
Gyro Sensor ◽  
Ultrasound Sensor

The intent of this paper is to provide information on how to implement a mobile inverted pendulum using the LEGO® Mindstorms NXT platform for educational purposes in mechatronics. A description of the dynamics of a mobile inverted pendulum is first, followed by a description of the hardware and software components composing the NXT platform. Discussed are the capabilities and the limitations of the NXT system. As a demonstration, a mobile inverted pendulum is built and controlled using a simple PID controller. Sensors used include a HiTechnic gyro sensor to measure angular rate for balancing and the NXT ultrasound sensor for obstacle avoidance. Shown are the simulated and experimental results of the angular rate and velocity control. Lastly, a breakdown of a hypothetical course in mechatronics highlights the described NXT mobile inverted pendulum.

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