scholarly journals Set-point Control of Mobile Robot with Obstacle Detection and Avoidance Using Navigation Function - Experimental Verification

2016 ◽  
Vol 85 (3-4) ◽  
pp. 539-552 ◽  
Author(s):  
Wojciech Kowalczyk ◽  
Mateusz Przybyla ◽  
Krzysztof Kozlowski
Keyword(s):  
Mobile Robot ◽  
Experimental Verification ◽  
Control Method ◽  
Laser Scanner ◽  
Obstacle Detection ◽  
Navigation Function ◽  
Mobile Robot Control ◽  
Good Potential ◽  
Point Control ◽  
Robot Position

AbstractThis paper presents the results of an experimental verification of mobile robot control algorithm including obstacle detection and avoidance. The controller is based on the navigation potential function that was proposed in work (Urakubo, Nonlinear Dyn. 81(3), 1475–1487 2015). Conducted experiments considered the task of reaching and stabilization of robot in point. The navigation potential agregates information of robot position and orientation but also the repelling potentials of obstacles. The obstacle detection is performed solely with the use of laser scanner. The experiments show that the method can easily handle environments with one or two obstacles even if they instantly hide or show-up due to the scanner range limits. The experiments also indicate that the utilized control method has a good potential for being used in parallel parking task.

Android Application Design with MIT App Inventor for Bluetooth Based Mobile Robot Control

2021 ◽  
Author(s):  
Ahmet TOP ◽  
Muammer GÖKBULUT
Keyword(s):  
Mobile Robot ◽  
Automatic Control ◽  
Robot Control ◽  
Manual Control ◽  
Android Application ◽  
Serial Connection ◽  
Mobile Robot Control ◽  
App Inventor ◽  
Robot Position ◽  
Mit App Inventor

Abstract In this study, a Bluetooth-based Android application interface is developed to perform a manual and automatic control of a four-wheel-driven mobile robot designed for education, research, health, military, and many other fields. The proposed application with MIT App Inventor consists of three components: the main screen, the manual control screen, and the automatic control screen. The main screen is where the actions of the control preference selection such as manual control and automatic control and the Bluetooth connection between the mobile robot and Android phone occur. When the robot is operated manually for calibration or manual positioning purposes, the manual control screen is employed to adjust the desired robot movement and speed by hand. In the case of the need for automatic motion control, the desired robot position and speed data are inserted into the mobile robot processor through the automatic control screen. At the first stage of the work, the proposed Android application is developed with the design and block editors of the MIT App Inventor. The compiled application is then installed on the Android phone. Next, the communication between the Arduino microcontroller used for the robot control with the Bluetooth protocol and the Android application is established. The accuracy of the data dispatched to the Arduino is tested on the serial connection screen. It is validated that the data from the Android application is transferred to Arduino smoothly. At the end of this study, the manual and automatic controls of the proposed mobile robot are performed experimentally and success of the coordination between the Android application and the mobile robot are demonstrated.

scholarly journals Corridor navigation robot using Bond graph

2019 ◽  
Author(s):  
Mohammad Reza Bahrami
Keyword(s):  
Mobile Robot ◽  
Robot Control ◽  
Control Method ◽  
Bond Graph ◽  
Ir Sensors ◽  
Mobile Robot Control ◽  
Stationary Obstacles ◽  
Wall Following

In this research we are trying to find a mobile robot control method for corridor navigation and wall following in a partially known environment, when obstacles trajectory is unknown or information about it is incomplete, and the environment consists of stationary obstacles. Gathering information of the robot traveling is based on IR sensors. The aim of the robot is to select avoidance maneuvers to avoid collision with obstacles.

scholarly journals Approximation Possibilities of Fuzzy Control Surfaces for Purpose of Implementation into Microcontrollers

Processes ◽  
2021 ◽  
Vol 9 (9) ◽  
pp. 1602
Author(s):  
Martin Olejár ◽  
Dušan Marko ◽  
Ondrej Lukáč ◽  
Marta Harničárová ◽  
Jan Valíček
Keyword(s):  
Fuzzy Control ◽  
Mobile Robot ◽  
Robot Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Computation Time ◽  
Control Area ◽  
Exponential Functions ◽  
Mobile Robot Control ◽  
Control Surfaces

The main contribution of the paper is the simplification of the computational process of fuzzy control of a mobile robot controlled by a microcontroller. We present a way to implement this control method with a reduced computation time of control actions and memory demand. Our way to accomplish this, was to replace the fuzzy controller with the approximation of its resulting control surfaces. In the paper, we use the previously presented approximation by the table and describe other methods of approximation of the control area through polynomial and exponential function. We tested all approximation methods in simulations and with a real mobile robot. Based on the measured trajectory of the EN20 mobile robot, we found that approximation through the table is the most accurate in terms of the fuzzy surface but delivers noticeable oscillations of mobile robot control in real conditions. Polynomial and exponential functions fuzzy surface approximations were less accurate than the table, but provide smoother control based on robot trajectories and are much more appropriate in terms of microcontroller implementation due to lower demand on memory.

Design of Three-Wheel Mobile Robot Control System

2012 ◽  
Vol 184-185 ◽  
pp. 1550-1553
Author(s):  
Ying Xu ◽  
Liang Wang ◽  
Jin Tan Duan ◽  
Ying Long Peng
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Motion Control ◽  
Structural Design ◽  
Robot Control ◽  
Control Method ◽  
Hierarchical Control ◽  
Experimental Tests ◽  
Mobile Robot Control ◽  
Working Principle

The structure and working principle of motion control system for a three-wheel mobile robot was designed in this paper, it make use of hierarchical control method. AT89S52 was selected as core - controller of bottom control system, completing the structural design of the robot, system's hardware and software design. Through experimental tests, the robot motion control meet the intended requirements.

Dynamic Obstacle Detection Using Visually Informed Scan Matching

2013 ◽  
Vol 313-314 ◽  
pp. 1192-1196
Author(s):  
Tae Seok Lee ◽  
Heon Cheol Lee ◽  
Won Sok Yoo ◽  
Doo Jin Kim ◽  
Beom Hee Lee
Keyword(s):  
Laser Scanner ◽  
Dynamic Environments ◽  
Detection Algorithm ◽  
Obstacle Detection ◽  
Matching Method ◽  
Scan Matching ◽  
Time Dynamic ◽  
Dynamic Obstacle ◽  
Scan Data ◽  
Robot Position

This paper presents a real-time dynamic obstacle detection algorithm using a scan matching method considering image information from a mobile robot equipped with a camera and a laser scanner. By combining image and laser scan data, we extract a scan segment corresponding to the dynamic obstacle. To complement the performance of scan matching, poor in dynamic environments, the extracted scan segment is temporarily removed. After obtaining a good robot position, the position of the dynamic obstacle is calculated based on the robot’s position. Through two experimental scenarios, the performance of the proposed algorithm is demonstrated.

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