Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot11With kind permission from Springer Science + Business Media: Journal of Intelligent and Robotic Systems, Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot, Vol. 68, 2012, pp. 185–208, Arnau Ramisa.

2015 ◽  
pp. 303-337
Author(s):  
Arnau Ramisa ◽  
David Aldavert ◽  
Shrihari Vasudevan ◽  
Ricardo Toledo ◽  
Ramon Lopez de Mantaras
Keyword(s):  
Mobile Robot ◽  
Object Perception ◽  
Robotic Systems ◽  
Kind Permission ◽  
Business Media

Sensory Network for Mobile Robotic Systems with Structured Intelligence

1998 ◽  
Vol 10 (4) ◽  
pp. 338-349 ◽  
Author(s):  
Naoyuki Kubota ◽  
◽  
Toshio Fukuda ◽  
Keyword(s):  
Genetic Algorithm ◽  
Decision Making ◽  
Mobile Robot ◽  
Collision Avoidance ◽  
Environmental Conditions ◽  
Fuzzy Controller ◽  
Robotic Systems ◽  
Delta Rule ◽  
Simulation Results ◽  
Collision Avoidance Problems

This paper deals with a sensory network for mobile robotic systems with structured intelligence. A mobile robot requires close linkage of sensing, decision making, and action. To realize this, we propose structured intelligence for robotic systems. In this paper, we focus on the sensing ability for a mobile robot with a fuzzy controller tuned by the delta rule and whose architecture is optimized by a genetic algorithm. We apply the sensory network for controlling attention ranges for external sensors and for adjusting fuzzy controller output from the metalevel. As a simulation example, we apply the proposed method to mobile robot collision avoidance problems. Simulation results show that sensory networks control the attention range for perception and adjust fuzzy controller output based on given environmental conditions. We show the experimental results of mobile robot collision avoidance in work space including several obstacles.

scholarly journals Distributed Consensus Algorithm for Nonholonomic Wheeled Mobile Robot

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Xianyang Meng ◽  
Ping He ◽  
Xingzhong Xiong ◽  
Haoyang Mi ◽  
Zuxin Li ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Cooperative Control ◽  
Control Algorithm ◽  
Stability Theorem ◽  
Consensus Algorithm ◽  
Robotic Systems ◽  
Chain Model ◽  
Lyapunov Stability Theorem ◽  
Consensus Control ◽  
Distributed Cooperative Control

This paper focuses on consensus of the nonholonomic wheeled mobile robotic systems whose geometric center and centroid do not coincide. A consensus control algorithm for mobile robots based on the nonstandard chain systems is proposed. Firstly, coordinate transformation is used to transform the nonholonomic robotic systems into the nonstandard chain model. Then, a distributed cooperative control algorithm is designed, and the Lyapunov stability theorem and LaSalle invariance principle are used to prove that each state of the mobile robot is consensus. Finally, the effectiveness of the algorithm is proved through numerical simulation.

Kinematic Analysis of a Mobile Robot Performing Manufacturing Tasks on Non-Planar Surfaces

2015 ◽  
Author(s):  
Joshua Qualls ◽  
Stephen Canfield ◽  
Tristan Hill ◽  
Alexander Shibakov
Keyword(s):  
Mobile Robot ◽  
Kinematic Analysis ◽  
Robotic Systems ◽  
Work Piece ◽  
Practical Application ◽  
Future Design ◽  
Planar Surfaces ◽  
Unit Operations ◽  
Local Tool ◽  
Robot Path

As mobile robotic systems advance, they become viable technologies for automating manufacturing processes in fields that traditionally have not seen much automation. Such fields include shipbuilding or windmill, tank, and pipeline construction. In many cases, these mobile robots must operate in climbing configurations and on non-planar surfaces due to the unstructured nature of these manufacturing tasks. Unit operations are commonly considered in a planar context, but in practice are performed on generally non-planar surfaces. One such example is welding a seam along a non-flat ship hull; these surfaces consist of common geometric shapes such as cylinders or spheres. This paper will present a kinematic analysis of one mobile robot topology performing specified tasks on cylindrical surfaces. The analysis will define a method to determine the robot path on a work-piece surface as well as the configuration joint parameters along when the motion is prescribed in local tool space coordinates. This method assumes that the robot operates following the no-slip, pure roll conditions. The effort is motivated by a practical application of welding on steel hulls or other surfaces and the results will be compared with these empirical experiences. A discussion of how these results can be used to guide future design of mobile robot platforms for manufacturing is provided.

scholarly journals A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot

Robotics ◽  
2019 ◽  
Vol 8 (4) ◽  
pp. 97 ◽  
Author(s):  
Yutaka Hiroi ◽  
Akinori Ito
Keyword(s):  
Mobile Robot ◽  
Control Strategy ◽  
Minimum Distance ◽  
Personal Space ◽  
Robotic Systems ◽  
Laser Range Finder ◽  
Range Finder ◽  
Laser Range ◽  
The Public ◽  
Virtual Target

Many methods have been proposed for avoiding obstacles in robotic systems. However, a robotic system that moves without colliding with obstacles and people, while still being mentally safe to the persons nearby, has not yet been realized. In this paper, we describe the development of a method for a mobile robot to avoid a pedestrian approaching from the front and to pass him/her by while preserving the “public distance” of personal space. We assume a robot that moves along a prerecorded path. When the robot detects a pedestrian using a laser range finder (LRF), it calculates the trajectory to avoid the pedestrian considering their personal space, passes by the pedestrian, and returns to the original trajectory. We introduce a virtual target to control the robot moving along the path, such that it can use the same control strategy as for human-following behavior. We carry out experiments to evaluate the method along three routes, in which the robot functioned without problems. The distance between the robot and the pedestrian was 9.3 m, on average, when the robot started to use avoiding behavior, which is large enough to keep a public distance from a pedestrian. When the robot passed by the pedestrian, the minimum distance between them was 1.19 m, which was large enough for passing safely.

The Application of Bioinspired Jumping Locomotion Principles to Mobile Robots: Modeling and Analysis

2011 ◽  
Author(s):  
Omar Gilani ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Mathematical Model ◽  
Energy Storage ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Robotic Systems ◽  
Modeling And Analysis ◽  
Unstructured Environments ◽  
Model Based ◽  
High Magnitude ◽  
Jumping Robot

Nature provides various alternative locomotion strategies which could be applied to robotic systems. One such strategy is that of jumping, which enables centimeter to millimeter-scaled insects to traverse highly unstructured environments quickly and efficiently. These insects generate the required high magnitude power through specialized structures which store and rapidly release large amounts of energy. This paper presents an investigation into the morphology of natural jumpers and derives a generalized mathematical model based on them. The model describes mathematically the relationships present in a jumping system which uses a pause-and-leap jumping strategy. The use of springs as energy storage elements for such a jumping system is assessed. The discussion is then further extended to another bioinspired approach that can be applied to a jumping robot: that of gliding using foldable wings. The developed jumping and gliding mobility paradigm is analyzed and its feasibility for mobile robot applications is discussed.

Output Synchronization for Teleoperation of Wheel Mobile Robot

2009 ◽  
Author(s):  
Patrick Miller ◽  
Leng-Feng Lee ◽  
Venkat Krovi
Keyword(s):  
Mobile Robot ◽  
Adaptive Controller ◽  
Robotic Systems ◽  
Lagrangian Systems ◽  
Slave System ◽  
Hardware In The Loop ◽  
System A ◽  
Output Synchronization ◽  
Stable Means ◽  
And Control

The potential for use of robotic systems in remote applications arenas has long motivated development of robust and stable means of teleoperated control of slave systems. However, telerobotic systems face challenges stemming from the devices themselves, environmental factors, communication and control complexities. To address these challenges, we will adopt the passivity based synchronization framework [1] and study its applicability to safely synchronize two heterogeneous Lagrangian systems. Within this framework, an adaptive controller identifies and stabilizes the dynamics of the master and slave systems and renders the dynamics passive to a secondary coupling input. The passive mapping used to couple the output states of the master and slave systems and is made insensitive to lossy and delayed communication medium. Specifically, an adaptive passive synchronization teleoperation controller is developed between an Omni haptic device that serves as our master and a differentially driven nonholonomic Wheel Mobile Robot (WMR) as the slave system. A battery of hardware-in-the-loop simulations are used to verify the proposed controller.

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