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

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.

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 “Real-time” obstacle avoidance in the absence of primary visual cortex

2009 ◽  
Vol 106 (37) ◽  
pp. 15996-16001 ◽  
Author(s):  
Christopher L. Striemer ◽  
Craig S. Chapman ◽  
Melvyn A. Goodale
Keyword(s):  
Visual Cortex ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Primary Visual Cortex ◽  
Posterior Parietal Cortex ◽  
Dorsal Stream ◽  
Visual Pathways ◽  
Visual Stream ◽  
Reaching Task ◽  
Visual Inputs

When we reach toward objects, we easily avoid potential obstacles located in the workspace. Previous studies suggest that obstacle avoidance relies on mechanisms in the dorsal visual stream in the posterior parietal cortex. One fundamental question that remains unanswered is where the visual inputs to these dorsal-stream mechanisms are coming from. Here, we provide compelling evidence that these mechanisms can operate in “real-time” without direct input from primary visual cortex (V1). In our first experiment, we used a reaching task to demonstrate that an individual with a dense left visual field hemianopia after damage to V1 remained strikingly sensitive to the position of unseen static obstacles placed in his blind field. Importantly, in a second experiment, we showed that his sensitivity to the same obstacles in his blind field was abolished when a short 2-s delay (without vision) was introduced before reach onset. These findings have far-reaching implications, not only for our understanding of the time constraints under which different visual pathways operate, but also in relation to how these seemingly “primitive” subcortical visual pathways can control complex everyday behavior without recourse to conscious vision.

Design of Obstacle Avoidance Detection Based on Substation Intelligent Inspection Robot

2013 ◽  
Vol 748 ◽  
pp. 695-698
Author(s):  
Hai Peng Wang ◽  
Yong Sun ◽  
Peng Xiao ◽  
Yi Qing Luan
Keyword(s):  
Real Time ◽  
Obstacle Avoidance ◽  
Detection System ◽  
Measurement Precision ◽  
Ultrasonic Signal ◽  
System Software ◽  
Ultrasonic Sensors ◽  
Inspection Robot ◽  
High Measurement ◽  
Environmental Requirements

The obstacle avoidance system is an important part of the intelligent inspection robot. According to the special environmental requirements for substation inspection robot, the inspection robot obstacle avoidance detection system was designed. The system takes MCU as the controller core, selects many sets of ultrasonic sensors to detect the obstacle information around the robot, designs the transmitting and receiving circuit of the ultrasonic signal, and completes the system software program. In consideration of the substations effect of EMI to the electronic equipments, when designing circuit, using a large of filter circuit, improve systems anti-interference performance, realize real-time and veracity of measurement. Using on substation shows that the system run steadily, have high measurement precision, its important for improving the robot using on substation.

scholarly journals Development of a Coaxial MAV with Real-Time Obstacle Avoidance Capability

2014 ◽  
Vol 1 (1) ◽  
pp. 18-30
Author(s):  
Abhishek Abhishek ◽  
◽  
Sagar Setu ◽  
Keyword(s):  
Real Time ◽  
Obstacle Avoidance
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