scholarly journals A web application for remote control of ROS robot based on WebSocket protocol and Django development environment

2021 ◽  
Vol 1208 (1) ◽  
pp. 012035
Author(s):  
Zinaid Kapić ◽  
Aladin Crnkić ◽  
Edin Mujčić ◽  
Jasna Hamzabegović
Keyword(s):  
Operating System ◽  
Remote Control ◽  
Path Planning ◽  
Experimental Work ◽  
Web Application ◽  
Web Interface ◽  
Development Environment ◽  
Work Analysis ◽  
Robot Operating System ◽  
Teleoperation Systems

Abstract The development of teleoperation systems, robots, or any physical part of the system can be costly and if something goes wrong it can lead to development overdue. Precisely for these reasons, engineers and scientists today resort to the development of simulated systems before the construction of a real system. Robot Operating System (ROS) is one of the most popular solutions for robot development, manipulation, and simulation. In this paper, we present a web application for remote control of a ROS robot. The robot is controlled via a web application that is used as a virtual Joystick. Also, in this paper, an experimental work analysis of the projected system is performed. Further research possibilities include upgrading the presented web interface, adding certain motion autonomy sensors, or integrating some path planning algorithms.

scholarly journals Remote control and monitoring in smart homes using voice commands

2021 ◽  
Vol 1208 (1) ◽  
pp. 012034
Author(s):  
Azra Vojić ◽  
Edin Mujčić ◽  
Una Drakulić
Keyword(s):  
Remote Control ◽  
Mobile Phones ◽  
Experimental Work ◽  
Smart Home ◽  
Smart Homes ◽  
Modern Technology ◽  
Android Application ◽  
Work Analysis ◽  
Smart Systems ◽  
Coded Messages

Abstract With the development of modern technology, smartphones have become a necessity for most people. Among other uses, mobile phones are increasingly being used in smart home systems. In smart homes, mobile phones are used to remotely control and monitor various systems such as simply turning on/off lights and household appliances, various monitoring systems, etc. Nowadays, sending coded messages or pressing application buttons is increasingly being avoided in process of developing smart systems. More and more frequently is used voice commands. The system which uses voice commands for remote control and monitoring smart home is described in this paper. In the implemented system, the user is able, using specific voice commands to remotely control the operation of various appliances in his home. An Android application was designed to control the implemented system. Using the designed Android application, the user controls the desired home devices with specific voice commands. Also, on the designed Android application are buttons that the user can use, in case the user’s voice is not recognized in the implemented system. For experimental work analysis, the model of the home is made with lights and different home appliances inside. The results of the experimental work analysis of the implemented system show this system is very simple to use and very efficient. Also, the latest technology for remote control and monitor smart systems is applied in the proposed smart home system.

CPC Algorithm: Exact Area Coverage by a Mobile Robot Using Approximate Cellular Decomposition

Robotica ◽  
2020 ◽  
pp. 1-22
Author(s):  
K. R. Guruprasad ◽  
T. D. Ranjitha
Keyword(s):  
Operating System ◽  
Path Planning ◽  
Mobile Robot ◽  
Formal Analysis ◽  
Area Coverage ◽  
Cell Permeability ◽  
Cellular Decomposition ◽  
Robot Operating System ◽  
Coverage Path Planning

SUMMARY A new coverage path planning (CPP) algorithm, namely cell permeability-based coverage (CPC) algorithm, is proposed in this paper. Unlike the most CPP algorithms using approximate cellular decomposition, the proposed algorithm achieves exact coverage with lower coverage overlap compared to that with the existing algorithms. Apart from a formal analysis of the algorithm, the performance of the proposed algorithm is compared with two representative approximate cellular decomposition-based coverage algorithms reported in the literature. Results of demonstrative experiments on a TurtleBot mobile robot within the robot operating system/Gazebo environment and on a Fire Bird V robot are also provided.

Autonomous Exploration and Inspection Path Planning for Aerial Robots Using the Robot Operating System

2018 ◽  
pp. 67-111 ◽  
Author(s):  
Christos Papachristos ◽  
Mina Kamel ◽  
Marija Popović ◽  
Shehryar Khattak ◽  
Andreas Bircher ◽  
...  
Keyword(s):  
Operating System ◽  
Path Planning ◽  
Autonomous Exploration ◽  
Robot Operating System ◽  
Aerial Robots

scholarly journals Hardware in the Loop Topology for an Omnidirectional Mobile Robot Using Matlab in a Robot Operating System Environment

Symmetry ◽  
2021 ◽  
Vol 13 (6) ◽  
pp. 969
Author(s):  
Constantin-Catalin Dosoftei ◽  
Alexandru-Tudor Popovici ◽  
Petru-Razvan Sacaleanu ◽  
Paul-Marcelin Gherghel ◽  
Cristina Budaciu
Keyword(s):  
Operating System ◽  
Path Planning ◽  
Mobile Robot ◽  
Autonomous Navigation ◽  
Vertical Axis ◽  
Hardware In The Loop ◽  
Robot Operating System ◽  
System Nodes ◽  
Navigation Software ◽  
Time Autonomous

The symmetry of the omnidirectional robot motion abilities around its central vertical axis is an important advantage regarding its driveability for the flexible interoperation with fixed conveyor systems. The paper illustrates a Hardware in the Loop architectural approach for integrated development of an Ominidirectional Mobile Robot that is designed to serve in a dynamic logistic environment. Such logistic environments require complex algorithms for autonomous navigation between different warehouse locations, that can be efficiently developed using Robot Operating System nodes. Implementing path planning nodes benefits from using Matlab-Simulink, which provides a large selection of algorithms that are easily integrated and customized. The proposed solution is deployed for validation on a NVIDIA Jetson Nano, the embedded computer hosted locally on the robot, that runs the autonomous navigation software. The proposed solution permits the live connection to the omnidirectional prototype platform, allowing to deploy algorithms and acquire data for debugging the location, path planning and the mapping information during real time autonomous navigation experiments, very useful in validating different strategies.

3D Path Planning for Quadrotor Using Gazebo Simulator

2019 ◽  
Vol 2 (3) ◽  
pp. 200-205
Author(s):  
Mohammad Ryan Dirgantara ◽  
Eka Budiarto ◽  
Rusman Rusyadi
Keyword(s):  
Operating System ◽  
Path Planning ◽  
Robot Operating System ◽  
Physical Prototype ◽  
Set Up

This research explores the 3D path planning for quadrotor, which is an unmannedaerial vehicle (UAV) with four rotors. The quadrotor is simulated using robot operating system(ROS) and Gazebo software, and is equipped with camera, GPS sensor, and inertialmeasurement unit (IMU) sensor to do the mapping of its environment. The packages used inROS are Hector Quadrotor package, joystick package, Octomap package, and MoveIt package.These packages were modified so that it could be integrated with each other and fulfill theobjective of this research. For the 3D path planning, a method called rapidly-exploring randomtree (RRT) is explored and implemented. Several experiments regarding the behavior of thequadrotor, the mapping, and the path planning were conducted to find out the performance andlimitations of the simulation. This simulation is set up so that it can be used to validate a newdesign of quadrotor before it is tested with a physical prototype.

scholarly journals Path Planning Based on Improved Hybrid A* Algorithm

2021 ◽  
Vol 25 (1) ◽  
pp. 64-72
Author(s):  
Bijun Tang ◽  
◽  
Kaoru Hirota ◽  
Xiangdong Wu ◽  
Yaping Dai ◽  
...  
Keyword(s):  
Operating System ◽  
Path Planning ◽  
Mobile Robots ◽  
Potential Field ◽  
Artificial Potential Field ◽  
A Algorithm ◽  
Ground Vehicle ◽  
Holonomic Constraints ◽  
Robot Operating System ◽  
Maximum Curvature

Hybrid A* algorithm has been widely used in mobile robots to obtain paths that are collision-free and drivable. However, the outputs of hybrid A* algorithm always contain unnecessary steering actions and are close to the obstacles. In this paper, the artificial potential field (APF) concept is applied to optimize the paths generated by the hybrid A* algorithm. The generated path not only satisfies the non-holonomic constraints of the vehicle, but also is smooth and keeps a comfortable distance to the obstacle at the same time. Through the robot operating system (ROS) platform, the path planning experiments are carried out based on the hybrid A* algorithm and the improved hybrid A* algorithm, respectively. In the experiments, the results show that the improved hybrid A* algorithm greatly reduces the number of steering actions and the maximum curvature of the paths in many different common scenarios. The paths generated by the improved algorithm nearly do not have unnecessary steering or sharp turning before the obstacles, which are safer and smoother than the paths generated by the hybrid A* algorithm for the autonomous ground vehicle.

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