A Reactive Control Algorithm for 3D Navigation of a Non-holonomic Robot in Tunnel-Like Environments with Static Obstacles

SUMMARYA non-holonomic robot with a bounded control input travels in a dynamic unknown 3D environment with moving obstacles. We propose a 3D navigation strategy to reach a given final destination point while avoiding collisions with obstacles. A formal analysis of the proposed 3D robot navigation algorithm is given. Computer simulation results and experiments with a real flying autonomous vehicle confirm the applicability and performance of the proposed guidance approach.

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State Feedback Control to Track a Moving Object for a Non-Holonomic Mobile Robot

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.44-47.646 ◽

2010 ◽

Vol 44-47 ◽

pp. 646-650 ◽

Cited By ~ 1

Author(s):

Yan Cui Hui ◽

Yi Qiang Peng ◽

Xian Ye

Keyword(s):

Feedback Control ◽

Velocity Profile ◽

Mobile Robot ◽

Control Algorithm ◽

State Feedback ◽

Moving Object ◽

State Feedback Control ◽

Time Varying ◽

Holonomic Robot ◽

Holonomic Mobile Robot

In this paper, a state feedback control algorithm for non-holonomic robot to track a moving object is described. In order to generate continuous velocity profile, some independent time varying functions are introduced for calculation the state feedback variables. The simulation of the control algorithm is implemented with MATLAB. The results shows that, with the designed state feedback control algorithm, the wheeled mobile robot can track a moving object and the trajectory is also reasonable.

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A method of reactive control for 3D navigation of a nonholonomic robot in tunnel-like environments

Automatica ◽

10.1016/j.automatica.2020.108831 ◽

2020 ◽

Vol 114 ◽

pp. 108831 ◽

Cited By ~ 2

Author(s):

Alexey S. Matveev ◽

Valentin V. Magerkin ◽

Andrey V. Savkin

Keyword(s):

Reactive Control ◽

3D Navigation

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Reactive Control Technology for 3D Navigation of Nonholonomic Robots in Tunnel-Like Environments Based on Limited Sensory Data

2018 26th Mediterranean Conference on Control and Automation (MED) ◽

10.1109/med.2018.8442953 ◽

2018 ◽

Author(s):

Alexey S. Matveev ◽

Valentin V. Magerkin ◽

Andrey V. Savkin

Keyword(s):

Control Technology ◽

Reactive Control ◽

3D Navigation ◽

Sensory Data ◽

Nonholonomic Robots

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Motion Planning and Reactive Control Algorithms for Object Manipulation in Uncertain Conditions

Robotics ◽

10.3390/robotics7040076 ◽

2018 ◽

Vol 7 (4) ◽

pp. 76

Author(s):

Marco Costanzo ◽

Giuseppe De Maria ◽

Gaetano Lettera ◽

Ciro Natale ◽

Salvatore Pirozzi

Keyword(s):

Motion Planning ◽

Motion Control ◽

Control Algorithm ◽

State Of The Art ◽

Object Manipulation ◽

Control Algorithms ◽

Reactive Control ◽

Actual Object ◽

Depth Images ◽

Grasp Force

This work proposes the application of several smart strategies for object manipulation tasks. A real-time flexible motion planning method was developed to be adapted to typical in-store logistics scenarios. The solution combines and optimizes some state-of-the-art techniques to solve object recognition and localization problems with a new hybrid pipeline. The algorithm guarantees good robustness and accuracy for object detection through depth images. A standard planner plans collision-free trajectories throughout the whole task while a proposed reactive motion control is active. Distributed proximity sensors were adopted to locally modify the planned trajectory when unexpected or misplaced obstacles intervene in the scene. To implement a robust grasping phase, a novel slipping control algorithm was used. It dynamically computes the grasp force by adapting it to the actual object physical properties so as to prevent slipping. Experimental results carried out in a typical supermarket scenario demonstrate the effectiveness of the presented methods.

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Control algorithm for holonomic robot that balances on single spherical wheel

MATEC Web of Conferences ◽

10.1051/matecconf/201925202005 ◽

2019 ◽

Vol 252 ◽

pp. 02005

Author(s):

Daniel Wyrwał ◽

Tymoteusz Lindner

Keyword(s):

Control Algorithm ◽

Final Section ◽

Design Concept ◽

Control Algorithms ◽

High Gravity ◽

Family Control ◽

Holonomic Robot ◽

New Type ◽

Small Footprint ◽

Special Control

This paper presents the control algorithm for the new type of robot that balances on a single spherical wheel. This type of robot is called Ballbot and unlike other statically stable robots, it has a high gravity centre and a very small footprint. The robot is dynamically stable, which means that if the controller stops working, the entire construction will fall over. Because of that, it needs a special control algorithm to keep the balance. The presented Ballbot is fitted with sensors such as gyroscope and accelerometer and controls motors with omni-directional wheels to move the robot in any direction. This paper presents theoretical information about balancing robots and the most important elements of the robot. Next, the design concept of the controller based on STM32 family, control algorithms and filters were proposed and implemented. In the final section of this paper, the investigation results were presented and discussed.

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Pheromone communication in a robot swarm: necrophoric bee behaviour and its replication

Robotica ◽

10.1017/s0263574704001225 ◽

2005 ◽

Vol 23 (6) ◽

pp. 731-742 ◽

Cited By ~ 32

Author(s):

Anies Hannawati Purnamadjaja ◽

R. Andrew Russell

Keyword(s):

Control Algorithm ◽

Effective Means ◽

Robotic System ◽

Reactive Control ◽

Pheromone Communication ◽

Robot Swarm ◽

Swarm Robots ◽

Insect Colonies

This paper describes a project to implement necrophoric bee behaviour in a robot swarm. Pheromone communication is an effective means of coordinating the activities of insect colonies including food gathering, alarm and defense, reproduction and recognition of conspecifics. In a similar manner it is anticipated that pheromones will provide a valuable form of communication between robots. In order to investigate the problems and potential for this form of interaction, it was decided to implement an example of pheromone communication in a physical robotic system. Inspiration for this project came from the necrophoric behaviour of bees. The necrophoric pheromone released by dead bees triggers corpse removal behaviour in passing worker bees. In the context of a robot swarm one of the proposed applications for this behaviour is to locate and rescue disabled robots that release a pheromone as a form of distress signal. This paper provides details of the swarm robots used in the project, their sensors and the simple reactive control algorithm that was developed to mimic the necrophoric behaviour of bees. Results of practical experiments and simulations are also given.

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