Placement control of mobile robots based on position state and environmental map information

2014 ◽  
Author(s):  
Takaaki Saitou ◽  
Yutaka Uchimura
Keyword(s):  
Mobile Robots ◽  
Environmental Map ◽  
Position State

scholarly journals The Integration of Environmental Map Observed by Multiple Mobile Robots.

1997 ◽  
Vol 15 (3) ◽  
pp. 439-447
Author(s):  
Shinichi Izuhara ◽  
Yasushi Yagi ◽  
Masahiko Yachida
Keyword(s):  
Mobile Robots ◽  
Multiple Mobile Robots ◽  
Environmental Map

scholarly journals Research on Trajectory Tracking and Obstacle Avoidance of Nonholonomic Mobile Robots in a Dynamic Environment

Robotics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 74
Author(s):  
Kai Zhang ◽  
Ruizhen Gao ◽  
Jingjun Zhang
Keyword(s):  
Mobile Robots ◽  
Obstacle Avoidance ◽  
Trajectory Tracking ◽  
Dynamic Environment ◽  
Inequality Constraints ◽  
Nonlinear Constraint ◽  
Nonholonomic Mobile Robots ◽  
Trajectory Tracking Control ◽  
Avoidance Problem ◽  
Position State

This paper presents an obstacle-avoidance trajectory tracking method based on a nonlinear model prediction, with a dynamic environment considered in the trajectory tracking of nonholonomic mobile robots for obstacle avoidance. In this method, collision avoidance is embedded into the trajectory tracking control problem as a nonlinear constraint of the position state, which changes with time to solve the obstacle-avoidance problem in dynamic environments. The CasADi toolkit was used in MATLAB to generate a real-time, efficient C++ code with inequality constraints to avoid collisions. Trajectory tracking and obstacle avoidance in dynamic and static environments are trialed using MATLAB and CasADi simulations, and the effectiveness of the proposed control algorithm is verified.

Feature map management for mobile robots in dynamic environments

Robotica ◽  
2009 ◽  
Vol 28 (1) ◽  
pp. 97-106 ◽  
Author(s):  
Se-Jin Lee ◽  
Byung-Jae Park ◽  
Jong-Hwan Lim ◽  
Dong-Woo Cho
Keyword(s):  
Mobile Robots ◽  
Dynamic Environments ◽  
Experimental Results ◽  
Sensor Data ◽  
New Approach ◽  
Feature Map ◽  
Sonar Sensor ◽  
Ambiguous Data ◽  
Environmental Map ◽  
Map Management

SUMMARYThis paper presents a new approach to the management of the environmental map for mobile robots in dynamic environments. The environmental map is built of primitive features, such as lines, points, and even circles, extracted from ambiguous data captured by the robot's sonar sensor ring. The feature map must be managed because the indoor surroundings where mobile robots operate are continuously changing due to nonstationary objects, such as wastebaskets, tables, and people. The features are processed by trimming, division, or removal, depending on the dynamic circumstances. All processing refers to the occupancy probabilities of grid squares generated for the map features. The occupancy probabilities of the squares are updated using the Bayesian updating model with the sonar sensor data. Experimental results demonstrate the validity of the proposed method.

Deployment Control of Wireless Multi-Hop-Relay Mobile Robots Based on Voronoi Partition

2012 ◽  
Vol 132 (3) ◽  
pp. 381-388
Author(s):  
Takaaki Imaizumi ◽  
Hiroyuki Murakami ◽  
Yutaka Uchimura
Keyword(s):  
Mobile Robots ◽  
Voronoi Partition

Establishment of the ecological environmental map for Hoa binh town based on the study of ecological landscape and ecological environment

2018 ◽  
Vol 25 (2) ◽  
pp. 185-189
Author(s):  
Nguyễn Thế Thôn
Keyword(s):  
Ecological Environment ◽  
The Matrix ◽  
Ecological Landscape ◽  
Environmental Map ◽  
Hoa Binh

Based on the ecolandscape theory and using the Map Info software, the author has established the ecological environmental map for Hoa Binhtown. In this map all of natural environmental components, poilution, degradation, catastrophe and break-down of environment are described.Annotation of the map have two parts : 1) the ecolandscape (ecological environment of the territory) is described with matrix ; 2) the pollution,degradation, catastrophe and break-down of environment are described with description table and that is under the matrix.

Control of Mobile Robots by Means of Internet

2006 ◽  
Vol 65 (3) ◽  
pp. 229-241
Author(s):  
S. F. Yatsun ◽  
F. K. Freire ◽  
V. S. Dyshenko ◽  
O. A. Shadrina
Keyword(s):  
Mobile Robots
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