Multimedia and Virtual Reality for the Control of a Multiple Wheeled Mobile Robot System

1997 ◽  
Author(s):  
Xin Feng ◽  
Steven A. Velinsky
Keyword(s):  
Virtual Reality ◽  
Mobile Robot ◽  
Crack Detection ◽  
Video Camera ◽  
Wheeled Mobile Robot ◽  
Host Computer ◽  
Monitoring And Control ◽  
Robot System ◽  
Live Video ◽  
Automated Highway

Abstract This paper describes the application of multimedia and virtual reality technology to a multiple wheeled mobile robot system. The system is designed for teleoperation of a variety of highway maintenance and construction tasks, such as automated highway pavement crack sealing. Each robot is tethered to a support truck through linkages, and has its own embedded controller for motion control and posture sensing. A host computer is dedicated to communicate with the robots and to provide a multimedia interface to the operator. A video camera is mounted above the robots’ workspace and live video is taken to the host computer’s video capture card which supports video overlay. The live video of the robot workspace is then overlaid on the robots’ control window and provides an augmented reality for crack detection, path planning, and robot monitoring. By mapping live video on the computer generated interactive robot animation, the operator can simply control any robot through finger motion on a touch screen. The host computer can also provide a virtual environment providing the operator with a sense that he is sitting on the robot, allowing the robot to be easily controlled with a joystick. This paper shows the manner in which fast growing and inexpensive multimedia PC technology, virtual reality concepts, and the newest programming tools like Visual C++ 4.0 and OpenGL 1.1 for Windows 95/NT can be used to build an integrated interactive monitoring and control interface allowing ease in teleoperation of a multiple robot system thus significantly improving operational performance.

Motion Tracker Based Wheeled Mobile Robot System Identification and Controller Design

2018 ◽  
pp. 241-258
Author(s):  
Dwi Pebrianti ◽  
Yong Hooi Hao ◽  
Nur Aisyah Syafinaz Suarin ◽  
Luhur Bayuaji ◽  
Zulkifli Musa ◽  
...  
Keyword(s):  
System Identification ◽  
Mobile Robot ◽  
Controller Design ◽  
Wheeled Mobile Robot ◽  
Robot System

Development of a four-wheeled mobile robot system for bedridden patients

1986 ◽  
Vol 1 (4) ◽  
pp. 371-378
Author(s):  
Hiroyasu Funakubo ◽  
Tsuneshi Isomura ◽  
Takashi Komeda ◽  
Yukio Inuzuka
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Robot System

Research on NN-PID Motion Control Technology for a Wheeled Mobile Robot

2012 ◽  
Vol 538-541 ◽  
pp. 2636-2640
Author(s):  
Shi Zhu Feng ◽  
Ming Xu
Keyword(s):  
Mobile Robot ◽  
Motion Control ◽  
Pid Controller ◽  
Mobile Robotics ◽  
Kinematic Model ◽  
Wheeled Mobile Robot ◽  
Control Technology ◽  
Robot System

Robotics is a spiry integral technology of mechanics, electrics and cybernetics. Through systematical study of a wheeled mobile robot, The kinematic model of it is deduced. A Cerebella Model Articulation Controller (CMAC) PID controller was developed to control the motion to accomplish the realistic motions of the wheeled mobile robot system. The experimental is carried out. The results prove the algorithm is correct, and indicate that the design of CMAC-PID controller is a success. The whole research will provide a reference to the study of the mobile robotics.

scholarly journals Development and modeling of some elements of the two-wheeled mobile robot system

2021 ◽  
Vol 2134 (1) ◽  
pp. 012007
Author(s):  
Alexander O Karpov ◽  
Alexey O Karpov ◽  
M Yu Vasilyeva ◽  
И E S Belashova
Keyword(s):  
Mobile Robot ◽  
Development Process ◽  
Optimal Path ◽  
Wheeled Mobile Robot ◽  
Map Building ◽  
Robot System ◽  
Engineering Program ◽  
Executive System ◽  
Unknown Area ◽  
High Level

Abstract The article deals with the navigation system elements development process. The movement and positioning of a two-wheeled mobile robot with a high level of accuracy are realized through this system. Also, the algorithms mechanisms based on the construction of the optimal path for the autonomous device movement and based on a map building in an unknown area and avoiding obstacles are described. Using mathematical models, computer modeling of the device executive system is carried out using the engineering program MatLab.

scholarly journals Time-Optimal Velocity Tracking Control for Consensus Formation of Multiple Nonholonomic Mobile Robots

Sensors ◽  
2021 ◽  
Vol 21 (23) ◽  
pp. 7997
Author(s):  
Hamidreza Fahham ◽  
Abolfazl Zaraki ◽  
Gareth Tucker ◽  
Mark W. Spong
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Switched System ◽  
Wheeled Mobile Robot ◽  
Consensus Algorithm ◽  
Consensus Formation ◽  
Robot System ◽  
Optimal Velocity ◽  
Time Optimal ◽  
Velocity Tracking

The problem of velocity tracking is considered essential in the consensus of multi-wheeled mobile robot systems to minimise the total operating time and enhance the system’s energy efficiency. This study presents a novel switched-system approach, consisting of bang-bang control and consensus formation algorithms, to address the problem of time-optimal velocity tracking of multiple wheeled mobile robots with nonholonomic constraints. This effort aims to achieve the desired velocity formation in the least time for any initial velocity conditions in a multiple mobile robot system. The main findings of this study are as follows: (i) by deriving the equation of motion along the specified path, the motor’s extremal conditions for a time-optimal trajectory are introduced; (ii) utilising a general consensus formation algorithm, the desired velocity formation is achieved; (iii) applying the Pontryagin Maximum Principle, the new switching formation matrix of weights is obtained. Using this new switching matrix of weights guarantees that at least one of the system’s motors, of either the followers or the leader, reaches its maximum or minimum value by using extremals, which enables the multi-robot system to reach the velocity formation in the least time. The proposed approach is verified in a theoretical analysis along with the numerical simulation process. The simulation results demonstrated that using the proposed switched system, the time-optimal consensus algorithm behaved very well in the networks with different numbers of robots and different topology conditions. The required time for the consensus formation is dramatically reduced, which is very promising. The findings of this work could be extended to and beneficial for any multi-wheeled mobile robot system.

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