Control synthesis for multiple mobile robot systems

2021 ◽  
pp. 014233122110470
Author(s):  
Elzbieta Roszkowska ◽  
Janusz Jakubiak
Keyword(s):  
Mobile Robot ◽  
Supervisory Control ◽  
Robot Control ◽  
Discrete Event ◽  
Control Level ◽  
Hybrid Approach ◽  
Control Synthesis ◽  
Robot Motion ◽  
Time Model ◽  
Robot Systems

This work continues our study on the control synthesis for multiple mobile robot systems (MMRS). We assume a hybrid approach that comprises the supervisory control level, based on a discrete event model of MMRS, and the robot control level, based on a continuous time model of the robot motion. Our objective is to further develop the control concept towards its implementation in a real-world application – a testbed for a fleet of six laboratory robots. In the first part of the paper, we develop a methodology of the supervisory control synthesis, that employs the Petri net formalism and formally ensures the required logics of MMRS operation, as well as propose a relevant architecture of the supervisor. The second part is focused on the low-level robot control and control procedures enabling modification of the robot motion according to the supervisor’s decisions. A simulation case is presented that illustrates the operation of the system.

Real-Time Neural Network Based Camera Localization and its Extension to Mobile Robot Control

1997 ◽  
Vol 08 (03) ◽  
pp. 279-293 ◽  
Author(s):  
Doo-Hyun Choi ◽  
Se-Young Oh
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Mobile Robot ◽  
Real Time ◽  
Robot Control ◽  
Imaging System ◽  
System Modeling ◽  
Hybrid Approach ◽  
Camera Localization ◽  
Mobile Robot Control

The feasibility of using neural networks for camera localization and mobile robot control is investigated here. This approach has the advantages of eliminating the laborious and error-prone process of imaging system modeling and calibration procedures. Basically, two different approaches of using neural networks are introduced of which one is a hybrid approach combining neural networks and the pinhole-based analytic solution while the other is purely neural network based. These techniques have been tested and compared through both simulation and real-time experiments and are shown to yield more precise localization than analytic approaches. Furthermore, this neural localization method is also shown to be directly applicable to the navigation control of an experimental mobile robot along the hallway purely guided by a dark wall strip. It also facilitates multi-sensor fusion through the use of multiple sensors of different types for control due to the network's capability of learning without models.

A Bio-Inspired, Distributed Control Approach to the Design of Autonomous Cooperative Behaviors in Multiple Mobile Robot Systems

2019 ◽  
pp. 1058-1070
Author(s):  
Gen'ichi Yasuda
Keyword(s):  
Mobile Robot ◽  
Distributed Control ◽  
Cooperative Control ◽  
Behavioral Control ◽  
Discrete Event ◽  
Control Approach ◽  
Robot Systems ◽  
Command Input ◽  
High Level ◽  
Control Modules

This chapter deals with the design and implementation of bio-inspired control architectures for intelligent multiple mobile robot systems. Focusing on building control systems, this chapter presents a non-centralized, behavior-based methodology for autonomous cooperative control, inspired by the adaptive and self-organizing capabilities of biological systems, which can generate robust and complex behaviors through limited local interactions. With autonomous behavior modules for discrete event distributed control, a modular, Petri net-based behavioral control software has been implemented in accordance with a hierarchical distributed hardware structure. The behavior modules with respective pre-conditions and post-conditions can be dynamically connected in response to status events from action control modules at the lower level to achieve the specified overall task. The approach involving planning, control, and reactivity can integrate high-level command input with the behavior modules through the distributed autonomous control architecture.

A Bio-Inspired, Distributed Control Approach to the Design of Autonomous Cooperative Behaviors in Multiple Mobile Robot Systems

2018 ◽  
pp. 6836-6846
Author(s):  
Gen'ichi Yasuda
Keyword(s):  
Mobile Robot ◽  
Distributed Control ◽  
Cooperative Control ◽  
Behavioral Control ◽  
Discrete Event ◽  
Control Approach ◽  
Robot Systems ◽  
Command Input ◽  
High Level ◽  
Control Modules

This chapter deals with the design and implementation of bio-inspired control architectures for intelligent multiple mobile robot systems. Focusing on building control systems, this chapter presents a non-centralized, behavior-based methodology for autonomous cooperative control, inspired by the adaptive and self-organizing capabilities of biological systems, which can generate robust and complex behaviors through limited local interactions. With autonomous behavior modules for discrete event distributed control, a modular, Petri net based behavioral control software has been implemented in accordance with a hierarchical distributed hardware structure. The behavior modules with respective pre-conditions and post-conditions can be dynamically connected in response to status events from action control modules at the lower level to achieve the specified overall task. The approach involving planning, control and reactivity can integrate high-level command input with the behavior modules through the distributed autonomous control architecture.

scholarly journals Controlling Two-Legged Mobile Robot

2021 ◽  
pp. 106-115
Author(s):  
Nguyen Xuan Hong
Keyword(s):  
Differential Equation ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Robot Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Driving Forces ◽  
Robot Motion ◽  
Kinematic Modeling ◽  
Step Over

Since the appearance of robots, they have brought many benefits, for example: they can work continuously; they can work in harsh and dangerous environments that cannot be accessed by humans. Thanks to their mobility, mobile robots have a wide and flexible working area, especially two-legged mobile robots that can move in bumpy terrains, go up and down stairs or step over obstacles easily. Nowadays, with the increasing development of science, more and more mobile robots are applied and participated in human activities not only in service activities but also in direct coordination with humans. Robot control methods usually come from robot dynamic model and robot motion differential equation, thereby, calculating driving forces based on the deviation of input and output signals to drive motors on joints in order to ensure that robots moves in the desired trajectory. Two-legged mobile robots have a structure of many phases and joints connected together, besides, due to a large number of degrees of freedom, this type of robot is able to operate flexibly and move easily, however, it has a difficulty in dynamic and kinematic modeling, and robot control. Normally, the differential equation of robot motion will have complex quantities and massive formulas. In order to improve the walk of this robot, this study focuses on researching and surveying the problem of kinetics and dynamics and using a control method to control a specific two-legged mobile robot that moves in a cycle of walking.

Tracked mobile robot control: Hybrid approach

1995 ◽  
Vol 3 (3) ◽  
pp. 329-336 ◽  
Author(s):  
Zhejun Fan ◽  
Y. Koren ◽  
D. Wehe
Keyword(s):  
Mobile Robot ◽  
Robot Control ◽  
Hybrid Approach ◽  
Mobile Robot Control ◽  
Tracked Mobile Robot
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