scholarly journals A novel edge gradient algorithm for multiple mobile robots cooperative mapping in unknown environment

2019 ◽  
Vol 16 (4) ◽  
pp. 172988141986038
Author(s):  
Huang Yiqing ◽  
Wang Hui ◽  
Wei Lisheng ◽  
Gao Wengen ◽  
Ge Yuan
Keyword(s):  
Visual Field ◽  
Mobile Robots ◽  
Information Exchange ◽  
Field Of View ◽  
Gradient Algorithm ◽  
Movement Direction ◽  
Mapping Technique ◽  
Map Building ◽  
Multiple Mobile Robots ◽  
Motion Behavior

This article presented a cooperative mapping technique using a novel edge gradient algorithm for multiple mobile robots. The proposed edge gradient algorithm can be divided into four behaviors such as adjusting the movement direction, evaluating the safety of motion behavior, following behavior, and obstacle information exchange, which can effectively prevent multiple mobile robots falling into concave obstacle areas. Meanwhile, a visual field factor is constructed based on biological principles so that the mobile robots can have a larger field of view when moving away from obstacles. Also, the visual field factor will be narrowed due to the obstruction of the obstacle when approaching an obstacle and the obtained map-building data are more accurate. Finally, three sets of simulation and experimental results demonstrate the performance superiority of the presented algorithm.

Multiple Mobile Robot Exploration and Patrol Strategy Using a Self-Organizing Planner Based on a Reaction-Diffusion Equation on a Graph

2008 ◽  
Vol 20 (1) ◽  
pp. 24-37 ◽  
Author(s):  
Chomchana Trevai ◽  
◽  
Norisuke Fujii ◽  
Jun Ota ◽  
Tamio Arai
Keyword(s):  
Diffusion Equation ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Reaction Diffusion ◽  
Environmental Information ◽  
Search And Rescue ◽  
Drastic Change ◽  
Reaction Diffusion Equation ◽  
Map Building ◽  
Multiple Mobile Robots

In this paper, we propose a search and surveillance with mobile robots to collect information while minimizing repeated coverage to maximize efficiency. The problem of search and surveillance is defined as one having a mobile robot or covering a working area with sensor footprints. The problem is applicable to tasks such as floor cleaning, map building, surveillance, security patrols, and search and rescue operations. We use a reaction-diffusion equation on a graph (RDEG), we make and remake plans online base on incoming environmental information. The strategy is applicable to patrolling tasks after an environment has been completely explorated. Tasks are allocated to multiple mobile robots, among which a temporary leader, i.e., the robot detecting a drastic change in the environment, plans a strategy for other mobile robots on the team. Sensing and positioning data for each robot is broadcast and shared among robots. Simulation in different scenarios using one to three robots demonstrated the feasibility of increasing the number of robots on a team.

Experimental Validation of Distributed Cooperative Control of Multiple Mobile Robots via Local Information Exchange

2017 ◽  
Vol 8 (2) ◽  
pp. 19-40
Author(s):  
Gregory A Bock ◽  
Ryan T Hendrickson ◽  
Jared Allen Lamkin ◽  
Brittany Dhall ◽  
Jing Wang ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Information Exchange ◽  
Cooperative Control ◽  
Formation Control ◽  
Experimental Testing ◽  
Local Information ◽  
Control Algorithms ◽  
Multiple Mobile Robots ◽  
Kinematic Constraints ◽  
Distributed Cooperative Control

In this paper, we present the experimental testing results of distributed cooperative control algorithms for multiple mobile robots with limited sensing/communication capacity and kinematic constraints. Rendezvous and formation control problems are considered, respectively. To deal with the inherent kinematic constraints with robot model, the input/output linearization via feedback is used to convert the nonlinear robot model into a linear one, and then the distributed cooperative control algorithms are designed via local information exchange among robots. Extensive experiments using Quanser's QBot2 mobile robot platforms are conducted to validate the effectiveness of the proposed distributed cooperative control algorithms. Specifically, the robot's onboard Kinect vision sensor is applied to solve the localization problem, and the information exchange is done through an ad-hoc peer-to-peer wireless TCP/IP connection among neighboring robots. Collision avoidance problem is also addressed based on the utilization of fuzzy logic rules.

Experimental Validation of Distributed Cooperative Control of Multiple Mobile Robots via Local Information Exchange

2020 ◽  
pp. 743-764
Author(s):  
Gregory A Bock ◽  
Ryan T Hendrickson ◽  
Jared Allen Lamkin ◽  
Brittany Dhall ◽  
Jing Wang ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Information Exchange ◽  
Cooperative Control ◽  
Experimental Testing ◽  
Local Information ◽  
Control Algorithms ◽  
Multiple Mobile Robots ◽  
Kinematic Constraints ◽  
Limited Sensing ◽  
Distributed Cooperative Control

In this paper, we present the experimental testing results of distributed cooperative control algorithms for multiple mobile robots with limited sensing/communication capacity and kinematic constraints. Rendezvous and formation control problems are considered, respectively. To deal with the inherent kinematic constraints with robot model, the input/output linearization via feedback is used to convert the nonlinear robot model into a linear one, and then the distributed cooperative control algorithms are designed via local information exchange among robots. Extensive experiments using Quanser's QBot2 mobile robot platforms are conducted to validate the effectiveness of the proposed distributed cooperative control algorithms. Specifically, the robot's onboard Kinect vision sensor is applied to solve the localization problem, and the information exchange is done through an ad-hoc peer-to-peer wireless TCP/IP connection among neighboring robots. Collision avoidance problem is also addressed based on the utilization of fuzzy logic rules.

scholarly journals Real Time Mapping and Dynamic Navigation for Mobile Robots

10.5772/5681 ◽  
2007 ◽  
Vol 4 (3) ◽  
pp. 35 ◽  
Author(s):  
Maki K. Habib
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Sensory Information ◽  
Obstacle Detection ◽  
Mapping Technique ◽  
Navigation Systems ◽  
Map Building ◽  
Time Operation ◽  
Dynamic Navigation

This paper discusses the importance, the complexity and the challenges of mapping mobile robot's unknown and dynamic environment, besides the role of sensors and the problems inherited in map building. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. The paper presenst the state of the art in map building and localization for mobile robots navigating within unknown environment, and then introduces a solution for the complex problem of autonomous map building and maintenance method with focus on developing an incremental grid based mapping technique that is suitable for real-time obstacle detection and avoidance. In this case, the navigation of mobile robots can be treated as a problem of tracking geometric features that occur naturally in the environment of the robot. The robot maps its environment incrementally using the concept of occupancy grids and the fusion of multiple ultrasonic sensory information while wandering in it and stay away from all obstacles. To ensure real-time operation with limited resources, as well as to promote extensibility, the mapping and obstacle avoidance modules are deployed in parallel and distributed framework. Simulation based experiments has been conducted and illustrated to show the validity of the developed mapping and obstacle avoidance approach.

Synthezis the strucrure of cloud computing system to control of mobile robots group

2016 ◽  
Vol 11 (1) ◽  
pp. 72-80
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov
Keyword(s):  
Cloud Computing ◽  
Mobile Robots ◽  
Distinctive Feature ◽  
Information Exchange ◽  
High Performance ◽  
Computing System ◽  
Control Information ◽  
Cloud Computing System ◽  
Group Control ◽  
Reliability And Robustness

In article one of possible approaches to synthezis of group control of mobile robots which is based on use of cloud computing is considered. Distinctive feature of the offered techniques is adequate reflection of specifics of a scope and the robots of tasks solved by group in architecture of control-information systems, methods of the organization of information exchange, etc. The approach offered by authors allows to increase reliability and robustness of collectives of robots, to lower requirements to airborne computers when saving summary high performance in general.

Visual Field Accuracy and Eye Movement Direction: A Child's Eye View

1980 ◽  
Vol 50 (2) ◽  
pp. 631-636
Author(s):  
Evans Mandes
Keyword(s):  
Eye Movements ◽  
Visual Field ◽  
Eye Movement ◽  
Visual Fields ◽  
Movement Direction

Post-exposural eye movements were studied in 32 adults and 24 7-yr.-old children. Stimuli were binary figures exposed tachistoscopically in both visual fields simultaneously. The data showed significant correlations between direction of eye movement and locus of recognition for both children and adults. No significant differences were found in frequencies of eye movements of children and adults. The data are interpreted in terms of the facilitative effects of post-exposural eye movements upon perception for both groups.

scholarly journals Safe Navigation for Indoor Mobile Robots. Part II: Exploration, Self-Localization and Map Building

2003 ◽  
Vol 22 (12) ◽  
pp. 1019-1039 ◽  
Author(s):  
Alessandro Corrêa Victorino ◽  
Patrick Rives ◽  
Jean-Jacques Borrelly
Keyword(s):  
Mobile Robots ◽  
Map Building ◽  
Safe Navigation
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