1P2-S-018 Toward realization of swarm intelligence using small mobile robots : 1st Report: Development of a mobile robot platform(Mobile Robot 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

2005 ◽  
Vol 2005 (0) ◽  
pp. 122
Author(s):  
Yasunori TAKEMURA ◽  
Masanori SATO ◽  
Kazuo ISHII
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Swarm Intelligence ◽  
Daily Lives ◽  
Robot Platform

Design and Realization of 2-Dimensional Optical Range Sensor for Environment Recognition in Mobile Robots

2005 ◽  
Vol 17 (2) ◽  
pp. 116-120 ◽  
Author(s):  
Hirohiko Kawata ◽  
◽  
Toshihiro Mori ◽  
Shin’ichi Yuta ◽  
Keyword(s):  
High Resolution ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Amplitude Modulation ◽  
Low Power Consumption ◽  
Optical Range ◽  
Laser Range ◽  
Range Sensor ◽  
Environment Recognition ◽  
Robot Platform

We developed a 2-D laser range sensor suitable for different mobile robot platform sizes. The sensor features compactness, lightweight, high precision and low power consumption and has wide scan angle with high resolution essential for environment recognition in mobile robots. The principle applied to calculate the distance between the sensor and the object involves, applying amplitude modulation to the wave of light and detecting the phase difference between transmitted and received light. In this paper we explain the sensor specifications, the principle of distance measurement and experimental results.

scholarly journals A Distributed Vision-Based Navigation System for Khepera IV Mobile Robots

Sensors ◽  
2020 ◽  
Vol 20 (18) ◽  
pp. 5409
Author(s):  
Gonzalo Farias ◽  
Ernesto Fabregas ◽  
Enrique Torres ◽  
Gaëtan Bricas ◽  
Sebastián Dormido-Canto ◽  
...  
Keyword(s):  
Object Recognition ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Navigation System ◽  
Autonomous System ◽  
Traffic Signals ◽  
Vision Based Navigation ◽  
Vision Algorithm ◽  
Distributed Vision ◽  
Robot Platform

This work presents the development and implementation of a distributed navigation system based on object recognition algorithms. The main goal is to introduce advanced algorithms for image processing and artificial intelligence techniques for teaching control of mobile robots. The autonomous system consists of a wheeled mobile robot with an integrated color camera. The robot navigates through a laboratory scenario where the track and several traffic signals must be detected and recognized by using the images acquired with its on-board camera. The images are sent to a computer server that performs a computer vision algorithm to recognize the objects. The computer calculates the corresponding speeds of the robot according to the object detected. The speeds are sent back to the robot, which acts to carry out the corresponding manoeuvre. Three different algorithms have been tested in simulation and a practical mobile robot laboratory. The results show an average of 84% success rate for object recognition in experiments with the real mobile robot platform.

scholarly journals Development of a Portable IP-Based Remote Controlled System for Mobile Robot

2021 ◽  
pp. 21-33
Author(s):  
Daramola O. A. ◽  
Obe O. O. ◽  
Oriolowo A.
Keyword(s):  
Remote Control ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Controlled System ◽  
Loosely Coupled ◽  
Control Interface ◽  
Working Together ◽  
High Degree ◽  
To Receive ◽  
Robot Platform

The use of Mobile Robots to interact with objects in remote locations has proved to be useful in areas not easily accessible or too dangerous for humans. Various means have been used to remotely operate or control Mobile Robots. These range from wired connection to Wireless connection like radio frequency signal and more recently internet controlled Mobile Robot using the TCP/IP protocol stack. However, the problem of remote control dependence on the Mobile Robot Platform or configuration has made it difficult to switch controllers between Mobile Robots. In this work, a portable IP based remote control system has been designed and implemented to remove the constraint imposed by the Mobile Robot's platform in choosing the control interface. The system developed was built on three loosely coupled components working together to ensure a high degree of Control interface portability. The Mobile Robot Gateway component was used to receive and send data from the Mobile Robot.

Parking Control of Mixed Conventional/Braking Actuation Mobile Robots Using Fuzzy Logic Control

2016 ◽  
Author(s):  
Walelign M. Nikshi ◽  
Mark D. Bedillion ◽  
Randy C. Hoover
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Fuzzy Logic Controller ◽  
Initial Conditions ◽  
Robot System ◽  
Logic Control ◽  
The Common ◽  
Actuation Systems ◽  
Robot Platform

In this paper a new mobile robot system, the mixed conventional/braking actuation mobile robot (MAMR), is introduced. Various actuation systems exist for mobile robots such as differential drive with motor-driven wheels, legged mechanisms, and others. The common characteristics of all those actuation systems is the use of conventional motors to move each degree of freedom. Robots with such actuation systems are generally complex, heavy, and expensive. This paper uses brakes in combination with conventional actuators to tackle those drawbacks. In this study, some of the conventional actuators are replaced by brakes resulting a new mobile robot platform. Two states of brakes (i.e. ON/OFF) which are obtained by assuming Coulomb friction at the brake are considered. This paper discusses the dynamics and parking control of such a robot using a fuzzy logic controller. Several Matlab/Simulink simulations with different initial conditions are done to show the effectiveness of the proposed controller.

scholarly journals Mobile Robot Simulation and Navigation in ROS and Gazebo

2020 ◽  
Vol 14 ◽  
Keyword(s):  
Operating System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Autonomous Navigation ◽  
The Other ◽  
Robot Simulation ◽  
Daily Lives ◽  
Robot Operating System ◽  
Future Production ◽  
Navigation Mode

mobile robots are entering our daily lives as wellas in the industry. Their task is usually associated with carryingout transportation. This leads to the need to performautonomous movement of mobile robots. On the other hand,modern practice is that the planning of most processes is donethrough simulations. Thus, various future production problemscan be anticipated and remedied or improved. The articledescribes the creation of a mobile robot model in the Gazebosimulation environment. Specific settings and features forrunning a mobile robot in autonomous navigation mode underthe robot operating system are presented. The steps for creatinga map, localization and navigation are presented. Experimentshave been conducted to optimize and tune the parameters ofboth the robot model itself and the simulation controlparameters.

scholarly journals Using Platform Models for a Guided Explanatory Diagnosis Generation for Mobile Robots

2021 ◽  
Author(s):  
Daniel Habering ◽  
Till Hofmann ◽  
Gerhard Lakemeyer
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Physical World ◽  
State Machines ◽  
Plan Execution ◽  
Hardware Failure ◽  
World State ◽  
Novel Approach ◽  
Planning Approach ◽  
Robot Platform

Plan execution on a mobile robot is inherently error-prone, as the robot needs to act in a physical world which can never be completely controlled by the robot. If an error occurs during execution, the true world state is unknown, as a failure may have unobservable consequences. One approach to deal with such failures is diagnosis, where the true world state is determined by identifying a set of faults based on sensed observations. In this paper, we present a novel approach to explanatory diagnosis, based on the assumption that most failures occur due to some robot hardware failure. We model the robot platform components with state machines and formulate action variants for the robots' actions, modelling different fault modes. We apply diagnosis as planning with a top-k planning approach to determine possible diagnosis candidates and then use active diagnosis to find out which of those candidates is the true diagnosis. Finally, based on the platform model, we recover from the occurred failure such that the robot can continue to operate. We evaluate our approach in a logistics robots scenario by comparing it to having no diagnosis and diagnosis without platform models, showing a significant improvement to both alternatives.

Dynamic Formation Control Using Networked Mobile Sensors and Centroidal Voronoi Tessellations

2009 ◽  
Author(s):  
Shelley Rounds ◽  
YangQuan Chen
Keyword(s):  
Mobile Robot ◽  
Swarm Intelligence ◽  
Formation Control ◽  
Mobile Sensors ◽  
Control Algorithms ◽  
Voronoi Tessellations ◽  
Centroidal Voronoi Tessellations ◽  
Initial Starting ◽  
Dynamic Formation ◽  
Robot Platform

The main objective for this research is to design an economical and robust swarm system to achieve formation control. The system combines swarm intelligence with centroidal Voronoi tessellations (CVT) to create desired static and dynamic formations. This paper also analyzes the affect of initial starting positions and robot number on formation performance. Experiments are conducted both in simulation and on an actual mobile robot platform which show the flexible and robust nature of CVTs over other formation control algorithms.

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