Action Node Graph: A Graph Design for Mobile Robot Route Planning with Actions

2021 ◽  
Vol 2021 (0) ◽  
pp. 1P1-L12
Author(s):  
Ryusuke UMEYAMA ◽  
Shun NIIJIMA ◽  
Yoko SASAKI ◽  
Hiroshi TAKEMURA
Keyword(s):  
Mobile Robot ◽  
Route Planning ◽  
Graph Design

Investigation of Time and Energy Consumption using the Physical Model

1970 ◽  
Vol 111 (5) ◽  
pp. 85-88 ◽  
Author(s):  
A. Baums ◽  
A. Gordjusins ◽  
G. Kanonirs
Keyword(s):  
Image Analysis ◽  
Energy Consumption ◽  
Machine Vision ◽  
Software Development ◽  
Mobile Robot ◽  
Physical Model ◽  
Ant Colony Algorithm ◽  
Model Development ◽  
Route Planning ◽  
Time And Energy

Different machine vision, image analysis systems and navigation sensor modules were tested during the physical model development, the most conformable was selected. Different route planning algorithms were implemented and analyzed. The best result is obtained using the Ant-colony algorithm. The physical model is used for an autonomous outdoor mobile robot software development and student education. Ill. 3, bibl. 5 (in English; abstracts in English and Lithuanian).http://dx.doi.org/10.5755/j01.eee.111.5.363

The Optimized Point Stabilization Control for Robots Based on Bézier Planning

2012 ◽  
Vol 229-231 ◽  
pp. 2266-2269
Author(s):  
Yan Hong Du ◽  
Wei Yu Zhang ◽  
Xin Song ◽  
Yuan Liu ◽  
Ruo Kui Chang
Keyword(s):  
Mobile Robot ◽  
Route Planning ◽  
Penalty Functions ◽  
Wheeled Mobile Robot ◽  
Planning Method ◽  
Control Parameters ◽  
Constraint Condition ◽  
Constrained System ◽  
Stabilization Control ◽  
Point Stabilization

In this paper, the optimized point stabilization control of nonholonomic wheeled mobile robot has been researched, and point stabilization control of constraint nonholonomic wheeled system has been achieved through the geometry planning method based on Bézier, and constrained system is converted to un-constraint optimized question based on introducing penalty functions. The optimized control parameters has been got through Hooke-Jeeves method to achieve the perfect combination of the optimized route planning and optimized control, which can make the robot achieve the target pose under the constraint condition and improve the smooth of move path and reduce the stable time. The controller's validity is proved by the experiment.

scholarly journals Review of Neurobiologically Based Mobile Robot Navigation System Research Performed Since 2000

2016 ◽  
Vol 2016 ◽  
pp. 1-17 ◽  
Author(s):  
Peter J. Zeno ◽  
Sarosh Patel ◽  
Tarek M. Sobh
Keyword(s):  
Mobile Robot ◽  
Route Planning ◽  
Cognitive Maps ◽  
Mobile Robot Navigation ◽  
Navigation Systems ◽  
Spatial Awareness ◽  
Robot Systems ◽  
Art Research ◽  
Year 2000 ◽  
The Brain

In an attempt to better understand how the navigation part of the brain works and to possibly create smarter and more reliable navigation systems, many papers have been written in the field of biomimetic systems. This paper presents a literature survey of state-of-the-art research performed since the year 2000 on rodent neurobiological and neurophysiologically based navigation systems that incorporate models of spatial awareness and navigation brain cells. The main focus is to explore the functionality of the cognitive maps developed in these mobile robot systems with respect to route planning, as well as a discussion/analysis of the computational complexity required to scale these systems.

scholarly journals Chemical Source Searching by Controlling a Wheeled Mobile Robot to Follow an Online Planned Route in Outdoor Field Environments

Sensors ◽  
2019 ◽  
Vol 19 (2) ◽  
pp. 426 ◽  
Author(s):  
Ji-Gong Li ◽  
Meng-Li Cao ◽  
Qing-Hao Meng
Keyword(s):  
Mobile Robot ◽  
Field Experiments ◽  
Route Planning ◽  
Wheeled Mobile Robot ◽  
Time Varying ◽  
Chemical Plume ◽  
Average Success Rate ◽  
Historical Trajectory ◽  
Airflow Condition ◽  
Dynamic Route

In this paper, we present an estimation-based route planning (ERP) method for chemical source searching using a wheeled mobile robot and validate its effectiveness with outdoor field experiments. The ERP method plans a dynamic route for the robot to follow to search for a chemical source according to time-varying wind and an estimated chemical-patch path (C-PP), where C-PP is the historical trajectory of a chemical patch detected by the robot, and normally different from the chemical plume formed by the spatial distribution of all chemical patches previously released from the source. Owing to the limitations of normal gas sensors and actuation capability of ground mobile robots, it is quite hard for a single robot to directly trace the intermittent and rapidly swinging chemical plume resulting from the frequent and random changes of wind speed and direction in outdoor field environments. In these circumstances, tracking the C-PP originating from the chemical source back could help the robot approach the source. The proposed ERP method was tested in two different outdoor fields using a wheeled mobile robot. Experimental results indicate that the robot adapts to the time-varying airflow condition, arriving at the chemical source with an average success rate and approaching effectiveness of about 90% and 0.4~0.6, respectively.

Application of Least Squares Algorithm on Maps Building for Mobile Robot

2013 ◽  
Vol 376 ◽  
pp. 216-219
Author(s):  
Tong Ying Guo ◽  
Wei Liu ◽  
Zhen Jun Du ◽  
Hai Chen Wang ◽  
Tong Yan Guo
Keyword(s):  
Mobile Robot ◽  
Least Squares ◽  
Indoor Environment ◽  
Route Planning ◽  
The Self ◽  
Characteristic Line ◽  
Laser Sensor ◽  
Map Building ◽  
Feature Points ◽  
Least Squares Algorithm

In this paper, the laser sensor is used to detect environmental information. The problems of maps building of mobile robot are researched in the indoor structured environment. Least squares algorithm is adopted to build local maps, and a method of dynamic partition are presented based on the distance of adjacent points and angle. For accomplishing the self-localization and route planning of the mobile robot in the indoor environment lacking of the prior map, this paper present the method of the global map building based on the match of the feature points and the characteristic line. The experiments show the methods presented are effective and practicable.

scholarly journals Prognostics-aware multi-robot route planning to extend the lifetime

2021 ◽  
Author(s):  
U˘gur Yayan ◽  
◽  
Ahmet Yazıcı ◽  
˙Inci Sarıc¸ic¸ek ◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Industry 4.0 ◽  
Manufacturing Systems ◽  
Route Planning ◽  
The Self ◽  
Robotic Systems ◽  
Self Awareness ◽  
Intelligent Devices ◽  
Multi Robot

Transformation to Industry 4.0, manufacturing systems need more intelligent devices with capable of self-awareness. Prognostic-aware robotic systems are one of key components for the self-awareness in manufacturing. The prognostics-aware route planning is one of the key components for the success of the multi-robot team during the long-term and uninterrupted operations with also extending lifetime and reducing maintenances costs. In this study, a Prognostics-aware Multi-Robot Route Planning (P-MRRP) algorithm is proposed for extending lifetime of the robot team. In the P-MRRP algorithm, firstly routes are obtained from route set construction algorithm and most reliable route set is selected by calculating Probability of Route Completion (PoRC) according to reliability of the robot team. The proposed algorithm also considers effect of load during the route of robots. In this study, the reliability of the robot is updated considering both the travelled distances with route of robot and the load of robot between pickup and/or delivery nodes. The results of P-MRRP algorithm are compared with the results of classical MRRP. The performance of the algorithm shows that the lifetime of mobile robot team can be extended by using the P-MRRP algorithm.

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