scholarly journals Control of mobile robot formations using A-star algorithm and artificial potential fields

2021 ◽  
Vol 12 (2) ◽  
pp. 57-67
Author(s):  
Nelson Luis Manuel ◽  
Nihat İnanç ◽  
Mustafa Yasin Erten
Keyword(s):  
Stability Analysis ◽  
Mobile Robots ◽  
Programming Language ◽  
Lyapunov Theory ◽  
Potential Fields ◽  
Least Cost Path ◽  
Artificial Potential Fields ◽  
Or Groups ◽  
Linearized Model ◽  
Matlab Programming

Formations or groups of robots become essential in cases where a single robot is insufficient to satisfy a given task. With an increasingly automated world, studies on various topics related to robotics have been carried out in both the industrial and academic arenas. In this paper, the control of the formation of differential mobile robots based on the leader-follower approach is presented. The leader's movement is based on the least cost path obtained by the A-star algorithm, thus ensuring a safe and shortest possible route for the leader. Follower robots track the leader's position in real time. Based on this information and the desired distance and angle values, the leader robot is followed. To ensure that the followers do not collide with each other and with the obstacles in the environment, a controller based on Artificial Potential Fields is designed. Stability analysis using Lyapunov theory is performed on the linearized model of the system. To verify the implemented technique, a simulator was designed using the MATLAB programming language. Seven experiments are conducted under different conditions to show the performance of the approach. The distance and orientation errors are less than 0.1 meters and 0.1 radians, respectively. Overall, mobile robots are able to reach the goal position, maintaining the desired formation, in finite time.

Application of path planning based on Artificial Potential Fields to mobile robots with distributed processing

2018 ◽  
Author(s):  
Kamilla Pereira Peixoto ◽  
Pedro Henrique Silva Coutinho ◽  
Allan Cavalcante Araújo ◽  
Berguem Paula Santos Almeida ◽  
Thiago Chagas
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Distributed Processing ◽  
Potential Fields ◽  
Artificial Potential Fields

Hybrid Methodology for Path Planning and Computational Vision Applied to Autonomous Mission: A New Approach

Robotica ◽  
2019 ◽  
Vol 38 (6) ◽  
pp. 1000-1018
Author(s):  
Fabrício O. Coelho ◽  
Milena F. Pinto ◽  
João Pedro C. Souza ◽  
André L. M. Marcato
Keyword(s):  
Experimental Design ◽  
Path Planning ◽  
Mobile Robots ◽  
Daily Life ◽  
The Elderly ◽  
Potential Fields ◽  
New Approach ◽  
Artificial Potential Fields ◽  
Extensive Evaluation ◽  
Hybrid Methodology

SUMMARYIn recent years, mobile robots have become increasingly frequent in daily life applications, such as cleaning, surveillance, support for the elderly and people with disabilities, as well as hazardous activities. However, a big challenge arises when the robotic system must perform a fully autonomous mission. The main problems of autonomous missions include path planning, localisation, and mapping. Thus, this research proposes a hybrid methodology for mobile robots on an autonomous mission involving an offline approach that uses the Direct-DRRT* algorithm and the artificial potential fields algorithm as the online planner. The experimental design covers three scenarios with an increasing degree of accuracy in respect of the real world. Additionally, an extensive evaluation of the proposed methodology is reported.

Five-Lump Kinetic Model for the Catalytic Cracking Process\

2018 ◽  
Vol 69 (10) ◽  
pp. 2633-2637
Author(s):  
Raluca Dragomir ◽  
Paul Rosca ◽  
Cristina Popa
Keyword(s):  
Kinetic Model ◽  
Programming Language ◽  
Catalytic Cracking ◽  
Computational Method ◽  
Industrial Data ◽  
New Model ◽  
Optimization And Control ◽  
Cracking Process ◽  
And Control ◽  
Matlab Programming

The main objectives of the present paper are to adaptation the five-kinetic model of the catalytic cracking process and simulation the riser to predicts the FCC products yields when one of the major input variable of the process is change. The simulation and adaptation are based on the industrial data from Romanian refinery. The adaptation is realize using a computational method from Optimization Toolbox from Matlab programming language. The new model can be used for optimization and control of FCC riser.

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