scholarly journals The night vision distance measurement method dedicated for mobile robots

2015 ◽  
Vol 20 (4) ◽  
pp. 23-30
Author(s):  
Jarosław Fastowicz ◽  
Piotr Lech
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Hybrid System ◽  
Measurement Method ◽  
Visual Servoing ◽  
Distance Measurement ◽  
Night Vision ◽  
Laser Triangulation ◽  
Lighting Conditions ◽  
3D Scene

Abstract The paper presents a vision based visual servoing system and active laser triangulation method for distance measurement. The proposed hybrid system is dedicated to mobile robot operating in difficult lighting conditions. The problems caused by the use of the video system in extremely underexposured 3D scene have been discussed and two devices performing the distance measurement together with an analysis measurements have been analyzed.

Linear Visual Servoing-Based Control of the Position and Attitude of Omnidirectional Mobile Robots

2011 ◽  
Vol 5 (4) ◽  
pp. 569-574
Author(s):  
Atsushi Ozato ◽  
◽  
Noriaki Maru ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Visual Servoing ◽  
Rotational Velocity ◽  
Target Position ◽  
Visual Space ◽  
Translational Velocity ◽  
Omnidirectional Mobile Robot ◽  
Camera Angle ◽  
The Difference

This article proposes a Linear Visual Servoing (LVS)-based method of controlling the position and attitude of omnidirectional mobile robots. This article uses two markers to express their target position and attitude in binocular visual space coordinates, based on which new binocular visual space information which includes position and attitude angle information is defined. Binocular visual space information and the motion space of an omnidirectional mobile robot are linearly approximated, and, using the approximation matrix and the difference in the binocular visual space information between a target marker and a robot marker, the robot’s translational velocity and rotational velocity are generated. Since those are all generated based only on disparity information on an image, which is similar to how this is done in existing LVS, a camera angle is not required. Thus, the method is robust against calibration errors in camera angles, as is existing LVS. The effectiveness of the proposed method is confirmed by simulation.

Acoustic Distance Measurement Method Using 2ch Microphones Measurable from 0m Based on Phase Interference and Removal of DC Component

2015 ◽  
Vol 135 (11) ◽  
pp. 1349-1350
Author(s):  
Kazuhiro Suzuki ◽  
Noboru Nakasako ◽  
Masato Nakayama ◽  
Toshihiro Shinohara ◽  
Tetsuji Uebo
Keyword(s):  
Measurement Method ◽  
Distance Measurement ◽  
Phase Interference ◽  
Dc Component

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers

2018 ◽  
Vol 38 (5) ◽  
pp. 558-567 ◽  
Author(s):  
Hua Chen ◽  
Lei Chen ◽  
Qian Zhang ◽  
Fei Tong
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Visual Servoing ◽  
Control Method ◽  
External Disturbance ◽  
Nonholonomic Systems ◽  
Stability Control ◽  
Interference Control ◽  
Wheeled Mobile Robots ◽  
Content Type

Purpose The finite-time visual servoing control problem is considered for dynamic wheeled mobile robots (WMRs) with unknown control direction and external disturbance. Design/methodology/approach By using finite-time control method and switching design technique. Findings First, the visual servoing kinematic WMR model is developed, which can be converted to the dynamic chained-form systems by using a state and input feedback transformation. Then, for two decoupled subsystems of the chained-form systems, according to the finite-time stability control theory, a discontinuous three-step switching control strategy is proposed in the presence of uncertain control coefficients and external disturbance. Originality/value A class of discontinuous anti-interference control method has been presented for the dynamic nonholonomic systems.

Vision for mobile robots

1992 ◽  
Vol 337 (1281) ◽  
pp. 341-350 ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Structure From Motion ◽  
Optic Flow ◽  
Image Sequences ◽  
Additional Constraint ◽  
Feature Points ◽  
Scene Structure ◽  
Corner Points ◽  
Edge Points

Localized feature points, particularly corners, can be computed rapidly and reliably in images, and they are stable over image sequences. Corner points provide more constraint than edge points, and this additional constraint can be propagated effectively from corners along edges. Implemented algorithms are described to compute optic flow and to determine scene structure for a mobile robot using stereo or structure from motion. It is argued that a mobile robot may not need to compute depth explicitly in order to navigate effectively.

scholarly journals Energy Modeling and Power Measurement for Mobile Robots

Energies ◽  
2018 ◽  
Vol 12 (1) ◽  
pp. 27 ◽  
Author(s):  
Linfei Hou ◽  
Liang Zhang ◽  
Jongwon Kim
Keyword(s):  
Control System ◽  
Energy Consumption ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Electrical Power ◽  
Energy Model ◽  
Energy Modeling ◽  
Power Measurement ◽  
Sensor System ◽  
System Control

To improve the energy efficiency of a mobile robot, a novel energy modeling method for mobile robots is proposed in this paper. The robot can calculate and predict energy consumption through the energy model, which provides a guide to facilitate energy-efficient strategies. The energy consumption of the mobile robot is first modeled by considering three major factors: the sensor system, control system, and motion system. The relationship between the three systems is elaborated by formulas. Then, the model is utilized and experimentally tested in a four-wheeled Mecanum mobile robot. Furthermore, the power measurement methods are discussed. The energy consumption of the sensor system and control system was at the milliwatt level, and a Monsoon power monitor was used to accurately measure the electrical power of the systems. The experimental results showed that the proposed energy model can be used to predict the energy consumption of the robot movement processes in addition to being able to efficiently support the analysis of the energy consumption characteristics of mobile robots.

A Task Based Approach to Mechatronic Systems Education

Volume 3 ◽  
2004 ◽  
Author(s):  
Kevin Firth ◽  
Brian Surgenor ◽  
Peter Wild
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Systems Engineering ◽  
Educational Tool ◽  
Electronic Components ◽  
Mechatronic Systems ◽  
Student Workload ◽  
Hands On ◽  
Hands On Learning ◽  
Elective Course

This paper describes an elective course in mechatronic systems engineering that is project based and team-oriented with hands-on learning. Working in small teams, students add electronic components to a mobile robot base and write the programs required to make the robot perform a series of tasks. Although the application of mobile robots as an educational tool in a mechatronics course is becoming the norm at many universities, the task based organization of the Queen’s mechatronics course is believed to have a number of novel features. The paper will review the pedagogy of the course, including aspects of the student workload, the interplay between teams, and the task based approach to marking and organization of the laboratories.

Distance Measurement Method Effective from 0 m Using Phase Interference of Audible Sound

2014 ◽  
Vol 97 (8) ◽  
pp. 24-31
Author(s):  
Noboru Nakasako ◽  
Toshihiro Shinohara ◽  
Keiji Kawanishi ◽  
Tetsuji Uebo
Keyword(s):  
Measurement Method ◽  
Distance Measurement ◽  
Audible Sound ◽  
Phase Interference
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