Issues of Motion Control of Mobile Robots Based on the Potential Guidance Method

2019 ◽  
Vol 20 (11) ◽  
pp. 677-685
Author(s):  
A. B. Filimonov ◽  
N. B. Filimonov
Keyword(s):  
Mobile Robots ◽  
Motion Control ◽  
A Priori ◽  
Target Position ◽  
Potential Fields ◽  
Modified Method ◽  
Working Space ◽  
Local Navigation ◽  
Virtual Forces ◽  
Priori Information

One of the topical areas of research in modern robotics is the problem of local navigation of mobile robots (MR), which ensures the movement of the robot to the target with the bypass of obstacles in the process of movement. The navigation process includes the following steps: mapping the environment, localization of the robot and planning the route leading to the goal. Among the popular methods of local navigation of robots is the method of artificial potential fields (PF). The essence of the PF method is to implement the movement of the MR in the field of "information forces" using the forces of "attraction" to the target position and the forces of "repulsion" from obstacles.This article addresses the issues of local navigation and motion control of the MR based on the method of PF.When using traditional attracting potential forces, the structure of virtual forces near the obstacle depends on the distance of the MR from the target, and the robot movement will slow down at the end of the route, which will inevitably lead to an unjustified tightening of the total time of moving the robot to the target position. To eliminate this undesirable effect, the authors propose to use attracting potential fields of special type.The authors propose new methods of PF allowing to solve the key problems for the control of MR — "traps" (potential pits) and bypass obstacles: the method of two maps of potential fields and the method of "fairway" on the map of potential fields. The methods of "beetle" for solving the problem of bypass obstacles in the condition of the absence of a priori information about the working space of MR are discussed. A modified method of "beetle" having a number of advantages in comparison with classical methods is proposed. 

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.

A Universal Autonomous Robot Navigation Method

2008 ◽  
Vol 12 (2) ◽  
pp. 206-213
Author(s):  
Annamária R. Várkonyi-Kóczy ◽  
Keyword(s):  
A Priori ◽  
Obstacle Detection ◽  
A Priori Information ◽  
Environment Change ◽  
Sensory Data ◽  
Local Navigation ◽  
Wide Range ◽  
Global Navigation ◽  
Priori Information ◽  
Navigation Method

Recently, autonomous navigation has become an important research topic. There are a lot of applications where the need for autonomous robots is obvious, either because the real or virtual human presence is impossible, dangerous, or expensive, or the tasks to be solved are against the human nature. In most of the applications where robots are to be used, the conditions/environment change along the time that results in an ever-increasing need for universal methods, which are general enough to be used at a wide range of problems. In this paper, a universal, hybrid navigation method is proposed, which is able to work in cases of known, partially known, dynamically changing, or unknown environments. The model consists of two parts which are able to co-operate or to work alone. The modules combine two techniques that deal with a priori information and sensory data separately, thus blends the intelligence and optimality of global navigation methods with the reactivity and low complexity of local ones. The first, global navigation module, based on a priori information, chooses intermediary goals for the local navigation module, for which the so called A* algorithm is used. The second part, carrying out the (local) navigation relying on sensory data, applies a fuzzy-neural representation of an improved potential field based guiding navigation tool. Vision based obstacle detection is implemented by difference detection based on a combination of RGB and HSV representations of the pixels.

A MODIFIED METHOD OF SOLVING THE PRESSURE–RATE DECONVOLUTION PROBLEM FOR IDENTIFICATION OF WELLBORE–RESERVOIR SYSTEM

2021 ◽  
Vol 9 (4) ◽  
pp. 63-75
Author(s):  
Vladimir Vasin ◽  
◽  
Fabrice Toussaint ◽  
Keyword(s):  
Oil And Gas ◽  
A Priori ◽  
Initial Time ◽  
Time Interval ◽  
Logarithmic Scale ◽  
Penalty Function Method ◽  
Reservoir System ◽  
Modified Method ◽  
Deconvolution Problem ◽  
Priori Information

In the paper, the method suggested in [5] for solving the pressure–rate deconvo- lution problem was modified with implementation for the synthetic (quasi-real) oil and gas data. Modification of the method is based on using the additional a priori information on the function v(t) = tg(t) in the logarithmic scale. On the initial time interval, the function is concave and its final interval is monotone. Here, g(t) is the solution of the basis equation (1). To take into account these properties in the Tikhonov algorithm, the penalty function method is used. It allowed one to increase the precision of the numerical solution and to improve quality of identification of the wellbore–reservoir system. Numerical experiments are provided.

Construction of Potential Fields for the Local Navigation of Mobile Robots

2019 ◽  
Vol 55 (4) ◽  
pp. 371-375 ◽  
Author(s):  
A. B. Filimonov ◽  
N. B. Filimonov ◽  
A. A. Barashkov
Keyword(s):  
Mobile Robots ◽  
Potential Fields ◽  
Local Navigation

Smooth Collision Avoidance Trajectories: A Dynamic Collision Avoidance Algoritm for Mobile Robots

1999 ◽  
Author(s):  
Jeffrey L. Newcomer
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Collision Avoidance ◽  
A Priori ◽  
A Priori Information ◽  
Action Simulation ◽  
Generation Algorithm ◽  
On Line ◽  
Simulation Results ◽  
Priori Information

Abstract This paper presents an algorithm for generating Smooth Collision Avoidance Trajectories (SCAT). SCAT generation is a method that allows a mobile robot that is moving along a pre-planned path to alter a section of its path, so that it may smoothly exit the original path, avoid a predicted collision, and return to the original path smoothly and on schedule. The SCAT generation algorithm is an improvement over off-line methods, as it requires minimal a priori information, and is more robust than pre-planned methods by its very nature. The SCAT algorithm is also an improvement over on-line schemes that only alter velocity along a pre-planned path, as it is able to avoid collisions in cases that those methods cannot. Details of the SCAT generation algorithm are developed herein, followed by examples of the algorithm in action. Simulation results show that the SCAT algorithm is very dependable, given that it can be provided with reasonably accurate in-formation about the location of dynamic obstacles in its vicinity.

Innovative Approach to Information Search by Example of a Patent Analysis of an Important Substitution Plan

2020 ◽  
pp. 143-157
Author(s):  
Maria A. Milkova
Keyword(s):  
Information Search ◽  
Topic Modeling ◽  
Cognitive Biases ◽  
A Priori ◽  
Import Substitution ◽  
Innovative Approach ◽  
Iterative Search ◽  
Comprehensive Picture ◽  
Priori Information ◽  
Selection Of

Nowadays the process of information accumulation is so rapid that the concept of the usual iterative search requires revision. Being in the world of oversaturated information in order to comprehensively cover and analyze the problem under study, it is necessary to make high demands on the search methods. An innovative approach to search should flexibly take into account the large amount of already accumulated knowledge and a priori requirements for results. The results, in turn, should immediately provide a roadmap of the direction being studied with the possibility of as much detail as possible. The approach to search based on topic modeling, the so-called topic search, allows you to take into account all these requirements and thereby streamline the nature of working with information, increase the efficiency of knowledge production, avoid cognitive biases in the perception of information, which is important both on micro and macro level. In order to demonstrate an example of applying topic search, the article considers the task of analyzing an import substitution program based on patent data. The program includes plans for 22 industries and contains more than 1,500 products and technologies for the proposed import substitution. The use of patent search based on topic modeling allows to search immediately by the blocks of a priori information – terms of industrial plans for import substitution and at the output get a selection of relevant documents for each of the industries. This approach allows not only to provide a comprehensive picture of the effectiveness of the program as a whole, but also to visually obtain more detailed information about which groups of products and technologies have been patented.

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