scholarly journals Field Robotics: Applications and Fundamentals

2021 ◽  
Vol 33 (6) ◽  
pp. 1216-1222
Author(s):  
Takanori Fukao ◽  
Keyword(s):  
Decision Making ◽  
Path Planning ◽  
Current Status ◽  
Future Perspectives ◽  
Field Robotics ◽  
Actual Application ◽  
Dynamics And Control ◽  
And Control

Field robotics is an area that is impelled by an application-driven approach by its nature. In this paper, I first review certain actual application areas of field robotics. Then, I discuss the current status of the application of field robotics in three common technologies: (1) mapping and path planning; (2) self-localization, recognition, and decision-making; and (3) dynamics and control. I then conclude by presenting future perspectives.

Path Planning and Control for a Flexible Transfer System

2000 ◽  
Vol 12 (2) ◽  
pp. 103-109 ◽  
Author(s):  
Naoyuki Kubota ◽  
◽  
Yusuke Nojima ◽  
Fumio Kojima ◽  
Toshio Fukuda ◽  
...  
Keyword(s):  
Decision Making ◽  
Path Planning ◽  
Intelligent Control ◽  
Manufacturing System ◽  
Fuzzy Inference ◽  
Transfer System ◽  
Learning Automaton ◽  
Planning And Control ◽  
Manufacturing Line ◽  
And Control

We studied intelligent control of self-organizing manufacturing system (SOMS) composed of modules that self-organize based on time-series information from other modules and environment. Modules create output through interaction with other modules. We discuss intelligent control and path planning in a manufacturing line of conveyer units and machining centers. Genetic algorithm are applied to conveyor pallet path planning in global decision making and learning automaton is applied to local conveyer decision making. We use simplified fuzzy inference to control pallets providing interval, verifying its feasibility by simulation.

scholarly journals A Hierarchical Control System for Autonomous Driving towards Urban Challenges

2020 ◽  
Vol 10 (10) ◽  
pp. 3543 ◽  
Author(s):  
Nam Dinh Van ◽  
Muhammad Sualeh ◽  
Dohyeong Kim ◽  
Gon-Woo Kim
Keyword(s):  
Decision Making ◽  
Control System ◽  
Path Planning ◽  
Hierarchical Control ◽  
Longitudinal Direction ◽  
High Definition ◽  
Planning And Control ◽  
Local Path Planning ◽  
Local Path ◽  
And Control

In recent years, the self-driving car technologies have been developed with many successful stories in both academia and industry. The challenge for autonomous vehicles is the requirement of operating accurately and robustly in the urban environment. This paper focuses on how to efficiently solve the hierarchical control system of a self-driving car into practice. This technique is composed of decision making, local path planning and control. An ego vehicle is navigated by global path planning with the aid of a High Definition map. Firstly, we propose the decision making for motion planning by applying a two-stage Finite State Machine to manipulate mission planning and control states. Furthermore, we implement a real-time hybrid A* algorithm with an occupancy grid map to find an efficient route for obstacle avoidance. Secondly, the local path planning is conducted to generate a safe and comfortable trajectory in unstructured scenarios. Herein, we solve an optimization problem with nonlinear constraints to optimize the sum of jerks for a smooth drive. In addition, controllers are designed by using the pure pursuit algorithm and the scheduled feedforward PI controller for lateral and longitudinal direction, respectively. The experimental results show that the proposed framework can operate efficiently in the urban scenario.

Large Deflection Dynamics and Control for Planar Continuum Robots

2001 ◽  
Author(s):  
Ian A. Gravagne ◽  
Ian D. Walker ◽  
Christopher D. Rahn
Keyword(s):  
Path Planning ◽  
Dynamic Model ◽  
Large Deflection ◽  
Mechanical Design ◽  
Vibration Damping ◽  
Experimental Results ◽  
Continuum Robots ◽  
Small Deflection ◽  
Dynamics And Control ◽  
And Control

Abstract This paper focuses on a class of robot manipulators termed “continuum” robots — robots that exhibit behavior similar to tentacles, trunks, and snakes. In previous work, we studied details of the mechanical design, kinematics, path-planning and small-deflection dynamics for continuum robots such as the Clemson “Tentacle Manipulator.” In this work, we discuss the dynamics of a planar continuum backbone section, incorporating a large-deflection dynamic model. Based on these dynamics, we formulate a vibration-damping setpoint controller, and include experimental results to illustrate the efficacy of the proposed controller.

DESIGN AND ANALYSIS OF A FACILITY FOR FREE – FLOATING FLEXIBLE ROBOTIC MANIPULATORS

2000 ◽  
Vol 24 (2) ◽  
pp. 375-390 ◽  
Author(s):  
D. Lovekin ◽  
G.R. Heppler ◽  
J. McPhee
Keyword(s):  
Data Acquisition ◽  
Vibration Suppression ◽  
Data Acquisition System ◽  
Robotic Manipulators ◽  
Acquisition System ◽  
Current Status ◽  
Mass Capture ◽  
Dynamics And Control ◽  
And Control ◽  
Dynamics And Vibration

The development of the Waterloo Flexible Link Experimental (WATFLEX) facility was initiated at the University of Waterloo to provide resources for conducting experiments involving the dynamics and control of flexible robotic manipulators – specifically, two dimensional dynamic mass capture, impact dynamics and vibration suppression. The system consists of a number of different subsystems including the robotic manipulator, motion and deflection sensors, the digital controller, the data acquisition system, and the pneumatic system that floats the manipulator on a support structure. In this paper, the design and current status of each of these subsystems is described. Experimental analysis results of the support table, the data acquisition system, and some analog sensors are presented and analyzed.

Linking decision-making research and cancer prevention and control: Important themes.

2005 ◽  
Vol 24 (4, Suppl) ◽  
pp. S106-S110 ◽  
Author(s):  
Kevin D. McCaul ◽  
Ellen Peters ◽  
Wendy Nelson ◽  
Michael Stefanek
Keyword(s):  
Decision Making ◽  
Cancer Prevention ◽  
Prevention And Control ◽  
Cancer Prevention And Control ◽  
And Control

PROJECT ON ELECTRONIC STEERING SYSYTEM

2018 ◽  
Vol 4 (5) ◽  
pp. 7
Author(s):  
Shivam Dwivedi ◽  
Prof. Vikas Gupta
Keyword(s):  
Steering System ◽  
Essential Elements ◽  
Variable Pressure ◽  
Passenger Cars ◽  
Control Techniques ◽  
Steering Mechanism ◽  
Dynamics And Control ◽  
Active Research ◽  
Electronic Steering ◽  
And Control

As the four-wheel steering (4WS) system has great potentials, many researchers' attention was attracted to this technique and active research was made. As a result, passenger cars equipped with 4WS systems were put on the market a few years ago. This report tries to identify the essential elements of the 4WS technology in terms of vehicle dynamics and control techniques. Based on the findings of this investigation, the report gives a mechanism of electronically controlling the steering system depending on the variable pressure applied on it. This enhances the controlling and smoothens the operation of steering mechanism.

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