scholarly journals Autonomous Path Travel Control of Mobile Robot Using Internal and External Camera Images in GPS-Denied Environments

2021 ◽  
Vol 33 (6) ◽  
pp. 1284-1293
Author(s):  
Keita Yamada ◽  
◽  
Shoya Koga ◽  
Takashi Shimoda ◽  
Kazuya Sato
Keyword(s):  
Deep Learning ◽  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Relative Position

In this study, we developed a system for calculating the relative position and angle between a mobile robot and a marker using information such as the size of the marker of the internal camera of the mobile robot. Using this information, the mobile robot runs autonomously along the path given by the placement of the marker. In addition, we provide a control system that can follow a trajectory using information obtained by recognizing the mobile robot when reflected in an external camera using deep learning. The proposed method can easily achieve autonomous path travel control for mobile robots in environments where GPS cannot be received. The effectiveness of the proposed system is demonstrated under several actual experiments.

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.

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.

Expert Guided Autonomous Mobile Robot Learning

2011 ◽  
pp. 216-231
Author(s):  
Gintautas Narvydas ◽  
Vidas Raudonis ◽  
Rimvydas Simutis
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Control Systems ◽  
Intelligent Control ◽  
Main Idea ◽  
Autonomous Mobile Robots ◽  
Autonomous Mobile Robot ◽  
Intelligent Control System ◽  
Objective Function Values

In the control of autonomous mobile robots there exist two types of control: global control and local control. The requirement to solve global and local tasks arises respectively. This chapter concentrates on local tasks and shows that robots can learn to cope with some local tasks within minutes. The main idea of the chapter is to show that, while creating intelligent control systems for autonomous mobile robots, the beginning is most important as we have to transfer as much as possible human knowledge and human expert-operator skills into the intelligent control system. Successful transfer ensures fast and good results. One of the most advanced techniques in robotics is an autonomous mobile robot on-line learning from the experts’ demonstrations. Further, the latter technique is briefly described in this chapter. As an example of local task the wall following is taken. The main goal of our experiment is to teach the autonomous mobile robot within 10 minutes to follow the wall of the maze as fast and as precisely as it is possible. This task also can be transformed to the obstacle circuit on the left or on the right. The main part of the suggested control system is a small Feed-Forward Artificial Neural Network. In some particular cases – critical situations – “If-Then” rules undertake the control, but our goal is to minimize possibility that these rules would start controlling the robot. The aim of the experiment is to implement the proposed technique on the real robot. This technique enables to reach desirable capabilities in control much faster than they would be reached using Evolutionary or Genetic Algorithms, or trying to create the control systems by hand using “If-Then” rules or Fuzzy Logic. In order to evaluate the quality of the intelligent control system to control an autonomous mobile robot we calculate objective function values and the percentage of the robot work loops when “If-Then” rules control the robot.

Distributed Embedded Control Architecture of a Leader-Follower Mobile Robot Formation

2015 ◽  
Vol 779 ◽  
pp. 201-204
Author(s):  
Ran Li ◽  
Yun Hua Li
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Distributed Control ◽  
Electronic System ◽  
Control Architecture ◽  
Distributed Control System ◽  
Embedded Control ◽  
Data Bus ◽  
Robot Cooperation

Mobile robots have been widely used for the good adaptability, payload capability. Robot cooperation brings benefits for the task in a multi-robot team. In this paper, the modular hardware design of a leader-follower mobile robot team is discussed, including the distributed control architecture and the electronic system of each robot of the team. The basic idea behind this paper is to introduce the design of the hardware and distributed control architecture, which mainly manages the distributed control system, consisting of microcontroller modules connected through a data bus. The research has a potential applying prospect in mobile robot tracing and locating in the future.

scholarly journals A Deep Learning Approach for the Mobile-Robot Motion Control System

2021 ◽  
Vol 29 (2) ◽  
pp. 423-435
Author(s):  
Rihem Farkh ◽  
Khaled Al jaloud ◽  
Saad Alhuwaimel ◽  
Mohammad Tabrez Quasim ◽  
Moufida Ksouri
Keyword(s):  
Deep Learning ◽  
Control System ◽  
Mobile Robot ◽  
Motion Control ◽  
Robot Motion ◽  
Learning Approach ◽  
Motion Control System

Tracking Control of Mobile Robots Based on the BP Neural Network

2012 ◽  
Vol 522 ◽  
pp. 618-622
Author(s):  
Ying Xiong ◽  
Shi De Xiao ◽  
Shuang Jiang Lei ◽  
Feng Zha
Keyword(s):  
Neural Network ◽  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Bp Neural Network ◽  
Tracking Control ◽  
High Reliability ◽  
Control Unit ◽  
Micro Control Unit ◽  
Guide Lines

An intelligent tracking control system based on the micro-control unit (MCU) has been developed to control the motors by sensing the change of black guide lines. After the training of the BP Neural Network, the MCU is able to make decisions quickly and accurately for various situations during robot moving. Using MCU technology to control the motors, the system is compatible for both manual and automatic control. The experiment shows that the mobile robot could follow the change of black guide lines accurately and quickly, and stillness and out-of-orbit were effectively inhibited during moving. The proposed tracking control system based on the BP Neural Network has been verified to have high reliability.

Numerical methods based controller design for mobile robots

Robotica ◽  
2009 ◽  
Vol 27 (2) ◽  
pp. 269-279 ◽  
Author(s):  
Gustavo Scaglia ◽  
Lucía Quintero Montoya ◽  
Vicente Mut ◽  
Fernando di Sciascio
Keyword(s):  
Numerical Methods ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Relative Position ◽  
Controller Design ◽  
Tracking Error ◽  
Kinematic Model ◽  
Experimental Results ◽  
Control Actions

SUMMARYThis paper presents the design of four controllers for a mobile robot such that the system may follow a preestablished trajectory. To reach this aim, the kinematic model of a mobile robot is approximated using numerical methods. Then, from such approximation, the control actions to get a minimal tracking error are calculated. Both simulation and experimental results on a PIONEER 2DX mobile robot are presented, showing a good performance of the four proposed mobile robot controllers. Also, an application of the proposed controllers to a leader robot following problem is shown; in it, the relative position between robots is obtained through a laser.

A Virtual Simulator for the Embedded Control System Design for Navigation of Mobile Robots Applied in Wheelchairs

2019 ◽  
pp. 180-217
Author(s):  
Leonimer Flávio de Melo ◽  
Silvia Galvão de Souza Cervantes ◽  
João Maurício Rosário
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Open Architecture ◽  
Embedded Control ◽  
Use Of Time ◽  
Use Of Resources ◽  
Navigation Strategy ◽  
And Control ◽  
Made In

This chapter presents a virtual environment implementation for embedded design, simulation, and conception of supervision and control systems for mobile robots, which are capable of operating and adapting to different environments and conditions. The purpose of this virtual system is to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic, dynamic, and control conditions, in real time monitoring of all important system points. To achieve this, an open control architecture is proposed, integrating the two main techniques of robotic control implementation at the hardware level: systems microprocessors and reconfigurable hardware devices. The utilization of a hierarchic and open architecture, distributing the diverse actions of control in increasing levels of complexity and the use of resources of reconfigurable computation are made in a virtual simulator for mobile robots. The validation of this environment is made in a nonholonomic mobile robot and in a wheelchair; both of them used an embedded control rapid prototyping technique for the best navigation strategy implementation. After being tested and validated in the simulator, the control system is programmed in the control board memory of the mobile robot or wheelchair. Thus, the use of time and material is optimized, first validating the entire model virtually and then operating the physical implementation of the navigation system.

A Virtual Simulator for the Embedded Control System Design for Navigation of Mobile Robots applied in Wheelchairs

2013 ◽  
pp. 202-236 ◽  
Author(s):  
Leonimer Flávio de Melo ◽  
Silvia Galvão de Souza Cervantes ◽  
João Maurício Rosário
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Open Architecture ◽  
Embedded Control ◽  
Use Of Time ◽  
Use Of Resources ◽  
Navigation Strategy ◽  
And Control ◽  
Made In

This chapter presents a virtual environment implementation for embedded design, simulation, and conception of supervision and control systems for mobile robots, which are capable of operating and adapting to different environments and conditions. The purpose of this virtual system is to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic, dynamic, and control conditions, in real time monitoring of all important system points. To achieve this, an open control architecture is proposed, integrating the two main techniques of robotic control implementation at the hardware level: systems microprocessors and reconfigurable hardware devices. The utilization of a hierarchic and open architecture, distributing the diverse actions of control in increasing levels of complexity and the use of resources of reconfigurable computation are made in a virtual simulator for mobile robots. The validation of this environment is made in a nonholonomic mobile robot and in a wheelchair; both of them used an embedded control rapid prototyping technique for the best navigation strategy implementation. After being tested and validated in the simulator, the control system is programmed in the control board memory of the mobile robot or wheelchair. Thus, the use of time and material is optimized, first validating the entire model virtually and then operating the physical implementation of the navigation system.

DEVELOPMENT OF COMPUTERIZED MONITORING AND CONTROL SYSTEM OF THE MOBILE ROBOT’S POSITIONING ON LARGE FERROMAGNETIC SURFACES BASED ON INTELLIGENT TECHNIQUES. AUTOMATION OF THE MONITORING AND CONTROL PROCESSES OF MOBILE ROBOT FOR PROCESSING OF LARGE INCLINED SURFACES

2019 ◽  
pp. 41-48
Author(s):  
Yan Guojun ◽  
Oleksiy Kozlov ◽  
Oleksandr Gerasin ◽  
Galyna Kondratenko
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Functional Structure ◽  
Monitoring And Control ◽  
Technological Parameters ◽  
Monitoring And Control System ◽  
Inclined Surfaces ◽  
Computerized Monitoring ◽  
And Control ◽  
Tracked Mobile Robot

The article renders the special features of the design of a tracked mobile robot (MR) for moving over inclined ferromagnetic surfaces while performing specified technological operations. There is conducted a synthesis of the functional structure and selective technological parameters (such as control coordinates) of the computerized monitoring and control system (CMCS) intended for use with this MR. Application of the CMCS with the proposed functional structure allows substantially increasing the accuracy of the MR monitoring and control, which in turn provides for a considerable enhancement in the quality and economic efficiency of the operations on processing of large ferromagnetic surfaces.

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