scholarly journals Tangle-Free Exploration with a Tethered Mobile Robot

2020 ◽  
Vol 12 (23) ◽  
pp. 3858
Author(s):  
Danylo Shapovalov ◽  
Guilherme A. S. Pereira
Keyword(s):  
Remote Sensing ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Real World ◽  
Free Exploration ◽  
Length Constraint ◽  
The Difference ◽  
Robot Path

Exploration and remote sensing with mobile robots is a well known field of research, but current solutions cannot be directly applied for tethered robots. In some applications, tethers may be very important to provide power or allow communication with the robot. This paper presents an exploration algorithm that guarantees complete exploration of arbitrary environments within the length constraint of the tether, while keeping the tether tangle-free at all times. While we also propose a generalized algorithm that can be used with several exploration strategies, our implementation uses a modified frontier-based exploration approach, where the robot chooses its next goal in the frontier between explored and unexplored regions of the environment. The basic idea of the algorithm is to keep an estimate of the tether configuration, including length and homotopy, and decide the next robot path based on the difference between the current tether length and the shortest tether length at the next goal position. Our algorithm is provable correct and was tested and evaluated using both simulations and real-world experiments.

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.

scholarly journals Mobile robot path planning based on social interaction space in social environment

2018 ◽  
Vol 15 (3) ◽  
pp. 172988141877618 ◽  
Author(s):  
Weihua Chen ◽  
Tie Zhang ◽  
Yanbiao Zou
Keyword(s):  
Social Interaction ◽  
Path Planning ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Social Environment ◽  
Interaction Space ◽  
Robot Path Planning ◽  
Task Constraints ◽  
Social Conventions ◽  
Robot Path

A key skill for mobile robots is the ability to avoid obstacles and efficiently plan a path in their environment. Mobile robot path planning in social environment must not only consider task constraints, such as minimizing the distance traveled to a goal, but also social conventions, such as keeping a comfortable distance from humans. An efficient framework for mobile robots in social environment is proposed in this study. The framework takes into account task constraints and social conventions for path planning. Social conventions incorporate information on human states (position, orientation, and motion) and social interactions in modeling social interaction space. The two-dimensional asymmetric Gaussian function is used to compute the cost of points in social interaction space. The framework integrates the social interaction space into path planning based on A* algorithm, which allows mobile robots to bypass humans in a manner that makes humans feel safe and comfortable. The proposed method verified its effectiveness through simulation and experimental results.

scholarly journals Automatic Navigation of Mobile Robot Based on Wheel’s Encoder and Predefined Map

2019 ◽  
pp. 20-29
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Suitable Condition ◽  
Raspberry Pi ◽  
Wheeled Mobile Robots ◽  
Automatic Navigation ◽  
Navigation Path ◽  
Time Calculation ◽  
Python Programming ◽  
Robot Path

Recently, the automatic movement of mobile robots has played a very important role in the advancement of technology. Automated mobile robot path determination is one of the most important challenges in the science of technology. This paper proposed a path planning method for wheeled mobile robots based on a real time calculation of a predefined distance on a certain map to enable the mobile robot to navigate at indoor areas according to the calculated distances and angles on the paths. The proposed system uses two wheels’ car as a prototype with two optical encoders to determine the number of wheel’s rotations, in order to calculate the needed distances and angles between two points on the navigation path. The system was controlled by a microcomputer Raspberry Pi, programmed using python programming language. The experimental results show an accurate distances and angles measurement for the navigation under a suitable condition.

A Robust NavigationMethod for Mobile Robots in Real-World Environments

2014 ◽  
Vol 26 (2) ◽  
pp. 177-184 ◽  
Author(s):  
Sam Ann Rahok ◽  
◽  
Hirohisa Oneda ◽  
Akio Tanaka ◽  
Koichi Ozaki ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Real World ◽  
Laser Range ◽  
The Real ◽  
Laser Range Scanner ◽  
Lateral Error ◽  
The Magnetic Field ◽  
Navigation Method

This paper describes a robust navigation method for real-world environments. The method uses a 3-axis magnetic sensor and a laser range scanner. The magnetic field that occurs in the environment is used as key landmarks in the proposed navigation method, and physical landmarks scanned by the laser range scanner are taken into account in compensating for the mobile robot’s lateral error. An evaluation experiment was conducted during the final run of the Real World Robot Challenge (RWRC) 2013, and the result showed that the mobile robot equipped with the proposed method robustly navigated a 1.6 km course.

Special Issue on Real World Robot Challenge in Tsukuba – Autonomous Technology for Useful Mobile Robot –

2015 ◽  
Vol 27 (4) ◽  
pp. 317-317 ◽  
Author(s):  
Yoshihiro Takita ◽  
Shin’ichi Yuta ◽  
Takashi Tsubouchi ◽  
Koichi Ozaki
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Real World ◽  
Autonomous Mobile Robots ◽  
Test Field ◽  
Human Beings ◽  
Special Issue ◽  
Problems And Solutions ◽  
Technological Challenge ◽  
Autonomous Technology

The first Tsukuba Challenge started in 2007 as a technological challenge for autonomous mobile robots moving around on city walkways. A task was then added involving the search for certain persons. In these and other ways, the challenge provides a test field for developing positive relationships between mobile robots and human beings. To make progress an autonomous robotic research, this special issue details and clarifies technological problems and solutions found by participants in the challenge. We sincerely thank the authors and reviewers for this chance to work with them in these important areas.

Development of Mobile Robot “SARA” that Completed Mission in Real World Robot Challenge 2014

2015 ◽  
Vol 27 (4) ◽  
pp. 327-336 ◽  
Author(s):  
Naoki Akai ◽  
◽  
Kenji Yamauchi ◽  
Kazumichi Inoue ◽  
Yasunari Kakigi ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Real World ◽  
Long Distance ◽  
Technical Challenge ◽  
The Real

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270004/02.jpg"" width=""450"" />View of SARA with and without cowl</div> Held in Japan every year since 2007, the Real World Robot Challenge (RWRC) is a technical challenge for mobile robots. Every robot is given the missions of traveling a long distance and finding specific persons autonomously. The robots must also have an affinity for people and be remotely monitored. In order to complete the missions, we developed a new mobile robot, SARA, which we entered in RWRC 2014. The robot successfully completed all of the missions of the challenge. In this paper, the systems we implemented are detailed. Moreover, results of experiments and of the challenge are presented, and knowledges we gained through the experience are discussed. </span>

Vision Based Path Planning for Mobile Robot Using Extrapolated Artificial Potential Field and Probabilistic Obstacle Avoidance

2002 ◽  
Author(s):  
Waqar A. Malik ◽  
Jae-Yong Lee ◽  
Sooyong Lee
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Collision Detection ◽  
Potential Field ◽  
Artificial Potential Field ◽  
Robot Path Planning ◽  
Moving Obstacles ◽  
Novel Method ◽  
Robot Path

Mobile robots are increasingly being used to do tasks in unknown environment. The potential of robots to undertake such tasks lies on their ability to intelligently and efficiently locate and interact with objects in their environment. This paper describes a novel method to plan paths for mobile robots in a partially known environment observed by an overhead camera. The environment consists of dynamic obstacles and targets. A new methodology, Extrapolated Artificial Potential Field is proposed for real time robot path planning. The proposed Extrapolated Artificial Potential Field is capable of navigating robots situated among moving obstacles and target. An algorithm for probabilistic collision detection is introduced. The paper summarizes this approach, and discusses the results of path planning experiments using an Amigobot. The result shows that our method is effective.

scholarly journals A one decade survey of autonomous mobile robot systems

2021 ◽  
Vol 11 (6) ◽  
pp. 4891
Author(s):  
Noor Abdul Khaleq Zghair ◽  
Ahmed S. Al-Araji
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Real World ◽  
Control Unit ◽  
Global Market ◽  
Autonomous Mobile Robots ◽  
Modern World ◽  
Navigation Systems ◽  
Private Households ◽  
Robot Systems

<span lang="EN-US">Recently, autonomous mobile robots have gained popularity in the modern world due to their relevance technology and application in real world situations. The global market for mobile robots will grow significantly over the next 20 years. Autonomous mobile robots are found in many fields including institutions, industry, business, hospitals, agriculture as well as private households for the purpose of improving day-to-day activities and services. The development of technology has increased in the requirements for mobile robots because of the services and tasks provided by them, like rescue and research operations, surveillance, carry heavy objects and so on. Researchers have conducted many works on the importance of robots, their uses, and problems. This article aims to analyze the control system of mobile robots and the way robots have the ability of moving in real-world to achieve their goals. It should be noted that there are several technological directions in a mobile robot industry. It must be observed and integrated so that the robot functions properly: Navigation systems, localization systems, detection systems (sensors) along with motion and kinematics and dynamics systems. All such systems should be united through a control unit; thus, the mission or work of mobile robots are conducted with reliability.</span>

scholarly journals A Physarum-Inspired Decision-Making Strategy for Multisource Task Searching of Mobile Robots

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Laihao Jiang ◽  
Hongwei Mo ◽  
Lifang Xu
Keyword(s):  
Decision Making ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Real World ◽  
Physarum Polycephalum ◽  
Search Algorithms ◽  
Single Source ◽  
Area Source ◽  
Simulation Results ◽  
Better Than

In the real world, there are many different kinds of sources, such as light, sound, and gas, distributed randomly over an area. Source search can be carried out by robotic system in applications. However, for a single robot, the multisource search has been receiving relatively little attention compared to single-source search. For multisource task searching, a single robot has a high travel cost and is easy to trap a source which has been located before. In order to overcome these shortages, two multisource search algorithms inspired by the foraging behavior of Physarum polycephalum are proposed in this paper. First, a Physarum-inspired Strategy (PS) is designed based on the gradient climbing characteristic of Physarum polycephalum during foraging. The PS is simple and effective to let a mobile robot traverse all sources. Then, an extension algorithm named Physarum-inspired Decision-making Strategy (PDS) is proposed based on PS. Therein the synthetical field gradient model is established by introducing decision-making factor to obtain more accurate gradient information estimation. The PDS also introduces an obstacle avoidance model. Various simulation results obtained in the multisource environments show that the performance of PDS is better than other algorithms.

A Distributed Self-Deployment Algorithm Suitable for Multiple Nonholonomic Mobile Robots

2008 ◽  
Author(s):  
Yu Zhou
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Variational Calculus ◽  
Dissipation Function ◽  
Nonholonomic Mobile Robots ◽  
Local Configuration ◽  
Robot Systems ◽  
The Difference ◽  
The Stability ◽  
Multi Robot

This paper introduces a novel distributed algorithm for deploying multi-robot systems, consisting of mobile robots with onboard sensing and wireless communication of limited ranges, to approach the desired sensory coverage while maintaining communication connection over targeted 2D environments. A virtual potential energy is defined for each mobile robot according to the difference between the actual and desired configurations in the neighborhood of the robot, which generates the actuating force to move the robot towards the desired local coverage. The Rayleigh’s dissipation function is adopted to provide the necessary damping mechanism which maintains the stability of the deployment motion for each robot. The equation of deployment motion for each mobile robot is then derived from the Hamilton’s principle using the method of the variational calculus, which defines the movement of the robot to approach the desired local configuration. The formulation of the variational calculus also provides a convenience way to incorporate the nonholonomic constraint arising in wheeled robots. Since the equation of deployment motion for each robot depends on only the robot’s own kinematic state and its detectable positional relationship with nearby objects, the proposed algorithm decentralizes the multi-robot deployment problem into the motion control of individual robots. Simulation results show the feasibility of the proposed approach in guiding the deployment of multi-robot systems.

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