Mechatronic Design of Mobile Robots for Stable Obstacle Crossing at Low and High Speeds

2015 ◽  
pp. 567-630
Author(s):  
Jean-Christophe Fauroux ◽  
Frédéric Chapelle ◽  
Belhassen-Chedli Bouzgarrou ◽  
Philippe Vaslin ◽  
Mohamed Krid ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
High Speed ◽  
Legged Locomotion ◽  
Improve Performance ◽  
Obstacle Crossing ◽  
Low Speed ◽  
Pitch Control ◽  
High Speeds ◽  
Hybrid Locomotion

This chapter presents recent mechatronics developments to create original terrestrial mobile robots capable of crossing obstacles and maintaining their stability on irregular grounds. Obstacle crossing is both considered at low and high speeds. The developed robots use wheeled propulsion, efficient on smooth grounds, and improve performance on irregular grounds with additional mobilities, bringing them closer to legged locomotion (hybrid locomotion). Two sections are dedicated to low speed obstacle crossing. Section two presents an original mobile robot combining four actuated wheels with an articulated frame to improve obstacle climbing. Section three extends this work to a new concept of modular poly-robot for agile transport of long payloads. The last two sections deal with high-speed motion. Section four describes new suspensions with four mobilities that maintain pitch stability of vehicles crossing obstacles at high speed. After the shock, section five demonstrates stable pitch control during ballistic phase by accelerating-braking the wheels in flight.

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.

Special Issue on Mobile Robot

1999 ◽  
Vol 11 (1) ◽  
pp. 1-1
Author(s):  
Kiyoshi Komoriya ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Autonomous Navigation ◽  
High Speed ◽  
Outdoor Environment ◽  
Special Issue ◽  
Visual Sensor ◽  
Planning Stage ◽  
International Conference ◽  
Position Detection

Mobility, or locomotion, is as important a function for robots as manipulation. A robot can enlarge its work space by locomotion. It can also recognize its environment well with its sensors by moving around and by observing its surroundings from various directions. Much researches has been done on mobile robots and the research appears to be mature. Research activity on robot mobility is still very active; for example, 22% of the sessions at ICRA'98 - the International Conference on Robotics and Automation - and 24% of the sessions at IROS'98 - the International Conference on Intelligent Robots and Systems - dealt with issues directly related to mobile robots. One of the main reasons may be that intelligent mobile robots are thought to be the closest position to autonomous robot applications. This special issue focuses on a variety of mobile robot research from mobile mechanisms, localization, and navigation to remote control through networks. The first paper, entitled ""Control of an Omnidirectional Vehicle with Multiple Modular Steerable Drive Wheels,"" by M. Hashimoto et al., deals with locomotion mechanisms. They propose an omnidirectional mobile mechanism consisting of modular steerable drive wheels. The omnidirectional function of mobile mechanisms will be an important part of the human-friendly robot in the near future to realize flexible movements in indoor environments. The next three papers focus on audiovisual sensing to localize and navigate a robot. The second paper, entitled ""High-Speed Measurement of Normal Wall Direction by Ultrasonic Sensor,"" by A. Ohya et al., proposes a method to measure the normal direction of walls by ultrasonic array sensor. The third paper, entitled ""Self-Position Detection System Using a Visual-Sensor for Mobile Robots,"" is written by T. Tanaka et al. In their method, the position of the robot is decided by measuring marks such as name plates and fire alarm lamps by visual sensor. In the fourth paper, entitled ""Development of Ultra-Wide-Angle Laser Range Sensor and Navigation of a Mobile Robot in a Corridor Environment,"" written by Y Ando et al., a very wide view-angle sensor is realized using 5 laser fan beam projectors and 3 CCD cameras. The next three papers discussing navigation problems. The fifth paper, entitled ""Autonomous Navigation of an Intelligent Vehicle Using 1-Dimensional Optical Flow,"" by M. Yamada and K. Nakazawa, discusses navigation based on visual feedback. In this work, navigation is realized by general and qualitative knowledge of the environment. The sixth paper, entitled ""Development of Sensor-Based Navigation for Mobile Robots Using Target Direction Sensor,"" by M. Yamamoto et al., proposes a new sensor-based navigation algorithm in an unknown obstacle environment. The seventh paper, entitled ""Navigation Based on Vision and DGPS Information for Mobile Robots,"" S. Kotani et al., describes a navigation system for an autonomous mobile robot in an outdoor environment. The unique point of their paper is the utilization of landmarks and a differential global positioning system to determine robot position and orientation. The last paper deals with the relationship between the mobile robot and computer networks. The paper, entitled ""Direct Mobile Robot Teleoperation via Internet,"" by K. Kawabata et al., proposes direct teleoperation of a mobile robot via the Internet. Such network-based robotics will be an important field in robotics application. We sincerely thank all of the contributors to this special issue for their cooperation from the planning stage to the review process. Many thanks also go to the reviewers for their excellent work. We will be most happy if this issue aids readers in understanding recent trends in mobile robot research and furthers interest in this research field.

Special Issue on Modern Trends in Mobile Robotics

2002 ◽  
Vol 14 (4) ◽  
pp. 323-323
Author(s):  
Takashi Tsubouchi ◽  
◽  
Keiji Nagatani ◽  
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Mobile Robots ◽  
High Speed ◽  
Mobile Robotics ◽  
Low Cost ◽  
Electronic Devices ◽  
Mobile Robot Navigation ◽  
Map Building ◽  
Special Issue

Since the dawning of the Robotics age, mobile robots have been important objectives of research and development. Working from such aspects as locomotion mechanisms, path and motion planning algorithms, navigation, map building and localization, and system architecture, researchers are working long and hard. Despite the fact that mobile robotics has a shorter history than conventional mechanical engineering, it has already accumulated a major, innovative, and rich body of R&D work. Rapid progress in modern scientific technology had advanced to where down-sized low-cost electronic devices, especially highperformance computers, can now be built into such mobile robots. Recent trends in ever higher performance and increased downsizing have enabled those working in the field of mobile robotics to make their models increasingly intelligent, versatile, and dexterous. The down-sized computer systems implemented in mobile robots must provide high-speed calculation for complicated motion planning, real-time image processing in image recognition, and sufficient memory for storing the huge amounts of data required for environment mapping. Given the swift progress in electronic devices, new trends are now emerging in mobile robotics. This special issue on ""Modern Trends in Mobile Robotics"" provides a diverse collection of distinguished papers on modern mobile robotics research. In the area of locomotion mechanisms, Huang et al. provide an informative paper on control of a 6-legged walking robot and Fujiwara et al. contribute progressive work on the development of a practical omnidirectional cart. Given the importance of vision systems enabling robots to survey their environments, Doi et al., Tang et al., and Shimizu present papers on cutting-edge vision-based navigation. On the crucial subject of how to equip robots with intelligence, Hashimoto et al. present the latest on sensor fault detection in dead-reckoning, Miura et al. detail the probabilistic modeling of obstacle motion during mobile robot navigation, Hada et al. treat long-term mobile robot activity, and Lee et al. explore mobile robot control in intelligent space. As guest editors, we are sure readers will find these articles both informative and interesting concerning current issues and new perspectives in modern trends in mobile robotics.

Research on Loads Control of Wind Turbine Based on Disturbance Accommodating Control

2012 ◽  
Vol 522 ◽  
pp. 838-841
Author(s):  
Guo Yu Hu ◽  
Wen Lei Sun ◽  
Ji Zhe Hai ◽  
Yan Xu
Keyword(s):  
Wind Turbine ◽  
State Space ◽  
High Speed ◽  
Control Design ◽  
Maximum Power ◽  
Pi Control ◽  
Low Speed ◽  
Pitch Control ◽  
Disturbance Accommodating Control ◽  
Simulation Results

This paper uses modern control based on DAC control to numerically simulate a 1.5MW wind turbine. Through linearized modeling of 1.5MW wind turbine, this paper illustrates state-space control design and simulation for a 1.5MW wind turbine. This paper emphasizes on the use of DAC control to alleviate loads when the turbine is operating at maximum power. Loads diagrams of 1.5MW wind turbine including generator, low-speed shaft and high-speed shaft are obtained. The simulation results show that the collective pitch control based on DAC has certain effects on load alleviation compared to PI control.

Oxygen uptake and heart rate response of 6 standardized tennis drills

2012 ◽  
Vol 37 (5) ◽  
pp. 982-989 ◽  
Author(s):  
Nabyl Bekraoui ◽  
Marie-Agnès Fargeas-Gluck ◽  
Luc Léger
Keyword(s):  
Heart Rate ◽  
Oxygen Uptake ◽  
Energy Cost ◽  
High Speed ◽  
Heart Rate Response ◽  
Half Width ◽  
Full Width ◽  
Tennis Players ◽  
Low Speed ◽  
High Speeds

The purpose of this study was to compare the oxygen uptake of various on-court tennis drills. Eleven tennis players were monitored with a portable metabolic device to measure oxygen uptake of 6 different tennis drills at low and high speeds. The 6 drills were done with or without striking the ball, over half or full-width of the court, in attack or defense mode, using forehand or backhand strokes. Oxygen uptake values (mean ± SD) ranged from 33.8 ± 4.2 to 42.3 ± 5.1 mL·kg–1·min–1 when running at low speed on the full-width court in defense mode without striking the ball and when running at high speed on the full-width court in attack mode while striking the ball, respectively. Specific differences were observed. Attacking mode requires 6.5% more energy than defensive playing mode. Backhand strokes demand 7% more energy at low speed than forehand ones. Running and striking the ball costs 10% more energy than running without striking the ball. While striking the ball, shuttle running on half-width court costs 14% more energy than running on full-width courts. The specificity of the oxygen uptake responses obtained for these various tennis drills gives an improved representation of their energy cost and could be used to optimize training loads.

scholarly journals Receding-Horizon Vision Guidance with Smooth Trajectory Blending in the Field of View of Mobile Robots

2020 ◽  
Vol 10 (2) ◽  
pp. 676
Author(s):  
Xing Wu ◽  
Jorge Angeles ◽  
Ting Zou ◽  
Chao Sun ◽  
Qi Sun ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
High Speed ◽  
Inverse Dynamics ◽  
Path Tracking ◽  
Torque Control ◽  
Field Of View ◽  
Mobile Robot Navigation ◽  
Receding Horizon ◽  
Vision Guidance

Applying computer vision to mobile robot navigation has been studied for over two decades. One of the most challenging problems for a vision-based mobile robot involves accurately and stably tracking a guide path in the robot limited field of view under high-speed manoeuvres. Pure pursuit controllers are a prevalent class of path tracking algorithms for mobile robots, while their performance is rather limited to relatively low speeds. In order to cope with the demands of high-speed manoeuvres, a multi-loop receding-horizon control framework, including path tracking, robot control, and drive control, is proposed in this paper. This is done within the vision guidance of differential-driving wheeled mobile robots (DWMRs). Lamé curves are used to synthesize a trajectory with G 2 -continuity in the field of view of the mobile robot for path tracking, from its current posture towards the guide path. The platform twist—point velocity and angular velocity—is calculated according to the curvature of the Lamé-curve trajectory, then transformed into actuated joint rates by means of the inverse-kinematics model; finally, the motor torques needed by the driving wheels are obtained based on the inverse-dynamics model. The whole multi-loop control process, initiated from Lamé-curve blending to computational torque control, is conducted iteratively by means of receding-horizon guidance to robustly drive the mobile robot manoeuvring close to the guide path. The results of numerical simulation show the effectiveness of our approach.

Factors Affecting Classification of Road Segments into High- and Low-Speed Collision Regimes

2017 ◽  
Vol 2659 (1) ◽  
pp. 98-105
Author(s):  
Suliman Gargoum ◽  
Yang Li ◽  
Karim El-Basyouny ◽  
Amy Kim
Keyword(s):  
High Speed ◽  
Site Classification ◽  
Heavy Vehicles ◽  
Factors Affecting ◽  
Low Speed ◽  
High Speeds ◽  
Using Data ◽  
High Level ◽  
A Site

The safety of locations operating under high-speed conditions could significantly differ from that of locations operating under low-speed conditions. Therefore, different approaches must be adopted when speed and safety are analyzed and managed at locations operating under different regimes. However, it is necessary first to understand the factors affecting the speed–collision classification of a site. Locations operating under high speeds are typically expected to have more collisions compared with locations in which speeds are low. Some locations, however, might experience a high collision rate even when speeds are low, or vice versa. This study aimed to identify the factors that affected the site classification into any of those categories by using data collected on roads in Edmonton, Alberta, Canada. Locations were divided into four speed–collision bins (high collision, high speed; high collision, low speed; low collision, high speed; low collision, low speed), and geographic information system maps of locations were produced to explore the spatial distribution of those locations. Moreover, logistic regression was used to understand the role of different factors in identifying the speed–collision bin to which a certain location belonged. The results reveal that locations with high collision rates but low speeds have a relatively high population of heavy vehicles and trucks as well as high speed variability. As for locations with low collision rates and high speeds, these sites were found to have a high level of protection through the presence of medians and shoulders with relatively low access density.

scholarly journals Contributions to the development of search and rescue mobile robots

2021 ◽  
Vol 343 ◽  
pp. 08016
Author(s):  
Marton Gyarmati ◽  
Mihai Olimpiu Tătar ◽  
Francisc Kadar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Lessons Learned ◽  
Search And Rescue ◽  
Fourth Section ◽  
The Third ◽  
Locomotion System ◽  
Physical Experiments ◽  
Hybrid Locomotion ◽  
And Control

In this paper the authors present contributions to the development of search and rescue mobile robots. The first part of the paper describes the characteristics of search and rescue field. In the second part the authors presented the development and construction of an experimental prototype focusing on the locomotion systems for the search and rescue field and the results of the physical experiments done and the design and development of a proposed search and rescue mobile robot based on the lessons learned from the experiments. The third part contains the operation and control of the robot. The fourth section presents the simulation of the hybrid locomotion system of the proposed search and rescue mobile robot. The last part of the paper contains the development directions and conclusions.

Mechatronic Design of Mobile Robots for Stable Obstacle Crossing at Low and High Speeds

2017 ◽  
pp. 759-821
Author(s):  
Jean-Christophe Fauroux ◽  
Frédéric Chapelle ◽  
Belhassen-Chedli Bouzgarrou ◽  
Philippe Vaslin ◽  
Mohamed Krid ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Obstacle Crossing ◽  
Mechatronic Design ◽  
High Speeds

Agile Wheeled Mobile Robots for Service in Natural Environment

2012 ◽  
pp. 295-337 ◽  
Author(s):  
Jean-Christophe Fauroux ◽  
Belhassen-Chedli Bouzgarrou ◽  
Nicolas Bouton ◽  
Philippe Vaslin ◽  
Roland Lenain ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Dynamic Stability ◽  
Natural Environment ◽  
High Speed ◽  
Lateral Stability ◽  
Vehicle Dynamic ◽  
Wheeled Mobile Robots ◽  
Obstacle Crossing ◽  
New Device ◽  
Rollover Prevention

Other advances deal with high-speed motion. Section 4 describes a new device dedicated to vehicle dynamic stability, which improves lateral stability on fast mobile robots during turns and contributes to rollover prevention. Finally, Section 5 introduces innovative suspensions with two DOF for fast obstacle crossing. They damp vertical shocks, such as ordinary suspensions, but also horizontal ones, contributing to tip-over prevention on irregular grounds that feature many steep obstacles.

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