Using LOG Method to Measure Errors of Mobile Robots' Location

2013 ◽  
Vol 339 ◽  
pp. 205-210
Author(s):  
Tsing Tshih Tsung ◽  
Yu Chieh Chang ◽  
Tien Li Chen
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Laser Pointer ◽  
Force Modeling ◽  
Dc Motors ◽  
Innovative Method ◽  
Moving Platform ◽  
Precision And Accuracy ◽  
Mecanum Wheel ◽  
Set Up

This paper presents an innovative Method to Measure Errors Of Mobile Robots Location. The innovative method is composed of a Laser pointer with Optical cross mark and a Grid paper (LOG method). The errors of a mobile robots location are included the precision and accuracy of the translation and rotation. Using the measured errors, the performance of a mobile robot can be evaluated. The Mecanum wheel is a conventional wheel with a series of rollers attached to its circumference and can move in any direction. In this research, the three encoders are used on a mobile robot with three Mecanum wheels. The three Mecanum wheels are mounted on the robot round frame as a base of the moving platform. Mecanum wheels are independently powered using three units of precisian gear DC motors and the wheel/motor assemblies were mounted directly to the robot round frame. The slip occurs always by the rollers attached to conventional wheel's circumference. The force modeling and the innovative evaluating system for the precision and accuracy of the translation and rotation is focused on this research. By using a laser pointer with cross optical mark and a sheet of mm grid paper on the mobile robot, a fast and stable testing set up for the precision and accuracy of the translation and rotation is build. Through LOG method, and according certain testing process the precision and accuracy of the translation and rotation of a mobile robot can be fast evaluated and analyzed, respectively. The experiment result shows that the mobile robot moves sideways the distance from 0.25m to1.5m at the speed 1m/s fast, stable and easily to finish. The error of translation and rotation of the mobile robot can be fast determined respectively. And the performance of a mobile robot can be fast evaluated by every run at the stop localization immediately.

The Disturbance of Inductive Proximity Sensor for Mobile Robot

2014 ◽  
Vol 1079-1080 ◽  
pp. 909-912 ◽  
Author(s):  
Tsing Tshih Tsung ◽  
Thi Khanh Tang ◽  
Nguyen Hoai
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Ferrous Metal ◽  
Sheet Thickness ◽  
Negative Effects ◽  
Proximity Sensor ◽  
Position Detection ◽  
Set Up ◽  
Metal Tape

Non-contactingproximity sensors are widely promoted for position detection through determiningthe distance between sensor and object. Besides, the usage of non-contactinginductive proximity sensors for object detections such as finding non-ferrousand ferrous metal tape is the popular technique in mobile robots. Most of thetechnology uses simple HF- oscillation principle as an inductive proximitysensor (IPS) with a decrease in the quality of the oscillator circuit’selectromagnetic to find the tape. By applying this technique, the externalfactors may cause negative effects to systemperformance. To overcome this situation, we set up a hand measurement withinductive proximity sensors and two tapes, meanwhile main tape and disturbingtape are separated by an obstruction sheet. After measuring, dataresults are used to analyze the influence of the obstruction sheet thickness anddisturbance tape to the noise in received signals. The research isthe fundament for further applications, based on inductive proximity sensor formobile robot that could be more robust against noises and disturbances.

Application of Mobile Robots to Linear Control Theory Education

2020 ◽  
Vol 1 (3) ◽  
Author(s):  
Satoko Yamakawa
Keyword(s):  
Control Theory ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Control Systems ◽  
Linearization Method ◽  
Linear Control ◽  
Linear Control Systems ◽  
Control Engineering ◽  
Linear Control Theory ◽  
Dc Motors

Abstract The knowledge of control engineering for mechanical engineers seems to become more important with the continuous development of automated technologies. To cultivate this knowledge, many experimental devices have been proposed and used. Devices with direct current (DC) motors are widely used because the DC motors can be controlled with sufficient accuracy based on the classical linear control theory. Mobile robots are used as educational platforms attracting the attention of students in various problem-based learning subjects. However, they have been hardly used to teach linear control theory because of the nonlinearity. This paper shows an experimental curriculum to learn control theory using a mobile robot instead of a motor. Although the model of the mobile robot is nonlinear, a strict linearization method makes it possible to adjust the control gains using the linear control theory. By applying the method, the characteristics of linear control systems are explicitly observed in the traveling paths of the mobile robot, so an experimental curriculum to learn the basic linear control theory can be realized using an inexpensive mobile robot. The proposed experimental curriculum was carried out in a class of a mechanical engineering course, and its results are discussed in this paper.

scholarly journals Development of Four Kinds of Mobile Robot with Preliminary-Announcement and Indication Function of Upcoming Operation

2007 ◽  
Vol 19 (2) ◽  
pp. 148-159 ◽  
Author(s):  
Takafumi Matsumaru ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Two Dimensional ◽  
Flat Panel Display ◽  
Laser Pointer ◽  
Flat Panel ◽  
Future Time ◽  
Evaluation Score ◽  
Gender And Age ◽  
Direction Of Movement

We propose approaches and equipment for preliminarily announcing and indicating to people the speed and direction of movement of mobile robots moving on a two-dimensional plane. We introduce the four approaches categorized into (1) announcing the state just after the present and (2) indicating operations from the present to some future time continuously. To realize the approaches, we use omni-directional display (PMR-2), flat-panel display (PMR-6), laser pointer (PMR-1), and projection equipment (PMR-5) for the announcement unit of protobots. The four protobots were exhibited at the 2005 International Robot Exhibition (iREX05). We had visitors answer questionnaires in a 5-stage evaluation. The projector robot PMR-5 received the highest evaluation score among the four. An examination of differences by gender and age suggested that some people prefer simple information, friendly expressions, and a minimum of information to be presented at one time.

scholarly journals The Mobile Robot Control in Obstacle Avoidance Using Fuzzy Logic Controller

2020 ◽  
Vol 5 (3) ◽  
pp. 334-351
Author(s):  
M. Khairudin ◽  
R. Refalda ◽  
S. Yatmono ◽  
H. S. Pramono ◽  
A. K. Triatmaja ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Obstacle Avoidance ◽  
Experimental Work ◽  
Fuzzy Logic Controller ◽  
Input Voltage ◽  
Robot System ◽  
Dc Motors ◽  
Robot Systems

A very challenging problem in mobile robot systems is mostly in obstacle avoidance strategies. This study aims to describe how the obstacle avoidance system on mobile robots works. This system is designed automatically using fuzzy logic control (FLC) developed using Matlab to help the mobile robots to avoid a head-on collision. The FLC designs were simulated on the mobile robot system. The simulation was conducted by comparing FLC performance to the proportional integral derivative (PID) controller. The simulation results indicate that FLC works better with lower settling time performance. To validate the results, FLC was used in a mobile robot system. It shows that FLC can control the velocity by braking or accelerating according to the sensor input installed in front of the mobile robot. The FLC control system functions as ultrasonic sensor input or a distance sensor. The input voltage was simulated with the potentiometer, whereas the output was shown by the velocity of DC motor. This study employed the simulation work in Simulink and Matlab, while the experimental work used laboratory scale of mobile robots. The results show that the velocity control of DC motors with FLC produces accurate data, so the robot could avoid the existing obstacles. The findings indicate that the simulation and the experimental work of FLC for mobile robot in obstacle avoidance are very close.

Stair Climbing of a Track-Driven Mobile Robot with Flipper Arm

2013 ◽  
Vol 393 ◽  
pp. 586-591
Author(s):  
Khairul Azmi Mahadhir ◽  
Cheng Yee Low ◽  
Hizzul Hamli ◽  
Ahmed Jaffar ◽  
Elwan Salleh ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Real Time ◽  
Pid Controller ◽  
Closed Loop ◽  
Stair Climbing ◽  
Matlab Simulink ◽  
Dc Motors

On both natural and manmade terrains, the maneuverability of mobile robots has been improving. Nevertheless, stair climbing remains a challenging functionality for mobile robots. In this paper, a step-by-step stair climbing approach is proposed for a track-driven mobile robot equipped with flipper arms. The flipper arms are actuated by DC motors controlled by PID controller. Potentiometers and rotary encoders are used to provide closed loop feedbacks. Executable codes are generated using Real-Time Workshop of MATLAB/Simulink. The reference angles to be followed by the flipper arm in stair climbing are emulated and verified by real time experiments.

scholarly journals Path tracking mobile robot using steppers

2019 ◽  
Vol 87 ◽  
pp. 01028
Author(s):  
Ankit Deo ◽  
Ayush Gupta ◽  
Himanshu Khemani ◽  
Rashmi Ranjan Das
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Control Algorithm ◽  
Path Tracking ◽  
3D Mapping ◽  
Precise Control ◽  
Dc Motors ◽  
Wheeled Robot ◽  
Stepper Motors

In control of mobile robots, precision plays a key role in path tracking. In this paper we have intended to use hybrid stepper motors for precise control of the two wheeled robot. A control algorithm was developed to control the robot along different trajectories. We have found that stepper motors are more accurate for path tracking than normal DC motors with wheel encoders and one can obtain the implicit coordinates of the robot in runtime more precisely. Getting the precise coordinates of the robot at runtime can be used in various SLAM and VSLAM techniques for more accurate 3D mapping of the environment.

A Mobile Robot with Modified Mecanum Wheels

2014 ◽  
Vol 1036 ◽  
pp. 775-780 ◽  
Author(s):  
Ionel Conduraru ◽  
Ioan Doroftei ◽  
Alina Conduraru Slatineanu
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Mechanical Design ◽  
Wheeled Robots ◽  
Mecanum Wheel

Mobile robots applications are demanding them to move in tight areas, to avoid obstacles, finding their way to the next location. In the case of wheeled robots, these abilities mainly depend on the wheels design. A mobile robot with omni-directional capabilities is very attractive because it guarantees a very good mobility in such cases, being able to move instantaneously in any direction from any configuration. These capabilities mainly depend on the wheels design. This paper provides some information about the mechanical design of an omni-directional mobile robot with modified Mecanum wheel, as well as about its control.

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 Practical Model for Energy Consumption Analysis of Omnidirectional Mobile Robot

Sensors ◽  
2021 ◽  
Vol 21 (5) ◽  
pp. 1800
Author(s):  
Linfei Hou ◽  
Fengyu Zhou ◽  
Kiwan Kim ◽  
Liang Zhang
Keyword(s):  
Energy Consumption ◽  
Power Consumption ◽  
Mobile Robot ◽  
Load Capacity ◽  
Working Environment ◽  
Energy Consumption Analysis ◽  
Mecanum Wheel ◽  
Save Energy ◽  
Energy Consumption Modeling ◽  
Robot Platform

The four-wheeled Mecanum robot is widely used in various industries due to its maneuverability and strong load capacity, which is suitable for performing precise transportation tasks in a narrow environment. While the Mecanum wheel robot has mobility, it also consumes more energy than ordinary robots. The power consumed by the Mecanum wheel mobile robot varies enormously depending on their operating regimes and environments. Therefore, only knowing the working environment of the robot and the accurate power consumption model can we accurately predict the power consumption of the robot. In order to increase the applicable scenarios of energy consumption modeling for Mecanum wheel robots and improve the accuracy of energy consumption modeling, this paper focuses on various factors that affect the energy consumption of the Mecanum wheel robot, such as motor temperature, terrain, the center of gravity position, etc. The model is derived from the kinematic and kinetic model combined with electrical engineering and energy flow principles. The model has been simulated in MATLAB and experimentally validated with the four-wheeled Mecanum robot platform in our lab. Experimental results show that the accuracy of the model reached 95%. The results of energy consumption modeling can help robots save energy by helping them to perform rational path planning and task planning.

Vision for mobile robots

1992 ◽  
Vol 337 (1281) ◽  
pp. 341-350 ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Structure From Motion ◽  
Optic Flow ◽  
Image Sequences ◽  
Additional Constraint ◽  
Feature Points ◽  
Scene Structure ◽  
Corner Points ◽  
Edge Points

Localized feature points, particularly corners, can be computed rapidly and reliably in images, and they are stable over image sequences. Corner points provide more constraint than edge points, and this additional constraint can be propagated effectively from corners along edges. Implemented algorithms are described to compute optic flow and to determine scene structure for a mobile robot using stereo or structure from motion. It is argued that a mobile robot may not need to compute depth explicitly in order to navigate effectively.

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