An Experimental Autonomous Path Tracking Mobile Robot

2009 ◽  
Vol 62-64 ◽  
pp. 181-186 ◽  
Author(s):  
Hasitha M. B. Senanayake ◽  
Olaitan Akinsanmi ◽  
Muhammed Bashir Mu’azu
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Optical Sensors ◽  
Low Cost ◽  
Path Tracking ◽  
Detection And Tracking ◽  
Embedded Controller ◽  
Important Notion ◽  
Path Detection

Autonomous Vehicular Navigation poses interesting challenges and, Automatically Guided Vehicle (AGV) Path Tracking presents an important notion in real-time Mechatronics applications. This paper describes the design of a Path Tracking Automatically Guided Vehicle that is capable of autonomously navigating a predefined path on a level navigating plane and, the designed AGV successfully completed a 3.42 meter test course in precisely 2 minutes 16 seconds. The AGV comprises a PIC16F84A microcontroller utilized as an embedded controller and, an array of Infrared reflective optical sensors to enable path detection and tracking. Among the primary objectives of the design that were achieved was to design the low-cost mobile robot from component parts sourced locally, from within Nigeria.

scholarly journals Thermal Modulation of a High-Bandwidth Gas Sensor Array in Real-Time for Application on a Mobile Robot

Proceedings ◽  
2018 ◽  
Vol 2 (13) ◽  
pp. 858 ◽  
Author(s):  
Timothy A. Vincent ◽  
Yuxin Xing ◽  
Marina Cole ◽  
Julian W. Gardner
Keyword(s):  
Signal Processing ◽  
Mobile Robot ◽  
Real Time ◽  
Low Cost ◽  
Processing Technique ◽  
Signal Processing Technique ◽  
Baseline Drift ◽  
Gas Sensor Array ◽  
Sensor Module ◽  
High Bandwidth

A new signal processing technique has been developed for resistive metal oxide (MOX) gas sensors to enable high-bandwidth measurements and enhanced selectivity at PPM levels (<50 PPM VOCs). An embedded micro-heater is thermally pulsed from 225 to 350 °C, which enables the chemical reactions in the sensor film (e.g., SnO2, WO3, NiO) to be extracted using a fast Fourier transform. Signal processing is performed in real-time using a low-cost microcontroller integrated into a sensor module. The approach enables the remove of baseline drift and is resilient to environmental temperature changes. Bench-top experimental results are presented for 50 to 200 ppm of ethanol and CO, which demonstrate our sensor system can be used within a mobile robot.

TRACKING HUMAN MOTION FROM MONOCULAR SEQUENCES

2008 ◽  
Vol 08 (03) ◽  
pp. 455-471 ◽  
Author(s):  
LAURO SNIDARO ◽  
GIAN LUCA FORESTI ◽  
LUCA CHITTARO
Keyword(s):  
Real Time ◽  
Low Cost ◽  
Digital Camera ◽  
Human Motion ◽  
Movie Industry ◽  
Sources Of Information ◽  
Robust Detection ◽  
Detection And Tracking ◽  
Novel Approach ◽  
Body Joints

In recent years, analysis of human motion has become an increasingly relevant research topic with applications as diverse as animation, virtual reality, security, and advanced human-machine interfaces. In particular, motion capture systems are well known nowadays since they are used in the movie industry. These systems require expensive multi-camera setups or markers to be worn by the user. This paper describes an attempt to provide a markerless low cost and real-time solution for home users. We propose a novel approach for robust detection and tracking of the user's body joints that exploits different algorithms as different sources of information and fuses their estimates with particle filters. This system may be employed for real-time animation of VRML or X3D avatars using an off-the-shelf digital camera and a standard PC.

Real-time mobile robot navigation based on stereo vision and low-cost GPS

2017 ◽  
Vol 2017 (9) ◽  
pp. 10-15 ◽  
Author(s):  
Soonhac Hong ◽  
Ming Li ◽  
Miao Liao ◽  
Peter van Beek
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Stereo Vision ◽  
Robot Navigation ◽  
Low Cost ◽  
Mobile Robot Navigation

scholarly journals Network-Oriented Real-Time Embedded System Considering Synchronous Joint Space Motion for an Omnidirectional Mobile Robot

Electronics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 317 ◽  
Author(s):  
Raimarius Delgado ◽  
Byoung Choi
Keyword(s):  
Mobile Robot ◽  
Embedded System ◽  
Real Time ◽  
Low Cost ◽  
Joint Space ◽  
Geometric Constraints ◽  
Real Time Control ◽  
Synchronization Mechanism ◽  
Omnidirectional Mobile Robot ◽  
Time Control

This paper proposes a real-time embedded system for joint space control of omnidirectional mobile robots. Actuators driving an omnidirectional mobile robot are connected in a line topology which requires synchronization to move simultaneously in translation and rotation. We employ EtherCAT, a real-time Ethernet network, to control servo controllers for the mobile robot. The first part of this study focuses on the design of a low-cost embedded system utilizing an open-source EtherCAT master. Although satisfying real-time constraints is critical, a desired trajectory on the center of the mobile robot should be decomposed into the joint space to drive the servo controllers. For the center of the robot, a convolution-based path planner and a corresponding joint space control algorithm are presented considering its physical limits. To avoid obstacles that introduce geometric constraints on the curved path, a trajectory generation algorithm considering high curvature turning points is adapted for an omnidirectional mobile robot. Tracking a high curvature path increases mathematical complexity, which requires precise synchronization between the actuators of the mobile robot. An improvement of the distributed clock—the synchronization mechanism of EtherCAT for slaves—is presented and applied to the joint controllers of the mobile robot. The local time of the EtherCAT master is dynamically adjusted according to the drift of the reference slave, which minimizes the synchronization error between each joint. Experiments are conducted on our own developed four-wheeled omnidirectional mobile robot. The experiment results confirm that the proposed system is very effective in real-time control applications for precise motion control of the robot even for tracking high curvature paths.

scholarly journals Real-Time NDVI Measurement Using a Low-Cost Panchromatic Sensor for a Mobile Robot Platform

2010 ◽  
Vol 48 (2) ◽  
pp. 73-79 ◽  
Author(s):  
Bin ZHAO ◽  
Lei TIAN ◽  
Tofael AHAMED
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Low Cost ◽  
Robot Platform
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