Positioning and Path Planning for a Swarm Robotic Cleaner

2013 ◽  
Vol 740 ◽  
pp. 112-119 ◽  
Author(s):  
Min Chie Chiu ◽  
Long Jyi Yeh ◽  
Tian Syung Lan ◽  
Shao Chun Yen
Keyword(s):  
Path Planning ◽  
Sweeping Process ◽  
Motor Speed ◽  
Single Chip ◽  
Clockwise Rotation ◽  
Robot System ◽  
Swarm Robot ◽  
Searching Method ◽  
Environmental Map ◽  
Blue Tooth

The main purpose of this paper is to create an efficient ground-sweeping robot equipped with map-establishing and path-planning functions. Two ground-sweeping robots are connected with a master pc via a Blue-tooth protocol. The position of the ground-sweeping robot will be sent back to the master pc allowing the master pc to control the robots during the ground-sweeping process. An environmental map of the sweeping area will be established by emitting an ultrasonic wave from a rotating ultrasonic sensor within the robot. The geometry data will be sent back to the master pc via the Bluetooth module. The map of sweeping area will be made by the master pc using a wall-searching method. A single-chip Microcontroller PIC18F4520 is used as a control core to control the motor speed via the PWM in the robot. The clockwise and counter clockwise rotation of the motor will then be manipulated by a TA7279 IC. The robot is equipped with two ultrasonic modules used to detect the distance between the robot and the obstacle. This information will be sent back to the master pc via the Blue-tooth module. Consequently, results reveal that a prototype of the swarm robot system using two ground-sweeping robots and a master pc has positioning and mapping abilities.

scholarly journals Research Progress on Synergistic Technologies of Agricultural Multi-Robots

2021 ◽  
Vol 11 (4) ◽  
pp. 1448
Author(s):  
Wenju Mao ◽  
Zhijie Liu ◽  
Heng Liu ◽  
Fuzeng Yang ◽  
Meirong Wang
Keyword(s):  
Path Planning ◽  
Formation Control ◽  
Research Progress ◽  
Hybrid Architecture ◽  
Labor Costs ◽  
Robot System ◽  
System Architectures ◽  
Research Results ◽  
Robot Systems ◽  
Multi Robot

Multi-robots have shown good application prospects in agricultural production. Studying the synergistic technologies of agricultural multi-robots can not only improve the efficiency of the overall robot system and meet the needs of precision farming but also solve the problems of decreasing effective labor supply and increasing labor costs in agriculture. Therefore, starting from the point of view of an agricultural multiple robot system architectures, this paper reviews the representative research results of five synergistic technologies of agricultural multi-robots in recent years, namely, environment perception, task allocation, path planning, formation control, and communication, and summarizes the technological progress and development characteristics of these five technologies. Finally, because of these development characteristics, it is shown that the trends and research focus for agricultural multi-robots are to optimize the existing technologies and apply them to a variety of agricultural multi-robots, such as building a hybrid architecture of multi-robot systems, SLAM (simultaneous localization and mapping), cooperation learning of robots, hybrid path planning and formation reconstruction. While synergistic technologies of agricultural multi-robots are extremely challenging in production, in combination with previous research results for real agricultural multi-robots and social development demand, we conclude that it is realistic to expect automated multi-robot systems in the future.

scholarly journals Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-12 ◽  
Author(s):  
Lufeng Luo ◽  
Hanjin Wen ◽  
Qinghua Lu ◽  
Haojie Huang ◽  
Weilin Chen ◽  
...  
Keyword(s):  
Path Planning ◽  
Potential Field ◽  
Test System ◽  
Planning Method ◽  
Artificial Potential Field ◽  
Optimal Method ◽  
Planning Algorithm ◽  
Six Dof ◽  
Searching Method ◽  
Harvesting Robot

Collision-free autonomous path planning under a dynamic and uncertainty vineyard environment is the most important issue which needs to be resolved firstly in the process of improving robotic harvesting manipulator intelligence. We present and apply energy optimal and artificial potential field to develop a path planning method for six degree of freedom (DOF) serial harvesting robot under dynamic uncertain environment. Firstly, the kinematical model of Six-DOF serial manipulator was constructed by using the Denavit-Hartenberg (D-H) method. The model of obstacles was defined by axis-aligned bounding box, and then the configuration space of harvesting robot was described by combining the obstacles and arm space of robot. Secondly, the harvesting sequence in path planning was computed by energy optimal method, and the anticollision path points were automatically generated based on the artificial potential field and sampling searching method. Finally, to verify and test the proposed path planning algorithm, a virtual test system based on virtual reality was developed. After obtaining the space coordinates of grape picking point and anticollision bounding volume, the path points were drew out by the proposed method. 10 times picking tests for grape anticollision path planning were implemented on the developed simulation system, and the success rate was up to 90%. The results showed that the proposed path planning method can be used to the harvesting robot.

Research on the Algorithm of Measurement Path Planning for Inner Wall of Air-Intake Pipe Based on Spraying Robot System

2017 ◽  
Vol 31 (09) ◽  
pp. 1759018 ◽  
Author(s):  
Zhiqiang Chao ◽  
Fei Wang ◽  
Chuanqing Zhang ◽  
Huaying Li ◽  
Feng Wang
Keyword(s):  
Path Planning ◽  
Plane Curve ◽  
Displacement Sensor ◽  
Sensor Technology ◽  
Arc Length ◽  
Robot System ◽  
Intake Pipe ◽  
Different Types ◽  
Air Intake ◽  
Measurement Path

To solve the problems with spraying over the inner wall of air-intake pipe, this paper introduces an algorithm of measurement path planning based on the spraying robot system and the laser displacement sensor technology. Scanning measurement path planning is the premise and basis of model construction and spray. Traditional methods, such as arc length extrapolation and polynomial are applicable only for the measurement of a plane curve with finite maximum curvature. Drawing references from existing method, this paper focuses on the pre-scanning measurement method for different types of cross-section curves. Algorithm simulation and model reconstruction show that this study solves the problem of collision avoidance for scanning measurement of the inner wall of air-intake pipe.

A swarm robot system that maintains welding cables in optimized shape by cooperative towing

2021 ◽  
Vol 2021 (0) ◽  
pp. 1P2-F04
Author(s):  
Ryota SUZUKI ◽  
Yoshito OKADA ◽  
Haruhiko ETO ◽  
Kazunori OHNO ◽  
Kenjiro TADAKUMA ◽  
...  
Keyword(s):  
Robot System ◽  
Swarm Robot

Path Planning for Vehicle-borne System Consisting of Multi Air–ground Robots

Robotica ◽  
2019 ◽  
Vol 38 (3) ◽  
pp. 493-511 ◽  
Author(s):  
Yang Chen ◽  
Shiwen Ren ◽  
Zhihuan Chen ◽  
Mengqing Chen ◽  
Huaiyu Wu
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Maximum Speed ◽  
Planning Problem ◽  
Robot System ◽  
Ground Vehicle ◽  
Dynamic Constraints ◽  
Charging Time ◽  
Path Planning Problem ◽  
Flying Robots

SummaryThis paper considers the path planning problem for deployment and collection of a marsupial vehicle system which consists of a ground mobile robot and two aerial flying robots. The ground mobile robot, usually unmanned ground vehicle (UGV), as a carrier, is able to deploy and harvest the aerial flying robots, and each aerial flying robot, usually unmanned aerial vehicles (UAVs), takes off from and lands on the carrier. At the same time, owing to the limited duration in the air in one flight, UAVs should return to the ground mobile robot timely for its energy-saving and recharge. This work is motivated by cooperative search and reconnaissance missions in the field of heterogeneous robot system. Especially, some targets with given positions are assumed to be visited by any of the UAVs. For the cooperative path planning problem, this paper establishes a mathematical model to solve the path of two UAVs and UGV. Many real constraints including the maximum speed of two UAVs and UGV, the minimum charging time of two UAVs, the maximum hovering time of UAVs, and the dynamic constraints among UAVs and UGV are considered. The objective function is constructed by minimizing the time for completing the whole mission. Finally, the path planning problem of the robot system is transformed into a multi-constrained optimization problem, and then the particle swarm optimization algorithm is used to obtain the path planning results. Simulations and comparisons verify the feasibility and effectiveness of the proposed method.

Study on the Temperature and Speed Test System

2012 ◽  
Vol 590 ◽  
pp. 333-336
Author(s):  
Qian Zhao ◽  
Shan Zhen Xu ◽  
Qi Chen ◽  
Cheng Wang
Keyword(s):  
Signal Processing ◽  
Data Acquisition ◽  
Data Acquisition System ◽  
Test System ◽  
Acquisition System ◽  
Motor Speed ◽  
Single Chip ◽  
Single Chip Microcomputer ◽  
Signal Processing Circuit ◽  
Processing Circuit

A kind of multiple parameter data acquisition system was designed based on single-chip microcomputer which can realized the data acquisition of temperature and DC motor speed. The data acquisition system consists of sensor, signal processing circuit, single-chip microcomputer and LED digital tube. The speed signal is acquired by photoelectric sensor, put into the Single-chip microcomputer processed after processed by signal processing circuit, and displayed the value in the digital tubes. The temperature signal is acquired by digital sensor, and the Single-chip microcomputer can read the data directly. Through two independent keyboards, the test system realized the data acquisition and data switch displaying of the multiple parameters.

Four-Rotor Autonomous Vehicle

2014 ◽  
Vol 505-506 ◽  
pp. 286-291
Author(s):  
Shu Yun Wu ◽  
Xu Hao Lv
Keyword(s):  
Flight Control ◽  
Autonomous Vehicle ◽  
Computer Control ◽  
Control Unit ◽  
Micro Air Vehicles ◽  
Motor Speed ◽  
Single Chip ◽  
Flight Mode ◽  
Reliable Performance ◽  
Control Flight

Four rotary-wing micro air vehicles use four motors as the power unit, by adjusting the motor speed control flight of underactuated systems [. In order to achieve four-rotor autonomous vehicle autonomous flight control, preliminary design of flight control system, and use F5F100LEA single-chip as computer control unit, Proposed the flight system hardware design. Vehicle has the advantages of light weight, small size, low power consumption. After several laboratory tests, the design and reliable performance, to meet the aircraft take off, hover, landing flight mode control requirements.

Sharing Experience for Behavior Generation of Real Swarm Robot Systems Using Deep Reinforcement Learning

2019 ◽  
Vol 31 (4) ◽  
pp. 520-525 ◽  
Author(s):  
Toshiyuki Yasuda ◽  
Kazuhiro Ohkura ◽  
◽  
Keyword(s):  
Reinforcement Learning ◽  
Collective Behavior ◽  
Design Methodology ◽  
Learning Performance ◽  
Centralized Control ◽  
Robot System ◽  
Swarm Robots ◽  
Robot Systems ◽  
Swarm Robot ◽  
Typical Design

Swarm robotic systems (SRSs) are a type of multi-robot system in which robots operate without any form of centralized control. The typical design methodology for SRSs comprises a behavior-based approach, where the desired collective behavior is obtained manually by designing the behavior of individual robots in advance. In contrast, in an automatic design approach, a certain general methodology is adopted. This paper presents a deep reinforcement learning approach for collective behavior acquisition of SRSs. The swarm robots are expected to collect information in parallel and share their experience for accelerating their learning. We conducted real swarm robot experiments and evaluated the learning performance of the swarm in a scenario where the robots consecutively traveled between two landmarks.

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