WorldWideScience

Sample records for autonomous mobile robot

  1. Autonomous mobile robot teams

    Science.gov (United States)

    Agah, Arvin; Bekey, George A.

    1994-01-01

    This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

  2. Autonomous Mobile Robots.

    Science.gov (United States)

    1986-01-30

    The latter corresponds to physicall delimited spaces such as labs or offices, which define a connected region of visibility. Global Alaps are sets...Planning for a Mobile Robot Charles E. Thorpe Computer Science Department, Carnegie-Mellon University Abstrcit Path Relaxation is a method of planning safe...Uncertainty in 3D Stereo Navigation Larry Matthies Computer Science Department Carnegie-Mellon University Abstract 0 We are studying the accuracy with

  3. Autonomous mobile robots: Vehicles with cognitive control

    Energy Technology Data Exchange (ETDEWEB)

    Meystel, A.

    1987-01-01

    This book explores a new rapidly developing area of robotics. It describes the state-of-the-art intelligence control, applied machine intelligence, and research and initial stages of manufacturing of autonomous mobile robots. A complete account of the theoretical and experimental results obtained during the last two decades together with some generalizations on Autonomous Mobile Systems are included in this book. Contents: Introduction; Requirements and Specifications; State-of-the-art in Autonomous Mobile Robots Area; Structure of Intelligent Mobile Autonomous System; Planner, Navigator; Pilot; Cartographer; Actuation Control; Computer Simulation of Autonomous Operation; Testing the Autonomous Mobile Robot; Conclusions; Bibliography.

  4. Plant Watering Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Hema Nagaraja

    2012-07-01

    Full Text Available Now days, due to busy routine life, people forget to water their plants. In this paper, we present a completely autonomous and a cost-effective system for watering indoor potted plants placed on an even surface. The system comprises of a mobile robot and a temperature-humidity sensing module. The system is fully adaptive to any environment and takes into account the watering needs of the plants using the temperature-humidity sensing module. The paper describes the hardware architecture of the fully automated watering system, which uses wireless communication to communicate between the mobile robot and the sensing module. This gardening robot is completely portable and is equipped with a Radio Frequency Identification (RFID module, a microcontroller, an on-board water reservoir and an attached water pump. It is capable of sensing the watering needs of the plants, locating them and finally watering them autonomously without any human intervention. Mobilization of the robot to the potted plant is achieved by using a predefined path. For identification, an RFID tag is attached to each potted plant. The paper also discusses the detailed implementation of the system supported with complete circuitry. Finally, the paper concludes with system performance including the analysis of the water carrying capacity and time requirements to water a set of plants.

  5. Agent-based Multimodal Interface for Dynamically Autonomous Mobile Robots

    Science.gov (United States)

    2003-01-01

    Agent-based Multimodal Interface for Dynamically Autonomous Mobile Robots Donald Sofge, Magdalena Bugajska, William Adams, Dennis...computing paradigm for integrated distributed artificial intelligence systems on autonomous mobile robots (Figure 1). Figure 1 – CoABS Grid...Architecture for Dynamically Autonomous Mobile Robots The remainder of the paper is organized as follows. Section 2 describes our integrated AI

  6. Advanced manipulation for autonomous mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Babcock, S.M.; Hamel, W.R.; Killough, S.M.

    1986-01-01

    This paper describes the development, mechanical configuration, and control system architecture of a lightweight, high performance, seven-degree-of-freedom manipulator at the Center for Engineering Systems Advanced Research (CESAR). Current activities focusing on modeling and parameter identification will provide a well-characterized manipulator for analytical and experimental research in manipulator dynamics and controls, coordinated manipulation, and autonomous mobile robotics.

  7. Autonomous Mobile Robot That Can Read

    Science.gov (United States)

    Létourneau, Dominic; Michaud, François; Valin, Jean-Marc

    2004-12-01

    The ability to read would surely contribute to increased autonomy of mobile robots operating in the real world. The process seems fairly simple: the robot must be capable of acquiring an image of a message to read, extract the characters, and recognize them as symbols, characters, and words. Using an optical Character Recognition algorithm on a mobile robot however brings additional challenges: the robot has to control its position in the world and its pan-tilt-zoom camera to find textual messages to read, potentially having to compensate for its viewpoint of the message, and use the limited onboard processing capabilities to decode the message. The robot also has to deal with variations in lighting conditions. In this paper, we present our approach demonstrating that it is feasible for an autonomous mobile robot to read messages of specific colors and font in real-world conditions. We outline the constraints under which the approach works and present results obtained using a Pioneer 2 robot equipped with a Pentium 233 MHz and a Sony EVI-D30 pan-tilt-zoom camera.

  8. Autonomous Mobile Robot That Can Read

    Directory of Open Access Journals (Sweden)

    Létourneau Dominic

    2004-01-01

    Full Text Available The ability to read would surely contribute to increased autonomy of mobile robots operating in the real world. The process seems fairly simple: the robot must be capable of acquiring an image of a message to read, extract the characters, and recognize them as symbols, characters, and words. Using an optical Character Recognition algorithm on a mobile robot however brings additional challenges: the robot has to control its position in the world and its pan-tilt-zoom camera to find textual messages to read, potentially having to compensate for its viewpoint of the message, and use the limited onboard processing capabilities to decode the message. The robot also has to deal with variations in lighting conditions. In this paper, we present our approach demonstrating that it is feasible for an autonomous mobile robot to read messages of specific colors and font in real-world conditions. We outline the constraints under which the approach works and present results obtained using a Pioneer 2 robot equipped with a Pentium 233 MHz and a Sony EVI-D30 pan-tilt-zoom camera.

  9. Evolutionary neurocontrollers for autonomous mobile robots.

    Science.gov (United States)

    Floreano, D; Mondada, F

    1998-10-01

    In this article we describe a methodology for evolving neurocontrollers of autonomous mobile robots without human intervention. The presentation, which spans from technological and methodological issues to several experimental results on evolution of physical mobile robots, covers both previous and recent work in the attempt to provide a unified picture within which the reader can compare the effects of systematic variations on the experimental settings. After describing some key principles for building mobile robots and tools suitable for experiments in adaptive robotics, we give an overview of different approaches to evolutionary robotics and present our methodology. We start reviewing two basic experiments showing that different environments can shape very different behaviours and neural mechanisms under very similar selection criteria. We then address the issue of incremental evolution in two different experiments from the perspective of changing environments and robot morphologies. Finally, we investigate the possibility of evolving plastic neurocontrollers and analyse an evolved neurocontroller that relies on fast and continuously changing synapses characterized by dynamic stability. We conclude by reviewing the implications of this methodology for engineering, biology, cognitive science and artificial life, and point at future directions of research.

  10. An autonomous vision-based mobile robot

    Science.gov (United States)

    Baumgartner, Eric Thomas

    This dissertation describes estimation and control methods for use in the development of an autonomous mobile robot for structured environments. The navigation of the mobile robot is based on precise estimates of the position and orientation of the robot within its environment. The extended Kalman filter algorithm is used to combine information from the robot's drive wheels with periodic observations of small, wall-mounted, visual cues to produce the precise position and orientation estimates. The visual cues are reliably detected by at least one video camera mounted on the mobile robot. Typical position estimates are accurate to within one inch. A path tracking algorithm is also developed to follow desired reference paths which are taught by a human operator. Because of the time-independence of the tracking algorithm, the speed that the vehicle travels along the reference path is specified independent from the tracking algorithm. The estimation and control methods have been applied successfully to two experimental vehicle systems. Finally, an analysis of the linearized closed-loop control system is performed to study the behavior and the stability of the system as a function of various control parameters.

  11. Behavior-Based Power Management in Autonomous Mobile Robots

    Science.gov (United States)

    2008-03-27

    Behavior-Based Power Management In Autonomous Mobile Robots THESIS Charles A. Fetzek, First Lieutenant, USAF AFIT/GCE/ENG/08-05 DEPARTMENT OF THE AIR...of Defense, or the United States Government. AFIT/GCE/ENG/08-05 Behavior-Based Power Management In Autonomous Mobile Robots THESIS Presented to the...Management In Autonomous Mobile Robots Charles A. Fetzek, B.S.C.E. First Lieutenant, USAF Approved: /signed/ 4 Mar 2008 Dr. Gilbert L. Peterson (Chairman

  12. Experiences in Deploying Test Arenas for Autonomous Mobile Robots

    Science.gov (United States)

    2001-09-01

    Experiences in Deploying Test Arenas for Autonomous Mobile Robots Adam Jacoff, Elena Messina, John Evans Intelligent Systems Division National...test arenas for autonomous mobile robots . The first set of arenas was modeled after the Urban Search and Rescue (USAR) application and was designed to...00-00-2001 to 00-00-2001 4. TITLE AND SUBTITLE Experiences in Deploying Test Arenas for Autonomous Mobile Robots 5a. CONTRACT NUMBER 5b. GRANT

  13. Robots Social Embodiment in Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Brian Duffy

    2008-11-01

    Full Text Available This work aims at demonstrating the inherent advantages of embracing a strong notion of social embodiment in designing a real-world robot control architecture with explicit ?intelligent? social behaviour between a collective of robots. It develops the current thinking on embodiment beyond the physical by demonstrating the importance of social embodiment. A social framework develops the fundamental social attributes found when more than one robot co-inhabit a physical space. The social metaphors of identity, character, stereotypes and roles are presented and implemented within a real-world social robot paradigm in order to facilitate the realisation of explicit social goals.

  14. Autonomous Coordination and Online Motion Modeling for Mobile Robots

    Science.gov (United States)

    2007-09-01

    COORDINATION AND ONLINE MOTION MODELING FOR MOBILE ROBOTS by Eric Sjoberg September 2007 Co-Advisors: Kevin Squire Craig Martell...AND DATES COVERED Master’s Thesis 4. TITLE AND SUBTITLE Autonomous Coordination and Online Motion Modeling for Mobile Robots 6. AUTHOR Eric J...unlimited AUTONOMOUS COORDINATION AND ONLINE MOTION MODELING FOR MOBILE ROBOTS Eric J. Sjoberg Captain, United States Marine Corps B.S

  15. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    Science.gov (United States)

    2005-01-01

    Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots B. Sightsa, H.R. Everetta, E. Biagtan Pacisa, G. Koguta M...TYPE N/A 3. DATES COVERED - 4. TITLE AND SUBTITLE Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots 5a...calculation methods using encoder counts, wheel radius, and the robot’s wheelbase, as described in Sensors For Mobile Robots [5]. On top of this

  16. Autonomous Mobile Robot That Can Read

    OpenAIRE

    Létourneau Dominic; Michaud François; Valin Jean-Marc

    2004-01-01

    The ability to read would surely contribute to increased autonomy of mobile robots operating in the real world. The process seems fairly simple: the robot must be capable of acquiring an image of a message to read, extract the characters, and recognize them as symbols, characters, and words. Using an optical Character Recognition algorithm on a mobile robot however brings additional challenges: the robot has to control its position in the world and its pan-tilt-zoom camera to find textual me...

  17. Reactive navigational controller for autonomous mobile robots

    Science.gov (United States)

    Hawkins, Scott

    1993-12-01

    Autonomous mobile robots must respond to external challenges and threats in real time. One way to satisfy this requirement is to use a fast low level intelligence to react to local environment changes. A fast reactive controller has been implemented which performs the task of real time local navigation by integrating primitive elements of perception, planning, and control. Competing achievement and constraint behaviors are used to allow abstract qualitative specification of navigation goals. An interface is provided to allow a higher level deliberative intelligence with a more global perspective to set local goals for the reactive controller. The reactive controller's simplistic strategies may not always succeed, so a means to monitor and redirect the reactive controller is provided.

  18. Autonomous Deployment and Restoration of Sensor Network using Mobile Robots

    Directory of Open Access Journals (Sweden)

    Tsuyoshi Suzuki

    2010-09-01

    Full Text Available This paper describes an autonomous deployment and restoration of a Wireless Sensor Network (WSN using mobile robots. The authors have been developing an information-gathering system using mobile robots and WSNs in underground spaces in post-disaster environments. In our system, mobile robots carry wireless sensor nodes (SN and deploy them into the environment while measuring Received Signal Strength Indication (RSSI values to ensure communication, thereby enabling the WSN to be deployed and restored autonomously. If the WSN is disrupted, mobile robots restore the communication route by deploying additional or alternate SNs to suitable positions. Utilizing the proposed method, a mobile robot can deploy a WSN and gather environmental information via the WSN. Experimental results using a verification system equipped with a SN deployment and retrieval mechanism are presented.

  19. Sensor Fusion for Autonomous Mobile Robot Navigation

    DEFF Research Database (Denmark)

    Plascencia, Alfredo

    Multi-sensor data fusion is a broad area of constant research which is applied to a wide variety of fields such as the field of mobile robots. Mobile robots are complex systems where the design and implementation of sensor fusion is a complex task. But research applications are explored constantl....... The scope of the thesis is limited to building a map for a laboratory robot by fusing range readings from a sonar array with landmarks extracted from stereo vision images using the (Scale Invariant Feature Transform) SIFT algorithm....

  20. Defining proprioceptive behaviors for autonomous mobile robots

    Science.gov (United States)

    Overholt, James L.; Hudas, Greg R.; Gerhart, Grant R.

    2002-07-01

    Proprioception is a sense of body position and movement that supports the control of many automatic motor functions such as posture and locomotion. This concept, normally relegated to the fields of neural physiology and kinesiology, is being utilized in the field of unmanned mobile robotics. This paper looks at developing proprioceptive behaviors for use in controlling an unmanned ground vehicle. First, we will discuss the field of behavioral control of mobile robots. Next, a discussion of proprioception and the development of proprioceptive sensors will be presented. We will then focus on the development of a unique neural-fuzzy architecture that will be used to incorporate the control behaviors coming directly from the proprioceptive sensors. Finally we will present a simulation experiment where a simple multi-sensor robot, utilizing both external and proprioceptive sensors, is presented with the task of navigating an unknown terrain to a known target position. Results of the mobile robot utilizing this unique fusion methodology will be discussed.

  1. An Autonomous Mobile Robot for Tsukuba Challenge: JW-Future

    Science.gov (United States)

    Fujimoto, Katsuharu; Kaji, Hirotaka; Negoro, Masanori; Yoshida, Makoto; Mizutani, Hiroyuki; Saitou, Tomoya; Nakamura, Katsu

    “Tsukuba Challenge” is the only of its kind to require mobile robots to work autonomously and safely on public walkways. In this paper, we introduce the outline of our robot “JW-Future”, developed for this experiment based on an electric wheel chair. Additionally, the significance of participation to such a technical trial is discussed from the viewpoint of industries.

  2. Object guided autonomous exploration for mobile robots in indoor environments

    Science.gov (United States)

    Nieto-Granda, Carlos; Choudhary, Siddarth; Rogers, John G.; Twigg, Jeff; Murali, Varun; Christensen, Henrik I.

    2014-06-01

    Autonomous mobile robotic teams are increasingly used in exploration of indoor environments. Accurate modeling of the world around the robot and describing the interaction of the robot with the world greatly increases the ability of the robot to act autonomously. This paper demonstrates the ability of autonomous robotic teams to find objects of interest. A novel feature of our approach is the object discovery and the use of it to augment the mapping and navigation process. The generated map can then be decomposed into semantic regions while also considering the distance and line of sight to anchor points. The advantage of this approach is that the robot can return a dense map of the region around an object of interest. The robustness of this approach is demonstrated in indoor environments with multiple platforms with the objective of discovering objects of interest.

  3. An Adaptive Game Algorithm for an Autonomous, Mobile Robot

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg; Bak, Thomas; Risager, Claus

    2012-01-01

    This paper presents a field study of a physical ball game for elderly based on an autonomous, mobile robot. The game algorithm is based on Case Based Reasoning and adjusts the game challenge to the player’s mobility skills by registering the spatio-temporal behaviour of the player using an on boa...

  4. Line and Circle Formation of Distributed Autonomous Mobile Robots with Limited Sensor Range.

    Science.gov (United States)

    1996-06-01

    In the literature, formation problems for idealized distributed autonomous mobile robots were studied. Idealized robots are represented by a...problems of distributed mobile robots that are subjected to physical constraints are addressed. It is assumed that mobile robots have physical...consideration of physical robots and realistic sensors, and are validated through extensive simulations. Formation problems for mobile robots with limited

  5. Towards Principled Experimental Study of Autonomous Mobile Robots

    Science.gov (United States)

    Gat, Erann

    1995-01-01

    We review the current state of research in autonomous mobile robots and conclude that there is an inadequate basis for predicting the reliability and behavior of robots operating in unengineered environments. We present a new approach to the study of autonomous mobile robot performance based on formal statistical analysis of independently reproducible experiments conducted on real robots. Simulators serve as models rather than experimental surrogates. We demonstrate three new results: 1) Two commonly used performance metrics (time and distance) are not as well correlated as is often tacitly assumed. 2) The probability distributions of these performance metrics are exponential rather than normal, and 3) a modular, object-oriented simulation accurately predicts the behavior of the real robot in a statistically significant manner.

  6. Concept of Intelligent Mechanical Design for Autonomous Mobile Robots

    Institute of Scientific and Technical Information of China (English)

    Amir A. F. Nassiraei; Kazuo Ishii

    2007-01-01

    The concept of Intelligent Mechanical Design (IMD) is presented to show how a mechanical structure can be designed to affect robot controllability, simplification and task performance. Exploring this concept produces landmarks in the territory of mechanical robot design in the form of seven design principles. The design principles, which we call the Mecha-Telligence Principles (MTP), provide guidance on how to design mechanics for autonomous mobile robots. These principles guide us to ask the right questions when investigating issues concerning self-controllable, reliable, feasible, and compatible mechanics for autonomous mobile robots. To show how MTP can be applied in the design process we propose a novel methodology, named as Mecha-Telligence Methodology (MTM). Mechanical design by the proposed methodology is based on preference classification of the robot specification described by interaction of the robot with its environment and the physical parameters of the robot mechatronics. After defining new terms, we investigate the feasibility of the proposed methodology to the mechanical design of an autonomous mobile sewer inspection robot. In this industrial project we show how a passive-active intelligent moving mechanism can be designed using the MTM and employed in the field.

  7. Navigation strategies for multiple autonomous mobile robots moving in formation

    Science.gov (United States)

    Wang, P. K. C.

    1991-01-01

    The problem of deriving navigation strategies for a fleet of autonomous mobile robots moving in formation is considered. Here, each robot is represented by a particle with a spherical effective spatial domain and a specified cone of visibility. The global motion of each robot in the world space is described by the equations of motion of the robot's center of mass. First, methods for formation generation are discussed. Then, simple navigation strategies for robots moving in formation are derived. A sufficient condition for the stability of a desired formation pattern for a fleet of robots each equipped with the navigation strategy based on nearest neighbor tracking is developed. The dynamic behavior of robot fleets consisting of three or more robots moving in formation in a plane is studied by means of computer simulation.

  8. Mobile autonomous robotic apparatus for radiologic characterization

    Energy Technology Data Exchange (ETDEWEB)

    Dudar, A.M.; Ward, C.R.; Jones, J.D.; Mallet, W.R.; Harpring, L.J.; Collins, M.X.; Anderson, E.K.

    1999-08-10

    A mobile robotic system is described that conducts radiological surveys to map alpha, beta, and gamma radiation on surfaces in relatively level open areas or areas containing obstacles such as stored containers or hallways, equipment, walls and support columns. The invention incorporates improved radiation monitoring methods using multiple scintillation detectors, the use of laser scanners for maneuvering in open areas, ultrasound pulse generators and receptors for collision avoidance in limited space areas or hallways, methods to trigger visible alarms when radiation is detected, and methods to transmit location data for real-time reporting and mapping of radiation locations on computer monitors at a host station. A multitude of high performance scintillation detectors detect radiation while the on-board system controls the direction and speed of the robot due to pre-programmed paths. The operators may revise the preselected movements of the robotic system by ethernet communications to remonitor areas of radiation or to avoid walls, columns, equipment, or containers. The robotic system is capable of floor survey speeds of from 1/2-inch per second up to about 30 inches per second, while the on-board processor collects, stores, and transmits information for real-time mapping of radiation intensity and the locations of the radiation for real-time display on computer monitors at a central command console. 4 figs.

  9. Mobile autonomous robotic apparatus for radiologic characterization

    Energy Technology Data Exchange (ETDEWEB)

    Dudar, Aed M. (Dearborn, MI); Ward, Clyde R. (Aiken, SC); Jones, Joel D. (Aiken, SC); Mallet, William R. (Cowichan Bay, CA); Harpring, Larry J. (North Augusta, SC); Collins, Montenius X. (Blackville, SC); Anderson, Erin K. (Pleasanton, CA)

    1999-01-01

    A mobile robotic system that conducts radiological surveys to map alpha, beta, and gamma radiation on surfaces in relatively level open areas or areas containing obstacles such as stored containers or hallways, equipment, walls and support columns. The invention incorporates improved radiation monitoring methods using multiple scintillation detectors, the use of laser scanners for maneuvering in open areas, ultrasound pulse generators and receptors for collision avoidance in limited space areas or hallways, methods to trigger visible alarms when radiation is detected, and methods to transmit location data for real-time reporting and mapping of radiation locations on computer monitors at a host station. A multitude of high performance scintillation detectors detect radiation while the on-board system controls the direction and speed of the robot due to pre-programmed paths. The operators may revise the preselected movements of the robotic system by ethernet communications to remonitor areas of radiation or to avoid walls, columns, equipment, or containers. The robotic system is capable of floor survey speeds of from 1/2-inch per second up to about 30 inches per second, while the on-board processor collects, stores, and transmits information for real-time mapping of radiation intensity and the locations of the radiation for real-time display on computer monitors at a central command console.

  10. ARK: Autonomous mobile robot in an industrial environment

    Science.gov (United States)

    Nickerson, S. B.; Jasiobedzki, P.; Jenkin, M.; Jepson, A.; Milios, E.; Down, B.; Service, J. R. R.; Terzopoulos, D.; Tsotsos, J.; Wilkes, D.

    1994-01-01

    This paper describes research on the ARK (Autonomous Mobile Robot in a Known Environment) project. The technical objective of the project is to build a robot that can navigate in a complex industrial environment using maps with permanent structures. The environment is not altered in any way by adding easily identifiable beacons and the robot relies on naturally occurring objects to use as visual landmarks for navigation. The robot is equipped with various sensors that can detect unmapped obstacles, landmarks and objects. In this paper we describe the robot's industrial environment, it's architecture, a novel combined range and vision sensor and our recent results in controlling the robot in the real-time detection of objects using their color and in the processing of the robot's range and vision sensor data for navigation.

  11. Adaptive Leader-Follower Formation Control for Autonomous Mobile Robots

    NARCIS (Netherlands)

    Guo, Jing; Lin, Zhiyun; Cao, Ming; Yan, Gangfeng

    2010-01-01

    In this paper, adaptive formation control is addressed for a network of autonomous mobile robots in which there are only two leaders knowing the prescribed reference velocity while the others just play the role of followers. Assuming that each follower has only two neighbors to form a cascade interc

  12. Online Tracking Control of Autonomous Mobile Robot Utilizing Optimal Formulation

    Science.gov (United States)

    Hirakoso, Nobuto; Takizawa, Takahiro; Ishihara, Masaaki; Aoki, Kouzou

    In this study, the objective is to build a wheeled mobile robot which can move independently avoiding obstacles. To move autonomously, this robot is enabled to detect obstacles' shapes and conduct self-localization. Also, this robot can move by tracking trajectories designed by the robot itself, based on the information about the obstacles' shapes and the robot's position and attitude angle. The optimal trajectories which lead the robot to its destination are designed by using a unique optimization method. As convergent calculation is performed by setting the variables within a certain range in this proposed optimization method, the optimal solutions can be obtained approximately, even in cases where there is a difference between the number of input and output variables, and when the nonlinearity is strong with restraint conditions. In this thesis, the effectiveness of the optimal track designing method used is proven and the method deemed as appropriate.

  13. Omnivision-based autonomous mobile robotic platform

    Science.gov (United States)

    Cao, Zuoliang; Hu, Jun; Cao, Jin; Hall, Ernest L.

    2001-10-01

    As a laboratory demonstration platform, TUT-I mobile robot provides various experimentation modules to demonstrate the robotics technologies that are involved in remote control, computer programming, teach-and-playback operations. Typically, the teach-and-playback operation has been proved to be an effective solution especially in structured environments. The path generated in the teach mode and path correction in real-time using path error detecting in the playback mode are demonstrated. The vision-based image database is generated as the given path representation in the teaching procedure. The algorithm of an online image positioning is performed for path following. Advanced sensory capability is employed to provide environment perception. A unique omni directional vision (omni-vision) system is used for localization and navigation. The omni directional vision involves an extremely wide-angle lens, which has the feature that a dynamic omni-vision image is processed in real time to respond the widest view during the movement. The beacon guidance is realized by observing locations of points derived from over-head features such as predefined light arrays in a building. The navigation approach is based upon the omni-vision characteristics. A group of ultrasonic sensors is employed for obstacle avoidance.

  14. Mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Wolfe, W.J.; Marquina, N.

    1986-01-01

    This book presents papers given at a conference on mobile robots. Topics the conference included are the following: mobility systems for robotic vehicles; detection and control of mobile robot motion by real-time computer vision, obstacle avoidance algorithms for an autonomous land vehicle; hierarchical processor and matched filters for range image processing; asynchronous distributed control system for a mobile robot, and, planning in a hierarchical nested autonomous control system.

  15. An Autonomous Mobile Robotic System for Surveillance of Indoor Environments

    Directory of Open Access Journals (Sweden)

    Donato Di Paola

    2010-02-01

    Full Text Available The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks related to exploration, monitoring, and surveillance make the design of the overall system extremely challenging. In this paper, we present our autonomous mobile robot for surveillance of indoor environments. We propose a system able to handle autonomously general-purpose tasks and complex surveillance issues simultaneously. It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance tasks, like scene processing to detect abandoned or removed objects and people detection and following. The feasibility of the approach is demonstrated through experimental tests using a multisensor platform equipped with a monocular camera, a laser scanner, and an RFID device. Real world applications of the proposed system include surveillance of wide areas (e.g. airports and museums and buildings, and monitoring of safety equipment.

  16. Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

    OpenAIRE

    Defoort, Michael; Floquet, Thierry; Kökösy, Annemarie; Perruquetti, Wilfrid

    2008-01-01

    International audience; This paper considers the control of a group of autonomous mobile robots. A coordinated control scheme based on a leader-follower approach is developed to achieve formation maneuvers. First and second order sliding mode controllers are proposed for asymptotically stabilizing the vehicles to a time-varying desired formation. The latter controller, based on the relative motion states, eliminates the need for measurement or estimation of the leader velocity. It enables for...

  17. Landmark Finding Algorithms for Indoor Autonomous Mobile Robot Localization

    Directory of Open Access Journals (Sweden)

    L. Tóth

    2015-12-01

    Full Text Available This contribution is oriented to ways of computer vision algorithms for mobile robot localization in internal and external agricultural environment. The main aim of this work was to design, create, verify and evaluate speed and functionality of computer vision localization algorithm. An input colour camera data and depth data were captured by MS® Kinect sensor that was mounted on 6-wheel-drive mobile robot chassis. The design of the localization algorithm was focused to the most significant blobs and points (landmarks on the colour picture. Actual coordinates of autonomous mobile robot were calculated out from measured distances (depth sensor and calculated angles (RGB camera with respect to landmark points. Time measurement script was used to compare the speed of landmark finding algorithm for localization in case of one and more landmarks on picture. The main source code was written in MS Visual studio C# programming language with Microsoft.Kinect.1.7.dll on Windows based PC. Algorithms described in this article were created for a future development of an autonomous agronomical m obile robot localization and control.

  18. Research on stereo vision path-planning algorithms for mobile robots autonomous navigation

    Institute of Scientific and Technical Information of China (English)

    ZHANG Guo-wei; LU Qiu-hong

    2009-01-01

    Using stereo vision for autonomous mobile robot path-planning is a hot technology. The environment mapping and path-planning algorithms were introduced, and they were applied in the autonomous mobile robot experiment platform. Through experiments in the robot platform, the effectiveness of these algorithms was verified.

  19. A fuzzy logic controller for an autonomous mobile robot

    Science.gov (United States)

    Yen, John; Pfluger, Nathan

    1993-01-01

    The ability of a mobile robot system to plan and move intelligently in a dynamic system is needed if robots are to be useful in areas other than controlled environments. An example of a use for this system is to control an autonomous mobile robot in a space station, or other isolated area where it is hard or impossible for human life to exist for long periods of time (e.g., Mars). The system would allow the robot to be programmed to carry out the duties normally accomplished by a human being. Some of the duties that could be accomplished include operating instruments, transporting objects, and maintenance of the environment. The main focus of our early work has been on developing a fuzzy controller that takes a path and adapts it to a given environment. The robot only uses information gathered from the sensors, but retains the ability to avoid dynamically placed obstacles near and along the path. Our fuzzy logic controller is based on the following algorithm: (1) determine the desired direction of travel; (2) determine the allowed direction of travel; and (3) combine the desired and allowed directions in order to determine a direciton that is both desired and allowed. The desired direction of travel is determined by projecting ahead to a point along the path that is closer to the goal. This gives a local direction of travel for the robot and helps to avoid obstacles.

  20. Learning Long-range Terrain Perception for Autonomous Mobile Robots

    Directory of Open Access Journals (Sweden)

    Mingjun Wang

    2010-02-01

    Full Text Available Long-range terrain perception has a high value in performing efficient autonomous navigation and risky intervention tasks for field robots, such as earlier recognition of hazards, better path planning, and higher speeds. However, Stereo-based navigation systems can only perceive near-field terrain due to the nearsightedness of stereo vision. Many near-to-far learning methods, based on regions' appearance features, are proposed to predict the far-field terrain. We proposed a statistical prediction framework to enhance long-range terrain perception for autonomous mobile robots. The main difference between our solution and other existing methods is that our framework not only includes appearance features as its prediction basis, but also incorporates spatial relationships between terrain regions in a principled way. The experiment results show that our framework outperforms other existing approaches in terms of accuracy, robustness and adaptability to dynamic unstructured outdoor environments.

  1. An Agent Driven Human-centric Interface for Autonomous Mobile Robots

    Science.gov (United States)

    2003-01-01

    An Agent Driven Human-centric Interface for Autonomous Mobile Robots Donald Sofge, Dennis Perzanowski, Magdalena Bugajska, William Adams...Human-centric, Multimodal, Dynamic Autonomy, CoABS Grid, Mobile Robots 1. INTRODUCTION One of the challenges in implementing dynamically...autonomous behaviors in mobile robots is achieving a truly human-centric interface so that human operators can interact with the robots as naturally as they

  2. A NEW MODEL OF AUTONOMOUS MOBILE ROBOTS WITH LIGHTS AND ITS COMPUTATIONAL POWER

    OpenAIRE

    寺井, 智史

    2016-01-01

    We study gathering problem for robots that move on a two dimensional plane. Robots are autonomous, anonymous, and have light that represents robot’s state. Gathering algorithm for n=2 robots is proposed in previous research. We propose a new model of robots with lights and athering algorithm. Key Words :distributed , mobile robots , light

  3. Active objects programming for military autonomous mobile robots software prototyping

    Science.gov (United States)

    Cozien, Roger F.

    2001-09-01

    While designing mobile robots, we do think that the prototyping phase is really critical. Good and clever choices have to be made. Indeed, we may not easily upgrade such robots, and most of all, when the robot is on its own, any change in both the software and the physical body is going to be very difficult, if not impossible. Thus, a great effort has to be made when prototyping the robot. Furthermore, I think that the kind of programming is very important. If your programming model is not expressive enough, you may experience a great deal of difficulties to add all the features you want, in order to give your robot reactiveness and decision making autonomy. Moreover, designing, and prototyping the on-board software of a reactive robot brings other difficulties. A reactive robot does not include any matter of rapidity. A reactive system is a system able to respond to a huge pannel of situations of which it does not have the schedule. In other words, for instance, the robot does not know when a particular situation may occur, and overall, what it would be doing at this time, and what would be its internal state. This kind of robot must be able to take a decision and to act even if they do not have all the contextual information. To do so, we use a computer language named oRis featuring object and active object oriented programming, but also parallel and dynamic code, (the code can be changed during its own execution). This last point has been made possible because oRis is fully interpreted. However oRis may call fully compiled code, but also Prolog and Java code. An oRis program may be distributed on several computers using TCP/IP network connections. The main issue in this paper is to show how active objet oriented programming, as a modern extension of object oriented programming, may help us in designing autonomous mobile robots. Based on a fully parallel software programming, an active object code allows us to give many features to a robot, and to easily solve

  4. Active object programming for military autonomous mobile robot software prototyping

    Science.gov (United States)

    Cozien, Roger F.

    2001-10-01

    While designing mobile robots, we do think that the prototyping phase is really critical. Good and clever choices have to be made. Indeed, we may not easily upgrade such robots, and most of all, when the robot is on its own, any change in both the software and the physical body is going to be very difficult, if not impossible. Thus, a great effort has to be made when prototyping the robot. Furthermore, I think that the kind of programming is very important. If your programming model is not expressive enough, you may experience a great deal of difficulties to add all the features you want, in order to give your robot reactiveness and decision making autonomy. Moreover, designing, and prototyping the on-board software of a reactive robot brings other difficulties. A reactive robot does not include any matter of rapidity. A reactive system is a system able to respond to a huge panel of situations of which it does not have the schedule. In other words, for instance, the robot does not know when a particular situation may occur, and overall, what it would be doing at this time, and what would be its internal state. This kind of robot must be able to take a decision and to act even if they do not have all the contextual information. To do so, we use a computer language named oRis featuring object and active object oriented programming, but also parallel and dynamic code, (the code can be changed during its own execution). This last point has been made possible because oRis is fully interpreted. However oRis may call fully compiled code, but also Prolog and Java code. An oRis program may be distributed on several computers using TCP/IP network connections. The main issue in this paper is to show how active objet oriented programming, as a modern extension of object oriented programming, may help us in designing autonomous mobile robots. Based on a fully parallel software programming, an active object code allows us to give many features to a robot, and to easily solve

  5. Classifying and recovering from sensing failures in autonomous mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Murphy, R.R.; Hershberger, D. [Colorado School of Mines, Golden, CO (United States)

    1996-12-31

    This paper presents a characterization of sensing failures in autonomous mobile robots, a methodology for classification and recovery, and a demonstration of this approach on a mobile robot performing landmark navigation. A sensing failure is any event leading to defective perception, including sensor malfunctions, software errors, environmental changes, and errant expectations. The approach demonstrated in this paper exploits the ability of the robot to interact with its environment to acquire additional information for classification (i.e., active perception). A Generate and Test strategy is used to generate hypotheses to explain the symptom resulting from the sensing failure. The recovery scheme replaces the affected sensing processes with an alternative logical sensor. The approach is implemented as the Sensor Fusion Effects Exception Handling (SFX-EH) architecture. The advantages of SFX-EH are that it requires only a partial causal model of sensing failure, the control scheme strives for a fast response, tests are constructed so as to prevent confounding from collaborating sensors which have also failed, and the logical sensor organization allows SFX-EH to be interfaced with the behavioral level of existing robot architectures.

  6. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    OpenAIRE

    Brandon Sights; H.R. Everett; Estrellina Pacis; Greg Kogut; Michael Thompson

    2006-01-01

    High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact with its surroundings are greatly diminished. This problem is amplified when the environment is hostile, such as in a battlefield situation where an error in movement or a slow response may lead to destruction of the robot. As the presence of robots on the battlefield continues to escalate and the ...

  7. Integration of a mobile autonomous robot in a surveillance multi-agent system

    OpenAIRE

    Dias, Bruno Miguel Morais

    2014-01-01

    This dissertation aims to guarantee the integration of a mobile autonomous robot equipped with many sensors in a multi-agent distributed and georeferenced surveillance system. The integration of a mobile autonomous robot in this system leads to new features that will be available to clients of surveillance system may use. These features may be of two types: using the robot as an agent that will act in the environment or by using the robot as a mobile set of sensors. As an agent in the syst...

  8. Autonomous Mobile Platform for Research in Cooperative Robotics

    Science.gov (United States)

    Daemi, Ali; Pena, Edward; Ferguson, Paul

    1998-01-01

    This paper describes the design and development of a platform for research in cooperative mobile robotics. The structure and mechanics of the vehicles are based on R/C cars. The vehicle is rendered mobile by a DC motor and servo motor. The perception of the robot's environment is achieved using IR sensors and a central vision system. A laptop computer processes images from a CCD camera located above the testing area to determine the position of objects in sight. This information is sent to each robot via RF modem. Each robot is operated by a Motorola 68HC11E micro-controller, and all actions of the robots are realized through the connections of IR sensors, modem, and motors. The intelligent behavior of each robot is based on a hierarchical fuzzy-rule based approach.

  9. Autonomous Mobile Robot Navigation Using Harmonic Potential Field

    Science.gov (United States)

    Panati, Subbash; Baasandorj, Bayanjargal; Chong, Kil To

    2015-05-01

    Mobile robot navigation has been an area of robotics which has gained massive attention among the researchers of robotics community. Path planning and obstacle avoidance are the key aspects of mobile robot navigation. This paper presents harmonic potential field based navigation algorithm for mobile robots. Harmonic potential field method overcomes the issue of local minima which was a major bottleneck in the case of artificial potential field method. The harmonic potential field is calculated using harmonic functions and Dirichlet boundary conditions are used for the obstacles, goal and initial position. The simulation results shows that the proposed method is able to overcome the local minima issue and navigate successfully from initial position to the goal without colliding into obstacles in static environment.

  10. The Intellectualized Architecture of the Autonomous Micro-Mobile Robot Based-Behavior

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    Given the difficulty in hand-coding task schemes, an intellectualized architecture of the autonomous micro-mobile robot based-behavior for fault-repair was presented. Integrating the reinforcement learning and the group behavior evolution simulating the human's learning and evolution, the autonomous micro-mobile robot will automatically generate the suited actions satisfied the environment. However, the designer only devises some basic behaviors, which decreases the workload of the designer and cognitive deficiency of the robot to the environment. The results of simulation have shown that the architecture endows micro robot with the ability of learning, adaptation and robustness, also with the ability of accomplishing the given task.

  11. Autonomous Navigation of Mobile Robot Based on Flood Fill Algorithm

    Directory of Open Access Journals (Sweden)

    Ayad Mohammed Jabbar

    2016-06-01

    Full Text Available The autonomous navigation of robots is an important area of research. It can intelligently navigate itself from source to target within an environment without human interaction. Recently, algorithms and techniques have been made and developed to improve the performance of robots. It’s more effective and has high precision tasks than before. This work proposed to solve a maze using a Flood fill algorithm based on real time camera monitoring the movement on its environment. Live video streaming sends an obtained data to be processed by the server. The server sends back the information to the robot via wireless radio. The robot works as a client device moves from point to point depends on server information. Using camera in this work allows voiding great time that needs it to indicate the route by the robot.

  12. A survey on pattern formation of autonomous mobile robots: asynchrony, obliviousness and visibility

    Science.gov (United States)

    Yamauchi, Yukiko

    2013-12-01

    A robot system consists of autonomous mobile robots each of which repeats Look-Compute-Move cycles, where the robot observes the positions of other robots (Look phase), computes the track to the next location (Compute phase), and moves along the track (Move phase). In this survey, we focus on self-organization of mobile robots, especially their power of forming patterns. The formation power of a robot system is the class of patterns that the robots can form, and existing results show that the robot system's formation power is determined by their asynchrony, obliviousness, and visibility. We briefly survey existing results, with impossibilities and pattern formation algorithms. Finally, we present several open problems related to the pattern formation problem of mobile robots.

  13. Planetary exploration by a mobile robot: mission teleprogramming and autonomous navigation.

    Science.gov (United States)

    Chatila, R.; Lacroix, S.; Simeon, T.; Herrb, M.

    Sending mobile robots to accomplish planetary exploration missions is scientifically promising and technologically challenging. The authors present a complete approach that encompasses the major aspects involved in the design of a robotic system for planetary exploration. It includes mission teleprogramming and supervision at a ground station, and autonomous mission execution by the remote mobile robot. They have partially implemented and validated these concepts. Experimental results illustrate the approach and the results.

  14. Evaluation of a Home Biomonitoring Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Enrique Dorronzoro Zubiete

    2016-01-01

    Full Text Available Increasing population age demands more services in healthcare domain. It has been shown that mobile robots could be a potential solution to home biomonitoring for the elderly. Through our previous studies, a mobile robot system that is able to track a subject and identify his daily living activities has been developed. However, the system has not been tested in any home living scenarios. In this study we did a series of experiments to investigate the accuracy of activity recognition of the mobile robot in a home living scenario. The daily activities tested in the evaluation experiment include watching TV and sleeping. A dataset recorded by a distributed distance-measuring sensor network was used as a reference to the activity recognition results. It was shown that the accuracy is not consistent for all the activities; that is, mobile robot could achieve a high success rate in some activities but a poor success rate in others. It was found that the observation position of the mobile robot and subject surroundings have high impact on the accuracy of the activity recognition, due to the variability of the home living daily activities and their transitional process. The possibility of improvement of recognition accuracy has been shown too.

  15. Control of autonomous mobile robots using custom-designed qualitative reasoning VLSI chips and boards

    Energy Technology Data Exchange (ETDEWEB)

    Pin, F.G.; Pattay, R.S.

    1991-01-01

    Two types of computer boards including custom-designed VLSI chips have been developed to provide a qualitative reasoning capability for the real-time control of autonomous mobile robots. The design and operation of these boards are described and an example of application of qualitative reasoning for the autonomous navigation of a mobile robot in a-priori unknown environments is presented. Results concerning consistency and modularity in the development of qualitative reasoning schemes as well as the general applicability of these techniques to robotic control domains are also discussed. 17 refs., 4 figs.

  16. Remote wave measurements using autonomous mobile robotic systems

    Science.gov (United States)

    Kurkin, Andrey; Zeziulin, Denis; Makarov, Vladimir; Belyakov, Vladimir; Tyugin, Dmitry; Pelinovsky, Efim

    2016-04-01

    The project covers the development of a technology for monitoring and forecasting the state of the coastal zone environment using radar equipment transported by autonomous mobile robotic systems (AMRS). Sought-after areas of application are the eastern and northern coasts of Russia, where continuous collection of information on topographic changes of the coastal zone and carrying out hydrodynamic measurements in inaccessible to human environment are needed. The intensity of the reflection of waves, received by radar surveillance, is directly related to the height of the waves. Mathematical models and algorithms for processing experimental data (signal selection, spectral analysis, wavelet analysis), recalculation of landwash from data on heights of waves far from the shore, determination of the threshold values of heights of waves far from the shore have been developed. There has been developed the program complex for functioning of the experimental prototype of AMRS, comprising the following modules: data loading module, reporting module, module of georeferencing, data analysis module, monitoring module, hardware control module, graphical user interface. Further work will be connected with carrying out tests of manufactured experimental prototype in conditions of selected routes coastline of Sakhalin Island. Conducting field tests will allow to reveal the shortcomings of development and to identify ways of optimization of the structure and functioning algorithms of AMRS, as well as functioning the measuring equipment. The presented results have been obtained in Nizhny Novgorod State Technical University n.a. R. Alekseev in the framework of the Federal Target Program «Research and development on priority directions of scientific-technological complex of Russia for 2014 - 2020 years» (agreement № 14.574.21.0089 (unique identifier of agreement - RFMEFI57414X0089)).

  17. An effective trace-guided wavefront navigation and map-building approach for autonomous mobile robots

    Science.gov (United States)

    Luo, Chaomin; Krishnan, Mohan; Paulik, Mark; Jan, Gene Eu

    2013-12-01

    This paper aims to address a trace-guided real-time navigation and map building approach of an autonomous mobile robot. Wave-front based global path planner is developed to generate a global trajectory for an autonomous mobile robot. Modified Vector Field Histogram (M-VFH) is employed based on the LIDAR sensor information to guide the robot locally to be autonomously traversed with obstacle avoidance by following traces provided by the global path planner. A local map composed of square grids is created through the local navigator while the robot traverses with limited LIDAR sensory information. From the measured sensory information, a map of the robot's immediate limited surroundings is dynamically built for the robot navigation. The real-time wave-front based navigation and map building methodology has been successfully demonstrated in a Player/Stage simulation environment. With the wave-front-based global path planner and M-VFH local navigator, a safe, short, and reasonable trajectory is successfully planned in a majority of situations without any templates, without explicitly optimizing any global cost functions, and without any learning procedures. Its effectiveness, feasibility, efficiency and simplicity of the proposed real-time navigation and map building of an autonomous mobile robot have been successfully validated by simulation and comparison studies. Comparison studies of the proposed approach with the other path planning approaches demonstrate that the proposed method is capable of planning more reasonable and shorter collision-free trajectories autonomously.

  18. An intelligent hybrid behavior coordination system for an autonomous mobile robot

    Science.gov (United States)

    Luo, Chaomin; Krishnan, Mohan; Paulik, Mark; Fallouh, Samer

    2013-12-01

    In this paper, development of a low-cost PID controller with an intelligent behavior coordination system for an autonomous mobile robot is described that is equipped with IR sensors, ultrasonic sensors, regulator, and RC filters on the robot platform based on HCS12 microcontroller and embedded systems. A novel hybrid PID controller and behavior coordination system is developed for wall-following navigation and obstacle avoidance of an autonomous mobile robot. Adaptive control used in this robot is a hybrid PID algorithm associated with template and behavior coordination models. Software development contains motor control, behavior coordination intelligent system and sensor fusion. In addition, the module-based programming technique is adopted to improve the efficiency of integrating the hybrid PID and template as well as behavior coordination model algorithms. The hybrid model is developed to synthesize PID control algorithms, template and behavior coordination technique for wall-following navigation with obstacle avoidance systems. The motor control, obstacle avoidance, and wall-following navigation algorithms are developed to propel and steer the autonomous mobile robot. Experiments validate how this PID controller and behavior coordination system directs an autonomous mobile robot to perform wall-following navigation with obstacle avoidance. Hardware configuration and module-based technique are described in this paper. Experimental results demonstrate that the robot is successfully capable of being guided by the hybrid PID controller and behavior coordination system for wall-following navigation with obstacle avoidance.

  19. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    Directory of Open Access Journals (Sweden)

    Brandon Sights

    2006-10-01

    Full Text Available High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact with its surroundings are greatly diminished. This problem is amplified when the environment is hostile, such as in a battlefield situation where an error in movement or a slow response may lead to destruction of the robot. As the presence of robots on the battlefield continues to escalate and the trend toward relieving the human of the low-level control burden advances, the ability to combine the functionalities of several critical control systems on a single platform becomes imperative.

  20. Localization Using Magnetic Patterns for Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Won Suk You

    2014-03-01

    Full Text Available In this paper, we present a method of localization using magnetic landmarks. With this method, it is possible to compensate the pose error (xe, ye, θe of a mobile robot correctly and localize its current position on a global coordinate system on the surface of a structured environment with magnetic landmarks. A set of four magnetic bars forms total six different patterns of landmarks and these patterns can be read by the mobile robot with magnetic hall sensors. A sequential motion strategy for a mobile robot is proposed to find the geometric center of magnetic landmarks by reading the nonlinear magnetic field.The mobile robot first moves into the center region of the landmark where it can read the magnetic pattern, after which tracking and global localization can be easily achieved by recognizing the patterns of neighboring landmarks. Experimental results show the effectiveness of the sequential motion strategy for estimating the center of the first encountered landmark as well as the performance of tracking and global localization of the proposed system.

  1. Autonomous navigation of a mobile robot using custom-designed qualitative reasoning VLSI chips and boards

    Energy Technology Data Exchange (ETDEWEB)

    Pin, F.G.; Pattay, R.S. (Oak Ridge National Lab., TN (United States)); Watanabe, H.; Symon, J. (North Carolina Univ., Chapel Hill, NC (United States). Dept. of Computer Science)

    1991-01-01

    Two types of computer boards including custom-designed VLSI chips have been developed to add a qualitative reasoning capability to the real-time control of autonomous mobile robots. The design and operation of these boards are first described and an example of their use for the autonomous navigation of a mobile robot is presented. The development of qualitative reasoning schemes emulating human-like navigation is a-priori unknown environments is discussed. The efficiency of such schemes, which can consist of as little as a dozen qualitative rules, is illustrated in experiments involving an autonomous mobile robot navigating on the basis of very sparse inaccurate sensor data. 17 refs., 6 figs.

  2. Using custom-designed VLSI fuzzy inferencing chips for the autonomous navigation of a mobile robot

    Energy Technology Data Exchange (ETDEWEB)

    Pin, F.G.; Pattay, R.S. (Oak Ridge National Lab., TN (United States)); Watanabe, Hiroyuki; Symon, J. (North Carolina Univ., Chapel Hill, NC (United States). Dept. of Computer Science)

    1991-01-01

    Two types of computer boards including custom-designed VLSI fuzzy inferencing chips have been developed to add a qualitative reasoning capability to the real-time control of autonomous mobile robots. The design and operation of these boards are first described and an example of their use for the autonomous navigation of mobile robot is presented. The development of qualitative reasoning schemes emulating human-like navigation in apriori unknown environments is discussed. An approach using superposition of elemental sensor-based behaviors is shown to alloy easy development and testing of the inferencing rule base, while providing for progressive addition of behaviors to resolve situations of increasing complexity. The efficiency of such schemes, which can consist of as little as a dozen qualitative rules, is illustrated in experiments involving an autonomous mobile robot navigating on the basis of very sparse and inaccurate sensor data. 17 refs., 6 figs.

  3. Umgebungserfassungssystem fuer mobile Roboter (environment logging system for mobile autonomous robots)

    CERN Document Server

    Hesselbach, Dirk

    2012-01-01

    This diploma thesis describes the theoretical bases, the conception of the module and the final result of the development process in application. for the environment logging with a small mobile robot for interiors should be sketched an economical alternative to the expensive laser scanners. the structure, color or the material of the objects in the radius of action, as well as the environment brightness and illuminating are to have thereby no influence on the results of measurement.

  4. Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation

    Science.gov (United States)

    Masmoudi, Mohamed Slim; Masmoudi, Mohamed

    2016-01-01

    This paper describes the design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot to navigate in indoor environments. Most of the previous works used two independent controllers for navigation and avoiding obstacles. The main contribution of the paper can be summarized in the fact that we use only one fuzzy controller for navigation and obstacle avoidance. The used mobile robot is equipped with DC motor, nine infrared range (IR) sensors to measure the distance to obstacles, and two optical encoders to provide the actual position and speeds. To evaluate the performances of the intelligent navigation algorithms, different trajectories are used and simulated using MATLAB software and SIMIAM navigation platform. Simulation results show the performances of the intelligent navigation algorithms in terms of simulation times and travelled path. PMID:27688748

  5. Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation.

    Science.gov (United States)

    Omrane, Hajer; Masmoudi, Mohamed Slim; Masmoudi, Mohamed

    This paper describes the design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot to navigate in indoor environments. Most of the previous works used two independent controllers for navigation and avoiding obstacles. The main contribution of the paper can be summarized in the fact that we use only one fuzzy controller for navigation and obstacle avoidance. The used mobile robot is equipped with DC motor, nine infrared range (IR) sensors to measure the distance to obstacles, and two optical encoders to provide the actual position and speeds. To evaluate the performances of the intelligent navigation algorithms, different trajectories are used and simulated using MATLAB software and SIMIAM navigation platform. Simulation results show the performances of the intelligent navigation algorithms in terms of simulation times and travelled path.

  6. An Approach to Autonomous Operations for Remote Mobile Robotic Exploration

    Science.gov (United States)

    Chouinard, Caroline M.; Fisher, Forest W.; Gaines, Daniel M.; Estlin, Tara A.; Schaffer, Steve R.

    2003-01-01

    This viewgraph presentation addresses the use of autonomy for remote mobile robotic exploration. The contents include; 1) Why Use Autonomy?; 2) What Are Some Options? JPL (Reasoning); 3) More Options.. . (Modeling); 4) The CLEaR Control System (Closed Loop Execution and Recovery); 5) Method of Response; 6) Overall Goal; 7) CLEaR in Action; 8) Initial Scenario; 9) Initial Scenario - Planned; 10) Unforeseen Events; and 11) Ongoing Research.

  7. Toward a mobile autonomous robotic system for Mars exploration

    Science.gov (United States)

    Arena, P.; Di Giamberardino, P.; Fortuna, L.; La Gala, F.; Monaco, S.; Muscato, G.; Rizzo, A.; Ronchini, R.

    2004-01-01

    The paper deals with the results obtained up to now in the design and realization of mobile platforms, wheeled and legged ones, for autonomous deployment in unknown and hostile environments: a work developed in the framework of a project supported by the Italian Space Agency. The paper is focused on the description of the hierarchical architecture adopted for the planning, the supervision and the control of their mobility. Experimental results validate the solutions proposed, evidencing the capabilities of the platforms to explore environments in presence of irregular ground shape and obstacles of different dimensions.

  8. Autonomous Navigation Motion Control of Mobile Robots using Hybrid System Control Method

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Y.M. [Samsung Electronics Co., Ltd., Seoul (Korea); Lim, M.S. [Kyonggi Institute of Technology, Shihung (Korea); Lim, J.H. [Hanyang University, Seoul (Korea)

    2002-05-01

    This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments. (author). 13 refs., 13 figs., 1 tab.

  9. Feature-Based Localization in Sonar-Equipped Autonomous Mobile Robots Through Hough Transform and Unsupervised Learning Network,

    Science.gov (United States)

    1998-06-01

    research has focused on the development of autonomous mobile robots - robots that can move about without human supervision. This brings with it several...around it? Various methods of localization in mobile robots have been explored. Most of these methods, however, assume some a priori knowledge of the

  10. Modelling and Scheduling Autonomous Mobile Robot for a Real-World Industrial Application

    DEFF Research Database (Denmark)

    Dang, Vinh Quang; Nielsen, Izabela Ewa; Bøgh, Simon;

    2013-01-01

    The paper deals with a real-world implementation of autonomous industrial mobile robot performing an industrial application at a factory of a pump manufacturer. In the implementation, the multi-criteria optimization problem of scheduling tasks of a mobile robot is also taken into account. The paper...... proposes an approach composing of: a mobile robot system design (“Little Helper”), an appropriate and comprehensive industrial application (multiple-part feeding tasks), an implementation concept for industrial environments (the bartender concept), and a real-time heuristics integrated into Mission...... Planning and Control software to schedule the mobile robot in the industrial application. Results from the real-world implementation show that “Little Helper” is capable of successfully serving four part feeders in three production cells within a given planning horizon using the best schedule generated...

  11. A real-time image understanding system for an autonomous mobile robot

    OpenAIRE

    Remias, Leonard V.

    1996-01-01

    Approved for public release, distribution is unlimited Yamabico-11 is an autonomous mobile robot used as a research platform with one area in image understanding. Previous work focused on edge detection analysis on a Silicon Graphics Iris (SGI) workstation with no method for implementation on the robot. Yamabico-11 does not have an on-board image processing capability to detect straight edges in a grayscale image and a method for allowing the user to analyze the data. The approach taken fo...

  12. Emergence of Cooperative Behavior based on Learning and Evolution in Collective Autonomous Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

    Jun, H.B.; Sim, K.B. [Chungang University, Seoul (Korea, Republic of)

    1998-12-01

    In this paper, we propose a behavior learning algorithm of the collective autonomous mobile robots based on the reinforcement learning and conditional evolution. The cooperative behavior is a high level phenomenon observed in the society of social animals and, recently the emergence of cooperative behavior in collective autonomous mobile robots becomes an interesting field in artificial life. In our system each robot with simple behavior strategies can adapt to its environment by means of the reinforcement learning. The internal reinforcement signal for the reinforcement learning is generated by fuzzy interference engine, and dynamic recurrent neural networks are used as an action generation module. We propose conditional evolution for the emergence of cooperative behavior. The evolutionary conditions are spatio-temporal limitations to the occurrence of genetic operations. We show the validity of the proposed learning and evolutionary algorithm through several computer simulations. (author). 22 refs., 9 figs.

  13. Creating a Mobile Autonomous Robot Research System (MARRS)

    Science.gov (United States)

    1984-12-01

    However, there is no standard or universal robot programming language. For every unique robot, there is a 11-14 If.r\\ <..’. ■f...alternative to the nonexistent universal robot programming language was to develop a library of robot software routines. These are generic in nature so

  14. Remote Teleoperated and Autonomous Mobile Security Robot Development in Ship Environment

    Directory of Open Access Journals (Sweden)

    Long-Yeu Chung

    2013-01-01

    Full Text Available We propose a wireless remote teleoperated and autonomous mobile security robot based on a multisensor system to monitor the ship/cabin environment. By doing this, pilots in charge of monitoring can be away from the scene and feel like being at the site monitoring and responding to any potential safety problems. Also, this robot can be a supplementary device for safety cabin crew members who are very busy and/or very tired of properly responding to crises. This can make one crew member on duty at the cabin a possible option. In fact, when the robot detects something unusual in the cabin, it can also notify the pilot so that the pilot can teleoperate the robot to response to whatever is needed. As a result, a cabin without any crew members on duty can be achieved through this type of robot/system.

  15. The investigation of an autonomous intelligent mobile robot system for indoor environment navigation

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    The autonomous mobile robotics system designed and implemented for indoor environment navigation is a nonholonomic differential drive system with two driving wheels mounted on the same axis driven by two PID controlled motors and two caster wheels mounted in the front and back respectively. It is furnished with multiple kinds of sensors such as IR detectors, ultrasonic sensors, laser line generators and cameras, constituting a per ceiving system for exploring its surroundings. Its computation source is a simultaneously running system com posed of multiprocessor with multitask and multiprocessing programming. Hybrid control architecture is em ployed on the mobile robot to perform complex tasks. The mobile robot system is implemented at the Center for Intelligent Design, Automation and Manufacturing of City University of Hong Kong.

  16. Hybrid Kalman Filter/Fuzzy Logic based Position Control of Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Nitin Afzulpurkar

    2008-11-01

    Full Text Available This paper describes position control of autonomous mobile robot using combination of Kalman filter and Fuzzy logic techniques. Both techniques have been used to fuse information from internal and external sensors to navigate a typical mobile robot in an unknown environment. An obstacle avoidance algorithm utilizing stereo vision technique has been implemented for obstacle detection. The odometry errors due to systematic-errors (such as unequal wheel diameter, the effect of the encoder resolution etc. and/or non-systematic errors (ground plane, wheel-slip etc. contribute to various motion control problems of the robot. During the robot moves, whether straight-line and/or arc, create the position and orientation errors which depend on systematic and/or non-systematic odometry errors. The main concern in most of the navigating systems is to achieve the real-time and robustness performances to precisely control the robot movements. The objective of this research is to improve the position and the orientation of robot motion. From the simulation and experiments, we prove that the proposed mobile robot moves from start position to goal position with greater accuracy avoiding obstacles.

  17. An Adaptive Memory Model for Long-Term Navigation of Autonomous Mobile Robots

    Directory of Open Access Journals (Sweden)

    M. Hentschel

    2011-01-01

    Full Text Available This paper introduces an environmental representation for autonomous mobile robots that continuously adapts over time. The presented approach is inspired by human memory information processing and stores the current as well as past knowledge of the environment. In this paper, the memory model is applied to time-variant information about obstacles and driveable routes in the workspace of the autonomous robot and used for solving the navigation cycle of the robot. This includes localization and path planning as well as vehicle control. The presented approach is evaluated in a real-world experiment within changing indoor environment. The results show that the environmental representation is stable, improves its quality over time, and adapts to changes.

  18. Introduction to autonomous mobile robotics using Lego Mindstorms NXT

    Science.gov (United States)

    Akın, H. Levent; Meriçli, Çetin; Meriçli, Tekin

    2013-12-01

    Teaching the fundamentals of robotics to computer science undergraduates requires designing a well-balanced curriculum that is complemented with hands-on applications on a platform that allows rapid construction of complex robots, and implementation of sophisticated algorithms. This paper describes such an elective introductory course where the Lego Mindstorms NXT kits are used as the robot platform. The aims, scope and contents of the course are presented, and the design of the laboratory sessions as well as the term projects, which address several core problems of robotics and artificial intelligence simultaneously, are explained in detail.

  19. Introduction to Autonomous Mobile Robotics Using "Lego Mindstorms" NXT

    Science.gov (United States)

    Akin, H. Levent; Meriçli, Çetin; Meriçli, Tekin

    2013-01-01

    Teaching the fundamentals of robotics to computer science undergraduates requires designing a well-balanced curriculum that is complemented with hands-on applications on a platform that allows rapid construction of complex robots, and implementation of sophisticated algorithms. This paper describes such an elective introductory course where the…

  20. Remote Teleoperated and Autonomous Mobile Security Robot Development in Ship Environment

    OpenAIRE

    Long-Yeu Chung

    2013-01-01

    We propose a wireless remote teleoperated and autonomous mobile security robot based on a multisensor system to monitor the ship/cabin environment. By doing this, pilots in charge of monitoring can be away from the scene and feel like being at the site monitoring and responding to any potential safety problems. Also, this robot can be a supplementary device for safety cabin crew members who are very busy and/or very tired of properly responding to crises. This can make one crew member on duty...

  1. Temporal Memory Reinforcement Learning for the Autonomous Micro-mobile Robot Based-behavior

    Institute of Scientific and Technical Information of China (English)

    Yang Yujun(杨玉君); Cheng Junshi; Chen Jiapin; Li Xiaohai

    2004-01-01

    This paper presents temporal memory reinforcement learning for the autonomous micro-mobile robot based-behavior. Human being has a memory oblivion process, i.e. the earlier to memorize, the earlier to forget, only the repeated thing can be remembered firmly. Enlightening forms this, and the robot need not memorize all the past states, at the same time economizes the EMS memory space, which is not enough in the MPU of our AMRobot. The proposed algorithm is an extension of the Q-learning, which is an incremental reinforcement learning method. The results of simulation have shown that the algorithm is valid.

  2. Adaptive Control for Autonomous Navigation of Mobile Robots Considering Time Delay and Uncertainty

    Science.gov (United States)

    Armah, Stephen Kofi

    Autonomous control of mobile robots has attracted considerable attention of researchers in the areas of robotics and autonomous systems during the past decades. One of the goals in the field of mobile robotics is development of platforms that robustly operate in given, partially unknown, or unpredictable environments and offer desired services to humans. Autonomous mobile robots need to be equipped with effective, robust and/or adaptive, navigation control systems. In spite of enormous reported work on autonomous navigation control systems for mobile robots, achieving the goal above is still an open problem. Robustness and reliability of the controlled system can always be improved. The fundamental issues affecting the stability of the control systems include the undesired nonlinear effects introduced by actuator saturation, time delay in the controlled system, and uncertainty in the model. This research work develops robustly stabilizing control systems by investigating and addressing such nonlinear effects through analytical, simulations, and experiments. The control systems are designed to meet specified transient and steady-state specifications. The systems used for this research are ground (Dr Robot X80SV) and aerial (Parrot AR.Drone 2.0) mobile robots. Firstly, an effective autonomous navigation control system is developed for X80SV using logic control by combining 'go-to-goal', 'avoid-obstacle', and 'follow-wall' controllers. A MATLAB robot simulator is developed to implement this control algorithm and experiments are conducted in a typical office environment. The next stage of the research develops an autonomous position (x, y, and z) and attitude (roll, pitch, and yaw) controllers for a quadrotor, and PD-feedback control is used to achieve stabilization. The quadrotor's nonlinear dynamics and kinematics are implemented using MATLAB S-function to generate the state output. Secondly, the white-box and black-box approaches are used to obtain a linearized

  3. Learning Preference Models for Autonomous Mobile Robots in Complex Domains

    Science.gov (United States)

    2010-12-01

    T sf = T s o = T s w = ∅; U = U+ − U−; foreach F t,is such that U(F t,is ) 6= 0 do T sf = T s f ⋃ F t,is ; T so = T s o ⋃ sgn(U(F t,is )); T sw = T s...International Symposium of Robotics Research, 2003. 17 [30] S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A. Aron, J. Diebel, P. Fong , J. Gale, M

  4. Path tracking control of autonomous agricultural mobile robots

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    In a tractor automatic navigation system, path planning plays a significant role in improving operation efficiency. This study aims to create a suboptimal reference course for headland turning of a robot tractor and design a path-tracking controller to guide the robot tractor along the reference course. A time-minimum suboptimal control method was used to generate the reference turning course based on the mechanical parameters of the test tractor. A path-tracking controller consisting of both feedforward and feedback component elements was also proposed. The feedforward component was directly determined by the desired steering angle of the current navigation point on the reference course, whereas the feedback component was derived from the designed optimal controller. Computer simulation and field tests were performed to validate the path-tracking performance. Field test results indicated that the robot tractor followed the reference courses precisely on flat meadow, with average and standard lateral deviations being 0.031 m and 0.086 m, respectively. However, the tracking error increased while operating on sloping meadow due to the employed vehicle kinematic model.

  5. Autonomous Mobile Robot Locomotion by Multifunctional Use of Wide Angle Fovea Sensor

    Science.gov (United States)

    Shimizu, Sota

    The wide-angle fovea (WAF) sensor comprises a specially made wide-angle fovea lens and a commercially available CCD/CMOS camera with photosensitive elements of uniform size. The sensor realizes a 120-degree-wide field of view (FOV) and high magnification in the central FOV without increasing the number of pixels per image. This paper focuses on the multifunctional use of an input image with space-variant spatial resolution that enables an autonomous mobile robot to avoid obstacles during locomotion. In order to use the WAF-input image efficiently, image processing for central vision, i.e., detection of 3D obstacles, and image processing for peripheral vision, i.e., self-localization of the mobile robot, are performed simultaneously and cooperatively. The comparison of the simulation results of spatial resolutions of the WAF lens and a pinhole camera (PHC) lens shows that the WAF lens can be used for depth measurement in the central FOV and self-localization in the peripheral FOV by the parallel stereo method and the two-parallel-line algorithm, respectively. The results obtained by the WAF lens are more accurate than those obtained by the PHC lens. Autonomous locomotion of the mobile robot has been demonstrated by performing two obstacle avoidance experiments.

  6. Modelling and controlling of behaviour for autonomous mobile robots

    CERN Document Server

    Skubch, Hendrik

    2012-01-01

    As research progresses, it enables multi-robot systems to be used in more and more complex and dynamic scenarios. Hence, the question arises how different modelling and reasoning paradigms can be utilised to describe the intended behaviour of a team and execute it in a robust and adaptive manner. Hendrik Skubch presents a solution, ALICA (A Language for Interactive Cooperative Agents) which combines modelling techniques drawn from different paradigms in an integrative fashion. Hierarchies of finite state machines are used to structure the behaviour of the team such that temporal and causal re

  7. Automatic detection and classification of obstacles with applications in autonomous mobile robots

    Science.gov (United States)

    Ponomaryov, Volodymyr I.; Rosas-Miranda, Dario I.

    2016-04-01

    Hardware implementation of an automatic detection and classification of objects that can represent an obstacle for an autonomous mobile robot using stereo vision algorithms is presented. We propose and evaluate a new method to detect and classify objects for a mobile robot in outdoor conditions. This method is divided in two parts, the first one is the object detection step based on the distance from the objects to the camera and a BLOB analysis. The second part is the classification step that is based on visuals primitives and a SVM classifier. The proposed method is performed in GPU in order to reduce the processing time values. This is performed with help of hardware based on multi-core processors and GPU platform, using a NVIDIA R GeForce R GT640 graphic card and Matlab over a PC with Windows 10.

  8. Optical 3D laser measurement system for navigation of autonomous mobile robot

    Science.gov (United States)

    Básaca-Preciado, Luis C.; Sergiyenko, Oleg Yu.; Rodríguez-Quinonez, Julio C.; García, Xochitl; Tyrsa, Vera V.; Rivas-Lopez, Moises; Hernandez-Balbuena, Daniel; Mercorelli, Paolo; Podrygalo, Mikhail; Gurko, Alexander; Tabakova, Irina; Starostenko, Oleg

    2014-03-01

    In our current research, we are developing a practical autonomous mobile robot navigation system which is capable of performing obstacle avoiding task on an unknown environment. Therefore, in this paper, we propose a robot navigation system which works using a high accuracy localization scheme by dynamic triangulation. Our two main ideas are (1) integration of two principal systems, 3D laser scanning technical vision system (TVS) and mobile robot (MR) navigation system. (2) Novel MR navigation scheme, which allows benefiting from all advantages of precise triangulation localization of the obstacles, mostly over known camera oriented vision systems. For practical use, mobile robots are required to continue their tasks with safety and high accuracy on temporary occlusion condition. Presented in this work, prototype II of TVS is significantly improved over prototype I of our previous publications in the aspects of laser rays alignment, parasitic torque decrease and friction reduction of moving parts. The kinematic model of the MR used in this work is designed considering the optimal data acquisition from the TVS with the main goal of obtaining in real time, the necessary values for the kinematic model of the MR immediately during the calculation of obstacles based on the TVS data.

  9. Autonomous navigation system for mobile robots of inspection; Sistema de navegacion autonoma para robots moviles de inspeccion

    Energy Technology Data Exchange (ETDEWEB)

    Angulo S, P. [ITT, Metepec, Estado de Mexico (Mexico); Segovia de los Rios, A. [ININ, 52045 Ocoyoacac, Estado de Mexico (Mexico)]. e-mail: pedrynteam@hotmail.com

    2005-07-01

    One of the goals in robotics is the human personnel's protection that work in dangerous areas or of difficult access, such it is the case of the nuclear industry where exist areas that, for their own nature, they are inaccessible for the human personnel, such as areas with high radiation level or high temperatures; it is in these cases where it is indispensable the use of an inspection system that is able to carry out a sampling of the area in order to determine if this areas can be accessible for the human personnel. In this situation it is possible to use an inspection system based on a mobile robot, of preference of autonomous navigation, for the realization of such inspection avoiding by this way the human personnel's exposure. The present work proposes a model of autonomous navigation for a mobile robot Pioneer 2-D Xe based on the algorithm of wall following using the paradigm of fuzzy logic. (Author)

  10. Navigation of Autonomous Mobile Robot under Decision-making Strategy tuned by Genetic Algorithm

    Science.gov (United States)

    Wang, Fei; Kamano, Takuya; Yasuno, Takashi; Suzuki, Takayuki; Harada, Hironobu

    This paper describes a novel application of genetic algorithm for navigation of an autonomous mobile robot (AMR) under unknown environments. In the navigation system, the AMR is controlled by the decision-making block, which consists of neural network. To achieve both successful navigation to the goal and the suitable obstacle avoidance, the connection weights of the neural network and speed gains for predefined actions are encoded as genotypes and are tuned simultaneously by genetic algorithm so that the static and dynamic danger-degrees, the energy consumption and the distance and direction errors decrease during the navigation. Experimental results demonstrate the validity of the proposed navigation system.

  11. Concepts of the Internet of Things from the Aspect of the Autonomous Mobile Robots

    Directory of Open Access Journals (Sweden)

    Janos Simon

    2015-01-01

    Full Text Available The Internet of Things (IoT is slowly gaining grounds and through the properties of barcodes, QR codes, RFID, active sensors and IPv6, objects are fitted with some form of readability and traceability. People are becoming part of digital global network driven by personal interests. The feeling being part of a community and the constant drive of getting connected from real life finds it continuation in digital networks. This article investigates the concepts of the internet of things from the aspect of the autonomous mobile robots with an overview of the performances of the currently available database systems.

  12. Mobile Robot Navigation

    DEFF Research Database (Denmark)

    Andersen, Jens Christian

    2007-01-01

    Abstract Robots will soon take part in everyone’s daily life. In industrial production this has been the case for many years, but up to now the use of mobile robots has been limited to a few and isolated applications like lawn mowing, surveillance, agricultural production and military applications....... The research is now progressing towards autonomous robots which will be able to assist us in our daily life. One of the enabling technologies is navigation, and navigation is the subject of this thesis. Navigation of an autonomous robot is concerned with the ability of the robot to direct itself from...

  13. Localization of non-linearly modeled autonomous mobile robots using out-of-sequence measurements.

    Science.gov (United States)

    Besada-Portas, Eva; Lopez-Orozco, Jose A; Lanillos, Pablo; de la Cruz, Jesus M

    2012-01-01

    This paper presents a state of the art of the estimation algorithms dealing with Out-of-Sequence (OOS) measurements for non-linearly modeled systems. The state of the art includes a critical analysis of the algorithm properties that takes into account the applicability of these techniques to autonomous mobile robot navigation based on the fusion of the measurements provided, delayed and OOS, by multiple sensors. Besides, it shows a representative example of the use of one of the most computationally efficient approaches in the localization module of the control software of a real robot (which has non-linear dynamics, and linear and non-linear sensors) and compares its performance against other approaches. The simulated results obtained with the selected OOS algorithm shows the computational requirements that each sensor of the robot imposes to it. The real experiments show how the inclusion of the selected OOS algorithm in the control software lets the robot successfully navigate in spite of receiving many OOS measurements. Finally, the comparison highlights that not only is the selected OOS algorithm among the best performing ones of the comparison, but it also has the lowest computational and memory cost.

  14. Localization of Non-Linearly Modeled Autonomous Mobile Robots Using Out-of-Sequence Measurements

    Directory of Open Access Journals (Sweden)

    Jesus M. de la Cruz

    2012-02-01

    Full Text Available This paper presents a state of the art of the estimation algorithms dealing with Out-of-Sequence (OOS measurements for non-linearly modeled systems. The state of the art includes a critical analysis of the algorithm properties that takes into account the applicability of these techniques to autonomous mobile robot navigation based on the fusion of the measurements provided, delayed and OOS, by multiple sensors. Besides, it shows a representative example of the use of one of the most computationally efficient approaches in the localization module of the control software of a real robot (which has non-linear dynamics, and linear and non-linear sensors and compares its performance against other approaches. The simulated results obtained with the selected OOS algorithm shows the computational requirements that each sensor of the robot imposes to it. The real experiments show how the inclusion of the selected OOS algorithm in the control software lets the robot successfully navigate in spite of receiving many OOS measurements. Finally, the comparison highlights that not only is the selected OOS algorithm among the best performing ones of the comparison, but it also has the lowest computational and memory cost.

  15. Construction of Fuzzy Map for Autonomous Mobile Robots Based on Fuzzy Confidence Model

    Directory of Open Access Journals (Sweden)

    Jung-Fu Hou

    2014-01-01

    Full Text Available This paper presents the use of fuzzy models to explicitly consider sensor uncertainty and finite resolution in solving the SLAM (simultaneous localization and mapping problem for autonomous mobile robots. The approach establishes fuzzy confidence models in describing occupied obstacles and available space. The problem is transformed into an optimization task of minimizing the alignment error between newly scanned local fuzzy maps and selected parts of a developing global fuzzy map. In aligning local fuzzy maps into a global fuzzy map, we developed a prediction strategy to crop the most potential part from the sensed local fuzzy maps to be overlapped with the global fuzzy map. A mobile vehicle equipped with a laser range finder, the Hokuyo URG-04LX, is used to demonstrate the procedure of fuzzy map building. Experimental results show that the proposed architecture is effective in generating a comprehensive global fuzzy map, which is suitable for both human comprehension and path design during real-time navigation.

  16. Cartographie 3D et localisation par vision monoculaire pour la navignation autonome d'un robot mobile

    OpenAIRE

    Royer, Eric

    2006-01-01

    This thesis presents the realization of a localization system for a mobile robot relying on monocular vision. The aim of this project is to be able to make a robot follow a path in autonomous navigation in an urban environment. First, the robot is driven manually. During this learning step, the on board camera records a video sequence. After an off-line processing step, an image taken with the same hardware allows to compute the pose of the robot in real-time. This localization can be used to...

  17. Recognition of 3D objects for autonomous mobile robot's navigation in automated shipbuilding

    Science.gov (United States)

    Lee, Hyunki; Cho, Hyungsuck

    2007-10-01

    Nowadays many parts of shipbuilding process are automated, but the painting process is not, because of the difficulty of automated on-line painting quality measurement, harsh painting environment and the difficulty of robot navigation. However, the painting automation is necessary, because it can provide consistent performance of painting film thickness. Furthermore, autonomous mobile robots are strongly required for flexible painting work. However, the main problem of autonomous mobile robot's navigation is that there are many obstacles which are not expressed in the CAD data. To overcome this problem, obstacle detection and recognition are necessary to avoid obstacles and painting work effectively. Until now many object recognition algorithms have been studied, especially 2D object recognition methods using intensity image have been widely studied. However, in our case environmental illumination does not exist, so these methods cannot be used. To overcome this, to use 3D range data must be used, but the problem of using 3D range data is high computational cost and long estimation time of recognition due to huge data base. In this paper, we propose a 3D object recognition algorithm based on PCA (Principle Component Analysis) and NN (Neural Network). In the algorithm, the novelty is that the measured 3D range data is transformed into intensity information, and then adopts the PCA and NN algorithm for transformed intensity information to reduce the processing time and make the data easy to handle which are disadvantages of previous researches of 3D object recognition. A set of experimental results are shown to verify the effectiveness of the proposed algorithm.

  18. An enhanced dynamic Delaunay triangulation-based path planning algorithm for autonomous mobile robot navigation

    Science.gov (United States)

    Chen, Jun; Luo, Chaomin; Krishnan, Mohan; Paulik, Mark; Tang, Yipeng

    2010-01-01

    An enhanced dynamic Delaunay Triangulation-based (DT) path planning approach is proposed for mobile robots to plan and navigate a path successfully in the context of the Autonomous Challenge of the Intelligent Ground Vehicle Competition (www.igvc.org). The Autonomous Challenge course requires the application of vision techniques since it involves path-based navigation in the presence of a tightly clustered obstacle field. Course artifacts such as switchbacks, ramps, dashed lane lines, trap etc. are present which could turn the robot around or cause it to exit the lane. The main contribution of this work is a navigation scheme based on dynamic Delaunay Triangulation (DDT) that is heuristically enhanced on the basis of a sense of general lane direction. The latter is computed through a "GPS (Global Positioning System) tail" vector obtained from the immediate path history of the robot. Using processed data from a LADAR, camera, compass and GPS unit, a composite local map containing both obstacles and lane line segments is built up and Delaunay Triangulation is continuously run to plan a path. This path is heuristically corrected, when necessary, by taking into account the "GPS tail" . With the enhancement of the Delaunay Triangulation by using the "GPS tail", goal selection is successfully achieved in a majority of situations. The robot appears to follow a very stable path while navigating through switchbacks and dashed lane line situations. The proposed enhanced path planning and GPS tail technique has been successfully demonstrated in a Player/Stage simulation environment. In addition, tests on an actual course are very promising and reveal the potential for stable forward navigation.

  19. Mobile Autonomous Humanoid Assistant

    Science.gov (United States)

    Diftler, M. A.; Ambrose, R. O.; Tyree, K. S.; Goza, S. M.; Huber, E. L.

    2004-01-01

    A mobile autonomous humanoid robot is assisting human co-workers at the Johnson Space Center with tool handling tasks. This robot combines the upper body of the National Aeronautics and Space Administration (NASA)/Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Segway(TradeMark) Robotic Mobility Platform yielding a dexterous, maneuverable humanoid perfect for aiding human co-workers in a range of environments. This system uses stereo vision to locate human team mates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form human assistant behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

  20. Robust Planning for Autonomous Navigation of Mobile Robots in Unstructured, Dynamic Environments: An LDRD Final Report

    Energy Technology Data Exchange (ETDEWEB)

    EISLER, G. RICHARD

    2002-08-01

    This report summarizes the analytical and experimental efforts for the Laboratory Directed Research and Development (LDRD) project entitled ''Robust Planning for Autonomous Navigation of Mobile Robots In Unstructured, Dynamic Environments (AutoNav)''. The project goal was to develop an algorithmic-driven, multi-spectral approach to point-to-point navigation characterized by: segmented on-board trajectory planning, self-contained operation without human support for mission duration, and the development of appropriate sensors and algorithms to navigate unattended. The project was partially successful in achieving gains in sensing, path planning, navigation, and guidance. One of three experimental platforms, the Minimalist Autonomous Testbed, used a repetitive sense-and-re-plan combination to demonstrate the majority of elements necessary for autonomous navigation. However, a critical goal for overall success in arbitrary terrain, that of developing a sensor that is able to distinguish true obstacles that need to be avoided as a function of vehicle scale, still needs substantial research to bring to fruition.

  1. Interaction dynamics of multiple autonomous mobile robots in bounded spatial domains

    Science.gov (United States)

    Wang, P. K. C.

    1989-01-01

    A general navigation strategy for multiple autonomous robots in a bounded domain is developed analytically. Each robot is modeled as a spherical particle (i.e., an effective spatial domain about the center of mass); its interactions with other robots or with obstacles and domain boundaries are described in terms of the classical many-body problem; and a collision-avoidance strategy is derived and combined with homing, robot-robot, and robot-obstacle collision-avoidance strategies. Results from homing simulations involving (1) a single robot in a circular domain, (2) two robots in a circular domain, and (3) one robot in a domain with an obstacle are presented in graphs and briefly characterized.

  2. An algorithm for image clusters detection and identification based on color for an autonomous mobile robot

    Energy Technology Data Exchange (ETDEWEB)

    Uy, D.L.

    1996-02-01

    An algorithm for detection and identification of image clusters or {open_quotes}blobs{close_quotes} based on color information for an autonomous mobile robot is developed. The input image data are first processed using a crisp color fuszzyfier, a binary smoothing filter, and a median filter. The processed image data is then inputed to the image clusters detection and identification program. The program employed the concept of {open_quotes}elastic rectangle{close_quotes}that stretches in such a way that the whole blob is finally enclosed in a rectangle. A C-program is develop to test the algorithm. The algorithm is tested only on image data of 8x8 sizes with different number of blobs in them. The algorithm works very in detecting and identifying image clusters.

  3. Autonomous trajectory generation for mobile robots with non-holonomic and steering angle constraints

    Energy Technology Data Exchange (ETDEWEB)

    Pin, F.G.; Vasseur, H.A.

    1990-01-01

    This paper presents an approach to the trajectory planning of mobile platforms characterized by non-holonomic constraints and constraints on the steering angle and steering angle rate. The approach is based on geometric reasoning and provides deterministic trajectories for all pairs of initial and final configurations (position x, y, and orientation {theta}) of the robot. Furthermore, the method generates trajectories taking into account the forward and reverse mode of motion of the vehicle, or combination of these when complex maneuvering is involved or when the environment is obstructed with obstacles. The trajectory planning algorithm is described, and examples of trajectories generated for a variety of environmental conditions are presented. The generation of the trajectories only takes a few milliseconds of run time on a micro Vax, making the approach quite attractive for use as a real-time motion planner for teleoperated or sensor-based autonomous vehicles in complex environments. 10 refs., 11 figs.

  4. An Improved Chaotic Motion Path Planner for Autonomous Mobile Robots based on a Logistic Map

    Directory of Open Access Journals (Sweden)

    Caihong Li

    2013-06-01

    Full Text Available This paper presents a chaotic motion path planner based on a Logistic Map (SCLCP for an autonomous mobile robot to cover an unknown terrain randomly, namely entirely, unpredictably and evenly. The path planner has been improved by arcsine and arccosine transformation. A motion path planner based only on the Logistic Chaotic Map (LCP can show chaotic behaviour, which possesses the chaotic characteristics of topological transitivity and unpredictability, but lacks better evenness. Therefore, the arcsine and arccosine transformations are used to enhance the randomness of LCP. The randomness of the followed path planner, LCP, the improved path planner SCLCP and the commonly used Random Path Planner (RP are discussed and compared under different sets of initial conditions and different iteration rounds. Simulation results confirm that a better evenness index of SCLCP can be obtained with regard to previous works.

  5. Implementation of Obstacle-Avoidance Control for an Autonomous Omni-Directional Mobile Robot Based on Extension Theory

    Directory of Open Access Journals (Sweden)

    Yi-Chung Lai

    2012-10-01

    Full Text Available The paper demonstrates a following robot with omni-directional wheels, which is able to take action to avoid obstacles. The robot design is based on both fuzzy and extension theory. Fuzzy theory was applied to tune the PMW signal of the motor revolution, and correct path deviation issues encountered when the robot is moving. Extension theory was used to build a robot obstacle-avoidance model. Various mobile models were developed to handle different types of obstacles. The ultrasonic distance sensors mounted on the robot were used to estimate the distance to obstacles. If an obstacle is encountered, the correlation function is evaluated and the robot avoids the obstacle autonomously using the most appropriate mode. The effectiveness of the proposed approach was verified through several tracking experiments, which demonstrates the feasibility of a fuzzy path tracker as well as the extensible collision avoidance system.

  6. Implementation of obstacle-avoidance control for an autonomous omni-directional mobile robot based on extension theory.

    Science.gov (United States)

    Pai, Neng-Sheng; Hsieh, Hung-Hui; Lai, Yi-Chung

    2012-10-16

    The paper demonstrates a following robot with omni-directional wheels, which is able to take action to avoid obstacles. The robot design is based on both fuzzy and extension theory. Fuzzy theory was applied to tune the PMW signal of the motor revolution, and correct path deviation issues encountered when the robot is moving. Extension theory was used to build a robot obstacle-avoidance model. Various mobile models were developed to handle different types of obstacles. The ultrasonic distance sensors mounted on the robot were used to estimate the distance to obstacles. If an obstacle is encountered, the correlation function is evaluated and the robot avoids the obstacle autonomously using the most appropriate mode. The effectiveness of the proposed approach was verified through several tracking experiments, which demonstrates the feasibility of a fuzzy path tracker as well as the extensible collision avoidance system.

  7. Image processing for navigation on a mobile embedded platform: design of an autonomous mobile robot

    Science.gov (United States)

    Loose, Harald; Lemke, Christiane; Papazov, Chavdar

    2006-02-01

    This paper deals with intelligent mobile platforms connected to a camera controlled by a small hardware-platform called RCUBE. This platform is able to provide features of a typical actuator-sensor board with various inputs and outputs as well as computing power and image recognition capabilities. Several intelligent autonomous RCBUE devices can be equipped and programmed to participate in the BOSPORUS network. These components form an intelligent network for gathering sensor and image data, sensor data fusion, navigation and control of mobile platforms. The RCUBE platform provides a standalone solution for image processing, which will be explained and presented. It plays a major role for several components in a reference implementation of the BOSPORUS system. On the one hand, intelligent cameras will be positioned in the environment, analyzing the events from a fixed point of view and sharing their perceptions with other components in the system. On the other hand, image processing results will contribute to a reliable navigation of a mobile system, which is crucially important. Fixed landmarks and other objects appropriate for determining the position of a mobile system can be recognized. For navigation other methods are added, i.e. GPS calculations and odometers.

  8. Self-localization for an autonomous mobile robot based on an omni-directional vision system

    Science.gov (United States)

    Chiang, Shu-Yin; Lin, Kuang-Yu; Chia, Tsorng-Lin

    2013-12-01

    In this study, we designed an autonomous mobile robot based on the rules of the Federation of International Robotsoccer Association (FIRA) RoboSot category, integrating the techniques of computer vision, real-time image processing, dynamic target tracking, wireless communication, self-localization, motion control, path planning, and control strategy to achieve the contest goal. The self-localization scheme of the mobile robot is based on the algorithms featured in the images from its omni-directional vision system. In previous works, we used the image colors of the field goals as reference points, combining either dual-circle or trilateration positioning of the reference points to achieve selflocalization of the autonomous mobile robot. However, because the image of the game field is easily affected by ambient light, positioning systems exclusively based on color model algorithms cause errors. To reduce environmental effects and achieve the self-localization of the robot, the proposed algorithm is applied in assessing the corners of field lines by using an omni-directional vision system. Particularly in the mid-size league of the RobotCup soccer competition, selflocalization algorithms based on extracting white lines from the soccer field have become increasingly popular. Moreover, white lines are less influenced by light than are the color model of the goals. Therefore, we propose an algorithm that transforms the omni-directional image into an unwrapped transformed image, enhancing the extraction features. The process is described as follows: First, radical scan-lines were used to process omni-directional images, reducing the computational load and improving system efficiency. The lines were radically arranged around the center of the omni-directional camera image, resulting in a shorter computational time compared with the traditional Cartesian coordinate system. However, the omni-directional image is a distorted image, which makes it difficult to recognize the

  9. Mobile Intelligent Autonomous Systems

    Directory of Open Access Journals (Sweden)

    Jitendra R. Raol

    2010-01-01

    Full Text Available Mobile intelligent autonomous systems (MIAS is a fast emerging research area. Although it can be regarded as a general R&D area, it is mainly directed towards robotics. Several important subtopics within MIAS research are:(i perception and reasoning, (ii mobility and navigation,(iii haptics and teleoperation, (iv image fusion/computervision, (v modelling of manipulators, (vi hardware/software architectures for planning and behaviour learning leadingto robotic architecture, (vii vehicle-robot path and motionplanning/control, (viii human-machine interfaces for interaction between humans and robots, and (ix application of artificial neural networks (ANNs, fuzzy logic/systems (FLS,probabilistic/approximate reasoning (PAR, Bayesian networks(BN and genetic algorithms (GA to the above-mentioned problems. Also, multi-sensor data fusion (MSDF playsvery crucial role at many levels of the data fusion process:(i kinematic fusion (position/bearing tracking, (ii imagefusion (for scene recognition, (iii information fusion (forbuilding world models, and (iv decision fusion (for tracking,control actions. The MIAS as a technology is useful for automation of complex tasks, surveillance in a hazardousand hostile environment, human-assistance in very difficultmanual works, medical robotics, hospital systems, autodiagnosticsystems, and many other related civil and military systems. Also, other important research areas for MIAScomprise sensor/actuator modelling, failure management/reconfiguration, scene understanding, knowledge representation, learning and decision-making. Examples ofdynamic systems considered within the MIAS would be:autonomous systems (unmanned ground vehicles, unmannedaerial vehicles, micro/mini air vehicles, and autonomousunder water vehicles, mobile/fixed robotic systems, dexterousmanipulator robots, mining robots, surveillance systems,and networked/multi-robot systems, to name a few.Defence Science Journal, 2010, 60(1, pp.3-4,

  10. Autonomous robotic sweeper

    OpenAIRE

    Kržišnik, Domen

    2015-01-01

    There is already a wide range of personal/domestic robots on the market capable of performing various tasks. We haven't however been able to find any commercially available robots designed for effectively performing the task of backyard sweeping. This thesis presents the process and end result of planning, assembly and programming of an autonomous robot, capable of performing the above mentioned task. We first analyze robots with similar functions, including robotic vacuum cleaners and lawn m...

  11. A ToF-camera as a 3D Vision Sensor for Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Sobers Lourdu Xavier Francis

    2015-11-01

    Full Text Available The aim of this paper is to deploy a time-of-flight (ToF based photonic mixer device (PMD camera on an Autonomous Ground Vehicle (AGV whose overall target is to traverse from one point to another in hazardous and hostile environments employing obstacle avoidance without human intervention. The hypothesized approach of applying a ToF Camera for an AGV is a suitable approach to autonomous robotics because, as the ToF camera can provide three-dimensional (3D information at a low computational cost, it is utilized to extract information about obstacles after their calibration and ground testing, and is mounted and integrated with the Pioneer mobile robot. The workspace is a two-dimensional (2D world map which has been divided into a grid/cells, where the collision-free path defined by the graph search algorithm is a sequence of cells the AGV can traverse to reach the target. PMD depth data is used to populate traversable areas and obstacles by representing a grid/cells of suitable size. These camera data are converted into Cartesian coordinates for entry into a workspace grid map. A more optimal camera mounting angle is needed and adopted by analysing the camera’s performance discrepancy, such as pixel detection, the detection rate and the maximum perceived distances, and infrared (IR scattering with respect to the ground surface. This mounting angle is recommended to be half the vertical field-of-view (FoV of the PMD camera. A series of still and moving tests are conducted on the AGV to verify correct sensor operations, which show that the postulated application of the ToF camera in the AGV is not straightforward. Later, to stabilize the moving PMD camera and to detect obstacles, a tracking feature detection algorithm and the scene flow technique are implemented to perform a real-time experiment.

  12. The Embudito Mission: A Case Study of the Systematics of Autonomous Ground Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

    EICKER,PATRICK J.

    2001-02-01

    Ground mobile robots are much in the mind of defense planners at this time, being considered for a significant variety of missions with a diversity ranging from logistics supply to reconnaissance and surveillance. While there has been a very large amount of basic research funded in the last quarter century devoted to mobile robots and their supporting component technologies, little of this science base has been fully developed and deployed--notable exceptions being NASA's Mars rover and several terrestrial derivatives. The material in this paper was developed as a first exemplary step in the development of a more systematic approach to the R and D of ground mobile robots.

  13. Real-time Obstacle Avoidance for a Swarm of Autonomous Mobile Robots

    OpenAIRE

    Hedjar, Ramdane; Bounkhel, Messaoud

    2014-01-01

    In this paper, we propose a computational trajectory generation algorithm for swarm mobile robots using local information in a dynamic environment. The algorithm plans a reference path based on constrained convex nonlinear optimization which avoids both static and dynamic obstacles. This algorithm is combined with one-step-ahead predictive control for a swarm of mobile robots to track the generated paths and reach the goals without collision. The numerical simulations and experimental results...

  14. Modélisation incrémentale et localisation par amers pour la navigation d'un robot mobile autonome en environnement naturel

    OpenAIRE

    Betge-Brezetz, Stéphane

    1996-01-01

    This thesis deals with natural environment modelling and autonomous mobile robot localisation. The environment, unknown or partially known, is incrementally perceived by the robot with a 3D sensor (laser range finder or stereovision). Application of this work are intervention mobile robotics and planetary exploration. A first part specifies the properties that the environment model should possess and provides a critical analysis of the different representations studied in the litterature. The...

  15. Autonomous Hexapod Spider Robot

    DEFF Research Database (Denmark)

    Pandey, Nisha; Pandey, Bishwajeet; Hussain, Dil muhammed Akbar

    2017-01-01

    of a hexapod robot. It is controlled through Arduino-unoR3 based SSC servo control module. Servos of torque 2.5kg-cm are used in robot to show different working movements including back and forth movement and sitting posture. Another trending technology i.e. Bluetooth is used to control autonomous feature...

  16. A traffic priority language for collision-free navigation of autonomous mobile robots in dynamic environments.

    Science.gov (United States)

    Bourbakis, N G

    1997-01-01

    This paper presents a generic traffic priority language, called KYKLOFORTA, used by autonomous robots for collision-free navigation in a dynamic unknown or known navigation space. In a previous work by X. Grossmman (1988), a set of traffic control rules was developed for the navigation of the robots on the lines of a two-dimensional (2-D) grid and a control center coordinated and synchronized their movements. In this work, the robots are considered autonomous: they are moving anywhere and in any direction inside the free space, and there is no need of a central control to coordinate and synchronize them. The requirements for each robot are i) visual perception, ii) range sensors, and iii) the ability of each robot to detect other moving objects in the same free navigation space, define the other objects perceived size, their velocity and their directions. Based on these assumptions, a traffic priority language is needed for each robot, making it able to decide during the navigation and avoid possible collision with other moving objects. The traffic priority language proposed here is based on a set of primitive traffic priority alphabet and rules which compose pattern of corridors for the application of the traffic priority rules.

  17. R-MASTIF: robotic mobile autonomous system for threat interrogation and object fetch

    Science.gov (United States)

    Das, Aveek; Thakur, Dinesh; Keller, James; Kuthirummal, Sujit; Kira, Zsolt; Pivtoraiko, Mihail

    2013-01-01

    Autonomous robotic "fetch" operation, where a robot is shown a novel object and then asked to locate it in the field, re- trieve it and bring it back to the human operator, is a challenging problem that is of interest to the military. The CANINE competition presented a forum for several research teams to tackle this challenge using state of the art in robotics technol- ogy. The SRI-UPenn team fielded a modified Segway RMP 200 robot with multiple cameras and lidars. We implemented a unique computer vision based approach for textureless colored object training and detection to robustly locate previ- ously unseen objects out to 15 meters on moderately flat terrain. We integrated SRI's state of the art Visual Odometry for GPS-denied localization on our robot platform. We also designed a unique scooping mechanism which allowed retrieval of up to basketball sized objects with a reciprocating four-bar linkage mechanism. Further, all software, including a novel target localization and exploration algorithm was developed using ROS (Robot Operating System) which is open source and well adopted by the robotics community. We present a description of the system, our key technical contributions and experimental results.

  18. Welding torch trajectory generation for hull joining using autonomous welding mobile robot

    Science.gov (United States)

    Hascoet, J. Y.; Hamilton, K.; Carabin, G.; Rauch, M.; Alonso, M.; Ares, E.

    2012-04-01

    Shipbuilding processes involve highly dangerous manual welding operations. Welding of ship hulls presents a hazardous environment for workers. This paper describes a new robotic system, developed by the SHIPWELD consortium, that moves autonomously on the hull and automatically executes the required welding processes. Specific focus is placed on the trajectory control of such a system and forms the basis for the discussion in this paper. It includes a description of the robotic hardware design as well as some methodology used to establish the torch trajectory control.

  19. A ToF-camera as a 3D Vision Sensor for Autonomous Mobile Robotics

    OpenAIRE

    Sobers Lourdu Xavier Francis; Sreenatha G. Anavatti; Matthew Garratt; Hyunbgo Shim

    2015-01-01

    The aim of this paper is to deploy a time-of-flight (ToF) based photonic mixer device (PMD) camera on an Autonomous Ground Vehicle (AGV) whose overall target is to traverse from one point to another in hazardous and hostile environments employing obstacle avoidance without human intervention. The hypothesized approach of applying a ToF Camera for an AGV is a suitable approach to autonomous robotics because, as the ToF camera can provide three-dimensional (3D) information at a low computationa...

  20. Field Study of a Physical Game for Older Adults Based on an Autonomous, Mobile Robot

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg; Rasmussen, Dorte Malig; Bak, Thomas

    2012-01-01

    This paper presents an initial, qualitative study on how a game based on a mobile robot with an expressive head can be used as a physical activity for elderly. The game is investigated in two independent field studies - one in a nursing home and one in a rehabilitation centre for elderly using...... an open, exploratory approach. An analysis of the interaction is made based on video recordings, observations and qualitative interviews focusing on the potential of the robot as a rehabilitative application. The primary goal of the study is to observe seniors’ acceptance of the robot, to obtain knowledge...

  1. Virtual Simulator for Autonomous Mobile Robots Navigation System Using Concepts of Control Rapid Prototyping

    Directory of Open Access Journals (Sweden)

    Leonimer Flavio de Melo

    2013-09-01

    Full Text Available This work presents the proposal of virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. The kinematic and dynamic simulator module makes all simulation of the mobile robot following the pre-determined trajectory of the trajectory generator. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, which is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplishing with nonholonomics mobile robots models with differential transmission.

  2. Efficient Kinect Sensor-Based Reactive Path Planning Method for Autonomous Mobile Robots in Dynamic Environments

    Energy Technology Data Exchange (ETDEWEB)

    Tuvshinjargal, Doopalam; Lee, Deok Jin [Kunsan National University, Gunsan (Korea, Republic of)

    2015-06-15

    In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments.

  3. ONLINE MODEL AND ACTUATOR FAULT TOLERANT CONTROL FOR AUTONOMOUS MOBILE ROBOT

    Institute of Scientific and Technical Information of China (English)

    SONG Qi; JIANG Zhe; HAN Jianda

    2007-01-01

    A novel fault-tolerant adaptive control methodology against the actuator faults is proposed.The actuator effectiveness factors (AEFs) are introduced to denote the healthy of actuator, and the unscented Kalman filter (UKF) is employed for online estimation of both the motion states and the AEFs of mobile robot. A square root version of the UKF is introduced to improve efficiency and numerical stability. Using the information from the UKF, the reconfigurable controller is designed automatically based on an enhancement inverse dynamic control (IDC) methodology. The experiment on a 3-DOF omni-directional mobile robot is performed, and the effectiveness of the proposed method is demonstrated.

  4. Real-time Obstacle Avoidance for a Swarm of Autonomous Mobile Robots

    Directory of Open Access Journals (Sweden)

    Ramdane Hedjar

    2014-04-01

    Full Text Available In this paper, we propose a computational trajectory generation algorithm for swarm mobile robots using local information in a dynamic environment. The algorithm plans a reference path based on constrained convex nonlinear optimization which avoids both static and dynamic obstacles. This algorithm is combined with one-step-ahead predictive control for a swarm of mobile robots to track the generated paths and reach the goals without collision. The numerical simulations and experimental results demonstrate the effectiveness of the proposed free-collision path planning algorithm.

  5. IMPLEMENTATION OF AUTONOMOUS NAVIGATION ALGORITHMS ON TWO-WHEELED GROUND MOBILE ROBOT

    Directory of Open Access Journals (Sweden)

    Stephen Armah

    2014-01-01

    Full Text Available This study presents an effective navigation architecture that combines ‘go-to-goal’, ‘avoid-obstacle’ and ‘follow-wall’ controllers into a full navigation system. A MATLAB robot simulator is used to implement this navigation control algorithm. The robot in the simulator moves to a goal in the presence of convex and non-convex obstacles. Experiments are carried out using a ground mobile robot, Dr Robot X80SV, in a typical office environment to verify successful implementation of the navigation architecture algorithm programmed in MATLAB. The research paper also demonstrates algorithms to achieve tasks such as ‘move to a point’, ‘move to a pose’, ‘follow a line’, ‘move in a circle’ and ‘avoid obstacles’. These control algorithms are simulated using Simulink models.

  6. Obstacles Avoidance Method for an Autonomous Mobile Robot using Two IR Sensors

    OpenAIRE

    A. Gacsadi; V. Tiponut; I. Gavrilut; L. Tepelea

    2008-01-01

    The paper presents a local navigationmethod for mobile robot, based on sensorial informationgiven by two IR sensors. These types of sensors aresimple and relatively low-cost sensing modalities toperform navigation tasks in environments with obstacles.On the other hand, IR sensors may be preferable due totheir faster response time and can be integrated instructure with microcontroller.

  7. Cooperating mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Harrington, John J.; Eskridge, Steven E.; Hurtado, John E.; Byrne, Raymond H.

    2004-02-03

    A miniature mobile robot provides a relatively inexpensive mobile robot. A mobile robot for searching an area provides a way for multiple mobile robots in cooperating teams. A robotic system with a team of mobile robots communicating information among each other provides a way to locate a source in cooperation. A mobile robot with a sensor, a communication system, and a processor, provides a way to execute a strategy for searching an area.

  8. Autonomous Industrial Mobile Manipulation (AIMM)

    DEFF Research Database (Denmark)

    Hvilshøj, Mads; Bøgh, Simon; Nielsen, Oluf Skov

    2012-01-01

    Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper investiga......Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper...... investigates the missing links and gaps between the research and developments efforts and the real-world application requirements, in order to bring the AIMM technology from laboratories to manufacturing environments. The investigation is based on 12 general application requirements for robotics......; sustainability, configuration, adaptation, autonomy, positioning, manipulation and grasping, robot-robot interaction, human-robot interaction, process quality, dependability, and physical properties. Findings - The concise yet comprehensive review provides both researchers (academia) and practitioners (industry...

  9. Teleautonomous guidance for mobile robots

    Science.gov (United States)

    Borenstein, J.; Koren, Y.

    1990-01-01

    Teleautonomous guidance (TG), a technique for the remote guidance of fast mobile robots, has been developed and implemented. With TG, the mobile robot follows the general direction prescribed by an operator. However, if the robot encounters an obstacle, it autonomously avoids collision with that obstacle while trying to match the prescribed direction as closely as possible. This type of shared control is completely transparent and transfers control between teleoperation and autonomous obstacle avoidance gradually. TG allows the operator to steer vehicles and robots at high speeds and in cluttered environments, even without visual contact. TG is based on the virtual force field (VFF) method, which was developed earlier for autonomous obstacle avoidance. The VFF method is especially suited to the accommodation of inaccurate sensor data (such as that produced by ultrasonic sensors) and sensor fusion, and allows the mobile robot to travel quickly without stopping for obstacles.

  10. The research of autonomous obstacle avoidance of mobile robot based on multi-sensor integration

    Science.gov (United States)

    Zhao, Ming; Han, Baoling

    2016-11-01

    The object of this study is the bionic quadruped mobile robot. The study has proposed a system design plan for mobile robot obstacle avoidance with the binocular stereo visual sensor and the self-control 3D Lidar integrated with modified ant colony optimization path planning to realize the reconstruction of the environmental map. Because the working condition of a mobile robot is complex, the result of the 3D reconstruction with a single binocular sensor is undesirable when feature points are few and the light condition is poor. Therefore, this system integrates the stereo vision sensor blumblebee2 and the Lidar sensor together to detect the cloud information of 3D points of environmental obstacles. This paper proposes the sensor information fusion technology to rebuild the environment map. Firstly, according to the Lidar data and visual data on obstacle detection respectively, and then consider two methods respectively to detect the distribution of obstacles. Finally fusing the data to get the more complete, more accurate distribution of obstacles in the scene. Then the thesis introduces ant colony algorithm. It has analyzed advantages and disadvantages of the ant colony optimization and its formation cause deeply, and then improved the system with the help of the ant colony optimization to increase the rate of convergence and precision of the algorithm in robot path planning. Such improvements and integrations overcome the shortcomings of the ant colony optimization like involving into the local optimal solution easily, slow search speed and poor search results. This experiment deals with images and programs the motor drive under the compiling environment of Matlab and Visual Studio and establishes the visual 2.5D grid map. Finally it plans a global path for the mobile robot according to the ant colony algorithm. The feasibility and effectiveness of the system are confirmed by ROS and simulation platform of Linux.

  11. 自主移动机器人局部路径规划综述%Survey of local path planning of autonomous mobile robot

    Institute of Scientific and Technical Information of China (English)

    鲍庆勇; 李舜酩; 沈峘; 门秀花

    2009-01-01

    Autonomous mobile robot investigate is an active research society recently. However,mobile robot path planning technology is one of the most important issues in autonomous mobile robot research. The classification of mobile robot path planning method and the importance of local path planning are summarized; the state of the art relative mobile robot local path planning approaches are presented. The advantages and disadvantages of these algorithms are discussed. A conclusion and perspectives of autonomous mobile robot local path planning is addressed.%自主移动机器人技术是近年来的研究热点,而路径规划技术是自主移动机器人技术研究中的一个重要内容.讨论了自主移动机器人路径规划技术的分类和研究局部路径规划的重要性;分析了局部路径规划技术的发展现状;指出了局部路径规划各种方法的优点与不足;对局部路径规划技术今后的发展方向做出了展望.

  12. A Concept of Dynamically Reconfigurable Real-Time Vision System for Autonomous Mobile Robotics.

    OpenAIRE

    De Cabrol, Aymeric; Garcia, Thibault; Bonnin, Patrick; Chetto, Maryline

    2007-01-01

    International audience; Abstract: In this article, we describe specific constraints of vision systems that are dedicated to be embedded in mobile robots. If PC based hardware architecture is convenient in this field because of its versatility, its flexibility, its performance and its cost, current real-time operating systems are not completely adapted to long processings with varying duration, and it is often necessary to oversize the system to guarantee fail-safe functioning. Also, interactions...

  13. Chaotic Path Planner of Autonomous Mobile Robots Based on the Standard Map for Surveillance Missions

    Directory of Open Access Journals (Sweden)

    Caihong Li

    2015-01-01

    Full Text Available This paper proposes a fusion iterations strategy based on the Standard map to generate a chaotic path planner of the mobile robot for surveillance missions. The distances of the chaotic trajectories between the adjacent iteration points which are produced by the Standard map are too large for the robot to track. So a fusion iterations strategy combined with the large region iterations and the small grids region iterations is designed to resolve the problem. The small region iterations perform the iterations of the Standard map in the divided small grids, respectively. It can reduce the adjacent distances by dividing the whole surveillance workspace into small grids. The large region iterations combine all the small grids region iterations into a whole, switch automatically among the small grids, and maintain the chaotic characteristics of the robot to guarantee the surveillance missions. Compared to simply using the Standard map in the whole workspace, the proposed strategy can decrease the adjacent distances according to the divided size of the small grids and is convenient for the robot to track.

  14. Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

    Institute of Scientific and Technical Information of China (English)

    Hamza KHAN; Jamshed IQBAL; Khelifa BAIZID; Teresa ZIELINSKA

    2015-01-01

    This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot (WMR). The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.

  15. Tandem mobile robot system

    Energy Technology Data Exchange (ETDEWEB)

    Buttz, James H. (Albuquerque, NM); Shirey, David L. (Albuquerque, NM); Hayward, David R. (Albuquerque, NM)

    2003-01-01

    A robotic vehicle system for terrain navigation mobility provides a way to climb stairs, cross crevices, and navigate across difficult terrain by coupling two or more mobile robots with a coupling device and controlling the robots cooperatively in tandem.

  16. Kinematics Modeling of an Omnidirectional Autonomous Mobile Robot with Castor Wheels

    Institute of Scientific and Technical Information of China (English)

    Peng Yiqiang

    2006-01-01

    The kinematics model of an omnidirectional wheeled mobile robot (WMR) platform with 3 castor wheels was built, which includes the actuated inverse solution and the sensed forward solution. Motion simulations verify the consistency between the actuated inverse solution and the sensed forward solution. Analysis results show that the WMR possesses 3 degrees of freedom, and its motion trajectory is a straight line. The "pushing" and "pulling" motion patterns of the WMR can be generated by using different wheel orientations. It can be used in the places where the space is limited.

  17. (Mobile robots and intelligent motion control)

    Energy Technology Data Exchange (ETDEWEB)

    Pin, F.G.

    1990-09-07

    The traveler attended the IEEE International Workshop on Intelligent Motion Control, presented a paper entitled Autonomous Trajectory Generation for Mobile Robots with Non-Holonomic and Steering Angel Constraints,'' and chaired the session on mobile robots. Sessions of particular interests to ONRL/CESAR included Mobile Robots 1, 2, and 3, Motion Planning 1 and 2, Flexible Robots, Knowledge-Based Robotics Systems, Multi-Robot Systems, Redundant Robots, and Learning and Fuzzy Control 1 and 2. The traveler also visited the robotics laboratory of Bogazici University and held several discussions on design on redundant, compliant, reconfigurable, and dynamically balanced manipulators.

  18. A Concept of Dynamically Reconfigurable Real-time Vision System for Autonomous Mobile Robotics

    Institute of Scientific and Technical Information of China (English)

    Aymeric De Cabrol; Thibault Garcia; Patrick Bonnin; Maryline Chetto

    2008-01-01

    This paper describes specific constraints of vision systems that are dedicated to be embedded in mobile robots. If PC-based hardware architecture is convenient in this field because of its versatility, flexibility, performance, and cost, current real-time operating systems are not completely adapted to long processing with varying duration, and it is often necessary to oversize the system to guarantee fail-safe functioning. Also, interactions with other robotic tasks having more priority are difficult to handle. To answer this problem, we have developed a dynamically reconfigurable vision processing system, based on the innovative features of Cleopatre real-time applicative layer concerning scheduling and fault tolerance. This framework allows to define emergency and optional tasks to ensure a minimal quality of service for the other subsystems of the robot, while allowing to adapt dynamically vision processing chain to an exceptional everlasting vision process or processor overload. Thus, it allows a better cohabitation of several subsystems in a single hardware, and to develop less expensive but safe systems, as they will be designed for the regular case and not rare exceptional ones. Finally, it brings a new way to think and develop vision systems, with pairs of complementary operators.

  19. Adaptive Behavior for Mobile Robots

    Science.gov (United States)

    Huntsberger, Terrance

    2009-01-01

    The term "System for Mobility and Access to Rough Terrain" (SMART) denotes a theoretical framework, a control architecture, and an algorithm that implements the framework and architecture, for enabling a land-mobile robot to adapt to changing conditions. SMART is intended to enable the robot to recognize adverse terrain conditions beyond its optimal operational envelope, and, in response, to intelligently reconfigure itself (e.g., adjust suspension heights or baseline distances between suspension points) or adapt its driving techniques (e.g., engage in a crabbing motion as a switchback technique for ascending steep terrain). Conceived for original application aboard Mars rovers and similar autonomous or semi-autonomous mobile robots used in exploration of remote planets, SMART could also be applied to autonomous terrestrial vehicles to be used for search, rescue, and/or exploration on rough terrain.

  20. Autonomous Robotic Inspection in Tunnels

    Science.gov (United States)

    Protopapadakis, E.; Stentoumis, C.; Doulamis, N.; Doulamis, A.; Loupos, K.; Makantasis, K.; Kopsiaftis, G.; Amditis, A.

    2016-06-01

    In this paper, an automatic robotic inspector for tunnel assessment is presented. The proposed platform is able to autonomously navigate within the civil infrastructures, grab stereo images and process/analyse them, in order to identify defect types. At first, there is the crack detection via deep learning approaches. Then, a detailed 3D model of the cracked area is created, utilizing photogrammetric methods. Finally, a laser profiling of the tunnel's lining, for a narrow region close to detected crack is performed; allowing for the deduction of potential deformations. The robotic platform consists of an autonomous mobile vehicle; a crane arm, guided by the computer vision-based crack detector, carrying ultrasound sensors, the stereo cameras and the laser scanner. Visual inspection is based on convolutional neural networks, which support the creation of high-level discriminative features for complex non-linear pattern classification. Then, real-time 3D information is accurately calculated and the crack position and orientation is passed to the robotic platform. The entire system has been evaluated in railway and road tunnels, i.e. in Egnatia Highway and London underground infrastructure.

  1. Mobile Robots for Hospital Logistics

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan

    be and will be automated using mobile robots. This talk consequently addresses the key technical issues of implementing service robots in hospitals. In simple terms, a robotic system for automating hospital logistics has to be reliable, adaptable and scalable. Robots have to be semi-autonomous, and should reliably...... for localization. The system features automatic annotation, which significantly reduces manual work and offer many advantages beyond robotics. A case study on logistics solutions is finally presented. A robotic solution is tested in a hospital to handle the transportation of blood samples between the clinic...... and the lab. Without any environmental modification; it is shown that lab turnover time can be reduced from hours to minutes; by simply replacing the human porter with a mobile robot....

  2. Research project RoboGas{sup Inspector}. Gas leak detection with autonomous mobile robots; Forschungsprojekt RoboGas{sup Inspector}. Gaslecksuche mit autonomen mobilen Robotern

    Energy Technology Data Exchange (ETDEWEB)

    Habib, Abdelkarim [BAM Bundesanstalt fuer Materialforschung und -pruefung, Berlin (Germany); Bonow, Gero; Kroll, Andreas [Fachgebiet Mess- und Regelungstechnik, Universitaet Kassel, Kassel (Germany); Hegenberg, Jens; Schmidt, Ludger [Fachgebiet Mensch-Maschine-Systemtechnik, Universitaet Kassel, Kassel (Germany); Barz, Thomas; Schulz, Dirk [Fraunhofer FKIE, Unbemannte Systeme, Wachtberg (Germany)

    2013-05-15

    As part of the promotional program AUTONOMIK of the Federal Ministry of Economics and Technology (Berlin, Federal Republic of Germany) a consortium of nine project partners developed a prototype of an autonomous mobile robot looking for gas leaks in extended industrial equipment. The autonomous mobility of the system for any systems was implemented using different types of sensors for self-localization and navigation. The tele-operation enables a manual intervention in the process. The robot performs inspection tasks in industrial plants by means of video technology and remote gas measurement technology without driving into the possible risk areas and without the presence of humans. The robot can be used for routine inspections of facilities or for the targeted inspection of specific plant components. Thanks to the remote sensing technique also plant components can be inspected which are difficult to be inspected due to their limited accessibility by conventional measurement techniques.

  3. Tracked robot controllers for climbing obstacles autonomously

    Science.gov (United States)

    Vincent, Isabelle

    2009-05-01

    Research in mobile robot navigation has demonstrated some success in navigating flat indoor environments while avoiding obstacles. However, the challenge of analyzing complex environments to climb obstacles autonomously has had very little success due to the complexity of the task. Unmanned ground vehicles currently exhibit simple autonomous behaviours compared to the human ability to move in the world. This paper presents the control algorithms designed for a tracked mobile robot to autonomously climb obstacles by varying its tracks configuration. Two control algorithms are proposed to solve the autonomous locomotion problem for climbing obstacles. First, a reactive controller evaluates the appropriate geometric configuration based on terrain and vehicle geometric considerations. Then, a reinforcement learning algorithm finds alternative solutions when the reactive controller gets stuck while climbing an obstacle. The methodology combines reactivity to learning. The controllers have been demonstrated in box and stair climbing simulations. The experiments illustrate the effectiveness of the proposed approach for crossing obstacles.

  4. An Autonomous Omnidirectional Robot

    Directory of Open Access Journals (Sweden)

    Yanfei Liu

    2010-01-01

    Full Text Available RoboCup is an international research and education initiative, which aims to foster artificial intelligence and robotics research by using competitive soccer as a standard problem. This paper presents a detailed engineering design process and the outcome for an omni-directional mobile robot platform for the Robocup Middle Size League competition. A prototype that can move omnidirectionally with kicking capability was designed, built, and tested by a group of senior students. The design included a mechanical base, pneumatic kicking mechanism, a DSP microcontroller-based control system, various sensor interfacing units, and the analysis of omnidirectional motions. The testing results showed that the system was able to move omnidirectionally with a speed of ∼2 m/s and able to kick a size 5 FIFA soccer ball for a distance of at least 5 meters.

  5. Colias: An Autonomous Micro Robot for Swarm Robotic Applications

    Directory of Open Access Journals (Sweden)

    Farshad Arvin

    2014-07-01

    Full Text Available Robotic swarms that take inspiration from nature are becoming a fascinating topic for multi-robot researchers. The aim is to control a large number of simple robots in order to solve common complex tasks. Due to the hardware complexities and cost of robot platforms, current research in swarm robotics is mostly performed by simulation software. The simulation of large numbers of these robots in robotic swarm applications is extremely complex and often inaccurate due to the poor modelling of external conditions. In this paper, we present the design of a low-cost, open-platform, autonomous micro-robot (Colias for robotic swarm applications. Colias employs a circular platform with a diameter of 4 cm. It has a maximum speed of 35 cm/s which enables it to be used in swarm scenarios very quickly over large arenas. Long-range infrared modules with an adjustable output power allow the robot to communicate with its direct neighbours at a range of 0.5 cm to 2 m. Colias has been designed as a complete platform with supporting software development tools for robotics education and research. It has been tested in both individual and swarm scenarios, and the observed results demonstrate its feasibility for use as a micro-sized mobile robot and as a low-cost platform for robot swarm applications.

  6. Visual navigation for an autonomous mobile vehicle

    OpenAIRE

    Peterson, Kevin Robert

    1992-01-01

    Approved for public release; distribution is unlimited Image understanding for a mobile robotic vehicle is an important and complex task for ensuring safe navigation and extended autonomous operations. The goal of this work is to implement a working vision-based navigation control mechanism within a known environment onboard the autonomous mobile vehicle Yamabico-II. Although installing a working hardware system was not accomplished, the image processing, model description, pattern match...

  7. Automated Cartography by an Autonomous Mobile Robot Using Ultrasonic Range Finders

    Science.gov (United States)

    1993-09-01

    allows the user to see a complete plot of the most recent robot mission. This button invokes the " gnuplot " program [Williams 92] which plots the...button runs the smm. sim.info - Output of reference posture by the simulation program. axis-data - Data for " gnuplot " program. B. Operations for the...the program has finished, gnuplot is automatically called to plot the robot’s whole trajectory to the screen or to the "ssl" printer. The robot’s

  8. Real Time Behavior-Based Control on a Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    KootaMuzyamba; 钱晋武; 沈林勇; 章亚男

    2003-01-01

    This paper discusses and compares some common architectures used in autonomous mobile robotics. Then it describes a behavior-based autonomous mobile robot that was implemented successfully in the Robotics of the Department of Precision Mechanical Engineering. Fuzzy controller was used to implement the emergency behavior, the t~uiviors arbitration was implemented using the subsumption architecture. In an tmknown dynamic indoor environment, the robot achieved real-time obstacle avoidance properties that are cruel for mobile robolics.

  9. CYCLOPS: A mobile robotic platform for testing and validating image processing and autonomous navigation algorithms in support of artificial vision prostheses.

    Science.gov (United States)

    Fink, Wolfgang; Tarbell, Mark A

    2009-12-01

    While artificial vision prostheses are quickly becoming a reality, actual testing time with visual prosthesis carriers is at a premium. Moreover, it is helpful to have a more realistic functional approximation of a blind subject. Instead of a normal subject with a healthy retina looking at a low-resolution (pixelated) image on a computer monitor or head-mounted display, a more realistic approximation is achieved by employing a subject-independent mobile robotic platform that uses a pixelated view as its sole visual input for navigation purposes. We introduce CYCLOPS: an AWD, remote controllable, mobile robotic platform that serves as a testbed for real-time image processing and autonomous navigation systems for the purpose of enhancing the visual experience afforded by visual prosthesis carriers. Complete with wireless Internet connectivity and a fully articulated digital camera with wireless video link, CYCLOPS supports both interactive tele-commanding via joystick, and autonomous self-commanding. Due to its onboard computing capabilities and extended battery life, CYCLOPS can perform complex and numerically intensive calculations, such as image processing and autonomous navigation algorithms, in addition to interfacing to additional sensors. Its Internet connectivity renders CYCLOPS a worldwide accessible testbed for researchers in the field of artificial vision systems. CYCLOPS enables subject-independent evaluation and validation of image processing and autonomous navigation systems with respect to the utility and efficiency of supporting and enhancing visual prostheses, while potentially reducing to a necessary minimum the need for valuable testing time with actual visual prosthesis carriers.

  10. Mobile Robot Navigation Support in Living Environments

    Science.gov (United States)

    Armbrust, Christopher; Koch, Jan; Stocker, Ulf; Berns, Karsten

    Navigation and application functionality of mobile robots rely on their collision-avoiding capabilities, also known as local navigation. We present the mobile robot ARTOS (Autonomous Robot for Transport and Service) that is particularly designed to operate in living environments and therefore faces the problem of fuzzy and unstructured obstacles. The local navigation architecture is motivated regarding decisions on sensor hardware setup as well as the software layers that support and influence navigation control.

  11. Modular Platform for Commercial Mobile Robots

    OpenAIRE

    Kjærgaard, Morten; Ravn, Ole; Andersen, Nils Axel; Koed, Kakob

    2013-01-01

    Despite a rapid development in computers and sensor technologies, surprisingly few autonomous robot systems have successfully made it to the consumer market and into people's homes. Robotics is a popular topic in research circles, but focus is often on ground-breaking technologies, and not on putting the robots on the commercial market. At the time when this research project was started in May 2010, the amount of successful commercial applications based on mobile robots was very limited. The ...

  12. Autonomous navigation and mapping of mobile robots based on 2D/3D cameras combination

    OpenAIRE

    Joochim, Chanin

    2011-01-01

    Aufgrund der tendenziell zunehmenden Nachfrage an Systemen zur Unterstützung des alltäglichen Lebens gibt es derzeit ein großes Interesse an autonomen Systemen. Autonome Systeme werden in Häusern, Büros, Museen sowie in Fabriken eingesetzt. Sie können verschiedene Aufgaben erledigen, beispielsweise beim Reinigen, als Helfer im Haushalt, im Bereich der Sicherheit und Bildung, im Supermarkt sowie im Empfang als Auskunft, weil sie dazu verwendet werden können, die Verarbeitungszeit zu kontrollie...

  13. An architecture for an autonomous learning robot

    Science.gov (United States)

    Tillotson, Brian

    1988-01-01

    An autonomous learning device must solve the example bounding problem, i.e., it must divide the continuous universe into discrete examples from which to learn. We describe an architecture which incorporates an example bounder for learning. The architecture is implemented in the GPAL program. An example run with a real mobile robot shows that the program learns and uses new causal, qualitative, and quantitative relationships.

  14. Autonomous military robotics

    CERN Document Server

    Nath, Vishnu

    2014-01-01

    This SpringerBrief reveals the latest techniques in computer vision and machine learning on robots that are designed as accurate and efficient military snipers. Militaries around the world are investigating this technology to simplify the time, cost and safety measures necessary for training human snipers. These robots are developed by combining crucial aspects of computer science research areas including image processing, robotic kinematics and learning algorithms. The authors explain how a new humanoid robot, the iCub, uses high-speed cameras and computer vision algorithms to track the objec

  15. RAFI - A Stereo Vision Based Autonomous Mobile Area Mapping Robot with 16 DOF

    Directory of Open Access Journals (Sweden)

    Md. Shafayat Hossain

    2013-02-01

    Full Text Available RAFI is a self-driven mapping robot with 16 Degrees-of-Freedom (DOF. Its software development,structural and electrical design and mechanical construction are presented in this paper. RAFI moves withwheels having differential type motion with 2DOF. The head has 3 DOF sufficient for volumetric mappingby rotating the head in different directions and both hands have 5 DOF to empower its grip and carrying.An 8-bit microcontroller is used to control all the motors. 4 Ultrasonic-rangefinders have been used forobstacle-detection and avoidance which are also interfaced with the same microcontroller. Its head isequipped with two identical webcams for stereoscopic vision for generating 3D map of the field of viewafter generating disparity map. To optimize the computational speed and mapping accuracy images of640×480 resolution are 85% compressed and dynamic programming with image pyramiding by quadpyramidwithout sub-pixel estimation is pursued.

  16. Conversion and control of an all-terrain vehicle for use as an autonomous mobile robot

    Science.gov (United States)

    Jacob, John S.; Gunderson, Robert W.; Fullmer, R. R.

    1998-08-01

    A systematic approach to ground vehicle automation is presented, combining low-level controls, trajectory generation and closed-loop path correction in an integrated system. Development of cooperative robotics for precision agriculture at Utah State University required the automation of a full-scale motorized vehicle. The Triton Predator 8- wheeled skid-steering all-terrain vehicle was selected for the project based on its ability to maneuver precisely and the simplicity of controlling the hydrostatic drivetrain. Low-level control was achieved by fitting an actuator on the engine throttle, actuators for the left and right drive controls, encoders on the left and right drive shafts to measure wheel speeds, and a signal pick-off on the alternator for measuring engine speed. Closed loop control maintains a desired engine speed and tracks left and right wheel speeds commands. A trajectory generator produces the wheel speed commands needed to steer the vehicle through a predetermined set of map coordinates. A planar trajectory through the points is computed by fitting a 2D cubic spline over each path segment while enforcing initial and final orientation constraints at segment endpoints. Acceleration and velocity profiles are computed for each trajectory segment, with the velocity over each segment dependent on turning radius. Left and right wheel speed setpoints are obtained by combining velocity and path curvature for each low-level timestep. The path correction algorithm uses GPS position and compass orientation information to adjust the wheel speed setpoints according to the 'crosstrack' and 'downtrack' errors and heading error. Nonlinear models of the engine and the skid-steering vehicle/ground interaction were developed for testing the integrated system in simulation. These test lead to several key design improvements which assisted final implementation on the vehicle.

  17. Research on Random Rotating Angle of Autonomous Mobile Robot%自主式移动机器人任意转角运动研究

    Institute of Scientific and Technical Information of China (English)

    翟永君

    2012-01-01

    文章结合AS-UII型自主移动机器人的结构,针对其任意角实现的困难,给出任意转角运动的算法思想,并进行实现,通过测试表明本文给出的算法切实可行。%Based on the structure of the autonomous mobile robot of AS-UII and the difficulties in realizing random rotating angle,the algorithm thinking of random rotating angle is given and achieved.The paper shows the algorithm is feasible through the test.

  18. Robotics_MobileRobot Navigation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Robots and rovers exploring planets need to autonomously navigate to specified locations. Advanced Scientific Concepts, Inc. (ASC) and the University of Minnesota...

  19. Autonomous caregiver following robotic wheelchair

    Science.gov (United States)

    Ratnam, E. Venkata; Sivaramalingam, Sethurajan; Vignesh, A. Sri; Vasanth, Elanthendral; Joans, S. Mary

    2011-12-01

    In the last decade, a variety of robotic/intelligent wheelchairs have been proposed to meet the need in aging society. Their main research topics are autonomous functions such as moving toward some goals while avoiding obstacles, or user-friendly interfaces. Although it is desirable for wheelchair users to go out alone, caregivers often accompany them. Therefore we have to consider not only autonomous functions and user interfaces but also how to reduce caregivers' load and support their activities in a communication aspect. From this point of view, we have proposed a robotic wheelchair moving with a caregiver side by side based on the MATLAB process. In this project we discussing about robotic wheel chair to follow a caregiver by using a microcontroller, Ultrasonic sensor, keypad, Motor drivers to operate robot. Using camera interfaced with the DM6437 (Davinci Code Processor) image is captured. The captured image are then processed by using image processing technique, the processed image are then converted into voltage levels through MAX 232 level converter and given it to the microcontroller unit serially and ultrasonic sensor to detect the obstacle in front of robot. In this robot we have mode selection switch Automatic and Manual control of robot, we use ultrasonic sensor in automatic mode to find obstacle, in Manual mode to use the keypad to operate wheel chair. In the microcontroller unit, c language coding is predefined, according to this coding the robot which connected to it was controlled. Robot which has several motors is activated by using the motor drivers. Motor drivers are nothing but a switch which ON/OFF the motor according to the control given by the microcontroller unit.

  20. 遥自主移动机器人系统设计及实现%System design and implementation of tele-autonomous mobile robot

    Institute of Scientific and Technical Information of China (English)

    夏桂华; 杨晟; 蔡成涛

    2011-01-01

    Teleoperation control system of autonomous mobile robot was established to solve the incomplete autonomy level of the mobile robots in some specific circumstances. The transmission of panoramic images based on perspective decoding and multi-functional remote control platform based on USB joystick were both developed by the way of wireless networks communication. The fuzzy algorithm for the robot to avoid obstacles independently via ultrasonic sensors, the programme of remote operation of the robot by USB joystick as well as panoramic camera perspective solving principles and video compression were elaborately described in this paper. The experimental results show that the construction of the teleoperation control system can realize a good human-machine interaction, make autonomy of the mobile robot much stronger and more intelligent.%为了解决移动机器人在特定环境下自主性不强的问题,构建了自主移动机器人的遥操作控制系统.通过无线网络传输的通信方式实现了经过透视解算展开后的全景图像的传输和基于USB操纵杆的多功能远程控制平台的开发.详细介绍了机器人利用超声波传感器进行自主模糊避障的算法,利用USB操纵杆对机器人遥操作的程序实现,以及全景摄像头透视解算和视频压缩的方法.实验结果表明,构建的遥操作控制系统可以实现良好的人机交互,使移动机器人的自主性更强,更加智能化.

  1. Learning for intelligent mobile robots

    Science.gov (United States)

    Hall, Ernest L.; Liao, Xiaoqun; Alhaj Ali, Souma M.

    2003-10-01

    Unlike intelligent industrial robots which often work in a structured factory setting, intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths. However, such machines have many potential applications in medicine, defense, industry and even the home that make their study important. Sensors such as vision are needed. However, in many applications some form of learning is also required. The purpose of this paper is to present a discussion of recent technical advances in learning for intelligent mobile robots. During the past 20 years, the use of intelligent industrial robots that are equipped not only with motion control systems but also with sensors such as cameras, laser scanners, or tactile sensors that permit adaptation to a changing environment has increased dramatically. However, relatively little has been done concerning learning. Adaptive and robust control permits one to achieve point to point and controlled path operation in a changing environment. This problem can be solved with a learning control. In the unstructured environment, the terrain and consequently the load on the robot"s motors are constantly changing. Learning the parameters of a proportional, integral and derivative controller (PID) and artificial neural network provides an adaptive and robust control. Learning may also be used for path following. Simulations that include learning may be conducted to see if a robot can learn its way through a cluttered array of obstacles. If a situation is performed repetitively, then learning can also be used in the actual application. To reach an even higher degree of autonomous operation, a new level of learning is required. Recently learning theories such as the adaptive critic have been proposed. In this type of learning a critic provides a grade to the controller of an action module such as a robot. The creative control process is used that is "beyond the adaptive critic." A

  2. Simultaneous scheduling of machines and mobile robots

    DEFF Research Database (Denmark)

    Dang, Vinh Quang; Nielsen, Izabela Ewa

    2013-01-01

    This paper deals with the problem of simultaneously scheduling machines and a number of autonomous mobile robots in a flexible manufacturing system (FMS). Besides capability of transporting materials between machines, the considered mobile robots are different from other material handling devices...... in terms of their advanced ability to perform tasks at machines by using their manipulation arms. The mobile robots thus have to be scheduled in relation to scheduling of machines so as to increase the efficiency of the overall system. The performance criterion is to minimize time required to complete all...

  3. Autonomous flying robots

    CERN Document Server

    Nonami, Kenzo; Suzuki, Satoshi; Wang, Wei; Nakazawa, Daisuke

    2010-01-01

    Worldwide demand for robotic aircraft such as unmanned aerial vehicles (UAVs) and micro aerial vehicles (MAVs) is surging. Not only military but especially civil applications are being developed at a rapid pace. Unmanned vehicles offer major advantages when used for aerial surveillance, reconnaissance, and inspection in complex and inhospitable environments. UAVs are better suited for dirty or dangerous missions than manned aircraft and are more cost-effective. UAVs can operate in contaminated environments, for example, and at altitudes both lower and higher than those typically traversed by m

  4. The Driving Pipeline: A Driving Control Scheme for Mobile Robots

    Science.gov (United States)

    1988-06-01

    ATrvnCrlShemefortMobilesRobots K)BODTIC MTT Tehnca Report The Driving Pipeline: A Driving Control Scheme for Mobile Robots Yoshimasa Goto, Steven A...October, 1986. [4] Georges Giralt, Raja Chatila, and Marc Vaisset. An Integrated Navigation and Motion Control System for Autonomous Multsensory Mobile ... Robots . In The First International Symposium on Robotics Research, pages 191-214. j5] Y.Goto, etc.. C1M Sidewalk Navigation System. In Proc. of Fall

  5. Development of an Accurate Low-cost Ultrasonic Localization System for Autonomous Mobile Robots in Indoor Environments

    Institute of Scientific and Technical Information of China (English)

    Yong-hwi KIM; Ui-kyu SONG; Byung-kook KIM

    2010-01-01

    An accurate low-cost ultrasonic localization system is developed for automated nobile robots in indoor environments,which is essential for automatic navigation of mobile robots with various tasks.Although ultrasonic sensors are more cost-effective than other sensors such as Laser Range Finder(LR F)and visit,but they are inaccurate and directionally ambiguous.First,the matched filter is used to measure the distance accurately.For resolving the computational complexity of the matched filter,a new matched filter algorithm with simple computation is proposed.Then,an ultrasonic localization system is peoposed which consists of three ultrasonic receivers and two or more transmitters for improving position and orientation accuracy was developed.Finally,an extended Kalman filter is designed to estimate both the static and dynamic positions and orientations.Various simulations and experimental results show that the proposed system is effective.

  6. Information Engineering in Autonomous Robot Software

    NARCIS (Netherlands)

    Ziafati, P.

    2015-01-01

    In order to engage and help in our daily life, autonomous robots are to operate in dynamic and unstructured environments and interact with people. As the robot's environment and its behaviour are getting more complex, so are the robot's software and the knowledge that the robot needs to carry out it

  7. 基于光流的自主移动机器人避障系统%Autonomous Mobile Robot Obstacle Avoidance System Based on Optical Flow

    Institute of Scientific and Technical Information of China (English)

    肖雪; 秦贵和; 陈筠翰

    2013-01-01

    Since real-time obstacle avoidance is a key part of mobile robot autonomous navigation, an autonomous mobile robot obstacle avoidance system based on optical flow is proposed. This system’s input is the image sequence grabbed by the camera on the robot in motion. The optical flow information is extracted by Pyramid Lucas-Kanade method to calculate focus of expansion and time to contact. The possible position of the obstacle is estimated with improved balance strategy. Experimental results show that this system can detect and avoid obstacles with the width larger than 10 centimeters but not cover the camera view correctly, which validates the method’s feasibility.%自主移动机器人的导航要求能实时规避障碍物。为解决该问题,提出一种基于光流的自主移动机器人避障系统。将机器人在运动过程中通过摄像头拍摄的连续图像序列作为输入,使用金字塔Lucas-Kanade方法在角点处提取光流信息求解延伸焦点和接近时间,并通过改进的平衡策略估计障碍物可能存在的位置。实验结果表明,该系统在静态场景中能正确地检测并规避宽度大于10 cm,且不完全遮挡摄像头视角的障碍物,可行性较高。

  8. Ant Colony Based Path Planning Algorithm for Autonomous Robotic Vehicles

    Directory of Open Access Journals (Sweden)

    Yogita Gigras

    2012-11-01

    Full Text Available The requirement of an autonomous robotic vehicles demand highly efficient algorithm as well as software. Today’s advanced computer hardware technology does not provide these types of extensive processing capabilities, so there is still a major space and time limitation for the technologies that are available for autonomous robotic applications. Now days, small to miniature mobile robots are required for investigation, surveillance and hazardous material detection for military and industrial applications. But these small sized robots have limited power capacity as well as memory and processing resources. A number of algorithms exist for producing optimal path for dynamically cost. This paper presents a new ant colony based approach which is helpful in solving path planning problem for autonomous robotic application. The experiment of simulation verified its validity of algorithm in terms of time.

  9. Monte Carlo Registration and Its Application with Autonomous Robots

    Directory of Open Access Journals (Sweden)

    Christian Rink

    2016-01-01

    Full Text Available This work focuses on Monte Carlo registration methods and their application with autonomous robots. A streaming and an offline variant are developed, both based on a particle filter. The streaming registration is performed in real-time during data acquisition with a laser striper allowing for on-the-fly pose estimation. Thus, the acquired data can be instantly utilized, for example, for object modeling or robot manipulation, and the laser scan can be aborted after convergence. Curvature features are calculated online and the estimated poses are optimized in the particle weighting step. For sampling the pose particles, uniform, normal, and Bingham distributions are compared. The methods are evaluated with a high-precision laser striper attached to an industrial robot and with a noisy Time-of-Flight camera attached to service robots. The shown applications range from robot assisted teleoperation, over autonomous object modeling, to mobile robot localization.

  10. Distributed computing by oblivious mobile robots

    CERN Document Server

    Flocchini, Paola; Santoro, Nicola

    2012-01-01

    The study of what can be computed by a team of autonomous mobile robots, originally started in robotics and AI, has become increasingly popular in theoretical computer science (especially in distributed computing), where it is now an integral part of the investigations on computability by mobile entities. The robots are identical computational entities located and able to move in a spatial universe; they operate without explicit communication and are usually unable to remember the past; they are extremely simple, with limited resources, and individually quite weak. However, collectively the ro

  11. Autonomous Dome for Robotic Telescope

    CERN Document Server

    Kumar, Akash; Ganesh, Shashikiran

    2016-01-01

    Physical Research Laboratory operates a 50cm robotic observatory at Mount Abu. This Automated Telescope for Variability Studies (ATVS) makes use of Remote Telescope System 2 (RTS2) for autonomous operations. The observatory uses a 3.5m dome from Sirius Observatories. We have developed electronics using Arduino electronic circuit boards with home grown logic and software to control the dome operations. We are in the process of completing the drivers to link our Arduino based dome controller with RTS2. This document is a short description of the various phases of the development and their integration to achieve the required objective.

  12. Stratégies de perception et de déplacement pour la navigation d'un robot mobile autonome en environnement naturel

    OpenAIRE

    Lacroix, Simon

    1995-01-01

    Cette thèse porte sur la détermination autonome de stratégies de navigation pour un robot mobile évoluant dans un environnement extérieur initialement inconnu et non structuré. Ces stratégies concernent le choix de buts intermédiaires à rallier pour atteindre un but final, d'un mode de déplacement à appliquer, et de la prochaine tâche de perception à effectuer. Le mémoire est composé de deux parties: la première présente les algorithmes développés afin de construire une représentation topolog...

  13. RESEARCH ON KEY TECHNIQUES AND DEVELOPMENT OF OUTDOOR INTELLIGENT AUTONOMOUS MOBILE ROBOT%室外智能移动机器人的发展及其关键技术研究

    Institute of Scientific and Technical Information of China (English)

    欧青立; 何克忠

    2000-01-01

    Outdoor intelligent autonomous mobile robot that will be applied widely is one of hotspots in theresearch of the robot. This paper analyzes some representative outdoor mobile robots, and surveys the studystatus and the development of the key techniques in the research of the outdoor autonomous mobile robots.The key techniques include the control architecture of mobile robots, the real-time processing of robot visualinformations, the position system of the vehicle, the integration and fusion of multisensor informations, thepath planning and the vehicle control.%室外智能移动机器人有着广泛的应用前景,是机器人研究中的热点之一.本文分析了在室外移动机器人发展中有着代表意义的几个典型系统,进而论述了室外移动机器人研究中的若干关键技术的研究现状及发展水平.这些关键技术包括移动机器人的控制体系结构、机器人视觉信息的实时处理技术、车体的定位系统、多传感器信息的集成与融合技术以及路径规划技术与车体控制技术等.

  14. Multisensor Data Fusion and Integration for Mobile Robots: A Review

    Directory of Open Access Journals (Sweden)

    KS Nagla

    2013-09-01

    Full Text Available One of the most important and useful feature of autonomous mobile robots is their ability to adopt themselves to operate in unstructured environment. Today robots are performing autonomously in industrial floor, office environments, as well as in crowded public places where the robots need to maintain their localization and mapping parameters.The basic requirement of an intelligent mobile robot is to develop and maintain localization and mapping parameters to complete the complex missions. In such situations, several difficulties arise in due to the inaccuracies and uncertainties in sensor measurements. Various techniques are there to handle such noises where the multisensor data fusion is not the exceptional one.From the last two decades, multisensor data fusions in mobile robots become a dominant paradigm  due to its potential advantages like reduction in uncertainty, increase in accuracy and reliability and reduction of cost.This paper presents the reviews of autonomous mobile robots and role of multisenosr data fusion.

  15. Navigation Method for Autonomous Robots in a Dynamic Indoor Environment

    Directory of Open Access Journals (Sweden)

    Stanislav Věchet

    2013-11-01

    Full Text Available The present paper considers issues related to navigation by autonomous mobile robots in overcrowded dynamic indoor environments (e.g., shopping malls, exhibition halls or convention centers. For robots moving among potentially unaware bystanders, safety is a key issue. A navigation method based on mixed potential field path planning is proposed, in cooperation with active artificial landmarks-based localization, in particular the bearing of infrared beacons placed in known coordinates processed via particle filters. Simulation experiments and tests in unmodified real-world environments with the actual robot show the proposed navigation system allows the robot to successfully navigate safely among bystanders.

  16. Artificial Pheromone System Using RFID for Navigation of Autonomous Robots

    Institute of Scientific and Technical Information of China (English)

    Herianto; Toshiki Sakakibara; Daisuke Kurabayashi

    2007-01-01

    Navigation system based on the animal behavior has received a growing attention in the past few years. The navigation systems using artificial pheromone are still few so far. For this reason, this paper presents our research that aim to implement autonomous navigation with artificial pheromone system. By introducing artificial pheromone system composed of data carriers and autonomous robots, the robotic system creates a potential field to navigate their group. We have developed a pheromone density model to realize the function of pheromones with the help of data carriers. We intend to show the effectiveness of the proposed system by performing simulations and realization using modified mobile robot. The pheromone potential field system can be used for navigation of autonomous robots.

  17. The Mobile Robot "Little Helper"

    DEFF Research Database (Denmark)

    Hvilshøj, Mads; Bøgh, Simon; Madsen, Ole

    2009-01-01

    Increased customer needs and intensified global competition require intelligent and flexible automation. The interaction technology mobile robotics addresses this, so it holds great potential within the industry. This paper presents the concepts, ideas and working principles of the mobile robot...... this show promising results regarding industrial integration, exploitation and maturation of mobile robotics....

  18. Elements of Autonomous Self-Reconfigurable Robots

    DEFF Research Database (Denmark)

    Christensen, David Johan

    In this thesis, we study several central elements of autonomous self-reconfigurable modular robots. Unlike conventional robots such robots are: i) Modular, since robots are assembled from numerous robotic modules. ii) Reconfigurable, since the modules can be combined in a variety of ways. iii) Self......-reconfigurable, since the modules themselves are able to change how they are combined. iv) Autonomous, since robots control themselves without human guidance. Such robots are attractive to study since they in theory have several desirable characteristics, such as versatility, reliability and cheapness. In practice...... robots: design, scalability, self-reconfiguration and adaptation. The first element we consider is the design of systems, modules, robots, and behaviors. We introduce a number of design principles that will guide our designs throughout the thesis. The design principles advocate simple, extendable...

  19. PRIMUS: autonomous driving robot for military applications

    Science.gov (United States)

    Schwartz, Ingo

    2000-07-01

    This article describes the government experimental program PRIMUS (PRogram of Intelligent Mobile Unmanned Systems) and the achieved results of phase C demonstrated in summer 1999 on a military prooving ground. In this program there shall be shown the autonomous driving on an unmanned robot in open terrain. The most possible degree of autonomy shall be reached with today's technology to get a platform for different missions. The goal is to release the soldier from high dangerous tasks, to increase the performance and to come to a reduction of personnel and costs with unmanned systems. In phase C of the program two small tracked vehicles (Digitized Wiesel 2, airtransportable by CH53) are used. One as a robot vehicle the other as a command & control system. The Wiesel 2 is configured as a drive by wire-system and therefore well suited for the adaption of control computers. The autonomous detection and avoidance of obstacles in unknown, not cooperative environment is the main task. For navigation and orientation a sensor package is integrated. To detect obstacles the scene in the driving corridor of the robot is scanned 4 times per second by a 3D- Range image camera (LADAR). The measured 3D-range image is converted into a 2D-obstacle map and used as input for calculation of an obstacle free path. The combination of local navigation (obstacle avoidance) and global navigation leads to a collission free driving in open terrain to a predefined goal point with a velocity of up to 25km/h. A contour tracker with a TV-camera as sensor is also implemented which allows to follow contours (e.g. edge of a meadow) or to drive on paved or unpaved roads with a velocity up to 50km/h. In addition to these autonomous driving modes the operator in the command & control station can drive the robot by remote control. All the functions were successfully demonstrated in the summer 1999 on a military prooving ground. During a mission example the robot vehicle covered a distance of several

  20. An energy efficient platform for mobile robot

    Science.gov (United States)

    Patel, Sonali; Tiwari, Ritu; Shukla, Anupam

    2012-11-01

    Exploration of an unknown environment by autonomous mobile robot is a fundamental concern in mobile robotics. Today most of the mobile robots are powered by batteries so their energy and operation times are limited. Therefore, how to minimize energy consumption and obstacle avoidance becomes an important problem. Frontier-based method is known to be most efficient for robot exploration system. In this paper, we propose a novel energy efficient platform based on the notion of frontiers for mobile robot. The robot selects the next frontier to visit based on the robot's current direction and relative location of frontier cells. Our frontier selection method can reduce duplicate coverage and thus save energy and reduce the distance also. Distance to frontier are computed using energy efficient A* algorithm. We estimate the energy consumption and choose the most energy-efficient route to move to that frontier considering energy of stop and turnings. We tested the algorithm on various types of environment maps. The experiments were conducted assuming equal velocity for the robot during whole exploration. All paths generated were optimal in terms of energy consumption and turns. The robot was easily able to escape a variety of obstacles and reach the goal in an optimal manner.

  1. Spatial abstraction for autonomous robot navigation.

    Science.gov (United States)

    Epstein, Susan L; Aroor, Anoop; Evanusa, Matthew; Sklar, Elizabeth I; Parsons, Simon

    2015-09-01

    Optimal navigation for a simulated robot relies on a detailed map and explicit path planning, an approach problematic for real-world robots that are subject to noise and error. This paper reports on autonomous robots that rely on local spatial perception, learning, and commonsense rationales instead. Despite realistic actuator error, learned spatial abstractions form a model that supports effective travel.

  2. Distributed formation control for autonomous robots

    NARCIS (Netherlands)

    Garcia de Marina Peinado, Hector Jesús

    2016-01-01

    This thesis addresses several theoretical and practical problems related to formation-control of autonomous robots. Formation-control aims to simultaneously accomplish the tasks of forming a desired shape by the robots and controlling their coordinated collective motion. This kind of robot performan

  3. Autonomous biomorphic robots as platforms for sensors

    Energy Technology Data Exchange (ETDEWEB)

    Tilden, M.; Hasslacher, B.; Mainieri, R.; Moses, J.

    1996-10-01

    The idea of building autonomous robots that can carry out complex and nonrepetitive tasks is an old one, so far unrealized in any meaningful hardware. Tilden has shown recently that there are simple, processor-free solutions to building autonomous mobile machines that continuously adapt to unknown and hostile environments, are designed primarily to survive, and are extremely resistant to damage. These devices use smart mechanics and simple (low component count) electronic neuron control structures having the functionality of biological organisms from simple invertebrates to sophisticated members of the insect and crab family. These devices are paradigms for the development of autonomous machines that can carry out directed goals. The machine then becomes a robust survivalist platform that can carry sensors or instruments. These autonomous roving machines, now in an early stage of development (several proof-of-concept prototype walkers have been built), can be developed so that they are inexpensive, robust, and versatile carriers for a variety of instrument packages. Applications are immediate and many, in areas as diverse as prosthetics, medicine, space, construction, nanoscience, defense, remote sensing, environmental cleanup, and biotechnology.

  4. Design and Implementation of Autonomous Sonar Based Vehicle Robot

    Directory of Open Access Journals (Sweden)

    Muhammad Adil Ansari

    2011-07-01

    Full Text Available Autonomous robots are intelligent machines that are capable of performing desired tasks by themselves, without explicit human control. This paper presents design and implementation of the ASVR (Autonomous Sonar Based Vehicle Robot. ASVR is a microcontroller based, programmable mobile robot that can sense and react to its environment and can work in partially known and unpredictable environments. A novel algorithm based on ultrasonic sensors and simple calculations for real-time obstacle detection and avoidance that is intended for mobile robots is also outlined. Also a novel technique is proposed and implemented for steering referencing of vehicle. The design is implemented in air using ultrasonic sensors but can be adapted using sonar to underwater environments where it has important applications such as deep sea maintenance and reconnaissance tasks. The paper also presents performance results of a prototype developed to prove the design concept.

  5. Situation Assessment for Mobile Robots

    DEFF Research Database (Denmark)

    Beck, Anders Billesø

    Mobile robots have become a mature technology. The first cable guided logistics robots were introduced in the industry almost 60 years ago. In this time the market for mobile robots in industry has only experienced a very modest growth and only 2.100 systems were sold worldwide in 2011. In recent...... years, many other domains have adopted the mobile robots, such as logistics robots at hospitals and the vacuum robots in our homes. However, considering the achievements in research the last 15 years within perception and operation in natural environments together with the reductions of costs in modern...... sensor systems, the growth potential for mobile robot applications are enormous. Many new technological components are available to move the limits of commercial mobile robot applications, but a key hindrance is reliability. Natural environments are complex and dynamic, and thus the risk of robots...

  6. Mobile robots for hazardous environments

    Energy Technology Data Exchange (ETDEWEB)

    Bains, N.; Scott, D.A.; Tran, K.; Campbell, T. (Atomic Energy of Canada Ltd., Mississauga, Ontario (Canada))

    1992-01-01

    This paper describes the development of a mobile robot ARK-2 (Autonomous Robot for Known Environments) that utilizes a number of sensors for navigation in a known relatively structured indoor environment. At present, there are robots that can be preprogrammed and that move along a specified path, but they use dead-reckoning to evaluate position at any point along their paths, and this can lead to major error accumulation through wheel slippage and running over unforeseen objects on the floor. The ARK-2 robot will have the intelligence to determine its position utilizing natural landmarks at any point along its path; it is this feature that gives ARK-2 its uniqueness as well as its ability to operate in an industrial environment. The project started in September 1991 and will last 4 yr. There are five organizations involved in the project: Ontario Hydro, Atomic Energy of Canada Limited (AECL) CANDU, US Nuclear Regulatory Commission (NRC), University of Toronto, and York University. Funding is provided by the organizations involved as well as the federal and provincial governments and PRECARN Associates, which is a nonprofit precompetitive research consortium made up of 38 members.

  7. The research of mobile robot's infrared remote control and autonomous obstacle avoidance technology%移动机器人红外遥控及自主避障技术研究

    Institute of Scientific and Technical Information of China (English)

    孙俊焘

    2014-01-01

    The infrared remote control and autonomous obstacle avoidance technology of the mobile robot platform was researched. The technic of the infrared sending and incepting which was controlled by microcontroller was used to control the mobile robot remotely.Microcontroller was used as the examination and the control core of the remote controlled mobile robot platform. We will research Mobile robot's autonomous obstacle avoidance use of infrared sensing technology. The experiments show that robot infrared remote control platform to achieve control of the microcontroller features and remote control functions.%本文针对移动机器人平台特别是机械手的红外。控以及自主避障技术进行了初步研究。采用单片机的红外线编码和解码技术来实现该移动机器人平台的。控。使用单片机作为。控机器人的平台的检测和控制核心,并且基于红外传感技术研究其实现自主避障的可行方法。实验证明,移动机器人的红外。控平台能够实现单片机控制的多种功能和。控功能。

  8. SyRoTek--Distance Teaching of Mobile Robotics

    Science.gov (United States)

    Kulich, M.; Chudoba, J.; Kosnar, K.; Krajnik, T.; Faigl, J.; Preucil, L.

    2013-01-01

    E-learning is a modern and effective approach for training in various areas and at different levels of education. This paper gives an overview of SyRoTek, an e-learning platform for mobile robotics, artificial intelligence, control engineering, and related domains. SyRoTek provides remote access to a set of fully autonomous mobile robots placed in…

  9. Traversable Terrain Modeling and Performance Measurement of Mobile Robots

    Science.gov (United States)

    2004-08-01

    In this paper, we have described a technique for terrain traversability assessment modeling of mobile robots operating in natural terrain and...presented a fast near-optimum algorithm for autonomous navigational path planning of mobile robots in rough terrain environments. The proposed method is

  10. Proceedings of the 1989 CESAR/CEA (Center for Engineering Systems Advanced Research/Commissariat a l'Energie Atomique) workshop on autonomous mobile robots (May 30--June 1, 1989)

    Energy Technology Data Exchange (ETDEWEB)

    Harber, K.S.; Pin, F.G. (Oak Ridge National Lab., TN (USA). Center for Engineering Systems Advanced Research)

    1990-03-01

    The US DOE Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) and the Commissariat a l'Energie Atomique's (CEA) Office de Robotique et Productique within the Directorat a la Valorization are working toward a long-term cooperative agreement and relationship in the area of Intelligent Systems Research (ISR). This report presents the proceedings of the first CESAR/CEA Workshop on Autonomous Mobile Robots which took place at ORNL on May 30, 31 and June 1, 1989. The purpose of the workshop was to present and discuss methodologies and algorithms under development at the two facilities in the area of perception and navigation for autonomous mobile robots in unstructured environments. Experimental demonstration of the algorithms and comparison of some of their features were proposed to take place within the framework of a previously mutually agreed-upon demonstration scenario or base-case.'' The base-case scenario described in detail in Appendix A, involved autonomous navigation by the robot in an a priori unknown environment with dynamic obstacles, in order to reach a predetermined goal. From the intermediate goal location, the robot had to search for and locate a control panel, move toward it, and dock in front of the panel face. The CESAR demonstration was successfully accomplished using the HERMIES-IIB robot while subsets of the CEA demonstration performed using the ARES robot simulation and animation system were presented. The first session of the workshop focused on these experimental demonstrations and on the needs and considerations for establishing benchmarks'' for testing autonomous robot control algorithms.

  11. Technology readiness level six and autonomous mobility

    Science.gov (United States)

    Bodt, Barry A.; Camden, Rick S.

    2004-09-01

    During FY03, the U.S. Army Research Laboratory undertook a series of experiments designed to assess the maturity of autonomous mobility technology for the Future Combat Systems Armed Robotic Vehicle concept. The experiments assessed the technology against a level 6 standard in the technology readiness level (TRL) maturation schedule identified by a 1999 Government Accounting Office report. During the course of experimentation, 646 missions were conducted over a total distance of ~560 km and time of ~100 hr. Autonomous operation represented 96% and 88% of total distance and time, respectively. To satisfy the TRL 6 "relevant environment" standard, several experimental factors were varied over the three-site test as part of a formal, statistical, experimental design. This paper reports the specific findings pertaining to relevant-environment questions that were posed for the study and lends additional support to the Lead System Integrator decision that TRL 6 has been attained for the autonomous navigation system.

  12. Autonomous navigation strategy for robot swarms using local communication

    Directory of Open Access Journals (Sweden)

    Fredy Hernán Martínez Sarmiento

    2014-01-01

    Full Text Available Our motivation focuses on answering a simple question: What is the minimum robotic structure necessary to solve a navigation problem? Our research deals with environments that are unknown, dynamic, and denied to sensors. In particular, the paper addresses problems concerning how to coordinate the navigation of multi-ple autonomous mobile robots without requiring system identification, geometric map building, localization or state estimation. The proposed navigation algorithm uses the gradient of the environment to set the navigation control. This gradient is continuously modified by all the robots in the form of local communication. The design scheme, both for the algorithm and for its implementation on robots, searches for a minimal approximation, in which it minimizes the requirements of the robot (processing power, communication and kind of sensors. Besides, our research finds autonomous navigation for each robot, and also scales the system to any number of agents. The navigation algorithm is formulated for a grouping task, where the robots form autonomous groups without any external interaction or prior information of the environment or information from other robots. Finally, task performance is verified through simulation for the laboratory prototypes of the group.

  13. Design of a Miniature Autonomous Surveillance Robot

    Institute of Scientific and Technical Information of China (English)

    ZHENG Chang-e; HUANG Qiang; HUANG Yuan-can

    2009-01-01

    The small size of miniature robots poses great challenges for the mechanical and deetrieal design and the implementation of autonomous capabilities.In this paper,the mechanical and electrical design for a twowheeled cylindrical miniature autonomous robot ("BMS-1",BIT MicroScout-1) is presented and some autonomous capabilities are implemented by multiple sensors and some arithmetic models.Several experimental results show that BMS-1 is useful for surveillance in confined spaces and suitable for large-scale surveillance due to some autonomous capabilities.

  14. Formation control algorithm for a fleet of mobile robots

    OpenAIRE

    Cartade, P.; Lenain, R.; Thuilot, B.; Berducat, M.

    2012-01-01

    International audience; The necessity of decreasing the environmental impact of agricultural activities, while preserving the level of production to satisfy growing population demands requires investigation of new production tools. Mobile robots may constitute a promising solution, since autonomous devices may allow increasing production levels, while preserving the environment thanks to their high accuracy. In this paper, the use of several autonomous mobile robots to perform field operation...

  15. Survey of Mobile Robots.

    Science.gov (United States)

    1985-12-01

    STANDARDS-1963-A IMY Techical Report ND. 450-90G-1R-ODWa p. 00 SURVEY OF MOBLE ROBOTS ’ Anita N& Flym Research Scientist !; "IT Artificlal Intelligence...case of an attempt at system building before the technology for the components was available. 1.3 The Stanford Cart 1973-1981 From 1973 to 1981, work...autonomous and yet still exhibit a high level of sophistication. Rapidly changing technology , including both the advent of the home computer and

  16. Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-11-01

    Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called "Oriented Positioning", two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called "Robucar", developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

  17. Vision Based Autonomous Robot Navigation Algorithms and Implementations

    CERN Document Server

    Chatterjee, Amitava; Nirmal Singh, N

    2013-01-01

    This book is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness. This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book descri...

  18. Biologically Inspired Behaviour Design for Autonomous Robotic Fish

    Institute of Scientific and Technical Information of China (English)

    Jin-Dong Liu; Huosheng Hu

    2006-01-01

    Behaviour-based approach plays a key role for mobile robots to operate safely in unknown or dynamically changing environments. We have developed a hybrid control architecture for our autonomous robotic fish that consists of three layers: cognitive, behaviour and swim pattern. In this paper, we describe some main design issues of the behaviour layer, which is the centre of the layered control architecture of our robotic fish. Fuzzy logic control (FLC) is adopted here to design individual behaviours. Simulation and real experiments are presented to show the feasibility and the performance of the designed behaviour layer.

  19. A 3-D Miniature LIDAR System for Mobile Robot Navigation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Future lunar site operations will benefit from mobile robots, both autonomous and tele-operated, that complement or replace human extravehicular activity....

  20. A novel platform for internet-based mobile robot systems

    OpenAIRE

    Duong, P. M.; Hoang, T. T.; Van, N. T. T.; Viet, D. A.; Vinh, T. Q.

    2016-01-01

    In this paper, we introduce a software and hardware structure for on-line mobile robotic systems. The hardware mainly consists of a Multi-Sensor Smart Robot connected to the Internet through 3G mobile network. The system employs a client-server software architecture in which the exchanged data between the client and the server is transmitted through different transport protocols. Autonomous mechanisms such as obstacle avoidance and safe-point achievement are implemented to ensure the robot sa...

  1. Autonomous Robot Navigation In Public Nature Park

    DEFF Research Database (Denmark)

    Andersen, Jens Christian; Andersen, Nils Axel; Ravn, Ole;

    2005-01-01

    This extended abstract describes a project to make a robot travel autonomously across a public nature park. The challenge is to detect and follow the right path across junctions and open squares avoiding people and obstacles. The robot is equipped with a laser scanner, a (low accuracy) GPS, wheel...

  2. Control algorithms for autonomous robot navigation

    Energy Technology Data Exchange (ETDEWEB)

    Jorgensen, C.C.

    1985-09-20

    This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced.

  3. An autonomous weeding robot for organic farming

    NARCIS (Netherlands)

    Bakker, T.; Asselt, van C.J.; Bontsema, J.; Müller, J.; Straten, van G.

    2006-01-01

    The objective of this research is the replacement of hand weeding in organic farming by a device working autonomously at ¯eld level. The autonomous weeding robot was designed using a structured design approach, giving a good overview of the total design. A vehicle was developed with a diesel engine,

  4. Modular Platform for Commercial Mobile Robots

    DEFF Research Database (Denmark)

    Kjærgaard, Morten

    Despite a rapid development in computers and sensor technologies, surprisingly few autonomous robot systems have successfully made it to the consumer market and into people's homes. Robotics is a popular topic in research circles, but focus is often on ground-breaking technologies......, and not on putting the robots on the commercial market. At the time when this research project was started in May 2010, the amount of successful commercial applications based on mobile robots was very limited. The most known applications were vacuum cleaners, lawn mowers, and few examples of specialized transport...... robots used in warehouses and hospitals. At the same time, despite attempting to solve the same tasks and applications, the resulting software and products of research groups was very fragmented. Even if being open source, the software was based on self-made frameworks and often only used internally...

  5. Vision Systems for Mobile Robots

    Science.gov (United States)

    1983-08-31

    McNellis, T.J.Jr., "Evaluation of a Laser Triangulation Ranging System for Mobile Robots ", " Technical Report MP-80, Rensselaer Polytechnic Institute...Troy, New York, August, 1982. 7. Clement, T.J. , "A Detailed Evaluation of a Laser Triangulation Ranging System for Mobile Robots ", Technical Report MP...82, Rensselaer Polytechnic Institute, Troy, New York, August, 1983. 8. Hoogeveen, A.L., "A Laser Triangulation Ranging System for Mobile Robots ", Technical

  6. Benchmark Framework for Mobile Robots Navigation Algorithms

    Directory of Open Access Journals (Sweden)

    Nelson David Muñoz-Ceballos

    2014-01-01

    Full Text Available Despite the wide variety of studies and research on mobile robot systems, performance metrics are not often examined. This makes difficult to establish an objective comparison of achievements. In this paper, the navigation of an autonomous mobile robot is evaluated. Several metrics are described. These metrics, collectively, provide an indication of navigation quality, useful for comparing and analyzing navigation algorithms of mobile robots. This method is suggested as an educational tool, which allows the student to optimize the algorithms quality, relating to important aspectsof science, technology and engineering teaching, as energy consumption, optimization and design.

  7. Introduction to autonomous manipulation case study with an underwater robot, SAUVIM

    CERN Document Server

    Marani, Giacomo

    2014-01-01

    Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics. This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environment...

  8. Fuzzy Sets in Dynamic Adaptation of Parameters of a Bee Colony Optimization for Controlling the Trajectory of an Autonomous Mobile Robot.

    Science.gov (United States)

    Amador-Angulo, Leticia; Mendoza, Olivia; Castro, Juan R; Rodríguez-Díaz, Antonio; Melin, Patricia; Castillo, Oscar

    2016-09-09

    A hybrid approach composed by different types of fuzzy systems, such as the Type-1 Fuzzy Logic System (T1FLS), Interval Type-2 Fuzzy Logic System (IT2FLS) and Generalized Type-2 Fuzzy Logic System (GT2FLS) for the dynamic adaptation of the alpha and beta parameters of a Bee Colony Optimization (BCO) algorithm is presented. The objective of the work is to focus on the BCO technique to find the optimal distribution of the membership functions in the design of fuzzy controllers. We use BCO specifically for tuning membership functions of the fuzzy controller for trajectory stability in an autonomous mobile robot. We add two types of perturbations in the model for the Generalized Type-2 Fuzzy Logic System to better analyze its behavior under uncertainty and this shows better results when compared to the original BCO. We implemented various performance indices; ITAE, IAE, ISE, ITSE, RMSE and MSE to measure the performance of the controller. The experimental results show better performances using GT2FLS then by IT2FLS and T1FLS in the dynamic adaptation the parameters for the BCO algorithm.

  9. The ARK (Autonomous Robot for a Known environment) project

    Science.gov (United States)

    Nickerson, S. B.; Camacho, F.; Mader, D. L.; Milios, E. E.; Jenkin, M. R. M.; Bains, N.; Braun, P.; Green, D.; Hung, S.; Korba, L.

    1991-05-01

    The main goal of the project is to build a mobile robot that can navigate in a known indoor environment using computer vision as its main sensor, with the aid of an internal geometric model of its environment. A second goal is to explore the technology in such a way as to best illustrate its usefulness and commercial potential. The theory will focus on the development and testing of computer vision algorithms as aids for robot navigation. Two robots will be built: ARK-1 (autonomous robot for a known environment); and ARK-2. ARK-1 will be tethered and will be used to test the vision algorithms. ARK-2 will be untethered, will use other sensors in addition to vision, will have a real-time operating system and will operate in an industrial environment. The platforms for both ARK- 1 and ARK-2 will be the same as that of a robot being developed at NRC for industrial applications.

  10. Path Planning Control for Mobile Robot

    Directory of Open Access Journals (Sweden)

    Amenah A.H. Salih

    2011-01-01

    Full Text Available Autonomous motion planning is important area of robotics research. This type of planning relieves human operator from tedious job of motion planning. This reduces the possibility of human error and increase efficiency of whole process. This research presents a new algorithm to plan path for autonomous mobile robot based on image processing techniques by using wireless camera that provides the desired image for the unknown environment . The proposed algorithm is applied on this image to obtain a optimal path for the robot. It is based on the observation and analysis of the obstacles that lying in the straight path between the start and the goal point by detecting these obstacles, analyzing and studying their shapes, positions and points of intersection with the straight path to find the nearly optimal path which connects the start and the goal point.This work has theoretical part and experimental part. The theoretical part includes building a MATLAB program which is applied to environment image to find the nearly optimal path .MATLAB - C++.NET interface is accomplished then to supply the path information for C++.NET program which is done for programming the pioneer mobile robot to achieve the desired path. The experimental part includes using wireless camera that takes an image for the environment and send it to the computer which processes this image and sends ( by wireless connection the resulted path information to robot which programmed in C++.NET program to walk according to this path.So, the overall system can be represented by:Wireless camera – computer – wireless connection for the mobile robot .The experimental work including some experiments shows that the developed mobile robot (pioneer p3-dx travels successfully from the start point and reach the goal point across the optimal path (according to time and power which is obtained as result of the proposed path planning algorithm introduced in this paper.

  11. Development of autonomous grasping and navigating robot

    Science.gov (United States)

    Kudoh, Hiroyuki; Fujimoto, Keisuke; Nakayama, Yasuichi

    2015-01-01

    The ability to find and grasp target items in an unknown environment is important for working robots. We developed an autonomous navigating and grasping robot. The operations are locating a requested item, moving to where the item is placed, finding the item on a shelf or table, and picking the item up from the shelf or the table. To achieve these operations, we designed the robot with three functions: an autonomous navigating function that generates a map and a route in an unknown environment, an item position recognizing function, and a grasping function. We tested this robot in an unknown environment. It achieved a series of operations: moving to a destination, recognizing the positions of items on a shelf, picking up an item, placing it on a cart with its hand, and returning to the starting location. The results of this experiment show the applicability of reducing the workforce with robots.

  12. Habituation: a non-associative learning rule design for spiking neurons and an autonomous mobile robots implementation.

    Science.gov (United States)

    Cyr, André; Boukadoum, Mounir

    2013-03-01

    This paper presents a novel bio-inspired habituation function for robots under control by an artificial spiking neural network. This non-associative learning rule is modelled at the synaptic level and validated through robotic behaviours in reaction to different stimuli patterns in a dynamical virtual 3D world. Habituation is minimally represented to show an attenuated response after exposure to and perception of persistent external stimuli. Based on current neurosciences research, the originality of this rule includes modulated response to variable frequencies of the captured stimuli. Filtering out repetitive data from the natural habituation mechanism has been demonstrated to be a key factor in the attention phenomenon, and inserting such a rule operating at multiple temporal dimensions of stimuli increases a robot's adaptive behaviours by ignoring broader contextual irrelevant information.

  13. Real-World Validation of Three Tipover Algorithms for Mobile Robots

    Science.gov (United States)

    2010-05-01

    Real-World Validation of Three Tipover Algorithms for Mobile Robots Philip R. Roan, Aaron Burmeister, Amin Rahimi, Kevin Holz, and David Hooper...Additionally, tipover can result in bending or breaking parts of the robot, requiring expensive repairs. Mobile robots are given critical tasks and sent...vehicle is remotely or autonomously operated, as is often the case with small mobile robots . These robots are likely to tipover because they encounter

  14. Evaluating Autonomous Ground-Robots

    Science.gov (United States)

    2012-06-14

    range from robot soccer (football) to measuring the performance of a robot in computer simulations. However, many resultant designs are narrowly focused...from robot soccer (football) to measuring the performance of a robot in computer simulations. However, many resultant designs are narrowly focused or...Predicting Operator Capacity for Supervisory Control of Multiple UAVs, Innovations in Intelligent Machines, Springer , 2009 [5] Davidson, E.J., Evaluation

  15. Intelligent modular manipulation for mobile robots

    Science.gov (United States)

    Culbertson, John

    2008-04-01

    As mobile robots continue to gain acceptance across a variety of applications within the defense and civilian markets, the number of tasks that these robot platforms are expected to accomplish are expanding. Robot operators are asked to do more with the same platforms - from EOD missions to reconnaissance and inspection operations. Due to the fact that a majority of missions are dangerous in nature, it is critical that users are able to make remote adjustments to the systems to ensure that they are kept out of harm's way. An efficient way to expand the capabilities of existing robot platforms, improve the efficiency of robot missions, and to ultimately improve the operator's safety is to integrate JAUS-enabled Intelligent Modular Manipulation payloads. Intelligent Modular Manipulation payloads include both simple and dexterous manipulator arms with plug-and-play end-effector tools that can be changed based on the specific mission. End-effectors that can be swapped down-range provide an added benefit of decreased time-on-target. The intelligence in these systems comes from semi-autonomous mobile manipulation actions that enable the robot operator to perform manipulation task with the touch of a button on the OCU. RE2 is supporting Unmanned Systems Interoperability by utilizing the JAUS standard as the messaging protocol for all of its manipulation systems. Therefore, they can be easily adapted and integrated onto existing JAUS-enabled robot platforms.

  16. Autonomous Robot Navigation based on Visual Landmarks

    DEFF Research Database (Denmark)

    Livatino, Salvatore

    2005-01-01

    autonomous navigation and self-localization using automatically selected landmarks. The thesis investigates autonomous robot navigation and proposes a new method which benefits from the potential of the visual sensor to provide accuracy and reliability to the navigation process while relying on naturally...... update of the estimated robot position while the robot is moving. In order to make the system autonomous, both acquisition and observation of landmarks have to be carried out automatically. The thesis consequently proposes a method for learning and navigation of a working environment and it explores...... of the proposed method is based on a system with a simple setup. The novelty and potentiality, are in combining algorithms for panoramic view-synthesis, attention selection, stereo reconstruction, triangulation, optimal triplet selection, and image-based rendering. Experiments demonstrate that the system can...

  17. Mapping planetary caves with an autonomous, heterogeneous robot team

    Science.gov (United States)

    Husain, Ammar; Jones, Heather; Kannan, Balajee; Wong, Uland; Pimentel, Tiago; Tang, Sarah; Daftry, Shreyansh; Huber, Steven; Whittaker, William L.

    Caves on other planetary bodies offer sheltered habitat for future human explorers and numerous clues to a planet's past for scientists. While recent orbital imagery provides exciting new details about cave entrances on the Moon and Mars, the interiors of these caves are still unknown and not observable from orbit. Multi-robot teams offer unique solutions for exploration and modeling subsurface voids during precursor missions. Robot teams that are diverse in terms of size, mobility, sensing, and capability can provide great advantages, but this diversity, coupled with inherently distinct low-level behavior architectures, makes coordination a challenge. This paper presents a framework that consists of an autonomous frontier and capability-based task generator, a distributed market-based strategy for coordinating and allocating tasks to the different team members, and a communication paradigm for seamless interaction between the different robots in the system. Robots have different sensors, (in the representative robot team used for testing: 2D mapping sensors, 3D modeling sensors, or no exteroceptive sensors), and varying levels of mobility. Tasks are generated to explore, model, and take science samples. Based on an individual robot's capability and associated cost for executing a generated task, a robot is autonomously selected for task execution. The robots create coarse online maps and store collected data for high resolution offline modeling. The coordination approach has been field tested at a mock cave site with highly-unstructured natural terrain, as well as an outdoor patio area. Initial results are promising for applicability of the proposed multi-robot framework to exploration and modeling of planetary caves.

  18. Autonomous Environment Recognition by Robotic Manipulators

    OpenAIRE

    Senda, Kei; Okano, Yuzo

    2001-01-01

    This paper discusses methods of autonomus environment recognition and action by a robotic manipulator working with dynamic interaction to the enviroment, e.g., assembling. A method automatically recognizes the contacting situation with the work site from the sensor outputs and the robotic manipulator motion. The autonomous recognition then discriminates the constraint conditions at manopulator hand using the self-organizing map that is a kind of unsupervisedlearning of neural networks. The di...

  19. Approaches to probabilistic model learning for mobile manipulation robots

    CERN Document Server

    Sturm, Jürgen

    2013-01-01

    Mobile manipulation robots are envisioned to provide many useful services both in domestic environments as well as in the industrial context. Examples include domestic service robots that implement large parts of the housework, and versatile industrial assistants that provide automation, transportation, inspection, and monitoring services. The challenge in these applications is that the robots have to function under changing, real-world conditions, be able to deal with considerable amounts of noise and uncertainty, and operate without the supervision of an expert. This book presents novel learning techniques that enable mobile manipulation robots, i.e., mobile platforms with one or more robotic manipulators, to autonomously adapt to new or changing situations. The approaches presented in this book cover the following topics: (1) learning the robot's kinematic structure and properties using actuation and visual feedback, (2) learning about articulated objects in the environment in which the robot is operating,...

  20. Sociable mobile robots through self-maintained energy

    DEFF Research Database (Denmark)

    Ngo, Trung Dung; Schiøler, Henrik

    2006-01-01

    Research of sociable robots has emphasized interaction and coordination of mobile robots with inspiration from natural behavior of birds, insects, and fish: flocking, foraging, collecting, sharing and so forth. However, the animal behaviors are looking for food towards survival. In an animal...... society, collecting and sharing are experimentally recognized as the highest property. This paper issues an approach to sociable robots using self-maintained energy in robot society, which is naturally inspired from swarm behavior of honey-bee and ant. Typically, autonomous mobile robots are usually...... equipped with a finite energy, thus they can operate in a finite time. To overcome the limitation, we describe practical deployment of a group of mobile robot with the possibility of carrying and exchanging fuel, e.g. battery to other robots. Early implementation that includes modular hardware and control...

  1. Niche pseudo-parallel genetic algorithms for path optimization of autonomous mobile robot%小生境伪并行遗传算法在全自主移动机器人路径规划中的应用

    Institute of Scientific and Technical Information of China (English)

    沈志华; 赵英凯; 吴炜炜

    2006-01-01

    A new genetic algorithm named niche pseudo-parallel genetic algorithm (NPPGA) is presented for path evolution and genetic op timization of autonomous mobile robot. The NPPGA is an effective improvement to maintain the population diversity as well for the sake of avoiding premature and strengthen parallelism of the population to accelerate the search process combined with niche genetic algorithms and pseudo-parallel genetic algorithms. The proposed approach is evaluated by robotic path optimization, which is a specific application of traveler salesman problem (TSP). Experimental results indicated that a shortest path could be obtained in the practical traveling salesman problem named "Robot tour around Pekin", and the performance conducted by NPPGA is better than simple genetic algorithm (SGA) and distributed paralell genetic algorithms (DPGA).

  2. Autonomous robotics and deep learning

    CERN Document Server

    Nath, Vishnu

    2014-01-01

    This Springer Brief examines the combination of computer vision techniques and machine learning algorithms necessary for humanoid robots to develop "true consciousness." It illustrates the critical first step towards reaching "deep learning," long considered the holy grail for machine learning scientists worldwide. Using the example of the iCub, a humanoid robot which learns to solve 3D mazes, the book explores the challenges to create a robot that can perceive its own surroundings. Rather than relying solely on human programming, the robot uses physical touch to develop a neural map of its en

  3. Robotics and Autonomous Systems Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — FUNCTION: Provides an environment for developing and evaluating intelligent software for both actual and simulated autonomous vehicles. Laboratory computers provide...

  4. Autonomous stair-climbing with miniature jumping robots.

    Science.gov (United States)

    Stoeter, Sascha A; Papanikolopoulos, Nikolaos

    2005-04-01

    The problem of vision-guided control of miniature mobile robots is investigated. Untethered mobile robots with small physical dimensions of around 10 cm or less do not permit powerful onboard computers because of size and power constraints. These challenges have, in the past, reduced the functionality of such devices to that of a complex remote control vehicle with fancy sensors. With the help of a computationally more powerful entity such as a larger companion robot, the control loop can be closed. Using the miniature robot's video transmission or that of an observer to localize it in the world, control commands can be computed and relayed to the inept robot. The result is a system that exhibits autonomous capabilities. The framework presented here solves the problem of climbing stairs with the miniature Scout robot. The robot's unique locomotion mode, the jump, is employed to hop one step at a time. Methods for externally tracking the Scout are developed. A large number of real-world experiments are conducted and the results discussed.

  5. Autonomous robotic platforms for locating radio sources buried under rubble

    Science.gov (United States)

    Tasu, A. S.; Anchidin, L.; Tamas, R.; Paun, M.; Danisor, A.; Petrescu, T.

    2016-12-01

    This paper deals with the use of autonomous robotic platforms able to locate radio signal sources such as mobile phones, buried under collapsed buildings as a result of earthquakes, natural disasters, terrorism, war, etc. This technique relies on averaging position data resulting from a propagation model implemented on the platform and the data acquired by robotic platforms at the disaster site. That allows us to calculate the approximate position of radio sources buried under the rubble. Based on measurements, a radio map of the disaster site is made, very useful for locating victims and for guiding specific rubble lifting machinery, by assuming that there is a victim next to a mobile device detected by the robotic platform; by knowing the approximate position, the lifting machinery does not risk to further hurt the victims. Moreover, by knowing the positions of the victims, the reaction time is decreased, and the chances of survival for the victims buried under the rubble, are obviously increased.

  6. 基于里程计和PTZ视觉的移动机器人自定位%Autonomous localization of mobile robot based on odometer and PTZ vision

    Institute of Scientific and Technical Information of China (English)

    牛国臣; 徐萍; 冯琦

    2011-01-01

    针对机器人长距离运行时里程计定位存在累积误差问题,提出一种基于里程计和PTZ视觉的移动机器人自定位算法.提出了中断式S形搜索策略的概念,设计了基于有限自动机的视觉定位方法;分析了里程计和视觉定位误差来源,分别建立了其定位信度模型;并基于该模型建立里程计和PTZ视觉定位的框架.针对视觉定位及里程计视觉复合定位分别进行了实验,结果验证了该方法的有效性和实用性.%To reduce the influence of cumulative odometer localization error, an autonomous localization approach for mobile robot based on odometer and Pan-Tilt-Zoom (PTZ) vision was presented. Interrupt S-shaped searching strategy was put forward, as well as a vision localization approach based on finite automaton. The position credibility models of odometer and PTZ vision were established according to their positioning error sources. A localization framework combining odometer and PTZ vision based on real-time position credibility was designed. An application experiment of vision localization and localization using odometer and PTZ vision was carried out. The validity and practicability of the method are confirmed.

  7. TIGRE - An autonomous ground robot for outdoor exploration

    OpenAIRE

    Martins, Alfredo; Amaral, Guilherme; Dias, André; Almeida, Carlos; Almeida, José; Silva, Eduardo

    2013-01-01

    13th International Conference on Autonomous Robot Systems (Robotica), 2013 In this paper we present an autonomous ground robot developed for outdoor applications in unstructured scenarios. The robot was developed as a versatile robotics platform for development, test and validation of research in navigation, control, perception and multiple robot coordination on all terrain scenarios. The hybrid systems approach to the control architecture is discussed in the context of multiple robot coor...

  8. 自主导航避障移动机器人仿真软件设计%The design of simulation software for autonomous navigation and obstacle avoidance mobile robot

    Institute of Scientific and Technical Information of China (English)

    刘磊; 许晓鸣

    2011-01-01

    设计了一款可实现移动机器人自主导航避障的仿真软件,该软件包括机器人运行环境仿真与机器人运动控制仿真2部分.其中运行环境仿真部分提供了机器人的障碍环境即运行地图,机器人运动控制仿真部分分别模拟了机器人雷达、导航避障算法及机器人运动.首先讨论了软件框架,实现了机器人“传感-思考-执行”的运行机制;然后详细介绍了机器人雷达仿真的软件原理;再利用矢量场直方图算法控制机器人自主导航避障;最后利用龙格库塔四阶方法对机器人线性模型进行运动仿真解算.实验结果证明了该软件方案的有效性与可行性.%A software was designed to implement autonomous navigation and obstacle avoidance mobile robot simulation. The software includes robot environment and robot motion control simulation. The robot environment simulation provides the obstacle environment, I. E. The map. The robot motion control simulation program simulates the robot radar, navigation algorithm, obstacle avoidance algorithm and robot motion. Firstly, the framework of the software was discussed, which can implement robot sense-think-act operation mechanism. Then, it described the software principle of robot radar simulation in detail and used vector field histogram algorithm to control robot for autonomous navigation and obstacle avoidance. Finally, the paper used Runge-Kutta 4th method to solve robot linear model for simulating robot motion. The validity and feasibility of this software method was confirmed by the experiments.

  9. Sensor Fusion Based Model for Collision Free Mobile Robot Navigation

    OpenAIRE

    Marwah Almasri; Khaled Elleithy; Abrar Alajlan

    2015-01-01

    Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve this dilemma and enhance the overall performance. This paper presents a collision free mobile robot...

  10. Applying energy autonomous robots for dike inspection

    NARCIS (Netherlands)

    Dresscher, Douwe; Vries, de Theo J.A.; Stramigioli, Stefano

    2015-01-01

    This article presents an exploratory study of an energy-autonomous robot that can be deployed on the Dutch dykes. Based on theory in energy harvesting from sun and wind and the energy-cost of locomotion an analytic expression to determine the feasible daily operational time of such a vehicle is comp

  11. Diagnosing faults in autonomous robot plan execution

    Science.gov (United States)

    Lam, Raymond K.; Doshi, Rajkumar S.; Atkinson, David J.; Lawson, Denise M.

    1988-01-01

    A major requirement for an autonomous robot is the capability to diagnose faults during plan execution in an uncertain environment. Many diagnostic researches concentrate only on hardware failures within an autonomous robot. Taking a different approach, the implementation of a Telerobot Diagnostic System that addresses, in addition to the hardware failures, failures caused by unexpected event changes in the environment or failures due to plan errors, is described. One feature of the system is the utilization of task-plan knowledge and context information to deduce fault symptoms. This forward deduction provides valuable information on past activities and the current expectations of a robotic event, both of which can guide the plan-execution inference process. The inference process adopts a model-based technique to recreate the plan-execution process and to confirm fault-source hypotheses. This technique allows the system to diagnose multiple faults due to either unexpected plan failures or hardware errors. This research initiates a major effort to investigate relationships between hardware faults and plan errors, relationships which were not addressed in the past. The results of this research will provide a clear understanding of how to generate a better task planner for an autonomous robot and how to recover the robot from faults in a critical environment.

  12. Embodied Computation: An Active-Learning Approach to Mobile Robotics Education

    Science.gov (United States)

    Riek, L. D.

    2013-01-01

    This paper describes a newly designed upper-level undergraduate and graduate course, Autonomous Mobile Robots. The course employs active, cooperative, problem-based learning and is grounded in the fundamental computational problems in mobile robotics defined by Dudek and Jenkin. Students receive a broad survey of robotics through lectures, weekly…

  13. Implémentation d'un estimateur de la pose d'un robot mobile type voiture (Car-like) pour la navigation autonome à l'extérieur

    OpenAIRE

    R. CHEMALI; S. MENICHE; T. CHETTIBI

    2015-01-01

    Ce document présente une étude sur l'estimation de la pose des robots mobiles type voiture (Car-like), afin de l'exploiter dans la navigation autonome à l'extérieur, en utilisant le GPS standard comme capteur extéroceptif et l'odomètre comme un capteur proprioceptif. Une architecture d'estimation de la position et de l'orientation est proposée, elle consiste à fusionner les informations issues des capteurs (GPS, odomètre) en utilisant le filtre de Kalman étendu en présence du signal GPS, et ...

  14. Embodied cognition for autonomous interactive robots.

    Science.gov (United States)

    Hoffman, Guy

    2012-10-01

    In the past, notions of embodiment have been applied to robotics mainly in the realm of very simple robots, and supporting low-level mechanisms such as dynamics and navigation. In contrast, most human-like, interactive, and socially adept robotic systems turn away from embodiment and use amodal, symbolic, and modular approaches to cognition and interaction. At the same time, recent research in Embodied Cognition (EC) is spanning an increasing number of complex cognitive processes, including language, nonverbal communication, learning, and social behavior. This article suggests adopting a modern EC approach for autonomous robots interacting with humans. In particular, we present three core principles from EC that may be applicable to such robots: (a) modal perceptual representation, (b) action/perception and action/cognition integration, and (c) a simulation-based model of top-down perceptual biasing. We describe a computational framework based on these principles, and its implementation on two physical robots. This could provide a new paradigm for embodied human-robot interaction based on recent psychological and neurological findings.

  15. Navigation Algorithm Using Fuzzy Control Method in Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Cviklovič Vladimír

    2016-03-01

    Full Text Available The issue of navigation methods is being continuously developed globally. The aim of this article is to test the fuzzy control algorithm for track finding in mobile robotics. The concept of an autonomous mobile robot EN20 has been designed to test its behaviour. The odometry navigation method was used. The benefits of fuzzy control are in the evidence of mobile robot’s behaviour. These benefits are obtained when more physical variables on the base of more input variables are controlled at the same time. In our case, there are two input variables - heading angle and distance, and two output variables - the angular velocity of the left and right wheel. The autonomous mobile robot is moving with human logic.

  16. Training Revising Based Traversability Analysis of Complex Terrains for Mobile Robot

    Directory of Open Access Journals (Sweden)

    Rui Song

    2014-05-01

    Full Text Available Traversability analysis is one of the core issues in the autonomous navigation for mobile robots to identify the accessible area by the information of sensors on mobile robots. This paper proposed a model to analyze the traversability of complex terrains based on rough sets and training revising. The model described the traversability for mobile robots by traversability cost. Through the experiment, the paper gets the conclusion that traversability analysis model based on rough sets and training revising can be used where terrain features are rich and complex, can effectively handle the unstructured environment, and can provide reliable and effective decision rules in the autonomous navigation for mobile robots.

  17. Autonomous vehicle platforms from modular robotic components

    Science.gov (United States)

    Schonlau, William J.

    2004-09-01

    A brief survey of current autonomous vehicle (AV) projects is presented with intent to find common infrastructure or subsystems that can be configured from commercially available modular robotic components, thereby providing developers with greatly reduced timelines and costs and encouraging focus on the selected problem domain. The Modular Manipulator System (MMS) robotic system, based on single degree of freedom rotary and linear modules, is introduced and some approaches to autonomous vehicle configuration and deployment are examined. The modules may be configured to provide articulated suspensions for very rugged terrain and fall recovery, articulated sensors and tooling plus a limited capacity for self repair and self reconfiguration. The MMS on-board visually programmed control software (Model Manager) supports experimentation with novel physical configurations and behavior algorithms via real-time 3D graphics for operations simulation and provides useful subsystems for vision, learning and planning to host intelligent behavior.

  18. Meeting the challenges of installing a mobile robotic system

    Science.gov (United States)

    Decorte, Celeste

    1994-01-01

    The challenges of integrating a mobile robotic system into an application environment are many. Most problems inherent to installing the mobile robotic system fall into one of three categories: (1) the physical environment - location(s) where, and conditions under which, the mobile robotic system will work; (2) the technological environment - external equipment with which the mobile robotic system will interact; and (3) the human environment - personnel who will operate and interact with the mobile robotic system. The successful integration of a mobile robotic system into these three types of application environment requires more than a good pair of pliers. The tools for this job include: careful planning, accurate measurement data (as-built drawings), complete technical data of systems to be interfaced, sufficient time and attention of key personnel for training on how to operate and program the robot, on-site access during installation, and a thorough understanding and appreciation - by all concerned - of the mobile robotic system's role in the security mission at the site, as well as the machine's capabilities and limitations. Patience, luck, and a sense of humor are also useful tools to keep handy during a mobile robotic system installation. This paper will discuss some specific examples of problems in each of three categories, and explore approaches to solving these problems. The discussion will draw from the author's experience with on-site installations of mobile robotic systems in various applications. Most of the information discussed in this paper has come directly from knowledge learned during installations of Cybermotion's SR2 security robots. A large part of the discussion will apply to any vehicle with a drive system, collision avoidance, and navigation sensors, which is, of course, what makes a vehicle autonomous. And it is with these sensors and a drive system that the installer must become familiar in order to foresee potential trouble areas in the

  19. Hybrid Collaborative Stereo Vision System for Mobile Robots Formation

    Directory of Open Access Journals (Sweden)

    Flavio Roberti

    2010-02-01

    Full Text Available This paper presents the use of a hybrid collaborative stereo vision system (3D-distributed visual sensing using different kinds of vision cameras for the autonomous navigation of a wheeled robot team. It is proposed a triangulation-based method for the 3D-posture computation of an unknown object by considering the collaborative hybrid stereo vision system, and this way to steer the robot team to a desired position relative to such object while maintaining a desired robot formation. Experimental results with real mobile robots are included to validate the proposed vision system.

  20. On the Self-stabilization of Mobile Robots in Graphs

    CERN Document Server

    Blin, Lélia; Tixeuil, Sébastien

    2007-01-01

    Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The contribution of this paper is threefold. First, we present a new model for studying mobile entities in networks subject to transient faults. Our model differs from the classical robot model because robots have constraints about the paths they are allowed to follow, and from the classical agent model because the number of agents remains fixed throughout the execution of the protocol. Second, in this model, we study the possibility of designing self-stabilizing algorithms when those algorithms are run by mobile robots (or agents) evolving on a graph. We concentrate on the core building blocks of robot and agents problems: naming and leader election. Not surprisingly, when no constraints are given on the network graph topology and local execution model, both problems are impossible to...

  1. Mobile Robots in Human Environments

    DEFF Research Database (Denmark)

    Svenstrup, Mikael

    Traditionally, robots have been assistant machines in factories and a ubiquitous part of science fiction movies. But within the last decade the robots have started to emerge in everyday human environments. Today they are in our everyday environment in the shape of, for example, vacuum cleaners......, lawn mowers, toy pets, or as assisting technologies for care giving. If we want robots to be an even larger and more integrated part of our every- day environments, they need to become more intelligent, and behave safe and natural to the humans in the environment. This thesis deals with making...... intelligent mobile robotic devices capable of being a more natural and sociable actor in a human environment. More specific the emphasis is on safe and natural motion and navigation issues. First part of the work focus on developing a robotic system, which estimates human interest in interacting...

  2. Two-Armed, Mobile, Sensate Research Robot

    Science.gov (United States)

    Engelberger, J. F.; Roberts, W. Nelson; Ryan, David J.; Silverthorne, Andrew

    2004-01-01

    The Anthropomorphic Robotic Testbed (ART) is an experimental prototype of a partly anthropomorphic, humanoid-size, mobile robot. The basic ART design concept provides for a combination of two-armed coordination, tactility, stereoscopic vision, mobility with navigation and avoidance of obstacles, and natural-language communication, so that the ART could emulate humans in many activities. The ART could be developed into a variety of highly capable robotic assistants for general or specific applications. There is especially great potential for the development of ART-based robots as substitutes for live-in health-care aides for home-bound persons who are aged, infirm, or physically handicapped; these robots could greatly reduce the cost of home health care and extend the term of independent living. The ART is a fully autonomous and untethered system. It includes a mobile base on which is mounted an extensible torso topped by a head, shoulders, and two arms. All subsystems of the ART are powered by a rechargeable, removable battery pack. The mobile base is a differentially- driven, nonholonomic vehicle capable of a speed >1 m/s and can handle a payload >100 kg. The base can be controlled manually, in forward/backward and/or simultaneous rotational motion, by use of a joystick. Alternatively, the motion of the base can be controlled autonomously by an onboard navigational computer. By retraction or extension of the torso, the head height of the ART can be adjusted from 5 ft (1.5 m) to 6 1/2 ft (2 m), so that the arms can reach either the floor or high shelves, or some ceilings. The arms are symmetrical. Each arm (including the wrist) has a total of six rotary axes like those of the human shoulder, elbow, and wrist joints. The arms are actuated by electric motors in combination with brakes and gas-spring assists on the shoulder and elbow joints. The arms are operated under closed-loop digital control. A receptacle for an end effector is mounted on the tip of the wrist and

  3. Interaction dynamics of multiple mobile robots with simple navigation strategies

    Science.gov (United States)

    Wang, P. K. C.

    1989-01-01

    The global dynamic behavior of multiple interacting autonomous mobile robots with simple navigation strategies is studied. Here, the effective spatial domain of each robot is taken to be a closed ball about its mass center. It is assumed that each robot has a specified cone of visibility such that interaction with other robots takes place only when they enter its visibility cone. Based on a particle model for the robots, various simple homing and collision-avoidance navigation strategies are derived. Then, an analysis of the dynamical behavior of the interacting robots in unbounded spatial domains is made. The article concludes with the results of computer simulations studies of two or more interacting robots.

  4. Learning User Intention in Networked Mobile Robot Control

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Teleoperated networked robot often has unpredictable behaviors due to uncertain time delay from data transmission over Internet. The robot cannot accomplish the desired actions of the remote operator in time, which severely impairs reliability and efficiency of the robot system. This paper investigated a novel approach, learning user intention, to compensate the uncertain time delay with the autonomy of a mobile robot. The user intention to control and operate the robot was modeled and incrementally inferred based on Bayesian techniques so that the desired actions could be recognized and completed by the robot autonomously. Thus the networked robot is able to fulfill the task assigned without frequent interaction with the user, which decreases data transmission and improves the efficiency of the whole system. Experimental results show the validity and feasibility of the proposed method.

  5. Multiresolution Path Planning for Mobile Robots,

    Science.gov (United States)

    1985-05-01

    8217U’ MULTIRESOLUTION PATH PLANNING * . FOR MOBILE ROBOTS I Subbarao Kambhampati * -- Larry S. Davis Computer Vision Laboratory * Center for Automation...COUWEPARK MARVUM EP Vo Is- .. . .. CAR-TR-127 DAAK70-83-K--0018 CS-TR-1507 MAY 1085 MULTIRESOLUTION PATH PLANNING FOR MOBILE ROBOTS Subbarao Kambhampati...planning is central to mobile * robot applications. Path planning for mobile robots is in many ways different * from the more familiar case of path

  6. Motion Control of Wheeled Mobile Robots

    Directory of Open Access Journals (Sweden)

    Birol Kocaturk

    2015-01-01

    Full Text Available This article presents strategy for navigation of a wheeled mobile robot in unstructured environments with obstacles. The vehicle has two wheels independently to control the angular velocity. This work deals with mobile robots modelling then control strategies and simulation results. Simulation results recommends fuzzy logic controller for the wheeled mobile robot motion in unstructured environments.

  7. 自主移动机器人巡线控制系统设计与实现%Design and implementation on line-tracking control of autonomous mobile robot

    Institute of Scientific and Technical Information of China (English)

    姜华; 王金波; 徐鹏

    2012-01-01

    针对自主移动机器人传统巡线控制中存在的不足,主要完成了机器人控制系统的设计.在使用灰度传感器采集地面轨迹信息的同时,引入角度传感器对行进方向的角度信息进行采集;设计了PID控制加模糊控制的复合控制器,并给出复合控制器算法.在此基础上建立实验系统,仿真结果证明:该控制系统不仅克服了传统巡线控制中单一传感器采集信息不全的缺点,而且有效解决了机器人在遇到大信号时传统PID控制响应时间长、系统不稳定的问题.%Aimed at deficiencies the traditional line-tracking control of autonomous mobile robot, the paper designed mainly the control system of autonomous mobile robot, the gray-scale sensors collect ground tracking information, while angle-sensor is added into collect angle information of traveling direction , proposed a composite controller based on PID and fuzzy control, and the algorithm of composite controller is given. An experimental system is established on this basis, the simulation results show that the shortcoming is overcomed on gathering incomplete information by the single-sensor of the traditional linetracking control, and effectively improved the disadvantages by PID controlling when the robot is in the face of large-signal, for example, a long response time and the instability system.

  8. Robotic Maintenance and ROS - Appearance Based SLAM and Navigation With a Mobile Robot Prototype

    OpenAIRE

    Lindrup, Vegard Stjerna

    2016-01-01

    Robotic maintenance has been a topic in several master's theses and specialization projects at the Department of Engineering Cybernetics (ITK) at NTNU over many years. This thesis continues on the same topic, with special focus on camera-based mapping and navigation in conjunction with automated maintenance, and automated maintenance in general. The objective of this thesis is to implement one or more functionalities based on camera-based sensors in a mobile autonomous robot. This is accompli...

  9. New Progress in the Autonomous Navigation Study of Self-Mobile Robot%自移动式机器人自主导航研究的新进展

    Institute of Scientific and Technical Information of China (English)

    谢伟枫

    2015-01-01

    自移动式机器人的自主导航技术已经取代动作技术,成为机器人研究的核心领域,并涉及到多个学科领域。在定位研究、地图构建和路径规划等关键技术方面,近年来取得了长足进步,为机器在更加复杂的环境下实现自主和智慧移动提供了坚实的基础。文章主要探讨了自移动式机器人自主导航研究的新进展。%The autonomous navigation technology in self-mobile robot has substituted the motion technology to become the core field of robotics research, involving many disciplines. Key technologies such as localization research, map building and path planning, have made considerable progress in recent years, providing a solid foundation for achiev⁃ing Autonomous and sapiential motion in a more complex environment.

  10. Intelligent mobility research for robotic locomotion in complex terrain

    Science.gov (United States)

    Trentini, Michael; Beckman, Blake; Digney, Bruce; Vincent, Isabelle; Ricard, Benoit

    2006-05-01

    The objective of the Autonomous Intelligent Systems Section of Defence R&D Canada - Suffield is best described by its mission statement, which is "to augment soldiers and combat systems by developing and demonstrating practical, cost effective, autonomous intelligent systems capable of completing military missions in complex operating environments." The mobility requirement for ground-based mobile systems operating in urban settings must increase significantly if robotic technology is to augment human efforts in these roles and environments. The intelligence required for autonomous systems to operate in complex environments demands advances in many fields of robotics. This has resulted in large bodies of research in areas of perception, world representation, and navigation, but the problem of locomotion in complex terrain has largely been ignored. In order to achieve its objective, the Autonomous Intelligent Systems Section is pursuing research that explores the use of intelligent mobility algorithms designed to improve robot mobility. Intelligent mobility uses sensing, control, and learning algorithms to extract measured variables from the world, control vehicle dynamics, and learn by experience. These algorithms seek to exploit available world representations of the environment and the inherent dexterity of the robot to allow the vehicle to interact with its surroundings and produce locomotion in complex terrain. The primary focus of the paper is to present the intelligent mobility research within the framework of the research methodology, plan and direction defined at Defence R&D Canada - Suffield. It discusses the progress and future direction of intelligent mobility research and presents the research tools, topics, and plans to address this critical research gap. This research will create effective intelligence to improve the mobility of ground-based mobile systems operating in urban settings to assist the Canadian Forces in their future urban operations.

  11. Mobile Robots for Outdoor Security Applications

    Science.gov (United States)

    1999-04-01

    1 everett-2 MOBILE ROBOTS FOR OUTDOOR SECURITY APPLICATIONS Tracy Heath Pastore (SSC-SD), H. R. Everett (SSC-SD), Kevin Bonner (RST) Space and...APR 1999 2. REPORT TYPE N/A 3. DATES COVERED - 4. TITLE AND SUBTITLE Mobile Robots for Outdoor Security Applications 5a. CONTRACT NUMBER...Based Intruder Detection for a Robotic Security System," SPIE Mobile Robots XIII, Boston, MA, 1-6 November, 1998. Everett, H.R., Gilbreath, G.A

  12. Autonomous Dome for a Robotic Telescope

    Science.gov (United States)

    Kumar, A.; Sengupta, A.; Ganesh, S.

    2016-12-01

    The Physical Research Laboratory operates a 50 cm robotic observatory at Mount Abu (Rajsthan, India). This Automated Telescope for Variability Studies (ATVS) makes use of the Remote Telescope System 2 (RTS2) for autonomous operations. The observatory uses a 3.5 m dome from Sirius Observatories. We have developed electronics using Arduino electronic circuit boards with home grown logic and software to control the dome operations. We are in the process of completing the drivers to link our Arduino based dome controller with RTS2. This document is a short description of the various phases of the development and their integration to achieve the required objective.

  13. Low-level stored waste inspection using mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Byrd, J.S.; Pettus, R.O.

    1996-06-01

    A mobile robot inspection system, ARIES (Autonomous Robotic Inspection Experimental System), has been developed for the U.S. Department of Energy to replace human inspectors in the routine, regulated inspection of radioactive waste stored in drums. The robot will roam the three-foot aisles of drums, stacked four high, making decisions about the surface condition of the drums and maintaining a database of information about each drum. A distributed system of onboard and offboard computers will provide versatile, friendly control of the inspection process. This mobile robot system, based on a commercial mobile platform, will improve the quality of inspection, generate required reports, and relieve human operators from low-level radioactive exposure. This paper describes and discusses primarily the computer and control processes for the system.

  14. Reconfiguration of Mobile Robot

    Directory of Open Access Journals (Sweden)

    Ashish K. Thakre

    2012-03-01

    Full Text Available Dynamic Partial Reconfiguration (DPR of FPGAs presents many opportunities for application design flexibility, enabling tasks to dynamically swap in and out of the FPGA without entire system interruption. In this paper, we will implement a line follower robot for the white line as well as for black line; both these modules will be programmed in VHDL. The robot will dynamically reconfigure the FPGA in the run-time while the robot senses black line after white line or vice-versa. This design includes two modules one is static and the other is partially reconfigurable regions (PRR which is a dynamic region. The controllers are the static modules used for controlling the flow of data to and from the reconfigurable modules to the external world (host environment through busmacros. Whereas white line and black line modules are designed as dynamic modules. Different hardware modules will be used such as Sensors and actuators , all these modules will be interfaced using FPGA controller. The speed of motor is controlled using pulse width modulation (PWM using VHDL

  15. WebotsTM: Professional Mobile Robot Simulation

    Directory of Open Access Journals (Sweden)

    Olivier Michel

    2008-11-01

    Full Text Available Cyberbotics Ltd. develops WebotsTM, a mobile robotics simulation software that provides you with a rapid prototyping environment for modelling, programming and simulating mobile robots. The provided robot libraries enable you to transfer your control programs to several commercially available real mobile robots. WebotsTM lets you define and modify a complete mobile robotics setup, even several different robots sharing the same environment. For each object, you can define a number of properties, such as shape, color, texture, mass, friction, etc. You can equip each robot with a large number of available sensors and actuators. You can program these robots using your favorite development environment, simulate them and optionally transfer the resulting programs onto your real robots. WebotsTM has been developed in collaboration with the Swiss Federal Institute of Technology in Lausanne, thoroughly tested, well documented and continuously maintained for over 7 years. It is now the main commercial product available from Cyberbotics Ltd.

  16. Bootstrap Learning and Visual Processing Management on Mobile Robots

    Directory of Open Access Journals (Sweden)

    Mohan Sridharan

    2010-01-01

    Full Text Available A central goal of robotics and AI is to enable a team of robots to operate autonomously in the real world and collaborate with humans over an extended period of time. Though developments in sensor technology have resulted in the deployment of robots in specific applications the ability to accurately sense and interact with the environment is still missing. Key challenges to the widespread deployment of robots include the ability to learn models of environmental features based on sensory inputs, bootstrap off of the learned models to detect and adapt to environmental changes, and autonomously tailor the sensory processing to the task at hand. This paper summarizes a comprehensive effort towards such bootstrap learning, adaptation, and processing management using visual input. We describe probabilistic algorithms that enable a mobile robot to autonomously plan its actions to learn models of color distributions and illuminations. The learned models are used to detect and adapt to illumination changes. Furthermore, we describe a probabilistic sequential decision-making approach that autonomously tailors the visual processing to the task at hand. All algorithms are fully implemented and tested on robot platforms in dynamic environments.

  17. Sensor-based navigation of air duct inspection mobile robots

    Science.gov (United States)

    Koh, Kyoungchul; Choi, H. J.; Kim, Jae-Seon; Ko, Kuk Won; Cho, Hyungsuck

    2001-02-01

    12 This paper deals with an image sensor system and its position estimation algorithm for autonomous duct cleaning and inspection mobile robots. For the real application, a hierarchical control structure that consists of robot motion controller and image sensor system is designed considering the efficient and autonomous motion behaviors in narrow space such as air ducts. The sensor's system consists of a CCD camera and two laser sources to generate slit beams. The image of the structured lights is used for calculating the geometric parameters of the air ducts which are usually designed with a rectangular section. With the acquired 3D information about the environment, the mobile robot with two differential driving wheels is able to autonomously navigates along the duct path without any human intervention. For real time navigation, the relative position estimation of the robot are performed from 3D image reconstructed by the sensor system. The calibration and image processing methods used for the sensor system are presented with the experimental data. The experimental results show the possibility of the sensor based navigation which is important for effective duct cleaning by small mobile robots.

  18. Mechatronics Design of a Mobile Robot System

    Directory of Open Access Journals (Sweden)

    Ahmad A. Mahfouz

    2013-02-01

    Full Text Available Mobile robot motion control is simplified to a DC motor motion control that may include gear system. The simplest and widespread approach to control the mobile robot motion is the differential drive style, it consists of two in-lines with each a DC motor. Both DC motors are independently powered so the desired movements will rely on how these two DC motors are commanded. Thedevelop design, model and control of Mechatronics mobile robotic system is presented in this paper. The developed robotic system is intended for research purposes as well as for educational process. The model of proposed mobile robot was created and verified using MATLAB-Simulink software.

  19. Mobile Robot Positioning - Sensors and Techniques

    Science.gov (United States)

    1997-01-01

    Inertial Navigation Systems Mobile Robots.” IEEE Transactions on Robotics and Automation, Vol. 11, No. 3, June, pp. 328-342. 4. Battin, R. H., 1987...Results from Internal Odometry Error Correction With the OmniMate Mobile Platform." Submitted to the IEEE Transactions on Robotics and Automation, July 1996

  20. Mobile Surveillance and Monitoring Robots

    Energy Technology Data Exchange (ETDEWEB)

    Kimberly, Howard R.; Shipers, Larry R.

    1999-07-14

    Long-term nuclear material storage will require in-vault data verification, sensor testing, error and alarm response, inventory, and maintenance operations. System concept development efforts for a comprehensive nuclear material management system have identified the use of a small flexible mobile automation platform to perform these surveillance and maintenance operations. In order to have near-term wide-range application in the Complex, a mobile surveillance system must be small, flexible, and adaptable enough to allow retrofit into existing special nuclear material facilities. The objective of the Mobile Surveillance and Monitoring Robot project is to satisfy these needs by development of a human scale mobile robot to monitor the state of health, physical security and safety of items in storage and process; recognize and respond to alarms, threats, and off-normal operating conditions; and perform material handling and maintenance operations. The system will integrate a tool kit of onboard sensors and monitors, maintenance equipment and capability, and SNL developed non-lethal threat response technology with the intelligence to identify threats and develop and implement first response strategies for abnormal signals and alarm conditions. System versatility will be enhanced by incorporating a robot arm, vision and force sensing, robust obstacle avoidance, and appropriate monitoring and sensing equipment.

  1. Strategy in the Robotic Age: A Case for Autonomous Warfare

    Science.gov (United States)

    2014-09-01

    question legal, ethical , and moral standings about lethal robotic systems. Foreign policy options may be altered because new military options become... ROBOTIC AGE: A CASE FOR AUTONOMOUS WARFARE by Barry S. Scott September 2014 Thesis Advisor: Donald Abenheim Co-Advisor: James Wirtz THIS...Master’s Thesis 4. TITLE AND SUBTITLE STRATEGY IN THE ROBOTIC AGE: A CASE FOR AUTONOMOUS WARFARE 5. FUNDING NUMBERS 6. AUTHOR(S) Barry S. Scott

  2. Mobile robots II; Proceedings of the Meeting, Cambridge, MA, Nov. 5, 6, 1987

    Energy Technology Data Exchange (ETDEWEB)

    Wolfe, W.J.; Chun, W.H.

    1988-01-01

    Topics discussed are autonomous vehicle guidance, three-dimensional systems, the Mars rover, motion analysis, and planning and navigation. Particular papers are presented on a real-time system architecture for a mobile robot, distributed scene analysis for autonomous road vehicle guidance, the vision system for a Mars rover, the recovery of motion parameters using optical flow, and Prolog-based world models for mobile robot navigation.

  3. Towards Competitive Commercial Autonomous Robots: The Configuration Problem

    DEFF Research Database (Denmark)

    Kjærgaard, Morten; Andersen, Nils Axel; Ravn, Ole

    2011-01-01

    This article presents a framework for configuring the individual components used in component based robot control systems. Using smart parameters that adapt to the respective robot system makes it possible to obtain optimal parameter values while reusing the software components, without expert...... knowledge about the underlying algorithms. The framework also makes it possible for the robot to autonomously calibrate itself, resulting in higher stability of the robot and less development time required. The work is a result of an industrial research project aimed at lowering development costs...... and improving robustness of autonomous robot applications....

  4. An autonomous robot for harvesting cucumbers in greenhouses

    NARCIS (Netherlands)

    Henten, van E.J.; Hemming, J.; Tuijl, van B.A.J.; Kornet, J.G.; Meuleman, J.; Bontsema, J.; Os, van E.A.

    2002-01-01

    This paper describes the concept of an autonomous robot for harvesting cucumbers in greenhouses. A description is given of the working environment of the robot and the logistics of harvesting. It is stated that for a 2 ha Dutch nursery, 4 harvesting robots and one docking station are needed during t

  5. Enabling technologies for the prassi autonomous robot

    Energy Technology Data Exchange (ETDEWEB)

    Taraglio, S.; Nanni, V. [ENEA, Robotics and Information Technology Division, Rome (Italy)

    2001-07-01

    In this book are summarised some of the results of the PRASSI project as presented by the different partners of the effort. PRASSI is an acronym which stands for Autonomous Robotic Platform for the Security and Surveillance of plants, the Italian for it is 'Piattaforma Robotica per la Sorveglianza e Sicurezza d'Impianto'. This project has been funded by the Italian Ministry for the Education, the University and the Research (MIUR) in the framework of the project High Performance Computing Applied to Robotics (Calcolo Parallelo con Applicazioni alla Robotica) of the law 95/1995. The idea behind such an initiative is that of fostering the knowledge and possibly the use of high performance computing in the research and industrial community. In other words, robotic scientists are always simplifying their algorithms or using particular approaches (e.g. soft computing) in order to use standard processors for difficult sensorial data processing; well, what if an embedded parallel computer were available, with at least one magnitude more of computing power?.

  6. Certainty grids for mobile robots

    Science.gov (United States)

    Moravec, H. P.

    1987-01-01

    A numerical representation of uncertain and incomplete sensor knowledge called Certainty Grids has been used successfully in several mobile robot control programs, and has proven itself to be a powerful and efficient unifying solution for sensor fusion, motion planning, landmark identification, and many other central problems. Researchers propose to build a software framework running on processors onboard the new Uranus mobile robot that will maintain a probabilistic, geometric map of the robot's surroundings as it moves. The certainty grid representation will allow this map to be incrementally updated in a uniform way from various sources including sonar, stereo vision, proximity and contact sensors. The approach can correctly model the fuzziness of each reading, while at the same time combining multiple measurements to produce sharper map features, and it can deal correctly with uncertainties in the robot's motion. The map will be used by planning programs to choose clear paths, identify locations (by correlating maps), identify well-known and insufficiently sensed terrain, and perhaps identify objects by shape. The certainty grid representation can be extended in the same dimension and used to detect and track moving objects.

  7. Communications Systems for Mobile Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Futterman, J A; Pao, H

    2003-12-08

    Performance Confirmation is the activity by which the Yucca Mountain Project confirms that the engineered and natural containment barriers of this national nuclear waste repository are performing as predicted, so that an eventual decision to close the repository can be made. This activity involves systems that must be inspected and, in some cases, serviced by mobile robots. This paper discusses systems for underground mobile robot communications, including requirements, environments, options, issues, and down-select criteria. We reviewed a variety of systems, including Slotted Waveguide, Powerline Carrier, Leaky Feeder, Photonic Bandgap Fiber, Free-Space Optics, Millimeter Waves, Terahertz Systems, and RF Systems (including IEEE 802.11 a,b, and g, and Ultra-Wideband radio).

  8. 空间机器人自主定位定向方法研究%Autonomous Position and Orientation Method for Space Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    刘欣; 张常云; 申功璋

    2001-01-01

    针对机器人在月球或火星上进行采矿的应用背景,研究了切平面捷联惯导方案、视觉定位方案、静态和动态的视觉/惯性组合定位定向方案.所提出的视觉/惯性组合导航系统使惯导系统的导航精度有很大的提高,同时只要求机器人携带很少的设备,大大降低了系统的成本.仿真结果表示该方案可行.%Aiming at the space mobile robot employed in lunar exploration, the scheme of strapdown inertial navigation on tangent plane, the position and orientation method using computer vision are studied in this paper. Also a new inertial/computer vision integrated navigation system is proposed. Static and dynamic algorithms of the integrated navigation system are given. In this system, high precision of navigation is gained while the robot is required to carry fewer devices, which can cut down the cost. Result of simulation is shown at the end of the paper.

  9. Sensor Fusion Based Model for Collision Free Mobile Robot Navigation.

    Science.gov (United States)

    Almasri, Marwah; Elleithy, Khaled; Alajlan, Abrar

    2015-12-26

    Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve this dilemma and enhance the overall performance. This paper presents a collision free mobile robot navigation based on the fuzzy logic fusion model. Eight distance sensors and a range finder camera are used for the collision avoidance approach where three ground sensors are used for the line or path following approach. The fuzzy system is composed of nine inputs which are the eight distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and 24 fuzzy rules for the robot's movement. Webots Pro simulator is used for modeling the environment and the robot. The proposed methodology, which includes the collision avoidance based on fuzzy logic fusion model and line following robot, has been implemented and tested through simulation and real time experiments. Various scenarios have been presented with static and dynamic obstacles using one robot and two robots while avoiding obstacles in different shapes and sizes.

  10. Accelerometer for mobile robot positioning

    OpenAIRE

    Liu, HS; Pang, GKH

    1999-01-01

    An evaluation of a low-cost, small sized solid state accelerometer is described in this paper. The sensor is intended for positioning of a mobile robot or platform. The acceleration signal outputted by the sensor is doubly integrated with time which yields the traveled distance. Bias offset drift exhibits in the acceleration signal is accumulative and the accuracy of the distance measurement deteriorates with time due to the integration. A Kalman filter is used to reduce errors caused by rand...

  11. Real Time Mapping and Dynamic Navigation for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Maki K. Habib

    2008-11-01

    Full Text Available This paper discusses the importance, the complexity and the challenges of mapping mobile robot?s unknown and dynamic environment, besides the role of sensors and the problems inherited in map building. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. The paper presenst the state of the art in map building and localization for mobile robots navigating within unknown environment, and then introduces a solution for the complex problem of autonomous map building and maintenance method with focus on developing an incremental grid based mapping technique that is suitable for real-time obstacle detection and avoidance. In this case, the navigation of mobile robots can be treated as a problem of tracking geometric features that occur naturally in the environment of the robot. The robot maps its environment incrementally using the concept of occupancy grids and the fusion of multiple ultrasonic sensory information while wandering in it and stay away from all obstacles. To ensure real-time operation with limited resources, as well as to promote extensibility, the mapping and obstacle avoidance modules are deployed in parallel and distributed framework. Simulation based experiments has been conducted and illustrated to show the validity of the developed mapping and obstacle avoidance approach.

  12. Mobile robotics research at Sandia National Laboratories

    Energy Technology Data Exchange (ETDEWEB)

    Morse, W.D.

    1998-09-01

    Sandia is a National Security Laboratory providing scientific and engineering solutions to meet national needs for both government and industry. As part of this mission, the Intelligent Systems and Robotics Center conducts research and development in robotics and intelligent machine technologies. An overview of Sandia`s mobile robotics research is provided. Recent achievements and future directions in the areas of coordinated mobile manipulation, small smart machines, world modeling, and special application robots are presented.

  13. Visual world perception modeling and control of cooperative mobile robots

    Science.gov (United States)

    Shirkhodaie, Amir

    2003-10-01

    There has been a great interest in the recent years in visual coordination and target tracking for mobile robots cooperating in unstructured environments. This paper describes visual servo control techniques suitable for intelligent task planning of cooperative robots operating in unstructured environment. In this paper, we have considered a team of semi-autonomous robots controlled by a remote supervisory control system. We have presented an algorithm for visual position tracking of individual cooperative robots within their working environment. Initially, we present a technique suitable for visual servoing of a robot toward its landmark targets. Secondly, we present an image-processing technique that utilizes images from a remote surveillance camera for localization of the robots within the operational environment. In this algorithm, the surveillance camera can be either stationary or mobile. The supervisor control system keeps tracks of relative locations of individual robots and utilizes relative coordinate information of the robots to plan their cooperative activities. We presented some results of this research effort that illustrates effectiveness of the proposed algorithms for cooperative robotic systems visual team working and target tracking.

  14. Ten Years of Cooperation Between Mobile Robots and Sensor Networks

    Directory of Open Access Journals (Sweden)

    Jesus Capitán Fernández

    2015-06-01

    Full Text Available This paper presents an overview of the work carried out by the Group of Robotics, Vision and Control (GRVC at the University of Seville on the cooperation between mobile robots and sensor networks. The GRVC, led by Professor Anibal Ollero, has been working over the last ten years on techniques where robots and sensor networks exploit synergies and collaborate tightly, developing numerous research projects on the topic. In this paper, based on our research, we introduce what we consider some relevant challenges when combining sensor networks with mobile robots. Then, we describe our developed techniques and main results for these challenges. In particular, the paper focuses on autonomous self-deployment of sensor networks; cooperative localization and tracking; self-localization and mapping; and large-scale scenarios. Extensive experimental results and lessons learnt are also discussed in the paper.

  15. Object recognition for autonomous robot utilizing distributed knowledge database

    Science.gov (United States)

    Takatori, Jiro; Suzuki, Kenji; Hartono, Pitoyo; Hashimoto, Shuji

    2003-10-01

    In this paper we present a novel method of object recognition utilizing a remote knowledge database for an autonomous robot. The developed robot has three robot arms with different sensors; two CCD cameras and haptic sensors. It can see, touch and move the target object from different directions. Referring to remote knowledge database of geometry and material, the robot observes and handles the objects to understand them including their physical characteristics.

  16. A Simulation Framework for Evaluating Mobile Robots

    Science.gov (United States)

    2002-08-01

    A Simulation Framework for Evaluating Mobile Robots Stephen Balakirsky and Elena Messina National Institute of Standards and Technology Intelligent...deployment. Keywords: simulation, architectures, 4D/RCS, mobile robots , algo- rithm validation 1 Introduction There have been many recent successes in...DATES COVERED 00-00-2002 to 00-00-2002 4. TITLE AND SUBTITLE A Simulation Framework for Evaluating Mobile Robots 5a. CONTRACT NUMBER 5b. GRANT

  17. Steering control system for a mobile robot

    Science.gov (United States)

    Kolli, Kaylan C.; Hall, Ernest L.

    1997-09-01

    Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe the design of a steering mechanism for an autonomous mobile robot. The steering mechanism replaces a manually turned rack and pinion arrangement with a crank mechanism driven by a linear actuator that in turn is powered by a brushless dc motor. The system was modeled, analyzed, and redesigned to meet the requirements. A 486 computer through a 3-axis motion controller supervises the steering control. The steering motor is a brushless dc motor powered by three phase signals. It is run in current loop mode. The steering control system is supervised by a personal computer through a multi-axis motion controller. Testing of these systems has been done in the lab as well as on an outside test track with positive results.

  18. A mobile self-reconfigurable robot based on modularity

    Institute of Scientific and Technical Information of China (English)

    Zhong Ming; Guo Wei; Xu Ji'an; Sun Lining

    2009-01-01

    A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines (ARM) based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented.

  19. A Motion Planning System for Mobile Robots

    Directory of Open Access Journals (Sweden)

    TUNCER, A.

    2012-02-01

    Full Text Available In this paper, a motion planning system for a mobile robot is proposed. Path planning tries to find a feasible path for mobile robots to move from a starting node to a target node in an environment with obstacles. A genetic algorithm is used to generate an optimal path by taking the advantage of its strong optimization ability. Mobile robot, obstacle and target localizations are realized by means of camera and image processing. A graphical user interface (GUI is designed for the motion planning system that allows the user to interact with the robot system and to observe the robot environment. All the software components of the system are written in MATLAB that provides to use non-predefined accessories rather than the robot firmware has, to avoid confusing in C++ libraries of robot's proprietary software, to control the robot in detail and not to re-compile the programs frequently in real-time dynamic operations.

  20. Quantifying Emergent Behavior of Autonomous Robots

    Directory of Open Access Journals (Sweden)

    Georg Martius

    2015-10-01

    Full Text Available Quantifying behaviors of robots which were generated autonomously from task-independent objective functions is an important prerequisite for objective comparisons of algorithms and movements of animals. The temporal sequence of such a behavior can be considered as a time series and hence complexity measures developed for time series are natural candidates for its quantification. The predictive information and the excess entropy are such complexity measures. They measure the amount of information the past contains about the future and thus quantify the nonrandom structure in the temporal sequence. However, when using these measures for systems with continuous states one has to deal with the fact that their values will depend on the resolution with which the systems states are observed. For deterministic systems both measures will diverge with increasing resolution. We therefore propose a new decomposition of the excess entropy in resolution dependent and resolution independent parts and discuss how they depend on the dimensionality of the dynamics, correlations and the noise level. For the practical estimation we propose to use estimates based on the correlation integral instead of the direct estimation of the mutual information based on next neighbor statistics because the latter allows less control of the scale dependencies. Using our algorithm we are able to show how autonomous learning generates behavior of increasing complexity with increasing learning duration.

  1. Intelligent control in mobile robotics: the PANORAMA project

    Science.gov (United States)

    Greenway, Phil

    1994-03-01

    The European Community's strategic research initiative in information technology has been in place for seven years. A good example of the pan-European collaborative projects conducted under this initiative is PANORAMA: Perception and Navigation for Autonomous Mobile Robot Applications. This four-and-a-half-year project, completed in October 1993, aimed to prove the feasibility of an autonomous mobile robotic system replacing a human-operated vehicle working outdoors in a partially structured environment. The autonomous control of a mobile rock drilling machine was chosen as a challenging and representative test scenario. This paper presents an overview of intelligent mobile robot control architectures. Goals and objectives of the project are described, together with the makeup of the consortium and the roles of the members within it. The main technical achievements from PANORAMA are then presented, with emphasis given to the problems of realizing intelligent control. In particular, the planning and replanning of a mission, and the corresponding architectural choices and infrastructure required to support the chosen task oriented approach, are discussed. Specific attention is paid to the functional decomposition of the system, and how the requirements for `intelligent control' impact on the organization of the identified system components. Future work and outstanding problems are considered in some concluding remarks.

  2. A path following algorithm for mobile robots

    NARCIS (Netherlands)

    Bakker, T.; Asselt, van C.J.; Bontsema, J.; Müller, J.; Straten, van G.

    2010-01-01

    This paper considers path following control for a robotic platform. The vehicle used for the experiments is a specially designed robotic platform for performing autonomous weed control. The platform is four-wheel steered and four-wheel driven. A diesel engine powers the wheels via a hydraulic transm

  3. Autonomous undulatory serpentine locomotion utilizing body dynamics of a fluidic soft robot.

    Science.gov (United States)

    Onal, Cagdas D; Rus, Daniela

    2013-06-01

    Soft robotics offers the unique promise of creating inherently safe and adaptive systems. These systems bring man-made machines closer to the natural capabilities of biological systems. An important requirement to enable self-contained soft mobile robots is an on-board power source. In this paper, we present an approach to create a bio-inspired soft robotic snake that can undulate in a similar way to its biological counterpart using pressure for actuation power, without human intervention. With this approach, we develop an autonomous soft snake robot with on-board actuation, power, computation and control capabilities. The robot consists of four bidirectional fluidic elastomer actuators in series to create a traveling curvature wave from head to tail along its body. Passive wheels between segments generate the necessary frictional anisotropy for forward locomotion. It takes 14 h to build the soft robotic snake, which can attain an average locomotion speed of 19 mm s(-1).

  4. Portable control device for networked mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Feddema, John T. (Albuquerque, NM); Byrne, Raymond H. (Albuquerque, NM); Bryan, Jon R. (Edgewood, NM); Harrington, John J. (Albuquerque, NM); Gladwell, T. Scott (Albuquerque, NM)

    2002-01-01

    A handheld control device provides a way for controlling one or multiple mobile robotic vehicles by incorporating a handheld computer with a radio board. The device and software use a personal data organizer as the handheld computer with an additional microprocessor and communication device on a radio board for use in controlling one robot or multiple networked robots.

  5. Exploration and Navigation for Mobile Robots With Perceptual Limitations

    Directory of Open Access Journals (Sweden)

    Eduardo F. Morales

    2008-11-01

    Full Text Available To learn a map of an environment a mobile robot has to explore its workspace using its sensors. Sensors are noisy and have perceptual limitations that must be considered while learning a map. This paper considers a mobile robot with sensor perceptual limitations and introduces a new method for exploring and navigating autonomously in indoor environments. To minimize the risk of collisions as well as to not exceed the range of sensors, we introduce the concept of a travel space as a way to associate costs to grid cells of the map, based on distances to obstacles. During exploration the mobile robot minimizes its movements, including rotations, to reach the nearest unexplored region of the environment, using a dynamic programming algorithm. Once the exploration ends, the travel space is used to form a roadmap, a net of safe roads that the mobile robot can use for navigation. These exploration and navigation method are tested using a simulated and a real mobile robot with promising results.

  6. Modular Track System For Positioning Mobile Robots

    Science.gov (United States)

    Miller, Jeff

    1995-01-01

    Conceptual system for positioning mobile robotic manipulators on large main structure includes modular tracks and ancillary structures assembled easily along with main structure. System, called "tracked robotic location system" (TROLS), originally intended for application to platforms in outer space, but TROLS concept might also prove useful on Earth; for example, to position robots in factories and warehouses. T-cross-section rail keeps mobile robot on track. Bar codes mark locations along track. Each robot equipped with bar-code-recognizing circuitry so it quickly finds way to assigned location.

  7. Genetic Fuzzy Logic Control Technique for a Mobile Robot Tracking a Moving Target

    Directory of Open Access Journals (Sweden)

    Karim Benbouabdallah

    2013-01-01

    Full Text Available Target tracking is a crucial function for an autonomous mobile robot navigating in unknown environments. This paper presents a mobile robot target tracking approach based on artificial intelligence techniques. The proposed controller calculates both the mobile robot linear and angular velocities from the distance and angle that separate it to the moving target. The controller was designed using fuzzy logics theory and then, a genetic algorithm was applied to optimize the scaling factors of the fuzzy logic controller for better accuracy and smoothness of the robot trajectory. Simulation results illustrate that the proposed controller leads to good performances in terms of computational time and tracking errors convergence.

  8. Software framework for off-road autonomous robot navigation system

    Institute of Scientific and Technical Information of China (English)

    WU Er-yong; ZHOU Wen-hui; ZHANG Li; DAI Guo-jun

    2009-01-01

    This paper presents a software framework for off-road autonomous robot navigation system. With the requirements of accurate terrain perception and instantaneous obstacles detection, one navigation software framework was advanced based on the principles of "three layer architecture" of intelligence system. Utilized the technologies of distributed system, machine learning and multiple sensor fusion, individual functional module was discussed. This paper aims to provide a framework reference for autonomous robot navigation system design.

  9. Face feature processor on mobile service robot

    Science.gov (United States)

    Ahn, Ho Seok; Park, Myoung Soo; Na, Jin Hee; Choi, Jin Young

    2005-12-01

    In recent years, many mobile service robots have been developed. These robots are different from industrial robots. Service robots were confronted to unexpected changes in the human environment. So many capabilities were needed to service mobile robot, for example, the capability to recognize people's face and voice, the capability to understand people's conversation, and the capability to express the robot's thinking etc. This research considered face detection, face tracking and face recognition from continuous camera image. For face detection module, it used CBCH algorithm using openCV library from Intel Corporation. For face tracking module, it used the fuzzy controller to control the pan-tilt camera movement smoothly with face detection result. A PCA-FX, which adds class information to PCA, was used for face recognition module. These three procedures were called face feature processor, which were implemented on mobile service robot OMR to verify.

  10. Modelling and Control of a Mobile Robot

    DEFF Research Database (Denmark)

    Christensen, Georg Kronborg

    1998-01-01

    In order to control a mobile robot, kinematic odels as well as dynamic models are required. This parer describes these basic models for an experimental mobile robot under construction at the Department of Control and Engineering Design. A description of a set of trajectory control rules is given...

  11. Vision-guided heterogeneous mobile robot docking

    Science.gov (United States)

    Spofford, John R.; Blitch, John; Klarquist, William N.; Murphy, Robin R.

    1999-08-01

    Teams of heterogeneous mobile robots are a key aspect of future unmanned system for operations in complex and dynamic urban environments, such as that envisioned by DARPA's Tactical Mobile Robotics program. One examples of an interaction among such team members is the docking of small robot of limited sensory and processing capability with a larger, more capable robot. Applications for such docking include the transfer of power, data, and materia, as well as physically combined maneuver or manipulation. A two-robot system is considered in this paper. The smaller 'throwable' robot contains a video camera capable of imaging the larger 'packable' robot and transmitting the imagery. The packable robot can both sense the throwable robot through an onboard camera, as well as sense itself through the throwable robot's transmitted video, and is capable of processing imagery from either source. This paper describes recent results in the development of control and sensing strategies for automatic mid-range docking of these two robots. Decisions addressed include the selection of which robot's image sensor to use and which robot to maneuver. Initial experimental results are presented for docking using sensor data from each robot.

  12. Ecological Interfaces for Improving Mobile Robot Teleoperation

    Science.gov (United States)

    2007-10-01

    IEEE TRANSACTIONS ON ROBOTICS , VOL. 23, NO. 5, OCTOBER 2007 927 Ecological Interfaces for Improving Mobile Robot Teleoperation Curtis W. Nielsen...928 IEEE TRANSACTIONS ON ROBOTICS , VOL. 23, NO. 5, OCTOBER 2007 technologies in the user studies, while Section VI concludes the paper and summarizes...done by 930 IEEE TRANSACTIONS ON ROBOTICS , VOL. 23, NO. 5, OCTOBER 2007 Fig. 2. Ecological paradigm combines information into a single integrated display

  13. 11th International Symposium on Distributed Autonomous Robotic Systems

    CERN Document Server

    Chirikjian, Gregory

    2014-01-01

    Distributed robotics is a rapidly growing and maturing interdisciplinary research area lying at the intersection of computer science, network science, control theory, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 31 original contributions presented at the 2012 International Symposium on Distributed Autonomous Robotic Systems (DARS 2012) held in November 2012 at the Johns Hopkins University in Baltimore, MD USA. The selected papers in this volume are authored by leading researchers from Asia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into five parts, representative of critical long-term and emerging research thrusts in the multi-robot com...

  14. Systematic design of an autonomous platform for robotic weeding

    NARCIS (Netherlands)

    Bakker, T.; Asselt, van C.J.; Bontsema, J.; Müller, J.; Straten, van G.

    2010-01-01

    The systematic design of an autonomous platform for robotic weeding research in arable farming is described. The long term objective of the project is the replacement of hand weeding in organic farming by a device working autonomously at field level. The distinguishing feature of the described desig

  15. Sensor Fusion Based Model for Collision Free Mobile Robot Navigation

    Directory of Open Access Journals (Sweden)

    Marwah Almasri

    2015-12-01

    Full Text Available Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve this dilemma and enhance the overall performance. This paper presents a collision free mobile robot navigation based on the fuzzy logic fusion model. Eight distance sensors and a range finder camera are used for the collision avoidance approach where three ground sensors are used for the line or path following approach. The fuzzy system is composed of nine inputs which are the eight distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot’s wheels, and 24 fuzzy rules for the robot’s movement. Webots Pro simulator is used for modeling the environment and the robot. The proposed methodology, which includes the collision avoidance based on fuzzy logic fusion model and line following robot, has been implemented and tested through simulation and real time experiments. Various scenarios have been presented with static and dynamic obstacles using one robot and two robots while avoiding obstacles in different shapes and sizes.

  16. 一种基于实时行为控制的快速移动机器人%Real Time Behavior-Based Control on a Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    Koota Muzyamba; QIAN Jin-Wu(钱晋武); SHEN Lin-Yong(沈林勇); ZHANG Ya-Nan(章亚男)

    2003-01-01

    This paper discusses and compares some common architectures used in autonomous mobile robotics. Then it describes a behavior-based autonomous mobile robot that was implemented successfully in the Robotics Lab of the Department of Precision Mechanical Engineering. Fuzzy controller was used to implement the emergency behavior, the behaviors arbitration was implemented using the subsumption architecture. In an unknown dynamic indoor environment, the robot achieved real-time obstacle avoidance properties that are cruel for mobile robotics.

  17. Fuzzy Logic Supervised Teleoperation Control for Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    The supervised teleoperation control is presented for a mobile robot to implement the tasks by using fuzzy logic. The teleoperation control system includes joystick based user interaction mechanism, the high level instruction set and fuzzy logic behaviors integrated in a supervised autonomy teleoperation control system for indoor navigation. These behaviors include left wall following, right wall following, turn left, turn right, left obstacle avoidance, right obstacle avoidance and corridor following based on ultrasonic range finders data. The robot compares the instructive high level command from the operator and relays back a suggestive signal back to the operator in case of mismatch between environment and instructive command. This strategy relieves the operator's cognitive burden, handle unforeseen situations and uncertainties of environment autonomously. The effectiveness of the proposed method for navigation in an unstructured environment is verified by experiments conducted on a mobile robot equipped with only ultrasonic range finders for environment sensing.

  18. A novel method for mobile robot simultaneous localization and mapping

    Institute of Scientific and Technical Information of China (English)

    LI Mao-hai; HONG Bing-rong; LUO Rong-hua; WEI Zhen-hua

    2006-01-01

    A novel mobile robot simultaneous localization and mapping (SLAM) method is implemented by using the RaoBlackwellized particle filter (RBPF) for monocular vision-based autonomous robot in unknown indoor environment. The particle filter combined with unscented Kalman filter (UKF) for extending the path posterior by sampling new poses integrating the current observation. Landmark position estimation and update is implemented through UKF. Furthermore, the number of resampling steps is determined adaptively, which greatly reduces the particle depletion problem. Monocular CCD camera mounted on the robot tracks the 3D natural point landmarks structured with matching image feature pairs extracted through Scale Invariant Feature Transform (SIFT). The matching for multi-dimension SIFT features which are highly distinctive due to a special descriptor is implemented with a KD-Tree. Experiments on the robot Pioneer3 showed that our method is very precise and stable.

  19. A Mobile Robot for Small Object Handling

    Science.gov (United States)

    Fišer, Ondřej; Szűcsová, Hana; Grimmer, Vladimír; Popelka, Jan; Vonásek, Vojtěch; Krajník, Tomáš; Chudoba, Jan

    The aim of this paper is to present an intelligent autonomous robot capable of small object manipulation. The design of the robot is influenced mainly by the rules of EUROBOT 09 competition. In this challenge, two robots pick up objects scattered on a planar rectangular playfield and use these elements to build models of Hellenistic temples. This paper describes the robot hardware, i.e. electro-mechanics of the drive, chassis and manipulator, as well as the software, i.e. localization, collision avoidance, motion control and planning algorithms.

  20. Sensory architectures for biologically inspired autonomous robotics.

    Science.gov (United States)

    Higgins, C M

    2001-04-01

    Engineers have a lot to gain from studying biology. The study of biological neural systems alone provides numerous examples of computational systems that are far more complex than any man-made system and perform real-time sensory and motor tasks in a manner that humbles the most advanced artificial systems. Despite the evolutionary genesis of these systems and the vast apparent differences between species, there are common design strategies employed by biological systems that span taxa, and engineers would do well to emulate these strategies. However, biologically-inspired computational architectures, which are continuous-time and parallel in nature, do not map well onto conventional processors, which are discrete-time and serial in operation. Rather, an implementation technology that is capable of directly realizing the layered parallel structure and nonlinear elements employed by neurobiology is required for power- and space-efficient implementation. Custom neuromorphic hardware meets these criteria and yields low-power dedicated sensory systems that are small, light, and ideal for autonomous robot applications. As examples of how this technology is applied, this article describes both a low-level neuromorphic hardware emulation of an elementary visual motion detector, and a large-scale, system-level spatial motion integration system.

  1. Design and implementation of an IPC-based control system for mobile robots

    Institute of Scientific and Technical Information of China (English)

    Jia Jianqiang; Chen Weidong; Xi Yugeng

    2005-01-01

    This paper introduces an autonomous mobile robot system applicable under dynamicenvironment. Every robot contains a multi-sensor system, a differential-drivevehicle and a wireless LAN. A real-time on-board control system makes decision autonomously according to the perception from the multi-sensor system. Under the Windows operation system (OS), inter-process communication (IPC) mechanism of Linux OS is introduced into control system design. A distributed software architecture based on IPC, which can be used for multiple mobile robots system, is proposed. The architecture can make the system more flexible and scalable. The expansion of robot's function and cooperation between robots can be easily realized. The experiments and robot soccer game show the validity of the architecture.

  2. Controller Design Of Unicycle Mobile Robot

    Directory of Open Access Journals (Sweden)

    Mohd Zamzuri Abd Rashid

    2012-10-01

    Full Text Available ABSTRACT: The ability of unicycle mobile robot to stand and move around using one wheel has attracted a lot of researchers to conduct studies about the system, particularly in the design of the system mechanisms and the control strategies. This paper reports the investigation done on the design of the controller of the unicycle mobile robot system to maintain its stability in both longitudinal and lateral directions. The controller proposed is a Linear Quadratic Controller (LQR type which is based on the linearized model of the system. A thorough simulation studies have been carried out to find out the performance of the LQR controller. The best controller gain, K acquired through the simulation is selected to be implemented and tested in the experimental hardware. Finally, the results obtained from the experimental study are compared to the simulation results to study the controller efficacy. The analysis reveals that the proposed controller design is able to stabilize the unicycle mobile robot.ABSTRAK: Kemampuan robot satu roda untuk berdiri dan bergerak di sekitar telah menarik minat ramai penyelidik untuk mengkaji sistem robot terutamanya didalam bidang rangka mekanikal dan strategi kawalan robot. Kertas kajian ini melaporkan hasil penyelidikan ke atas strategi kawalan robot bagi memastikan sistem robot satu roda dapat distabilkan dari arah sisi dan hadapan. Strategi kawalan yang dicadang, menggunakan teknik kawalan kuadratik sejajar (Linear Quadratic Control yang berdasarkan model robot yang telah dipermudahkan. Kajian simulasi secara terperinci telah dijalankan bagi mengkaji prestasi strategi kawalan yang dicadangkan. Dari kajian simulasi sistem robot, pemilihan faktor konstan, K yang sesuai di dalam strategi kawalan telah dibuat, agar dapat dilaksanakan ke atas sistem robot yang dibangunkan. Keputusan dari kajian simulasi dan tindak balas oleh sistem robot yang dibangunkan akhirnya dibandingkan bagi melihat kesesuaian faktor kostan, K

  3. OPTIMAL TOUR CONSTRUCTIONS FOR MULTIPLE MOBILE ROBOTS

    Directory of Open Access Journals (Sweden)

    AMIR A. SHAFIE

    2011-04-01

    Full Text Available The attempts to use mobile robots in a variety of environments are currently being limited by their navigational capability, thus a set of robots must be configured for one specific environment. The problem of navigating an environment is the fundamental problem in mobile robotic where various methods including exact and heuristic approaches have been proposed to solve the problem. This paper proposed a solution to the navigation problem via the use of multiple robots to explore the environment employing heuristic methods to navigate the environment using a variant of a Traveling Salesman Problem (TSP known as Multiple Traveling Salesman Problem (M-TSP.

  4. 10th International Symposium on Distributed Autonomous Robotic Systems

    CERN Document Server

    Mondada, Francesco; Correll, Nikolaus; Mermoud, Grégory; Egerstedt, Magnus; Hsieh, M; Parker, Lynne; Støy, Kasper

    2013-01-01

    Distributed robotics is a rapidly growing, interdisciplinary research area lying at the intersection of computer science, communication and control systems, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 43 original contributions presented at the Tenth International Symposium on Distributed Autonomous Robotic Systems (DARS 2010), which was held in November 2010 at the École Polytechnique Fédérale de Lausanne (EPFL), Switzerland. The selected papers in this volume are authored by leading researchers from Asia, Australia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into four parts, each representing one critical and long-term research thru...

  5. Design and Implementation of an Autonomous Robot Soccer System

    Directory of Open Access Journals (Sweden)

    Ching-Chang Wong

    2013-05-01

    Full Text Available A design and implementation method of a robot soccer system with three vision‐based autonomous robots is proposed in this paper. A hierarchical architecture with four independent layers: (a information layer, (b strategy layer, (c tactics layer, and (d execution layer, is proposed to construct a flexible and robust vision‐based autonomous robot soccer system efficiently. Five mechanisms, including (a a two‐dimensional neck mechanism, (b dribbling mechanism, (c shooting mechanism, (d aiming mechanism, and (e flexible movement mechanism, are proposed to mean the robot with multiple functions can win the game. A method based on data obtained from a compass and a vision sensor is proposed to determine the location of the robot on the field. In the strategy design, a hierarchical architecture of decision based on the finite‐state transition mechanism for the field players and the goalkeeper is proposed to solve varied situations in the robot soccer game. Three vision‐based robots are implemented and some real competition results in the FIRA Cup are presented to illustrate the validity and feasibility of the proposed method in autonomous robot soccer system design.

  6. Design Of An Omnidirectional Mobile Robot For Rough Terrain

    Science.gov (United States)

    2007-09-01

    rough terrain, isotropy, mobile robots , design I. INTRODUCTION Mobile robots are finding increasing use in military [1], disaster recovery [2], and...exploration applications [3]. These applications frequently require operation in rough, unstructured terrain. Currently, most mobile robots designed...perform some maneuvers, such as lateral displacement. Omnidirectional mobile robots could potentially navigate faster and more robustly through

  7. The Mobile Robot HILARE: Dynamic Modeling and Motion Simulation

    OpenAIRE

    M. Ghazal; A. Talezadeh; Taheri, M.; M. Nazemi-Zade

    2014-01-01

    To perform mission in variant environment, several types of mobile robot has been developed an implemented. The mobile robot HILARE is a known wheeled mobile robot which has two fixed wheels and an off-entered orientable wheel. Due to extended application of this robot, its dynamic analysis has attracted a great deal of interests. This article investigates dynamic modeling and motion analysis of the mobile robot HILARE. As the wheels of the robot have kinematic constraints, the constraints of...

  8. Influence of a mobile robot on the spatial behaviour of quail chicks

    Energy Technology Data Exchange (ETDEWEB)

    De Margerie, E; Lumineau, S; Houdelier, C; Richard Yris, M-A, E-mail: emmanuel.demargerie@univ-rennes1.fr [CNRS UMR 6552 Ethologie Animale et Humaine, Universite Rennes 1, Rennes (France)

    2011-09-15

    Quail chicks encountered an autonomous mobile robot during their early development. The robot incorporated a heat source that stimulated following of chicks. The spatial behaviour of grown-up chicks was tested in an exploration test and a detour test. Chicks that grew with the mobile robot exhibited better spatial abilities than chicks grown with a static heat source. We discuss these results in the perspective of animal-robot interaction and of the role of early spatial experience on the behavioural development. (communication)

  9. QFD-based conceptual design of an autonomous underwater robot

    Directory of Open Access Journals (Sweden)

    Thip Pasawang

    2015-12-01

    Full Text Available Autonomous underwater robots in the past few years have been designed according to the individual concepts and experiences of the researchers. To design a robot, which meets all the requirements of potential users, is an advanced work. Hence, a systematic design method that could include users’ preferences and requirements is needed. This paper presents the quality function deployment (QFD technique to design an autonomous underwater robot focusing on the Thai Navy military mission. Important user requirements extracted from the QFD method are the ability to record videos, operating at depth up to 10 meters, the ability to operate remotely with cable and safety concerns related to water leakages. Less important user requirements include beauty, using renewable energy, operating remotely with radio and ability to work during night time. The important design parameters derived from the user requirements are a low cost-controller, an autonomous control algorithm, a compass sensor and vertical gyroscope, and a depth sensor. Of low-importance ranked design parameters include the module design, use clean energy, a low noise electric motor, remote surveillance design, a pressure hull, and a beautiful hull form design. The study results show the feasibility of using QFD techniques to systematically design the autonomous underwater robot to meet user requirements. Mapping between the design and expected parameters and a conceptual drafting design of an autonomous underwater robot are also presented.

  10. Collective search by mobile robots using alpha-beta coordination

    Energy Technology Data Exchange (ETDEWEB)

    Goldsmith, S.Y.; Robinett, R. III

    1998-04-01

    One important application of mobile robots is searching a geographical region to locate the origin of a specific sensible phenomenon. Mapping mine fields, extraterrestrial and undersea exploration, the location of chemical and biological weapons, and the location of explosive devices are just a few potential applications. Teams of robotic bloodhounds have a simple common goal; to converge on the location of the source phenomenon, confirm its intensity, and to remain aggregated around it until directed to take some other action. In cases where human intervention through teleoperation is not possible, the robot team must be deployed in a territory without supervision, requiring an autonomous decentralized coordination strategy. This paper presents the alpha beta coordination strategy, a family of collective search algorithms that are based on dynamic partitioning of the robotic team into two complementary social roles according to a sensor based status measure. Robots in the alpha role are risk takers, motivated to improve their status by exploring new regions of the search space. Robots in the beta role are motivated to improve but are conservative, and tend to remain aggregated and stationary until the alpha robots have identified better regions of the search space. Roles are determined dynamically by each member of the team based on the status of the individual robot relative to the current state of the collective. Partitioning the robot team into alpha and beta roles results in a balance between exploration and exploitation, and can yield collective energy savings and improved resistance to sensor noise and defectors. Alpha robots waste energy exploring new territory, and are more sensitive to the effects of ambient noise and to defectors reporting inflated status. Beta robots conserve energy by moving in a direct path to regions of confirmed high status.

  11. Detection of free spaces for mobile robot navigation

    Science.gov (United States)

    Azzizi, Norelhouda; Zaatri, Abdelouahab; Rahmani, Fouad Lazhar

    2014-10-01

    This work is situated within the framework of the semi-autonomous and autonomous navigation of mobile robots in unknown environments with obstacles occurrence. It is based on the implementation of a vision-based system using an embedded monocular CCD camera. The vision system is designed to dynamically determine the free space in which the robot can move without obstacle collisions. This system is composed of a sequel of image processing operations: contour detection by Canny's filter, connection of neighborhood pixels, elimination of small contours which are considered as noise. The free space is determined by analyzing the perceived area and checking the presence of obstacles. Finally, obstacle borders are delimited enabling to prevent obstacles. Some experimental results are presented to illustrate the effective possibility of use of our system.

  12. CoMRoS: Cooperative mobile robots Stuttgart

    Energy Technology Data Exchange (ETDEWEB)

    Braeunl, T.; Kalbacher, M.; Levi, P.; Mamier, G. [Universitaet Stuttgart (Germany)

    1996-12-31

    Project CoMRoS has the goal to develop intelligent cooperating mobile robots. Several different vehicles are to solve a single task autonomously by exchanging plans without a central control. We use {open_quotes}Robuter II{close_quotes} vehicles from Robosoft France, adapted to our needs. The standard vehicle has very little local intelligence (VME bus system) and is controlled remotely by wireless Ethernet for sending steering commands and receiving sonar sensor data. A wireless video link is used to transmit camera images. Data exchange between vehicles is then performed among the corresponding workstations. The remote control is basically used to simplify testing and debugging of robot programs. However, each vehicle can also be driven completely autonomous by using a laptop PC.

  13. Study on the Mobility of Service Robots

    Directory of Open Access Journals (Sweden)

    Hwan-Joo Kwak

    2012-04-01

    Full Text Available The major characteristics of robots can be divided into several categories ranging from mobility to autonomy. The mobility of service robots is essential and fundamental to commercial and scientific progress. The rapid development of practical service robots depends on our decision which are the most efficient and affordable kinds of locomotion. The selection of the best locomotion, however, is not simple and easy, since the boundaries of robot working areas cannot always be defined clearly. This study emphasizes the usefulness of humanoid type service robots as general service robots, and concentrates on finding the most appropriate means of locomotion for a particular workspace. Several forms of robot locomotion were considered in three types of workspaces, and compared analytically. The results showed that three/four-wheeled robots were best suited to work in a large office or factory. Bipedal robots were suited to work in a small office or home, and quadruped robots were suited to work in outdoors. As a general alternative, bipedal locomotion seems to be the most adaptable form of locomotion for general service robots.

  14. Bio-inspired motion planning algorithms for autonomous robots facilitating greater plasticity for security applications

    Science.gov (United States)

    Guo, Yi; Hohil, Myron; Desai, Sachi V.

    2007-10-01

    Proposed are techniques toward using collaborative robots for infrastructure security applications by utilizing them for mobile sensor suites. A vast number of critical facilities/technologies must be protected against unauthorized intruders. Employing a team of mobile robots working cooperatively can alleviate valuable human resources. Addressed are the technical challenges for multi-robot teams in security applications and the implementation of multi-robot motion planning algorithm based on the patrolling and threat response scenario. A neural network based methodology is exploited to plan a patrolling path with complete coverage. Also described is a proof-of-principle experimental setup with a group of Pioneer 3-AT and Centibot robots. A block diagram of the system integration of sensing and planning will illustrate the robot to robot interaction to operate as a collaborative unit. The proposed approach singular goal is to overcome the limits of previous approaches of robots in security applications and enabling systems to be deployed for autonomous operation in an unaltered environment providing access to an all encompassing sensor suite.

  15. The Challenge of Planning and Execution for Spacecraft Mobile Robots

    Science.gov (United States)

    Dorais, Gregory A.; Gawdiak, Yuri; Clancy, Daniel (Technical Monitor)

    2002-01-01

    The need for spacecraft mobile robots continues to grow. These robots offer the potential to increase the capability, productivity, and duration of space missions while decreasing mission risk and cost. Spacecraft Mobile Robots (SMRs) can serve a number of functions inside and outside of spacecraft from simpler tasks, such as performing visual diagnostics and crew support, to more complex tasks, such as performing maintenance and in-situ construction. One of the predominant challenges to deploying SMRs is to reduce the need for direct operator interaction. Teleoperation is often not practical due to the communication latencies incurred because of the distances involved and in many cases a crewmember would directly perform a task rather than teleoperate a robot to do it. By integrating a mixed-initiative constraint-based planner with an executive that supports adjustably autonomous control, we intend to demonstrate the feasibility of autonomous SMRs by deploying one inside the International Space Station (ISS) and demonstrate in simulation one that operates outside of the ISS. This paper discusses the progress made at NASA towards this end, the challenges ahead, and concludes with an invitation to the research community to participate.

  16. Design of Kalman filters for mobile robots

    DEFF Research Database (Denmark)

    Larsen, Thomas Dall; Hansen, Karsten L.; Andersen, Nils Axel

    1999-01-01

    Kalman filters have for a long time been widely used on mobile robots as a location estimator. Many different Kalman filter designs have been proposed, using models of various complexity. In this paper, two different design methods are evaluated and compared. Focus is put on the common setup where...... the mobile robot is equipped with a dual encoder system supported by some additional absolute measurements. A common filter type for this setup is the odometric filter, where readings from the odometry system on the robot are used together with the geometry of the robot movement as a model of the robot....... If additional kinematic assumptions are made, for instance regarding the velocity of the robot, an augmented model can be used instead. This kinematic filter has some advantages when used intelligently, and it is shown how this type of filter can be used to suppress noise on encoder readings and velocity...

  17. Autonomous Navigation of a Surveillance Robot in Harsh Outdoor Road Environments

    Directory of Open Access Journals (Sweden)

    Youjin Shin

    2013-01-01

    Full Text Available This paper deals with the autonomous navigation problem of a mobile robot in outdoor road environments. The target application is surveillance in petroleum storage bases. Although there have been remarkable technological achievements recently in the area of outdoor navigation, robotic systems are still expensive due to a large number of high cost sensors. This paper proposes the reliable extraction algorithm of traversable regions using a single onboard Laser Range Finder (LRF in outdoor road environments. The traversable regions are derived from the classifications of the road surfaces, curbs, and obstacles. The proposed scheme was experimentally tested in success. Since there are many potential applications that require autonomous service robots to move in semistructured road environments, the proposed scheme can be widely used as a low-cost practical solution.

  18. Challenging of path planning algorithms for autonomous robot in known environment

    Science.gov (United States)

    Farah, R. N.; Irwan, N.; Zuraida, Raja Lailatul; Shaharum, Umairah; Hanafi@Omar, Hafiz Mohd

    2014-06-01

    Most of the mobile robot path planning is estimated to reach its predetermined aim through the shortest path and avoiding the obstacles. This paper is a survey on path planning algorithms of various current research and existing system of Unmanned Ground Vehicles (UGV) where their challenging issues to be intelligent autonomous robot. The focuses are some short reviews on individual papers for UGV in the known environment. Methods and algorithms in path planning for the autonomous robot had been discussed. From the reviews, we obtained that the algorithms proposed are appropriate for some cases such as single or multiple obstacles, static or movement obstacle and optimal shortest path. This paper also describes some pros and cons for every reviewed paper toward algorithms improvement for further work.

  19. Robot motion control in mobile environment

    Institute of Scientific and Technical Information of China (English)

    Iliya V Miroshnik; HUANG Xian-lin(黄显林); HE Jie(贺杰)

    2003-01-01

    With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to provide coordination of robot motions with respect to the moving external objects so that an extension ofrobot spatial motion techniques and active robotic strategies based on approaches of nonlinear control theory canbe achieved.

  20. Three-dimensional vision sensors for autonomous robots

    Science.gov (United States)

    Uchiyama, Takashi; Okabayashi, Keizyu; Wakitani, Jun

    1993-09-01

    A three dimensional measurement system, which is important for developing autonomous robots is described. Industrial robots used in today's plants are of the preprogrammed teaching playback type. It is necessary to develop autonomous robots which can work based on sensor information for intelligent manufacturing systems. Moreover, practical use of robots which work in unstructured environments such as outdoors and in space is expected. To realize this, a function to measure objects and the environment three-dimensionally is a key technology. Additional important requirements for robotic sensors are real-time processing and compactness. We have developed smart 3-D vision sensors for the purpose of realizing autonomous robots. These are two kinds of sensors with different functions corresponding to the application. One is a slitted light range finder ( SLRF ) to measure stationary objects. The other is a real-time tracking vision ( RTTV ) which can measure moving objects at high speed. SLRF uses multiple slitted lights which are generated by a semiconductor laser through an interference filter and a cylindrical lens. Furthermore, we developed a liquid crystal shutter with multiple electrodes. We devised a technique to make coded slitted light by putting this shutter in front of the light source. As a result, using the principle of triangulation, objects can be measured in three dimensions. In addition, high-speed image input was enabled by projecting multiple slitted light at the same time. We have confirmed the effectiveness of the SLRF applied to a hand-eye system using a robot.

  1. Mobile robots for use in nuclear facilities; Mobile Roboter fuer kerntechnische Anlagen

    Energy Technology Data Exchange (ETDEWEB)

    Haferkamp, H. [Inst. fuer Werkstoffkunde, Univ. Hannover (Germany); Bach, F.W. [Inst. fuer Werkstoffkunde, Univ. Hannover (Germany); Seevers, J. [Inst. fuer Werkstoffkunde, Univ. Hannover (Germany)

    1995-10-01

    The radiation exposure encountered in revisions and demolitions of some areas of nuclear facilities requires the use of remotely operated technical systems in order to avoid the personnel being exposed in the course of such work. The main activities conducted within such areas include inspecting, measuring, cleaning, cutting, and handling. The Institute for Materials Research (IW) of th University of Hannover, with its twenty years of experience in basic and application-oriented research and development in the field of thermal cutting, especially in plasma fusion cutting, and ten years of development of remotely operated handling systems, offers its services as a partner in solving these problems in nuclear plants. Besides stationary systems, IW has developed also mobile robots and manipulators able to move largely autonomously under remote control within a certain area. (orig.) [Deutsch] Die Revision und der Rueckbau von kerntechnischen Anlagen erfordern aufgrund der Strahlenexposition in einigen Bereichen fernbedienbare technische Systeme, so dass das Personal beim Verrichten von Taetigkeiten strahlungstechnisch nicht belastet wird. Die Aufgaben innerhalb solcher Bereiche sind im wesentlichen inspizieren, messen, reinigen, schneiden und handhaben. Das Institut fuer Werkstoffkunde (IW) der Universitaet Hannover mit seiner nunmehr zwanzigjaehrigen Erfahrung aus der Grundlagen- und anwendungsorientierten Forschung und Entwicklung auf dem Gebiet der thermischen Trenntechnik, insbesondere der Plasmaschmelzschneidtechnik, sowie der seit zehn Jahren betriebenen Entwicklung von fernbedienbaren Handhabungssystemen bietet sich als Partner fuer die Loesung dieser Aufgaben in kerntechnischen Anlagen an. Neben der Ausfuehrung von stationaeren Systemen wurden am IW mobile Roboter und Manipulatoren entwickelt, die sich fernbedient weitgehend autonom in einem bestimmten Bereich bewegen koennen. (orig.)

  2. Legal Issues for Mobile Servant Robots

    NARCIS (Netherlands)

    Fosch Villaronga, Eduard; Virk, Gurvinder S.; Rodic, Aleksandar; Borangiu, Theodor

    2017-01-01

    This paper identifies key legal issues which are emerging for Mobile Servant Robots (MSRs), a sub-type of Personal Care Robots (PCR) defined in ISO 13482. New cases are likely to be introduced in the market soon even though appropriate and specific binding legal regulations regarding MSRs are missin

  3. Local Free-Space Mapping and Path Guidance for Mobile Robots.

    Science.gov (United States)

    1988-03-01

    CM a CD U 00 Technical Document 1227 March 1988 Local Free-Space Mapping o and Path Guidance for Mobile Robots o William T. Gex N’% Nancy L. Campbell...TITLE (inludvSeocutCl&sas~o*) Local Free-Space Mapping and Path Guidance for Mobile Robots 12. PERSONAL AUTHOR(S) William T. Gex and Nancy L...INTRODUCTION Autonomous mobile robots must be able not only to sense their environment, but also to navigate through it, avoiding obstacles and heading

  4. Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

    Science.gov (United States)

    Wehner, Walter S.

    2014-01-01

    The advanced inspection system is an autonomous control and analysis system that improves the inspection and remediation operations for ground and surface systems. It uses optical imaging technology with intelligent computer vision algorithms to analyze physical features of the real-world environment to make decisions and learn from experience. The advanced inspection system plans to control a robotic manipulator arm, an unmanned ground vehicle and cameras remotely, automatically and autonomously. There are many computer vision, image processing and machine learning techniques available as open source for using vision as a sensory feedback in decision-making and autonomous robotic movement. My responsibilities for the advanced inspection system are to create a software architecture that integrates and provides a framework for all the different subsystem components; identify open-source algorithms and techniques; and integrate robot hardware.

  5. A Review of Mobile Robotic Telepresence

    OpenAIRE

    Annica Kristoffersson; Silvia Coradeschi; Amy Loutfi

    2013-01-01

    Mobile robotic telepresence (MRP) systems incorporate video conferencing equipment onto mobile robot devices which can be steered from remote locations. These systems, which are primarily used in the context of promoting social interaction between people, are becoming increasingly popular within certain application domains such as health care environments, independent living for the elderly, and office environments. In this paper, an overview of the various systems, application areas, and cha...

  6. AltiVec performance increases for autonomous robotics for the MARSSCAPE architecture program

    Science.gov (United States)

    Gothard, Benny M.

    2002-02-01

    One of the main tall poles that must be overcome to develop a fully autonomous vehicle is the inability of the computer to understand its surrounding environment to a level that is required for the intended task. The military mission scenario requires a robot to interact in a complex, unstructured, dynamic environment. Reference A High Fidelity Multi-Sensor Scene Understanding System for Autonomous Navigation The Mobile Autonomous Robot Software Self Composing Adaptive Programming Environment (MarsScape) perception research addresses three aspects of the problem; sensor system design, processing architectures, and algorithm enhancements. A prototype perception system has been demonstrated on robotic High Mobility Multi-purpose Wheeled Vehicle and All Terrain Vehicle testbeds. This paper addresses the tall pole of processing requirements and the performance improvements based on the selected MarsScape Processing Architecture. The processor chosen is the Motorola Altivec-G4 Power PC(PPC) (1998 Motorola, Inc.), a highly parallized commercial Single Instruction Multiple Data processor. Both derived perception benchmarks and actual perception subsystems code will be benchmarked and compared against previous Demo II-Semi-autonomous Surrogate Vehicle processing architectures along with desktop Personal Computers(PC). Performance gains are highlighted with progress to date, and lessons learned and future directions are described.

  7. A Hierarchical Fuzzy Control Design for Indoor Mobile Robot

    Directory of Open Access Journals (Sweden)

    Foudil Abdessemed

    2014-03-01

    Full Text Available This paper presents a motion control for an autonomous robot navigation using fuzzy logic motion control and stereo vision based path-planning module. This requires the capability to maneuver in a complex unknown environment. The mobile robot uses intuitive fuzzy rules and is expected to reach a specific target or follow a prespecified trajectory while moving among unforeseen obstacles. The robot's mission depends on the choice of the task. In this paper, behavioral-based control architecture is adopted, and each local navigational task is analyzed in terms of primitive behaviors. Our approach is systematic and original in the sense that some of the fuzzy rules are not triggered in face of critical situations for which the stere

  8. Behaviour based Mobile Robot Navigation Technique using AI System: Experimental Investigation on Active Media Pioneer Robot

    Directory of Open Access Journals (Sweden)

    S. Parasuraman, V.Ganapathy

    2012-10-01

    Full Text Available A key issue in the research of an autonomous robot is the design and development of the navigation technique that enables the robot to navigate in a real world environment. In this research, the issues investigated and methodologies established include (a Designing of the individual behavior and behavior rule selection using Alpha level fuzzy logic system  (b Designing of the controller, which maps the sensors input to the motor output through model based Fuzzy Logic Inference System and (c Formulation of the decision-making process by using Alpha-level fuzzy logic system. The proposed method is applied to Active Media Pioneer Robot and the results are discussed and compared with most accepted methods. This approach provides a formal methodology for representing and implementing the human expert heuristic knowledge and perception-based action in mobile robot navigation. In this approach, the operational strategies of the human expert driver are transferred via fuzzy logic to the robot navigation in the form of a set of simple conditional statements composed of linguistic variables.Keywards: Mobile robot, behavior based control, fuzzy logic, alpha level fuzzy logic, obstacle avoidance behavior and goal seek behavior

  9. Managing Risk in Disaster Scenarios with Autonomous Robots

    Directory of Open Access Journals (Sweden)

    Daniel P. Stormont

    2009-08-01

    Full Text Available Disaster areas are one of the most challenging environments faced by mankind. Uncertainty, hazards, and limited availability of rescuers all impact the ability to save lives. Prepositioned autonomous rescue robots offer promise in assisting the first responders to a disaster site, but there is a challenge to using robots in hazardous environments: numerous studies have shown that human rescuers lack trust in fully autonomous systems. This paper introduces the aspects of disaster areas that make them so challenging. The use of robots as a risk management tool for human rescuers is introduced. Then some of the factors that limit human trust in robots are addressed – including one of the key factors: reliability. The design of a computer model used to investigate issues of trust and the impact of reliability in a firefighting scenario is discussed and the results are analyzed. Finally, some preliminary conclusions and plans for further work in this area are presented.

  10. Autonomous assistance navigation for robotic wheelchairs in confined spaces.

    Science.gov (United States)

    Cheein, Fernando Auat; Carelli, Ricardo; De la Cruz, Celso; Muller, Sandra; Bastos Filho, Teodiano F

    2010-01-01

    In this work, a visual interface for the assistance of a robotic wheelchair's navigation is presented. The visual interface is developed for the navigation in confined spaces such as narrows corridors or corridor-ends. The interface performs two navigation modus: non-autonomous and autonomous. The non-autonomous driving of the robotic wheelchair is made by means of a hand-joystick. The joystick directs the motion of the vehicle within the environment. The autonomous driving is performed when the user of the wheelchair has to turn (90, 90 or 180 degrees) within the environment. The turning strategy is performed by a maneuverability algorithm compatible with the kinematics of the wheelchair and by the SLAM (Simultaneous Localization and Mapping) algorithm. The SLAM algorithm provides the interface with the information concerning the environment disposition and the pose -position and orientation-of the wheelchair within the environment. Experimental and statistical results of the interface are also shown in this work.

  11. Mobile robots IV; Proceedings of the Meeting, Philadelphia, PA, Nov. 6, 7, 1989

    Energy Technology Data Exchange (ETDEWEB)

    Wolfe, W.J.; Chun, W.H.

    1990-01-01

    The present conference on mobile robot systems discusses high-speed machine perception based on passive sensing, wide-angle optical ranging, three-dimensional path planning for flying/crawling robots, navigation of autonomous mobile intelligence in an unstructured natural environment, mechanical models for the locomotion of a four-articulated-track robot, a rule-based command language for a semiautonomous Mars rover, and a computer model of the structured light vision system for a Mars rover. Also discussed are optical flow and three-dimensional information for navigation, feature-based reasoning trail detection, a symbolic neural-net production system for obstacle avoidance and navigation, intelligent path planning for robot navigation in an unknown environment, behaviors from a hierarchical control system, stereoscopic TV systems, the REACT language for autonomous robots, and a man-amplifying exoskeleton.

  12. Distributed Autonomous Robotic Systems : the 12th International Symposium

    CERN Document Server

    Cho, Young-Jo

    2016-01-01

    This volume of proceedings includes 32 original contributions presented at the 12th International Symposium on Distributed Autonomous Robotic Systems (DARS 2014), held in November 2014. The selected papers in this volume are authored by leading researchers from Asia, Europe, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. .

  13. Sliding mode control for mobile welding robot

    Institute of Scientific and Technical Information of China (English)

    Lü Xueqin; Zhang Ke; Wu Yixiong

    2006-01-01

    The sliding mode controller of mobile welding robot is established in this paper through applying the method of variable structure control with sliding mode into the control of the mobile welding robot.The traditional switching function smooth method is improved by combining the smoothed switching function with the time-varying control gain.It is shown that the proposed sliding mode controller is robust to bounded external disturbances.Experimental results demonstrate that sliding mode controller algorithm can be used into seam tracking and the tracking system is stable with bounded uncertain disturbance.In the seam tracking process, the robot moves steadily without any obvious chattering.

  14. Fuzzy control of mobile robot in slippery environment

    Directory of Open Access Journals (Sweden)

    Nabil Hassan Hadi

    2005-01-01

    Full Text Available The problem of independent motion control of mobile robot (МR in conditions when unforeseen changes of conditions of interaction of wheels with a surface are considered. An example of such changes can be sudden entrance МR a slippery surface. The deployment of an autonomous unmanned ground vehicle for field applications provides the means by which the risk to personnel can be minimized and operational capabilities improved. In rough terrain, it is critical for mobile robots to maintain good wheel traction. Wheel slip could cause the rover to lose control and become trapped. This paper describes the application of fuzzy control to a feedback system within slippery environment. The study is conducted on an example of МR with two driving wheels.

  15. Brain, mind, body and society: autonomous system in robotics.

    Science.gov (United States)

    Shimoda, Motomu

    2013-12-01

    In this paper I examine the issues related to the robot with mind. To create a robot with mind aims to recreate neuro function by engineering. The robot with mind is expected not only to process external information by the built-in program and behave accordingly, but also to gain the consciousness activity responding multiple conditions and flexible and interactive communication skills coping with unknown situation. That prospect is based on the development of artificial intelligence in which self-organizing and self-emergent functions have been available in recent years. To date, controllable aspects in robotics have been restricted to data making and programming of cognitive abilities, while consciousness activities and communication skills have been regarded as uncontrollable aspects due to their contingency and uncertainty. However, some researchers of robotics claim that every activity of the mind can be recreated by engineering and is therefore controllable. Based on the development of the cognitive abilities of children and the findings of neuroscience, researchers have attempted to produce the latest artificial intelligence with autonomous learning systems. I conclude that controllability is inconsistent with autonomy in the genuine sense and autonomous robots recreated by engineering cannot be autonomous partners of humans.

  16. Fuzzy System of Distribution of Braking Forces on the Engines of a Mobile Robot

    Directory of Open Access Journals (Sweden)

    Bobyr Maxim

    2016-01-01

    Full Text Available The article presents a fuzzy system of distribution of braking forces on the engines of a mobile robot during its lifting and going down.The block diagram of the system of distribution of braking forces and location of sensors on a mobile robot is given in the paper. Also, fuzzy mathematical model of redistribution of braking forces depending on the conditions of the movement a mobile robot is shown in the article. The result of the simulation of control parameters are presented in the article. The control system of a mobile robot is demonstrated on the example of an autonomous mini-robot on platform Pirate under the control of microprocessor Arduino Mega 2560.

  17. A New Kind of Art [Based on Autonomous Collective Robotics

    Directory of Open Access Journals (Sweden)

    Leonel Moura

    2014-11-01

    Full Text Available The paper addresses the rationale of a process that produces artworks made by a swarm of robots. This process relies on the interaction, though the environment, of a set of robots designed to create spatiotemporal patterns from an initial homogeneous medium (the canvas. Inspired by social insect societies, the approach presented here exploits robot-robot and robot-environment interactions to develop emergent behaviour. The swarm intelligence concept is crucial to this approach because the viability of the team (group of robots is required in order to achieve the viability of the individual. Without any central coordination or plan, the group of robots produces its artworks on the basis of a data-driven (bottom-up process. Moreover, each robot can be viewed as an autonomous agent because it has on board all the resources required to provide the global outcome of the experiment, including sensors, actuators, and the controller, which demonstrates a reactive behaviour by reinforcing a previously made signal (positive feedback. The process is also presented in the context of Machine Art, and a detailed technical description of each robot is given, as well as an example of artworks produced by the collective behaviour of the set of robots.

  18. Extensible Hardware Architecture for Mobile Robots

    Science.gov (United States)

    Park, Eric; Kobayashi, Linda; Lee, Susan Y.

    2005-01-01

    The Intelligent Robotics Group at NASA Ames Research Center has developed a new mobile robot hardware architecture designed for extensibility and reconfigurability. Currently implemented on the k9 rover. and won to be integrated onto the K10 series of human-robot collaboration research robots, this architecture allows for rapid changes in instrumentation configuration and provides a high degree of modularity through a synergistic mix of off-the-shelf and custom designed components, allowing eased transplantation into a wide vane6 of mobile robot platforms. A component level overview of this architecture is presented along with a description of the changes required for implementation on K10 , followed by plans for future work.

  19. Mobile Robotic Teams Applied to Precision Agriculture

    Energy Technology Data Exchange (ETDEWEB)

    M.D. McKay; M.O. Anderson; N.S. Flann (Utah State University); R.A. Kinoshita; R.W. Gunderson; W.D. Willis (INEEL)

    1999-04-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) and Utah State University�s Center for Self-Organizing and Intelligent Systems (CSOIS) have developed a team of autonomous robotic vehicles applicable to precision agriculture. A unique technique has been developed to plan, coordinate, and optimize missions in large structured environments for these autonomous vehicles in real-time. Two generic tasks are supported: 1) Driving to a precise location, and 2) Sweeping an area while activating on-board equipment. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle, and task conditions. This paper discusses the development of the autonomous robotic team, details of the mission-planning algorithm, and successful field demonstrations at the INEEL.

  20. Mobile Robotic Teams Applied to Precision Agriculture

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Matthew Oley; Kinoshita, Robert Arthur; Mckay, Mark D; Willis, Walter David; Gunderson, R.W.; Flann, N.S.

    1999-04-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) and Utah State University’s Center for Self-Organizing and Intelligent Systems (CSOIS) have developed a team of autonomous robotic vehicles applicable to precision agriculture. A unique technique has been developed to plan, coordinate, and optimize missions in large structured environments for these autonomous vehicles in realtime. Two generic tasks are supported: 1) Driving to a precise location, and 2) Sweeping an area while activating on-board equipment. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle, and task conditions. This paper discusses the development of the autonomous robotic team, details of the mission-planning algorithm, and successful field demonstrations at the INEEL.

  1. Micro-Controller Based Obstacle Avoiding Autonomous Robot

    Directory of Open Access Journals (Sweden)

    Subhranil Som

    2014-06-01

    Full Text Available Main aim of this paperwork is to study development of the obstacle avoiding spy robot, which can be operated manually as per the operator wants to take control of the robot himself, it also can be autonomous in its actions while intelligently moving itself by detecting the obstacles in front of it by the help of the obstacle detectable circuit. The robot is in form of a vehicle mounted with a web cam, which acquires and sends video as per the robots eye view to a TV or PC via a TV tuner card. The microcontroller chip ATMEGA 328 present on the microcontroller board ARDUINO controls the movements of the robot. In manual operating conditions the user will have a radio transmitter (tx via which the user will send signal to the radio receiver (rx present inside the robot which accordingly will pass on the signal to the microcontroller board, and as per the coding of the signal signatures burnt inside the microcontroller chip the robot will complete its movements. In Autonomous operating conditions the user will have no control on the robot that is the robot cannot be operated via any external controls, it will only function as per the data received from the obstacle detection circuits to the microcontroller which will make the robot motors move accordingly as per the code written in it. The idea is to make a robot to tackle the hostage situations & cope up with the worst conditions, which can be quiet a matter of risk to be handled by human being.

  2. Robustness inembedded software for autonomous robots

    NARCIS (Netherlands)

    Broenink, Jan; Brodskiy, Yury; Dresscher, Douwe; Stramigioli, Stefano

    2014-01-01

    The European BRICS project aims to bring about a long-lasting change in robotics research and development in industry as well as in academia. It wants to change the current situation of non-interoperable, monolithic and single-sourcing robotic components into a situation that other domains have alre

  3. Main Strategies for Autonomous Robotic Controller Design

    OpenAIRE

    Paterega, I.

    2011-01-01

    This review gives an overall introduction to the artificial evolution mechanism. It presents the main strategies for robotic controller design. It gives a review of the pertinent literature, focusing on approaches that use neural networks, evolutionary computing, and fuzzy logic. Various applications of artificial evolution in robotics are surveyed and classified.

  4. Reinforcement Learning on autonomous humanoid robots

    NARCIS (Netherlands)

    Schuitema, E.

    2012-01-01

    Service robots have the potential to be of great value in households, health care and other labor intensive environments. However, these environments are typically unique, not very structured and frequently changing, which makes it difficult to make service robots robust and versatile through manual

  5. Adaptive Fuzzy Knowledge Based Controller for Autonomous Robot Motion Control

    Directory of Open Access Journals (Sweden)

    Mbaitiga Zacharie

    2010-01-01

    Full Text Available Problem statement: Research into robot motion control offers research opportunities that will change scientists and engineers for year to come. Autonomous robots are increasingly evident in many aspects of industry and everyday life and a robust robot motion control can be used for homeland security and many consumer applications. This study discussed the adaptive fuzzy knowledge based controller for robot motion control in indoor and outdoor environment. Approach: The proposed method consisted of two components: the process monitor that detects changes in the process characteristics and the adaptation mechanism that used information passed to it by the process monitor to update the controller parameters. Results: Experimental evaluation had been done in both indoor and outdoor environment where the robot communicates with the base station through its Wireless fidelity antenna and the performance monitor used a set of five performance criteria to access the fuzzy knowledge based controller. Conclusion: The proposed method had been found to be robust.

  6. Unmanned vehicle mobility: Limits of autonomous navigation

    Science.gov (United States)

    McCormac, A. W.; Hanna, D. M.; McFee, J.

    Considerable research is being conducted on the development of unmanned vehicles for military and civilian applications, particularly for hostile environments. It is desirable to produce a vehicle which can select its own route, not requiring remote navigation, but then it would be required to sense its surroundings. Although imaging systems and modern computers make this possible, the extreme data processing demands usually make it impractical. It is suggested that an inverse relationship exists between vehicle mobility and the complexity of the autonomous navigation system required for an unmanned vehicle. An overview of vehicle navigation is presented which shows the degree to which navigation is affected by increasing inherent mobility. If the inherent mobility of a vehicle is greatly enhanced, the scene image processing requirements and navigational computations are greatly simplified. This means the vehicle path selection and speed and steering adjustments may be made more quickly, resulting in higher vehicle speeds whenever possible. Combined with reduced deviation from the intended path, this would greatly increase the speed of the vehicle from one given point to another, suggesting that high speed autonomous navigation may be feasible.

  7. Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control

    Science.gov (United States)

    Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.

    1994-01-01

    A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

  8. Implémentation d'un estimateur de la pose d'un robot mobile type voiture (Car-like pour la navigation autonome à l'extérieur

    Directory of Open Access Journals (Sweden)

    R. CHEMALI

    2015-03-01

    Full Text Available Ce document présente une étude sur l'estimation de la pose des robots mobiles type voiture (Car-like, afin de l'exploiter dans la navigation autonome à l'extérieur, en utilisant le GPS standard comme capteur extéroceptif et l'odomètre comme un capteur proprioceptif. Une architecture d'estimation de la position et de l'orientation est proposée, elle consiste à fusionner les informations issues des capteurs (GPS, odomètre en utilisant le filtre de Kalman étendu en présence du signal GPS, et d'utiliser une unité de navigation à l'estime (Dead Reckoning en absence ou atténuation du signal GPS. Dans le but d'améliorer la précision de l'estimation, un commutateur est conçu afin de basculer entre la fusion de filtre de Kalman étendu et le bloc de navigation à l'estime (Dead Reckoning. Notre architecture a été validée et implémentée sur un système embarqué, en utilisant l'approche HIL (Hardware In the Loop, cette dernière consiste à élaborer un processus qui fait croire au système embarqué sous test qu'il fonctionne dans des conditions réelles avec les entrées et les sorties du système, alors qu'en réalité il travaille avec un environnement virtuel.

  9. Task Refinement for Autonomous Robots using Complementary Corrective Human Feedback

    Directory of Open Access Journals (Sweden)

    Cetin Mericli

    2011-06-01

    Full Text Available A robot can perform a given task through a policy that maps its sensed state to appropriate actions. We assume that a hand-coded controller can achieve such a mapping only for the basic cases of the task. Refining the controller becomes harder and gets more tedious and error prone as the complexity of the task increases. In this paper, we present a new learning from demonstration approach to improve the robot's performance through the use of corrective human feedback as a complement to an existing hand-coded algorithm. The human teacher observes the robot as it performs the task using the hand-coded algorithm and takes over the control to correct the behavior when the robot selects a wrong action to be executed. Corrections are captured as new state-action pairs and the default controller output is replaced by the demonstrated corrections during autonomous execution when the current state of the robot is decided to be similar to a previously corrected state in the correction database. The proposed approach is applied to a complex ball dribbling task performed against stationary defender robots in a robot soccer scenario, where physical Aldebaran Nao humanoid robots are used. The results of our experiments show an improvement in the robot's performance when the default hand-coded controller is augmented with corrective human demonstration.

  10. Modeling and Implementation of PID Control for Autonomous Robots

    Science.gov (United States)

    2007-06-01

    Richard Dorf . Modern Control Systems. New York, New York: Addison-Wesley Publishing, 1995. Cabezas, Rodrigo. Design of A Bore Sight Camera For The...IMPLEMENTATION OF PID CONTROL FOR AUTONOMOUS ROBOTS by Todd A. Williamson June 2007 Thesis Advisor: Richard Harkins Second Reader: Peter...Author: Todd A. Williamson Approved by: Richard Harkins Thesis Advisor Peter Crooker Second Reader James Luscombe

  11. Adaptive Visual Face Tracking for an Autonomous Robot

    NARCIS (Netherlands)

    van Hoof, Herke; van der Zant, Tijn; Wiering, Marco

    2011-01-01

    Perception is an essential ability for autonomous robots in non-standardized conditions. However, the appearance of objects can change between different conditions. A system visually tracking a target based on its appearance could lose its target in those cases. A tracker learning the appearance of

  12. Tandem robot control system and method for controlling mobile robots in tandem

    Energy Technology Data Exchange (ETDEWEB)

    Hayward, David R. (Albuquerque, NM); Buttz, James H. (Albuquerque, NM); Shirey, David L. (Albuquerque, NM)

    2002-01-01

    A control system for controlling mobile robots provides a way to control mobile robots, connected in tandem with coupling devices, to navigate across difficult terrain or in closed spaces. The mobile robots can be controlled cooperatively as a coupled system in linked mode or controlled individually as separate robots.

  13. Positioning challenges in reconfigurable semi-autonomous robotic NDE inspection

    Science.gov (United States)

    Pierce, S. Gareth; Dobie, Gordon; Summan, Rahul; Mackenzie, Liam; Hensman, James; Worden, Keith; Hayward, Gordon

    2010-03-01

    This paper describes work conducted into mobile, wireless, semi-autonomous NDE inspection robots developed at The University of Strathclyde as part of the UK Research Centre for Non Destructive Evaluation (RCNDE). The inspection vehicles can incorporate a number of different NDE payloads including ultrasonic, eddy current, visual and magnetic based payloads, and have been developed to try and improve NDE inspection techniques in challenging inspection areas (for example oil, gas, and nuclear structures). A significant research challenge remains in the accurate positioning and guidance of such vehicles for real inspection tasks. Employing both relative and absolute position measurements, we discuss a number of approaches to position estimation including Kalman and particle filtering. Using probabilistic approaches enables a common mathematical framework to be employed for both positioning and data fusion from different NDE sensors. In this fashion the uncertainties in both position and defect identification and classification can be dealt with using a consistent approach. A number of practical constraints and considerations to different precision positioning techniques are discussed, along with NDE applications and the potential for improved inspection capabilities by utilising the inherent reconfigurable capabilities of the inspection vehicles.

  14. 自主机器人伦理%Autonomous Robot Ethics

    Institute of Scientific and Technical Information of China (English)

    徐大庆

    2016-01-01

    In order to protect the human being and let robots and mankind harmonious get along,we study the ethics of autonomous ro-bot.This paper expounds the autonomous robot ethics at first;then seven laws which robot must abide by as well as ethics rules of hu-man behaviors on robot are proposed;at last,the preliminary planning of autonomous robot ethics to be realized is made.%为了保护人类,让机器人与人类和谐相处,自主机器人的伦理问题值得研究。首先,阐述了自主机器人应有的伦理道德;然后,提出了自主机器人必须遵守的七大法则,以及关于机器人的人类行为准则;最后,制定了自主机器人伦理实现的初步规划。

  15. Autonomous learning in humanoid robotics through mental imagery.

    Science.gov (United States)

    Di Nuovo, Alessandro G; Marocco, Davide; Di Nuovo, Santo; Cangelosi, Angelo

    2013-05-01

    In this paper we focus on modeling autonomous learning to improve performance of a humanoid robot through a modular artificial neural networks architecture. A model of a neural controller is presented, which allows a humanoid robot iCub to autonomously improve its sensorimotor skills. This is achieved by endowing the neural controller with a secondary neural system that, by exploiting the sensorimotor skills already acquired by the robot, is able to generate additional imaginary examples that can be used by the controller itself to improve the performance through a simulated mental training. Results and analysis presented in the paper provide evidence of the viability of the approach proposed and help to clarify the rational behind the chosen model and its implementation.

  16. A novel autonomous self-assembly distributed swarm flying robot

    Institute of Scientific and Technical Information of China (English)

    Wei Hongxing; Li Ning; Liu Miao; Tan Jindong

    2013-01-01

    Swarm intelligence embodied by many species such as ants and bees has inspired scholars in swarm robotic researches.This paper presents a novel autonomous self-assembly distributed swarm flying robot-DSFR,which can drive on the ground,autonomously accomplish self-assembly and then fly in the air coordinately.Mechanical and electrical designs ofa DSFR module,as well as the kinematics and dynamics analysis,are specifically investigated.Meanwhile,this paper brings forward a generalized adjacency matrix to describe configurations of DSFR structures.Also,the distributed flight control model is established for vertical taking-off and horizontal hovering,which can be applied to control of DSFR systems with arbitrary configurations.Finally,some experiments are carried out to testify and validate the DSFR design,the autonomous self-assembly strategy and the distributed flight control laws.

  17. Enhanced Image Analysis Using Cached Mobile Robots

    Directory of Open Access Journals (Sweden)

    Kabeer Mohammed

    2012-11-01

    Full Text Available In the field of Artificial intelligence Image processing plays a vital role in Decision making .Now a day’s Mobile robots work as a Network sharing Centralized Data base.All Image inputs are compared against this database and decision is made.In some cases the Centralized database is in other side of the globe and Mobile robots compare Input image through satellite link this sometime results in delays in decision making which may result in castrophe.This Research paper is about how to make image processing in mobile robots less time consuming and fast decision making.This research paper compares search techniques employed currently and optimum search method which we are going to state.Now a days Mobile robots are extensively used in environments which are dangerous to human beings.In this dangerous situations quick Decision making makes the difference between Hit and Miss this can also results in Day to day tasks performed by Mobile robots Successful or Failure.

  18. Modeling, Control and Simulation of a Novel Mobile Robotic System

    Science.gov (United States)

    Bai, Xiaoli; Davis, Jeremy; Doebbler, James; Turner, James D.; Junkins, John L.

    We in the Department of Aerospace Engineering at Texas A&M University are developing an autonomous mobile robotic system to emulate six degree of freedom (DOF) relative spacecraft motion during proximity operations. The base uses an active split offset castor (ASOC) drive train to achieve omni-directional planar motion with desired tracking position errors in the ± 1 cm range and heading angle error in the ±0.5° range. With six independently controlled wheels, we achieve a nominally uniform motor torque distribution and reduce the total disturbances with system control redundancy. A CAD (Computer-aided Design) sketch of our onethird scale model prototype is shown.

  19. COST-EFFECTIVE STEREO VISION SYSTEM FOR MOBILE ROBOT NAVIGATION AND 3D MAP RECONSTRUCTION

    Directory of Open Access Journals (Sweden)

    Arjun B Krishnan

    2014-07-01

    Full Text Available The key component of a mobile robot system is the ability to localize itself accurately in an unknown environment and simultaneously build the map of the environment. Majority of the existing navigation systems are based on laser range finders, sonar sensors or artificial landmarks. Navigation systems using stereo vision are rapidly developing technique in the field of autonomous mobile robots. But they are less advisable in replacing the conventional approaches to build small scale autonomous robot because of their high implementation cost. This paper describes an experimental approach to build a cost- effective stereo vision system for autonomous mobile robots that avoid obstacles and navigate through indoor environments. The mechanical as well as the programming aspects of stereo vision system are documented in this paper. Stereo vision system adjunctively with ultrasound sensors was implemented on the mobile robot, which successfully navigated through different types of cluttered environments with static and dynamic obstacles. The robot was able to create two dimensional topological maps of unknown environments using the sensor data and three dimensional model of the same using stereo vision system.

  20. New Design of Mobile Robot Path Planning with Randomly Moving Obstacles

    Directory of Open Access Journals (Sweden)

    T. A. Salih

    2013-05-01

    Full Text Available The navigation of a mobile robot in an unknown environment has always been a very challenging task. In order to achieve safe and autonomous navigation, the mobile robot needs to sense the surrounding environment and plans a collision-free path. This paper focuses on designing and implementing a mobile robot which has the ability of navigating smoothly in an unknown environment, avoiding collisions, without having to stop in front of obstacles, detecting leakage of combustible gases and transmitting a message of detection results to the civil defense unit automatically through the Internet to the E-mail. This design uses the implementation of artificial neural network (ANN on a new technology represented by Field Programmable Analog Array (FPAA for controlling the motion of the robot. The robot with the proposed controller is tested and has completed the required objective successfully.

  1. Mobile Robot Collision Avoidance in Human Environments

    OpenAIRE

    Lingqi Zeng; Gary M. Bone

    2013-01-01

    Collision avoidance is a fundamental requirement for mobile robots. Avoiding moving obstacles (also termed dynamic obstacles) with unpredictable direction changes, such as humans, is more challenging than avoiding moving obstacles whose motion can be predicted. Precise information on the future moving directions of humans is unobtainable for use in navigation algorithms. Furthermore, humans should be able to pursue their activities unhindered and without worrying about the robots around them....

  2. Stabilized Feedback Control of Unicycle Mobile Robots

    Directory of Open Access Journals (Sweden)

    Khoukhi Amar

    2013-04-01

    Full Text Available In this paper, a stabilized feedback control is designed for a class of unicycle non‐holonomic mobile robots. The approach is based on kinematic polar coordinate transformations. The suggested control scheme allows the robot to achieve stabilized near‐ optimal trajectories, while satisfying the hard constraints of specified initial and final postures (positions and orientations. Simulation experiments showing the effectiveness of the proposed technique are provided and discussed.

  3. Mobile Robot Visual Navigation Using Multiple Features

    Directory of Open Access Journals (Sweden)

    Zezhi Chen

    2005-08-01

    Full Text Available We propose a method to segment the ground plane from a mobile robot's visual field of view and then measure the height of nonground plane features above the mobile robot's ground plane. Thus a mobile robot can determine what it can drive over, what it can drive under, and what it needs to manoeuvre around. In addition to obstacle avoidance, this data could also be used for localisation and map building. All of this is possible from an uncalibrated camera (raw pixel coordinates only, but is restricted to (near pure translation motion of the camera. The main contributions are (i a novel reciprocal-polar (RP image rectification, (ii ground plane segmentation by sinusoidal model fitting in RP-space, (iii a novel projective construction for measuring affine height, and (iv an algorithm that can make use of a variety of visual features and therefore operate in a wide variety of visual environments.

  4. Mobile Robot Visual Navigation Using Multiple Features

    Science.gov (United States)

    Pears, Nick; Liang, Bojian; Chen, Zezhi

    2005-12-01

    We propose a method to segment the ground plane from a mobile robot's visual field of view and then measure the height of nonground plane features above the mobile robot's ground plane. Thus a mobile robot can determine what it can drive over, what it can drive under, and what it needs to manoeuvre around. In addition to obstacle avoidance, this data could also be used for localisation and map building. All of this is possible from an uncalibrated camera (raw pixel coordinates only), but is restricted to (near) pure translation motion of the camera. The main contributions are (i) a novel reciprocal-polar (RP) image rectification, (ii) ground plane segmentation by sinusoidal model fitting in RP-space, (iii) a novel projective construction for measuring affine height, and (iv) an algorithm that can make use of a variety of visual features and therefore operate in a wide variety of visual environments.

  5. Simulation of Intelligent Single Wheel Mobile Robot

    Directory of Open Access Journals (Sweden)

    Maki K. Rashid

    2008-11-01

    Full Text Available Stabilization of a single wheel mobile robot attracted researcher attentions in robotic area. However, the budget requirements for building experimental setups capable in investigating isolated parameters and implementing others encouraged the development of new simulation methods and techniques that beat such limitations. In this work we have developed a simulation platform for testing different control tactics to stabilize a single wheel mobile robot. The graphic representation of the robot, the dynamic solution, and, the control scheme are all integrated on common computer platform using Visual Basic. Simulation indicates that we can control such robot without knowing the detail of it's internal structure or dynamics behaviour just by looking at it and using manual operation tactics. Twenty five rules are extracted and implemented using Takagi-Sugeno's fuzzy controller with significant achievement in controlling robot motion during the dynamic simulation. The resulted data from the successful implementation of the fuzzy model are used to utilize and train a neurofuzzy controller using ANFIS scheme to produce further improvement in robot performance

  6. Biologically-Plausible Reactive Control of Mobile Robots

    OpenAIRE

    Rene, Zapata; Pascal, Lepinay

    2006-01-01

    This chapter addressed the problem of controlling the reactive behaviours of a mobile robot evolving in unstructured and dynamic environments. We have carried out successful experiments for determining the distance field of a mobile robot using two

  7. A Distributed Hunting Approach for Multiple Autonomous Robots

    Directory of Open Access Journals (Sweden)

    Zhiqiang Cao

    2013-04-01

    Full Text Available A novel distributed hunting approach for multiple autonomous robots in unstructured mode‐free environments, which is based on effective sectors and local sensing, is proposed in this paper. The visual information, encoder and sonar data are integrated in the robot’s local frame, and the effective sector is introduced. The hunting task is modelled as three states: search state, round‐obstacle state, and hunting state, and the corresponding switching conditions and control strategies are given. A form of cooperation will emerge where the robots interact only locally with each other. The evader, whose motion is a priori unknown to the robots, adopts an escape strategy to avoid being captured. The approach is scalable and may cope with problems of communication and wheel slippage. The effectiveness of the proposed approach is verified through experiments with a team of wheeled robots.

  8. Autonomous kinematic calibration for robot with force sensor

    Science.gov (United States)

    Zhao, Dongbo; Xiong, Youlun

    1995-08-01

    This paper presents an autonomous calibration procedure for identifying robot geometric parameters using a wrist force sensor, which guides the robot end effector to track the section contour of an accurately cylindrical workpiece and to find its center. The information from the wrist sensor is needed to determine the motion direction for the end effector and to generate control strategy (hybrid control law of position and force), meanwhile the force vector is required to correct the deformation of the manipulator, which maps in turn into the joint differential vector. The system of constraint equation is in fact nonlinear, and can be linearized for the constraint surface of the cylinder. Simulation has been performed for a PUMA 760 robot and the result shows that the robot positioning accuracy can be improved to the level of the repeatability by the proposed calibration method.

  9. An improved potential field method for mobile robot navigation

    Institute of Scientific and Technical Information of China (English)

    李广胜

    2016-01-01

    In order to overcome the inherent oscillation problem of potential field methods ( PFMs) for au-tonomous mobile robots in the presence of obstacles and in narrow passages, an enhanced potential field method that integrates Levenberg-Marquardt ( L-M ) algorithm and k-trajectory algorithm into the basic PFMs is proposed and simulated.At first, the mobile robot navigation function based on the basic PFMs is established by choosing Gaussian model.Then, the oscillation problem of the nav-igation function is investigated when a mobile robot nears obstacles and passes through a long and narrow passage, which can cause large computation cost and system instability.At last, the L-M al-gorithm is adopted to modify the search direction of the navigation function for alleviating the oscilla-tion, while the k-trajectory algorithm is applied to further smooth trajectories.By a series of compar-ative experiments, the use of the L-M algorithm and k-trajectory algorithm can greatly improve the system performance with the advantages of reducing task completion time and achieving smooth traj-ectories.

  10. Robotic Autonomous Observatories: A Historical Perspective

    OpenAIRE

    Alberto Javier Castro-Tirado

    2010-01-01

    This paper presents a historical introduction to the field of Robotic Astronomy, from the point of view of a scientist working in this field for more than a decade. The author discusses the basic definitions, the differing telescope control operating systems, observatory managers, as well as a few current scientific applications.

  11. Robotic Autonomous Observatories: A Historical Perspective

    Directory of Open Access Journals (Sweden)

    Alberto Javier Castro-Tirado

    2010-01-01

    Full Text Available This paper presents a historical introduction to the field of Robotic Astronomy, from the point of view of a scientist working in this field for more than a decade. The author discusses the basic definitions, the differing telescope control operating systems, observatory managers, as well as a few current scientific applications.

  12. Towards Autonomous Operations of the Robonaut 2 Humanoid Robotic Testbed

    Science.gov (United States)

    Badger, Julia; Nguyen, Vienny; Mehling, Joshua; Hambuchen, Kimberly; Diftler, Myron; Luna, Ryan; Baker, William; Joyce, Charles

    2016-01-01

    The Robonaut project has been conducting research in robotics technology on board the International Space Station (ISS) since 2012. Recently, the original upper body humanoid robot was upgraded by the addition of two climbing manipulators ("legs"), more capable processors, and new sensors, as shown in Figure 1. While Robonaut 2 (R2) has been working through checkout exercises on orbit following the upgrade, technology development on the ground has continued to advance. Through the Active Reduced Gravity Offload System (ARGOS), the Robonaut team has been able to develop technologies that will enable full operation of the robotic testbed on orbit using similar robots located at the Johnson Space Center. Once these technologies have been vetted in this way, they will be implemented and tested on the R2 unit on board the ISS. The goal of this work is to create a fully-featured robotics research platform on board the ISS to increase the technology readiness level of technologies that will aid in future exploration missions. Technology development has thus far followed two main paths, autonomous climbing and efficient tool manipulation. Central to both technologies has been the incorporation of a human robotic interaction paradigm that involves the visualization of sensory and pre-planned command data with models of the robot and its environment. Figure 2 shows screenshots of these interactive tools, built in rviz, that are used to develop and implement these technologies on R2. Robonaut 2 is designed to move along the handrails and seat track around the US lab inside the ISS. This is difficult for many reasons, namely the environment is cluttered and constrained, the robot has many degrees of freedom (DOF) it can utilize for climbing, and remote commanding for precision tasks such as grasping handrails is time-consuming and difficult. Because of this, it is important to develop the technologies needed to allow the robot to reach operator-specified positions as

  13. Mobile robot and mobile manipulator research towards ASTM standards development

    Science.gov (United States)

    Bostelman, Roger; Hong, Tsai; Legowik, Steven

    2016-05-01

    Performance standards for industrial mobile robots and mobile manipulators (robot arms onboard mobile robots) have only recently begun development. Low cost and standardized measurement techniques are needed to characterize system performance, compare different systems, and to determine if recalibration is required. This paper discusses work at the National Institute of Standards and Technology (NIST) and within the ASTM Committee F45 on Driverless Automatic Guided Industrial Vehicles. This includes standards for both terminology, F45.91, and for navigation performance test methods, F45.02. The paper defines terms that are being considered. Additionally, the paper describes navigation test methods that are near ballot and docking test methods being designed for consideration within F45.02. This includes the use of low cost artifacts that can provide alternatives to using relatively expensive measurement systems.

  14. Random issues in workspace analysis for a mobile robot

    Science.gov (United States)

    Stǎnescu, Tony; Dolga, Valer; Mondoc, Alina

    2014-12-01

    Evolution of the mobile robot is currently characterized by multiple applications in dynamic workspaces and low initial knowledge. In this paper presents aspects of approaching random processes of evolution of a mobile robot in an unstructured environment . The experimental results are used for modeling an infrared sensor (integrated in the mobile robot structure) and to assess the probability of locating obstacles in the environment.

  15. Mobile robots; Proceedings of the Meeting, Cambridge, MA, Oct. 30, 31, 1986

    Energy Technology Data Exchange (ETDEWEB)

    Wolfe, W.J.; Marquina, N.

    1987-01-01

    Control and hardware aspects of mobile-robot (MR) design are examined in reviews and reports of recent theoretical and experimental investigations. Sections are devoted to mobility systems, control strategies, autonomous land vehicles, navigation, vision systems, path planning, and applications. Topics addressed include power and propulsion systems for MRs, arbitration of multiple control strategies for MRs, detection and control of MR motion by real-time computer vision, a curvature-based scheme for improving road-vehicle guidance by computer vision, single-landmark navigation by MRs, optimal-trajectory control of a robotic vehicle, an avoidance system for moving obstacles, and mobility control for planetary rovers.

  16. Dynamic multisensor fusion for mobile robot navigation in an indoor environment

    Science.gov (United States)

    Jin, Taeseok; Lee, Jang-Myung; Luk, Bing L.; Tso, Shiu K.

    2001-10-01

    In this study, as the preliminary step for developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, CCD camera dn IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the intelligent service robot project at the Centre of Intelligent Design, Automation & Manufacturing (CIDAM). We will conclude by discussing some possible future extensions of the project. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results form the simulations run.

  17. A motion planner for nonholonomic mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Laumond, J.P.; Jacobs, P.E.; Taiex, M. (LAA/CNRS, Toulouse (France)); Murray, R.M. (California Inst. of Technology, Pasadena, CA (United States). Dept. of Mechanical Engineering)

    1994-10-01

    This paper considers the problems of motion planning for a car-like robot (i.e., a mobile robot with a nonholonomic constraint whose turning radius is lower-bounded). The authors present a fast and exact planner for their mobile robot model, based upon recursive subdivision of a collision-free path generated by a lower-level geometric planner that ignores the motion constraints. The resultant trajectory is optimized to give a path that is of near-minimal length in its homotopy class. Their claims of high speed are supported by experimental results for implementations that assume a robot moving amid polygonal obstacles. The completeness and the complexity of the algorithm are proven using an appropriate metric in the configuration space R[sup 2] [times] S[sup 1] of the robot. This metric is defined by using the length of the shortest paths in the absence of obstacles as the distance between two configurations. The authors prove that the new induced topology and the classical one are the same. Although the authors concentrate upon the car-like robot, the generalization of these techniques leads to new theoretical issues involving sub-Riemannian geometry and to practical results for nonholonomic motion planning.

  18. Herbert: A Second Generation Mobile Robot.

    Science.gov (United States)

    1988-01-01

    PROJECT. TASK S Artificial Inteligence Laboratory AREA A WORK UNIT NUMBERS ’ ~ 545 Technology Square Cambridge, MA 02139 11. CONTROLLING OFFICE NAME...AD-AI93 632 WMRT: A SECOND GENERTION MOBILE ROWT(U) / MASSACHUSETTS IMST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB R BROOKS ET AL .JAN l8 Al-M...MASSACHUSETTS INSTITUTE OF TECHNOLOGY ARTIFICIAL INTELLIGENCE LABORATORY A. I. Memo 1016 January, 1988 HERBERT: A SECOND GENERATION MOBILE ROBOT Rodney A

  19. Autonomous Robot System for Sensor Characterization

    Energy Technology Data Exchange (ETDEWEB)

    David Bruemmer; Douglas Few; Frank Carney; Miles Walton; Heather Hunting; Ron Lujan

    2004-03-01

    This paper discusses an innovative application of new Markov localization techniques that combat the problem of odometry drift, allowing a novel control architecture developed at the Idaho National Engineering and Environmental Laboratory (INEEL) to be utilized within a sensor characterization facility developed at the Remote Sensing Laboratory (RSL) in Nevada. The new robotic capability provided by the INEEL will allow RSL to test and evaluate a wide variety of sensors including radiation detection systems, machine vision systems, and sensors that can detect and track heat sources (e.g. human bodies, machines, chemical plumes). By accurately moving a target at varying speeds along designated paths, the robotic solution allows the detection abilities of a wide variety of sensors to be recorded and analyzed.

  20. An Interactive Auto-recharging System for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Kuo-Lan Su

    2014-02-01

    Full Text Available The article describes a new auto-charging system designed to enhance successful docking rates for mobile robots while at the same time monitoring the status of the charging current between the mobile robot and the docking station. The communication interface of the mobile robot and the docking station uses a wireless RF interface. The docking station is designed with one active degree of freedom and two passive degrees of freedom. Users tune the location of the charging pins on the docking station to make it possible for the mobile robot to execute an auto-recharging process. The auto-recharging process uses multiple sensors and a laser range finder located on the mobile robot. The laser range finder searches for a landmark to guide the mobile robot towards the docking station. In the experiment, the power of the mobile robot is under its threshold value. The mobile robot transmits a charging command to the docking station via a wireless RF interface. The docking station transmits a location command back to the mobile robot via this wireless RF interface. The mobile robot uses its laser range finder to search for the landmark of the assigned docking station and programs a motion trajectory to move forward to the docking station. The docking station supplies a charging current to the mobile robot by means of a charger. The power detection module simultaneously detects the charging current and the voltage values of the charging process in both the docking station and the mobile robot. The system can monitor the status of the charging process between the docking station and the mobile robot at any time. The power of the mobile robot is enough to be detected by the power detection module. When the charging process is complete, the docking station turns off the charging current and triggers the mobile robot to leave the docking station via the wireless RF interface.

  1. Maintaining communication link based on AODV routing protocol in mobile robot networks

    Science.gov (United States)

    Hu, Hui; Jiang, Hong

    2007-12-01

    Wired computer networks are vital in modern life. However, these networks are extremely vulnerable to disaster or attack in emergency situations. Therefore, how to maintain communication link under emergency situations is very important. In this paper, we utilize a series of autonomous mobile slave robots which follow behind the lead robot and automatically stop where needed to maintain an ad hoc network for guaranteeing a link between the lead robot and its remote monitor/control station. To accomplish this target, an efficient communication protocol limitation mobile robots broadcast based on AODV (LMRB-AODV) is proposed for deployment in multi-robot system. After then the lead robot could carry service traffics to the monitor station under emergency situations through the communication link. At any instance, the lead robot has the ability to reclaim the relay robot(s) which are unneeded in the network to rejoin the convoy behind the lead robot and use it to extend the range of wireless communication when the radio frequency (RF) shortcuts are detected by the lead robot. All relay deployment and reclaiming strategy functions occur without the operator's involvement. Finally, we provide a comparative study of their performance in a number of different simulation environments. The results show that the proposed scheme is very efficient in maintaining communication link in wireless network.

  2. Comparing mobile robot localisation algorithms using Kalmtool

    DEFF Research Database (Denmark)

    Mogensen, Lars Valdemar; Hansen, Søren; Ravn, Ole

    2009-01-01

    In this paper we present an estimation platform with simulation capabilities to evaluate methods for localisation of a mobile robot using a feature map. The platform is based on the Kalmtool 4 toolbox which is a set of MATLAB tools for state estimation of nonlinear systems. The toolbox contains f...

  3. Simple adaptive tracking control for mobile robots

    Science.gov (United States)

    Bobtsov, Alexey; Faronov, Maxim; Kolyubin, Sergey; Pyrkin, Anton

    2014-12-01

    The problem of simple adaptive and robust control is studied for the case of parametric and dynamic dimension uncertainties: only the maximum possible relative degree of the plant model is known. The control approach "consecutive compensator" is investigated. To illustrate the efficiency of proposed approach an example with the mobile robot motion control using computer vision system is considered.

  4. Robotic reactions: Delay-induced patterns in autonomous vehicle systems

    Science.gov (United States)

    Orosz, Gábor; Moehlis, Jeff; Bullo, Francesco

    2010-02-01

    Fundamental design principles are presented for vehicle systems governed by autonomous cruise control devices. By analyzing the corresponding delay differential equations, it is shown that for any car-following model short-wavelength oscillations can appear due to robotic reaction times, and that there are tradeoffs between the time delay and the control gains. The analytical findings are demonstrated on an optimal velocity model using numerical continuation and numerical simulation.

  5. Robotic reactions: delay-induced patterns in autonomous vehicle systems.

    Science.gov (United States)

    Orosz, Gábor; Moehlis, Jeff; Bullo, Francesco

    2010-02-01

    Fundamental design principles are presented for vehicle systems governed by autonomous cruise control devices. By analyzing the corresponding delay differential equations, it is shown that for any car-following model short-wavelength oscillations can appear due to robotic reaction times, and that there are tradeoffs between the time delay and the control gains. The analytical findings are demonstrated on an optimal velocity model using numerical continuation and numerical simulation.

  6. PRINCIPLE,CONSTRUCTION AND KINEMATIC ANALYSIS FOR THE OMNIDIRECTIONAL MOBILE ROBOT--ICE-SKATER ROBOT

    Institute of Scientific and Technical Information of China (English)

    宋立博; 吕恬生; 费燕琼; 袁池

    2002-01-01

    Three main basic types of locomotion for a mobile robot were introduced and the advantages and disadvantages of a legged mobile robot, a wheeled mobile robot and an articulated mobile robot were also discussed. A new type of leg-wheeled mobile robot was introduced which combines the adaptability of legged robot with the stability of wheeled robot. On the basis of the structure of the wheels, the paper described the principle of the iceskater robot developed from Roller-walker and ALDURO and its construction. The paper also established an inertia coordinate system and a wheel coordinate system, and analyzed the configuration or the posture and the related kinematic constraints of the robot according to some assumptions. Based on the motion principle, a logic-based coordinated control system and corresponded flowchart were designed. At last, taking the ice-skater robot as an example the paper expounded its application and the actual experiment proved its feasibility.

  7. Design of dead reckoning system for mobile robot

    Institute of Scientific and Technical Information of China (English)

    YU Jin-xia; CAI Zi-xing; DUAN Zhuo-hua; ZOU Xiao-bing

    2006-01-01

    A dead reckoning system for a wheeled mobile robot was designed, and the method for robot's pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.

  8. Bilateral Teleoperation of Wheeled Mobile Robots Working in Common Workspace

    OpenAIRE

    2014-01-01

    This paper proposes a bilateral control framework for mobile robots which share the same workspace. The robots are teleoperated by independent users. Accordingly, for each teleoperated robot the other robots represent moving obstacles or static obstacles with a-priori unknown positions. For such teleoperation systems a velocity generator algorithm is proposed to obtain the linear and angular velocity commands of the mobile robots. A procedure is also given to calculate the haptic force corres...

  9. Maps managing interface design for a mobile robot navigation governed by a BCI

    Energy Technology Data Exchange (ETDEWEB)

    Auat Cheein, Fernando A [Institute of Automatic, National University of San Juan. San Martin, 1109 - Oeste 5400 San Juan (Argentina); Carelli, Ricardo [Institute of Automatic, National University of San Juan. San Martin, 1109 - Oeste 5400 San Juan (Argentina); Celeste, Wanderley Cardoso [Electrical Engineering Department, Federal University of Espirito Santo. Fernando Ferrari, 514 29075-910 Vitoria-ES (Brazil); Freire Bastos, Teodiano [Electrical Engineering Department, Federal University of Espirito Santo. Fernando Ferrari, 514 29075-910 Vitoria-ES (Brazil); Di Sciascio, Fernando [Institute of Automatic, National University of San Juan. San Martin, 1109 - Oeste 5400 San Juan (Argentina)

    2007-11-15

    In this paper, a maps managing interface is proposed. This interface is governed by a Brain Computer Interface (BCI), which also governs a mobile robot's movements. If a robot is inside a known environment, the user can load a map from the maps managing interface in order to navigate it. Otherwise, if the robot is in an unknown environment, a Simultaneous Localization and Mapping (SLAM) algorithm is released in order to obtain a probabilistic grid map of that environment. Then, that map is loaded into the map database for future navigations. While slamming, the user has a direct control of the robot's movements via the BCI. The complete system is applied to a mobile robot and can be also applied to an autonomous wheelchair, which has the same kinematics. Experimental results are also shown.

  10. A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm

    Science.gov (United States)

    Mohanty, Prases K.; Parhi, Dayal R.

    2014-12-01

    Planning of the shortest/optimal route is essential for efficient operation of autonomous mobile robot or vehicle. In this paper Invasive Weed Optimization (IWO), a new meta-heuristic algorithm, has been implemented for solving the path planning problem of mobile robot in partially or totally unknown environments. This meta-heuristic optimization is based on the colonizing property of weeds. First we have framed an objective function that satisfied the conditions of obstacle avoidance and target seeking behavior of robot in partially or completely unknown environments. Depending upon the value of objective function of each weed in colony, the robot avoids obstacles and proceeds towards destination. The optimal trajectory is generated with this navigational algorithm when robot reaches its destination. The effectiveness, feasibility, and robustness of the proposed algorithm has been demonstrated through series of simulation and experimental results. Finally, it has been found that the developed path planning algorithm can be effectively applied to any kinds of complex situation.

  11. A Perception-aware Architecture for Autonomous Robots

    Directory of Open Access Journals (Sweden)

    Luis J. Manso

    2015-12-01

    Full Text Available Service robots are required to operate in indoor environments to help humans in their daily lives. To achieve the tasks that they might be assigned, the robots must be able to autonomously model and interact with the elements in it. Even in homes, which are usually more predictable than outdoor scenarios, robot perception is an extremely challenging task. Clutter, distance and partial views complicate modelling the environment, making it essential for robots to approach the objects to perceive in order to gain favourable points of view. This article proposes a novel grammar-based distributed architecture, designed with reusability and scalability in mind, which enables robots not only to find and execute the perception aware plans they need to achieve their goals, but also to verify that the world representation they build is valid according to a set of grammatical rules for the world model. Additionally, it describes a real-world example of use, providing qualitative results, in which a robot successfully models the room in which it is located and finds a coffee mug.

  12. Robotic Architectures

    Directory of Open Access Journals (Sweden)

    Mbali Mtshali

    2010-01-01

    Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging and complex task. With a number of existing architectures and tools to choose from, a review of the existing robotic architecture is essential. This paper surveys the different paradigms in robotic architectures. A classification of the existing robotic architectures and comparison of different proposals attributes and properties have been carried out. The paper also provides a view on the current state of designing robot architectures. It also proposes a conceptual model of a generalised robotic architecture for mobile autonomous robots.Defence Science Journal, 2010, 60(1, pp.15-22, DOI:http://dx.doi.org/10.14429/dsj.60.96

  13. Implementation of a Mobile Device Controlled Multi-behavior Interactive Mobile Robot Over MR Technology

    OpenAIRE

    Lee, Wen-Yo; Guo, Jhu-Syuan; Hung, Ta-Chih; Hsu, Hui-Wen

    2009-01-01

    This paper presents a mobile-device controlled multi-behavior interactive mobile robot. The proposed mobile robot is implemented under the technique of mixed reality. The proposed mobile robot has three basic locomotion behaviors that enable the mobile robot moving in a complex environment. The three basic interactive behaviors are: target navigation behavior, face tracking behavior, and obstacles avoidance behavior. The three behaviors are designed by the fuzzy controller, respectively. For ...

  14. The development of mobile robot for security application and nuclear facilities

    Energy Technology Data Exchange (ETDEWEB)

    Kim, B. S.; Lee, Y. B.; Choi, Y. S.; Seo, Y. C.; Park, Y. M

    1999-12-01

    The use of a mobile robot system in nuclear radioactive environments has the advantage of watching and inspecting the NPP safety-related equipment systematically and repairing damaged parts efficiently, thereby enhancing the safe operations of NPPs as well as reducing significantly personnel's dose rate to radioactive environment. Key technology achieved through the development of such robotic system can be used for security application and can offer new approaches to many of the tasks faced to the industry as well. The mobile robot system was composed of a mobile subsystem, a manipulator subsystem, a control subsystem, and a sensor subsystem to use in security application and nuclear radioactive environments. The mobile subsystem was adopted to synchro-drive method to improve the mobility of it. And the manipulator subsystem was developed to minimize the weight and easy to control at remote site. Finally, we developed the USB-based robot control system considering the expandability and modularity. The developed mobile robot for inspection and security was experimented for the collision avoidance and autonomous algorithm, and then it was confirmed that the mobile robot was very effective to the security application and inspection of nuclear facilities. (author)

  15. Real Time Mapping and Dynamic Navigation for Mobile Robots

    OpenAIRE

    Maki K. Habib

    2008-01-01

    This paper discusses the importance, the complexity and the challenges of mapping mobile robot?s unknown and dynamic environment, besides the role of sensors and the problems inherited in map building. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. The paper presenst the state of the art in map building and localization for mobile robots navigating within unknown environment, and then introduces a solution for the complex prob...

  16. Real Time Mapping and Dynamic Navigation for Mobile Robots

    OpenAIRE

    Maki K. Habib

    2007-01-01

    This paper discusses the importance, the complexity and the challenges of mapping mobile robot?s unknown and dynamic environment, besides the role of sensors and the problems inherited in map building. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. The paper presenst the state of the art in map building and localization for mobile robots navigating within unknown environment, and then introduces a solution for ...

  17. Navigating a Mobile Robot Across Terrain Using Fuzzy Logic

    Science.gov (United States)

    Seraji, Homayoun; Howard, Ayanna; Bon, Bruce

    2003-01-01

    A strategy for autonomous navigation of a robotic vehicle across hazardous terrain involves the use of a measure of traversability of terrain within a fuzzy-logic conceptual framework. This navigation strategy requires no a priori information about the environment. Fuzzy logic was selected as a basic element of this strategy because it provides a formal methodology for representing and implementing a human driver s heuristic knowledge and operational experience. Within a fuzzy-logic framework, the attributes of human reasoning and decision- making can be formulated by simple IF (antecedent), THEN (consequent) rules coupled with easily understandable and natural linguistic representations. The linguistic values in the rule antecedents convey the imprecision associated with measurements taken by sensors onboard a mobile robot, while the linguistic values in the rule consequents represent the vagueness inherent in the reasoning processes to generate the control actions. The operational strategies of the human expert driver can be transferred, via fuzzy logic, to a robot-navigation strategy in the form of a set of simple conditional statements composed of linguistic variables. These linguistic variables are defined by fuzzy sets in accordance with user-defined membership functions. The main advantages of a fuzzy navigation strategy lie in the ability to extract heuristic rules from human experience and to obviate the need for an analytical model of the robot navigation process.

  18. Geometric Analysis of the Formation Problem for Autonomous Robots

    CERN Document Server

    Dorfler, Florian

    2010-01-01

    In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center manifold theory or via a Lyapunov-based approach. It is well known that there are various other undesired invariant sets of the robots' closed-loop dynamics. This paper addresses a global stability analysis by a differential geometric approach considering invariant manifolds and their local stability properties. The theoretical results are then applied to the well-known example of a cyclic triangular formation and result in instability of all invariant sets other than the target formation.

  19. An autonomous miniature wheeled robot based on visual feedback control

    Institute of Scientific and Technical Information of China (English)

    CHEN Haichu

    2007-01-01

    Using two micro-motors,a novel omni-direction miniature wheeled robot is designed on the basis of the bi-corner driving principle.The robot takes advantage of the Bluetooth technology to wirelessly transmit data at a short distance.Its position and omni-direction motion are precise.A Charge Coupled Device(CCD)camera is used for measuring and for visual navigation.A control system is developed.The precision of the position is 0.5 mm,the resolution is about 0.05 mm,and the maximum velocity is about 52 mm/s.The visual navigation and control system allow the robot to navigate and track the target and to accomplish autonomous locomotion.

  20. Mobility Assistance Design of the Intelligent Robotic Wheelchair

    Directory of Open Access Journals (Sweden)

    Po Er Hsu

    2012-12-01

    Full Text Available This paper presents the development of the “intelligent Robotic Wheelchair” (iRW, emphasizing its mobility assistance design. The vehicle uses four Mecanum wheels to facilitate movement in all directions, including sideways, and zero radius of rotation. The iRW requires much less space than ordinary electric wheelchairs in turning and sideways manoeuvres. Based on this moving vehicle, mobility assistance functions are designed for three different operators: the wheelchair user, caregivers, and the iRW itself in autonomous behaviours. Five operation modes, all mutually exclusive, are developed: obstacle avoidance, joystick mode, handlebar mode, teleoperation, and indoor navigation. Man‐machine collaborative control is reflected in the assignment of priorities to the three operators. The functional test performed in this research compared the operational efficiency of the five operation modes.

  1. Autonomous robotic operations for on-orbit satellite servicing

    Science.gov (United States)

    Ogilvie, Andrew; Allport, Justin; Hannah, Michael; Lymer, John

    2008-04-01

    The Orbital Express Demonstration System (OEDS) flight test successfully demonstrated technologies required to autonomously service satellites on-orbit. The mission's integrated robotics solution, the Orbital Express Demonstration Manipulator System (OEDMS) developed by MDA, performed critical flight test operations. The OEDMS comprised a six-jointed robotic manipulator arm and its avionics, non-proprietary servicing and ORU (Orbital Replacement Unit) interfaces, a vision and arm control system for autonomous satellite capture, and a suite of Ground Segment and Flight Segment software allowing script generation and execution under supervised or full autonomy. The arm was mounted on ASTRO, the servicer spacecraft developed by Boeing. The NextSat, developed by Ball Aerospace, served as the client satellite. The OEDMS demonstrated two key goals of the OEDS flight test: autonomous free-flyer capture and berthing of a client satellite, and autonomous transfer of ORUs from servicer to client and back. The paper provides a description of the OEDMS and the key operations it performed.

  2. Mobile Robot Collision Avoidance in Human Environments

    Directory of Open Access Journals (Sweden)

    Lingqi Zeng

    2013-01-01

    Full Text Available Collision avoidance is a fundamental requirement for mobile robots. Avoiding moving obstacles (also termed dynamic obstacles with unpredictable direction changes, such as humans, is more challenging than avoiding moving obstacles whose motion can be predicted. Precise information on the future moving directions of humans is unobtainable for use in navigation algorithms. Furthermore, humans should be able to pursue their activities unhindered and without worrying about the robots around them. In this paper, both active and critical regions are used to deal with the uncertainty of human motion. A procedure is introduced to calculate the region sizes based on worst‐case avoidance conditions. Next, a novel virtual force field‐based mobile robot navigation algorithm (termed QVFF is presented. This algorithm may be used with both holonomic and nonholonomic robots. It incorporates improved virtual force functions for avoiding moving obstacles and its stability is proven using a piecewise continuous Lyapunov function. Simulation and experimental results are provided for a human walking towards the robot and blocking the path to a goal location. Next, the proposed algorithm is compared with five state‐of‐the‐art navigation algorithms for an environment with one human walking with an unpredictable change in direction. Finally, avoidance results are presented for an environment containing three walking humans. The QVFF algorithm consistently generated collision‐free paths to the goal.

  3. JOMAR: Joint Operations with Mobile Autonomous Robots

    Science.gov (United States)

    2015-12-21

    2001]. Our method avoids exponential complexity at the expense of guaranteed convergence to the maxi - mum likelihood solution. In this paper, we...prevent a radical distortion of the graph. Second, once the null hypothesis becomes dominant, its large variance results in a very weak gradient for the...the putative (incorrect) hypothesis, and that the null hypothesis is sufficiently weak so as to not distort the final solution. The impact of the

  4. Teaching and implementing autonomous robotic lab walkthroughs in a biotech laboratory through model-based visual tracking

    Science.gov (United States)

    Wojtczyk, Martin; Panin, Giorgio; Röder, Thorsten; Lenz, Claus; Nair, Suraj; Heidemann, Rüdiger; Goudar, Chetan; Knoll, Alois

    2010-01-01

    After utilizing robots for more than 30 years for classic industrial automation applications, service robots form a constantly increasing market, although the big breakthrough is still awaited. Our approach to service robots was driven by the idea of supporting lab personnel in a biotechnology laboratory. After initial development in Germany, a mobile robot platform extended with an industrial manipulator and the necessary sensors for indoor localization and object manipulation, has been shipped to Bayer HealthCare in Berkeley, CA, USA, a global player in the sector of biopharmaceutical products, located in the San Francisco bay area. The determined goal of the mobile manipulator is to support the off-shift staff to carry out completely autonomous or guided, remote controlled lab walkthroughs, which we implement utilizing a recent development of our computer vision group: OpenTL - an integrated framework for model-based visual tracking.

  5. On Endogenous Reconfiguration in Mobile Robotic Networks

    CERN Document Server

    Savla, Ketan

    2008-01-01

    In this paper, our focus is on certain applications for mobile robotic networks, where reconfiguration is driven by factors intrinsic to the network rather than changes in the external environment. In particular, we study a version of the coverage problem useful for surveillance applications, where the objective is to position the robots in order to minimize the average distance from a random point in a given environment to the closest robot. This problem has been well-studied for omni-directional robots and it is shown that optimal configuration for the network is a centroidal Voronoi configuration and that the coverage cost belongs to $\\Theta(m^{-1/2})$, where $m$ is the number of robots in the network. In this paper, we study this problem for more realistic models of robots, namely the double integrator (DI) model and the differential drive (DD) model. We observe that the introduction of these motion constraints in the algorithm design problem gives rise to an interesting behavior. For a \\emph{sparser} net...

  6. Development of Navigation Schemes for Grouped Mobile Robots Leading to Biomimetic Applications

    Directory of Open Access Journals (Sweden)

    Ming-Hsin Chen

    2012-03-01

    Full Text Available Biomimetic autonomous group manipulation of mobile robots has great potential in artificial intelligence, smart life, and automation related applications. In addition, it is also possible to use it as a tool for exploring the behavior of biological group motion in groups such as geese and fish. In order to fulfill these goals, fundamental capabilities of identification, navigation, and communication between robots must be established. In this work, key schemes are proposed for carrying out subsequent navigation tasks. By integrating omni-wheel mobile robots with X-Bee communication protocols, Arduino controls, IR range finders, and CMOS cameras, as well as with wiimote multi-zone localization, tasks such as obstacle and collision avoidance, object following, autonomous movement, and the indoor localization of group robots are implemented as the first step toward the autonomous control of group robots for subsequent biomimetic and smart life applications. With the resolution of these key issues, more realistic scenarios can be designed to achieve real group robot applications for indoor service in the future.

  7. Autonomous Rule Based Robot Navigation In Orchards

    DEFF Research Database (Denmark)

    Andersen, Jens Christian; Ravn, Ole; Andersen, Nils Axel

    2010-01-01

    Orchard navigation using sensor-based localization and exible mission management facilitates successful missions independent of the Global Positioning System (GPS). This is especially important while driving between tight tree rows where the GPS coverage is poor. This paper suggests localization ......, obstacle avoidance, path planning and drive control. The system is tested successfully using a Hako 20 kW tractor during autonomous missions in both cherry and apple orchards with mission length of up to 2.3 km including the headland turns.......Orchard navigation using sensor-based localization and exible mission management facilitates successful missions independent of the Global Positioning System (GPS). This is especially important while driving between tight tree rows where the GPS coverage is poor. This paper suggests localization...

  8. A Study on Bipedal and Mobile Robot Behavior Through Modeling and Simulation

    Directory of Open Access Journals (Sweden)

    Nirmala Nirmala

    2015-05-01

    Full Text Available The purpose of this work is to study and analyze mobile robot behavior. In performing this, a framework is adopted and developed for mobile and bipedal robot. The robots are design, build, and run as proceed from the development of mechanical structure, electronics and control integration, and control software application. The behavior of those robots are difficult to be observed and analyzed qualitatively. To evaluate the design and behavior quality, modeling and simulation of robot structure and its task capability is performed. The stepwise procedure to robot behavior study is explained. Behavior cases study are experimented to bipedal robots, transporter robot and Autonomous Guided Vehicle (AGV developed at our institution. The experimentation are conducted on those robots by adjusting their dynamic properties and/or surrounding environment. Validation is performed by comparing the simulation result and the real robot execution. The simulation gives a more idealistic behavior execution rather than realistic one. Adjustments are performed to fine tuning simulation's parameters to provide a more realistic performance.

  9. Autonomous intelligent robotic manipulator for on-orbit servicing

    Science.gov (United States)

    Larouche, Benoit P.

    The doctoral research is to develop an autonomous intelligent robotic manipulator technology for on-orbit servicing (OOS). More specifically, the research is focused on one of the most critical tasks in OOS- the capture of a non-cooperative object whilst minimizing impact forces and accelerations. The objective of the research is: the development of a vision-based control theory, and the implementation and testing of the developed theory by designing and constructing a custom non-redundant holonomic robotic manipulator. The research validated the newly developed control theory and its ability to (i) capture a moving target autonomously and (ii) minimize unfavourable contact dynamics during the most critical parts of the capture operations between the capture satellite and a non-cooperative/tumbling object. A custom robotic manipulator functional prototype has been designed, assembled, constructed, and programmed from concept to completion in order to provide full customizability and controllability in both the hardware and the software. Based on the test platform, a thorough experimental investigation has been conducted to validate the newly developed control methodologies to govern the behaviour of the robotic manipulators (RM) in an autonomous capture. The capture itself is effected on non-cooperative targets in zero-gravity simulated environment. The RM employs a vision system, force sensors, and encoders in order to sense its environment. The control is effected through position and pseudo-torque inputs to three stepper motors and three servo motors. The controller is a modified hybrid force/neural network impedance controller based on N. Hogan's original work. The experimental results demonstrate the set objectives of this thesis have been successfully achieved.

  10. Robust performance of multiple tasks by a mobile robot

    Science.gov (United States)

    Beckerman, Martin; Barnett, Deanna L.; Dickens, Mike; Weisbin, Charles R.

    1989-01-01

    While there have been many successful mobile robot experiments, only a few papers have addressed issues pertaining to the range of applicability, or robustness, of robotic systems. The purpose of this paper is to report results of a series of benchmark experiments done to determine and quantify the robustness of an integrated hardware and software system of a mobile robot.

  11. Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot

    Directory of Open Access Journals (Sweden)

    Max Schwarz

    2016-10-01

    Full Text Available Planetary exploration scenarios illustrate the need for autonomous robots that are capable to operate in unknown environments without direct human interaction. At the DARPA Robotics Challenge, we demonstrated that our Centaur-like mobile manipulation robot Momaro can solve complex tasks when teleoperated. Motivated by the DLR SpaceBot Cup 2015, where robots should explore a Mars-like environment, find and transport objects, take a soil sample, and perform assembly tasks, we developed autonomous capabilities for Momaro. Our robot perceives and maps previously unknown, uneven terrain using a 3D laser scanner. Based on the generated height map, we assess drivability, plan navigation paths, and execute them using the omnidirectional drive. Using its four legs, the robot adapts to the slope of the terrain. Momaro perceives objects with cameras, estimates their pose, and manipulates them with its two arms autonomously. For specifying missions, monitoring mission progress, on-the-fly reconfiguration, and teleoperation, we developed a ground station with suitable operator interfaces. To handle network communication interruptions and latencies between robot and ground station, we implemented a robust network layer for the ROS middleware. With the developed system, our team NimbRo Explorer solved all tasks of the DLR SpaceBot Camp 2015. We also discuss the lessons learned from this demonstration.

  12. Spectral Control of Mobile Robot Networks

    CERN Document Server

    Zavlanos, Michael M; Jadbabaie, Ali

    2010-01-01

    The eigenvalue spectrum of the adjacency matrix of a network is closely related to the behavior of many dynamical processes run over the network. In the field of robotics, this spectrum has important implications in many problems that require some form of distributed coordination within a team of robots. In this paper, we propose a continuous-time control scheme that modifies the structure of a position-dependent network of mobile robots so that it achieves a desired set of adjacency eigenvalues. For this, we employ a novel abstraction of the eigenvalue spectrum by means of the adjacency matrix spectral moments. Since the eigenvalue spectrum is uniquely determined by its spectral moments, this abstraction provides a way to indirectly control the eigenvalues of the network. Our construction is based on artificial potentials that capture the distance of the network's spectral moments to their desired values. Minimization of these potentials is via a gradient descent closed-loop system that, under certain convex...

  13. Design, Development, and Mobility Test of an Omnidirectional Mobile Robot for Rough Terrain

    Science.gov (United States)

    2012-01-01

    Isotropy for ASOC Design All omnidirectional mobile robots are able to instantaneously travel in any planar direction. However, while some...omnidirectional mobile robots exhibit preferred directions of travel, others exhibit equal mobility characteristics in all directions, i.e. “isotropic...Redundantly Actuated Omni-directional Mobile Robots . In: Proc. of the 2002 IEEE Int. Conf. on Robotics and Automation, Washington DC, pp. 732–737. 13

  14. Mobile robots III; Proceedings of the Meeting, Cambridge, MA, Nov. 10, 11, 1988

    Energy Technology Data Exchange (ETDEWEB)

    Wolfe, W.J.

    1989-01-01

    Topics discussed include path planning, terrain classification, planetary rovers, navigation, architecture and control, three-dimensional sensing, and behavior specification. Particular papers are presented on a minimum path algorithm among three-dimensional polyhedral objects, parallel off-road perception processing on the autonomous land vehicle, hazard avoidance for a Mars rover, color vision for road following, a pipeline architecture for near real-time stereo range detection, a computational structure for enforcing reactive behavior in a mobile robot, and homeostatic control for a mobile robot.

  15. Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing Simulation Capability

    Science.gov (United States)

    Negrut, Dan; Mazhar, Hammad; Melanz, Daniel; Lamb, David; Jayakumar, Paramsothy; Letherwood, Michael; Jain, Abhinandan; Quadrelli, Marco

    2012-01-01

    This paper is concerned with the physics-based simulation of light tracked vehicles operating on rough deformable terrain. The focus is on small autonomous vehicles, which weigh less than 100 lb and move on deformable and rough terrain that is feature rich and no longer representable using a continuum approach. A scenario of interest is, for instance, the simulation of a reconnaissance mission for a high mobility lightweight robot where objects such as a boulder or a ditch that could otherwise be considered small for a truck or tank, become major obstacles that can impede the mobility of the light autonomous vehicle and negatively impact the success of its mission. Analyzing and gauging the mobility and performance of these light vehicles is accomplished through a modeling and simulation capability called Chrono::Engine. Chrono::Engine relies on parallel execution on Graphics Processing Unit (GPU) cards.

  16. Mobile Robot for Life Science Automation

    Directory of Open Access Journals (Sweden)

    Hui Liu

    2013-07-01

    Full Text Available The paper presents a control system for mobile robots in distributed life science laboratories. The system covers all technical aspects of laboratory mobile robotics. In this system: (a to get an accurate and low-cost robot localization, a method using a StarGazer module with a number of ceiling landmarks is utilized; (b to have an expansible communication network, a standard IEEE 802.11g wireless network is adopted and a XML-based command protocol is designed for the communication between the remote side and the robot board side; (c to realize a function of dynamic obstacle measurement and collision avoidance, an artificial potential field method based on a Microsoft Kinect sensor is used; and (d to determine the shortest paths for transportation tasks, a hybrid planning strategy based on a Floyd algorithm and a Genetic Algorithm (GA is proposed. Additionally, to make the traditional GA method suitable for the laboratory robot’s routing, a series of optimized works are also provided in detail. Two experiments show that the proposed system and its control strategy are effective for a complex life science laboratory.

  17. Intelligent Mobile Robot Control in Unknown Environments

    Science.gov (United States)

    Mester, Gyula

    This paper gives the fuzzy reactive control of a wheeled mobile robot motion in an unknown environment with obstacles. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. When the vehicle is moving towards the target and the sensors detect an obstacle, an avoiding strategy is necessary. We proposed a fuzzy reactive navigation strategy of collision-free motion in an unknown environment with obstacles. First, the vehicle kinematics constraints and kinematics model are analyzed. Then the fuzzy reactive control of a wheeled mobile robot motion in an unknown environment with obstacles is proposed. Output of the fuzzy controller is the angular speed difference between the left and right wheels (wheel angular speed correction) of the vehicle. The simulation results show the effectiveness and the validity of the obstacle avoidance behavior in an unknown environment of the proposed fuzzy control strategy.

  18. Controllability of a multibody mobile robot

    Energy Technology Data Exchange (ETDEWEB)

    Laumond, J.P. (LAAS/CNRS, Toulouse (France))

    1993-12-01

    This paper presents a proof of controllability for a multibody mobile robot (e.g., a car pulling and pushing trailers like a luggage carrier in an airport). Such systems appear as canonical systems to illustrate the tools from differential geometric control theory required by nonholonomic motion planning. Three modeling steps are considered: geometric, differential, and control steps. The author derives the kinematic equations for four distinct multibody mobile robot systems: a convoy driven by (1) a unicycle, (2) a two-driving wheels vehicle, (3) a real and (4) the first two bodies. He shows that these four control systems correspond to the same differential model, which is then used to give the same proof of controllability. Previous work proved the controllability of two-body systems and three body systems. The main result of this paper is proving the controllability for a general n-body system.

  19. An active view planning method for mobile robots using a trinocular visual sensor

    Science.gov (United States)

    Kim, Min Y.; Cho, Hyungsuck

    2003-10-01

    The ability of mobile robots to perceive and recognize environments is essential for autonomous navigation. To improve the performance of autonomous environment perception for mobile robots, it is important to effectively plan the next pose (position and orientation) of the sensor system at a current navigation state. In this paper, we propose a next-view-planning method for autonomous map construction needed for mobile robots with visual range sensor systems. The proposed view-planning method mimics the decision-making method of human beings, and uses the occlusion information reduced from the geometric relationship between the sensor view and objects as an important clue for the next sensor view planning. The proposed view-planning algorithms are developed in the following steps: 1) Given a prior map and range measurements sensed at a current location of the mobile robot, it is determined which parts in the map are interested in a view of solving the map uncertainty. 2) Based on the selected potential regions, some candidate poses of the sensor system for the next environment sensing are carefully generated. 3) The created candidates are evaluated by using a specially designed evaluation parameter, and the best one of them is selected as a next sensor position based on a fuzzy decision-making method. In this work, the principle of the view planning method is described in detail, and a series of experimental tests is performed to show the feasibility of the method for autonomous map building. For sensing the environments, an active trinocular vision sensor using laser structured light is utilized, which is mounted on the pan-tilt mechanism of the mobile robot, which is composed of a laser stripe projector and two cameras.

  20. Neural dynamics for mobile robot adaptive control

    OpenAIRE

    Oubbati, Mohamed

    2006-01-01

    In this thesis, we investigate how dynamics in recurrent neural networks can be used to solve some specific mobile robot problems. We have designed a motion control approach based on a novel recurrent neural network. The advantage of this approach is that, no knowledge about the dynamic model is required, and no synaptic weight changing is needed in presence of time varying parameters. Furthermore, this approach allows a single fixed-weight network to act as a dynamic controller for several d...

  1. Neurobiologically inspired mobile robot navigation and planning

    Directory of Open Access Journals (Sweden)

    Mathias Quoy

    2007-11-01

    Full Text Available After a short review of biologically inspired navigation architectures, mainly relying on modeling the hippocampal anatomy, or at least some of its functions, we present a navigation and planning model for mobile robots. This architecture is based on a model of the hippocampal and prefrontal interactions. In particular, the system relies on the definition of a new cell type “transition cells” that encompasses traditional “place cells”.

  2. Airborne Chemical Sensing with Mobile Robots

    Science.gov (United States)

    Lilienthal, Achim J.; Loutfi, Amy; Duckett, Tom

    2006-01-01

    Airborne chemical sensing with mobile robots has been an active research area since the beginning of the 1990s. This article presents a review of research work in this field, including gas distribution mapping, trail guidance, and the different subtasks of gas source localisation. Due to the difficulty of modelling gas distribution in a real world environment with currently available simulation techniques, we focus largely on experimental work and do not consider publications that are purely based on simulations.

  3. Platooning strategy of mobile robot: simulation and experiment

    OpenAIRE

    Baarath K.; Zakaria Muhammad Aizzat; Suparmaniam M.V.; Abu Mohd Yazid bin

    2017-01-01

    Concurrent studies show vehicle platooning system as a promising approach for a new transportation system. The platooning strategy can be also applied to automated mobile robots. Including dynamic modelling in the simulation with kinematic model would yield a different result as the dynamic modelling would include the physical parameters of the mobile robot. The aim is to create a model that describes the motion of a robot that follows another robot based on predetermined distance. Dynamic mo...

  4. Sensor fusion by pseudo information measure: a mobile robot application.

    Science.gov (United States)

    Asharif, Mohammad Reza; Moshiri, Behzad; HoseinNezhad, Reza

    2002-07-01

    In any autonomous mobile robot, one of the most important issues to be designed and implemented is environment perception. In this paper, a new approach is formulated in order to perform sensory data integration for generation of an occupancy grid map of the environment. This method is an extended version of the Bayesian fusion method for independent sources of information. The performance of the proposed method of fusion and its sensitivity are discussed. Map building simulation for a cylindrical robot with eight ultrasonic sensors and mapping implementation for a Khepera robot have been separately tried in simulation and experimental works. A new neural structure is introduced for conversion of proximity data that are given by Khepera IR sensors to occupancy probabilities. Path planning experiments have also been applied to the resulting maps. For each map, two factors are considered and calculated: the fitness and the augmented occupancy of the map with respect to the ideal map. The length and the least distance to obstacles were the other two factors that were calculated for the routes that are resulted by path planning experiments. Experimental and simulation results show that by using the new fusion formulas, more informative maps of the environment are obtained. By these maps more appropriate routes could be achieved. Actually, there is a tradeoff between the length of the resulting routes and their safety and by choosing the proper fusion function, this tradeoff is suitably tuned for different map building applications.

  5. Mobile Gait Tracking Using Ms Kinect and Robotic Platform

    Directory of Open Access Journals (Sweden)

    Jan CRHA

    2015-06-01

    Full Text Available Computer vision is a fast developing field of science. Activity monitoring and analysis belongs to this topic. Our application is focused on gait monitoring and analysis. The novelty of this attitude is in the combination of the MS Kinect v2 sensor for capturing the gait pattern and mobility of such sensor thanks to placing this device on a robotic platform. Crucial part of this project is the hardware solution and autonomous function of this recording set. The designed platform is a six-wheeled robotic platform controlled by a micro controller using the depth information from the Kinect sensor and the distance driven by robot provided by encoders attached to every motor. The following research is devoted to the proposal of methods for a precise and as narrow as possible control of the platform and post processing of records for a features selection and a classification of physical activities and early diagnostics of gait disorders, primarily the Parkinson’s disease.

  6. Autonomous robot navigation based on the evolutionary multi-objective optimization of potential fields

    Science.gov (United States)

    Herrera Ortiz, Juan Arturo; Rodríguez-Vázquez, Katya; Padilla Castañeda, Miguel A.; Arámbula Cosío, Fernando

    2013-01-01

    This article presents the application of a new multi-objective evolutionary algorithm called RankMOEA to determine the optimal parameters of an artificial potential field for autonomous navigation of a mobile robot. Autonomous robot navigation is posed as a multi-objective optimization problem with three objectives: minimization of the distance to the goal, maximization of the distance between the robot and the nearest obstacle, and maximization of the distance travelled on each field configuration. Two decision makers were implemented using objective reduction and discrimination in performance trade-off. The performance of RankMOEA is compared with NSGA-II and SPEA2, including both decision makers. Simulation experiments using three different obstacle configurations and 10 different routes were performed using the proposed methodology. RankMOEA clearly outperformed NSGA-II and SPEA2. The robustness of this approach was evaluated with the simulation of different sensor masks and sensor noise. The scheme reported was also combined with the wavefront-propagation algorithm for global path planning.

  7. Navigation and Control of a Wheeled Mobile Robot

    Science.gov (United States)

    2005-01-01

    IEEE Transactions on Robotics and Automation, Vol. 16, No. 5, pp. 615- 620, (2000). [10] J. Guldner and...V. I. Utkin, �Sliding Mode Con- trol for Gradient Tracking and Robot Navigation Us- ing ArtiÞcial Potential Fields,� IEEE Transactions on Robotics and...P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray, �A Motion Planner for Nonholonomic Mobile Robots,� IEEE Transactions on Robotics and Automa-

  8. Design and implementation of modular software for programming mobile robots

    Directory of Open Access Journals (Sweden)

    Luca Iocchi

    2008-11-01

    Full Text Available This article describes a software development toolkit for programming mobile robots, that has been used on different platforms and for different robotic applications. We address design choices, implementation issues and results in the realization of our robot programming environment, that has been devised and built from many people since 1998. We believe that the proposed framework is extremely useful not only for experienced robotic software developers, but also for students approaching robotic research projects.

  9. Intelligent Mobile Robot Motion Control in Unstructured Environments

    Directory of Open Access Journals (Sweden)

    Gyula Mester

    2010-11-01

    Full Text Available This paper presents the intelligent wheeled mobile robot motion control inunstructured environments. The fuzzy control of a wheeled mobile robot motion inunstructured environments with obstacles and slopes is proposed. Outputs of the fuzzycontroller are the angular speed difference between the left and right wheels of the mobilerobot and the mobile robot velocity. The simulation results show the effectiveness and thevalidity of the obstacle avoidance behavior in an unstructured environment and the velocitycontrol of a wheeled mobile robot motion of the proposed fuzzy control strategy. Wirelesssensor-based remote control of mobile robots motion in unstructured environments usingthe Sun SPOT technology is proposed. The proposed method has been implemented on theminiature mobile robot Khepera that is equipped with sensors. Finally, the effectivenessand efficiency of the proposed sensor-based remote control strategy are demonstrated byexperimental studies and good experimental results.

  10. Non-destructive inspection in industrial equipment using robotic mobile manipulation

    Science.gov (United States)

    Maurtua, Iñaki; Susperregi, Loreto; Ansuategui, Ander; Fernández, Ane; Ibarguren, Aitor; Molina, Jorge; Tubio, Carlos; Villasante, Cristobal; Felsch, Torsten; Pérez, Carmen; Rodriguez, Jorge R.; Ghrissi, Meftah

    2016-05-01

    MAINBOT project has developed service robots based applications to autonomously execute inspection tasks in extensive industrial plants in equipment that is arranged horizontally (using ground robots) or vertically (climbing robots). The industrial objective has been to provide a means to help measuring several physical parameters in multiple points by autonomous robots, able to navigate and climb structures, handling non-destructive testing sensors. MAINBOT has validated the solutions in two solar thermal plants (cylindrical-parabolic collectors and central tower), that are very demanding from mobile manipulation point of view mainly due to the extension (e.g. a thermal solar plant of 50Mw, with 400 hectares, 400.000 mirrors, 180 km of absorber tubes, 140m height tower), the variability of conditions (outdoor, day-night), safety requirements, etc. Once the technology was validated in simulation, the system was deployed in real setups and different validation tests carried out. In this paper two of the achievements related with the ground mobile inspection system are presented: (1) Autonomous navigation localization and planning algorithms to manage navigation in huge extensions and (2) Non-Destructive Inspection operations: thermography based detection algorithms to provide automatic inspection abilities to the robots.

  11. Using Robotic Operating System (ROS) to control autonomous observatories

    Science.gov (United States)

    Vilardell, Francesc; Artigues, Gabriel; Sanz, Josep; García-Piquer, Álvaro; Colomé, Josep; Ribas, Ignasi

    2016-07-01

    Astronomical observatories are complex systems requiring the integration of numerous devices into a common platform. We are presenting here the firsts steps to integrate the popular Robotic Operating System (ROS) into the control of a fully autonomous observatory. The observatory is also equipped with a decision-making procedure that can automatically react to a changing environment (like weather events). The results obtained so far have shown that the automation of a small observatory can be greatly simplified when using ROS, as well as robust, with the implementation of our decision-making algorithms.

  12. Unified Approach To Control Of Motions Of Mobile Robots

    Science.gov (United States)

    Seraji, Homayoun

    1995-01-01

    Improved computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Present scheme similar to one described in "Coordinated Control of Mobile Robotic Manipulators" (NPO-19109). Both schemes based on configuration-control formalism. Present one incorporates explicit distinction between holonomic and nonholonomic constraints. Several other prior articles in NASA Tech Briefs discussed aspects of configuration-control formalism. These include "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes with Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

  13. HERMIES-3: A step toward autonomous mobility, manipulation, and perception

    Science.gov (United States)

    Weisbin, C. R.; Burks, B. L.; Einstein, J. R.; Feezell, R. R.; Manges, W. W.; Thompson, D. H.

    1989-01-01

    HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

  14. Value-Based Communication Preservation for Mobile Robots

    Science.gov (United States)

    2006-01-01

    Value-Based Communication Preservation for Mobile Robots Matthew Powers and Tucker Balch Borg Lab College of Computing Georgia Institute of...SUBTITLE Value-Based Communication Preservation for Mobile Robots 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d...for Mobile Robots 3 to reach nodes in the network and the identities of other nodes in the network. The algorithm explained below relies on this type

  15. Systems Engineering as a critical tool in mobile robot simulation

    Directory of Open Access Journals (Sweden)

    Citlalih Yollohtli Alejandra Gutiérrez Estrada

    2013-01-01

    Full Text Available This paper explains a mobile robot simulation process in a static scenario with obstacles, which generated a location map supported by various prototypes created throughout the project, used to analyze the behavior of autonomous navigation algorithms and implemented mapping. This project had the management and formalization support from Software Systems Engineering through the spiral lifecycle model, used to develop and test the intended processes and human reasoning. Each step of the spiral lifecycle model iteration considered the goals, artificial intelligence (AI and simulation aspects by identifying the robot’s purpose, as well as solution alternatives to define the methods to achieve the intended goals. As a project with a common objective for a multidisciplinary research group, the work and results obtained by means of systems engineering allowed tackling the interests of several end users and handling functional and non-functional requirements separately.

  16. Ambient Intelligence Application Based on Environmental Measurements Performed with an Assistant Mobile Robot

    Directory of Open Access Journals (Sweden)

    Dani Martinez

    2014-03-01

    Full Text Available This paper proposes the use of an autonomous assistant mobile robot in order to monitor the environmental conditions of a large indoor area and develop an ambient intelligence application. The mobile robot uses single high performance embedded sensors in order to collect and geo-reference environmental information such as ambient temperature, air velocity and orientation and gas concentration. The data collected with the assistant mobile robot is analyzed in order to detect unusual measurements or discrepancies and develop focused corrective ambient actions. This paper shows an example of the measurements performed in a research facility which have enabled the detection and location of an uncomfortable temperature profile inside an office of the research facility. The ambient intelligent application has been developed by performing some localized ambient measurements that have been analyzed in order to propose some ambient actuations to correct the uncomfortable temperature profile.

  17. Autonomous Personal Mobility Scooter for Multi-Class Mobility-On-Demand Service

    OpenAIRE

    Andersen, Hans; Eng, You Hong; Leong, Wei Kang; Zhang, Chen; Kong, Hai Xun; Pendleton, Scott; Ang, Marcelo H., Jr.; Rus, Daniela L.

    2016-01-01

    In this paper, we describe the design and development of an autonomous personal mobility scooter that was used in public trials during the 2016 MIT Open House, for the purpose of raising public awareness and interest about autonomous vehicles. The scooter is intended to work cooperatively with other classes of autonomous vehicles such as road cars and golf cars to improve the efficacy of Mobility-on-Demand transportation solutions. The scooter is designed to be robust, reliable, and safe, whi...

  18. Design of a Micro-Autonomous Robot for Use in Astronomical Instruments

    Science.gov (United States)

    Cochrane, W. A.; Luo, X.; Lim, T.; Taylor, W. D.; Schnetler, H.

    2012-07-01

    A Micro-Autonomous Positioning System (MAPS) has been developed using micro-autonomous robots for the deployment of small mirrors within multi-object astronomical instruments for use on the next generation ground-based telescopes. The micro-autonomous robot is a two-wheel differential drive robot with a footprint of approximately 20 × 20 mm. The robot uses two brushless DC Smoovy motors with 125:1 planetary gearheads for positioning the mirror. This article describes the various elements of the overall system and in more detail the various robot designs. Also described in this article is the build and test of the most promising design, proving that micro-autonomous robot technology can be used in precision controlled applications.

  19. Using insect electroantennogram sensors on autonomous robots for olfactory searches.

    Science.gov (United States)

    Martinez, Dominique; Arhidi, Lotfi; Demondion, Elodie; Masson, Jean-Baptiste; Lucas, Philippe

    2014-08-04

    Robots designed to track chemical leaks in hazardous industrial facilities or explosive traces in landmine fields face the same problem as insects foraging for food or searching for mates: the olfactory search is constrained by the physics of turbulent transport. The concentration landscape of wind borne odors is discontinuous and consists of sporadically located patches. A pre-requisite to olfactory search is that intermittent odor patches are detected. Because of its high speed and sensitivity, the olfactory organ of insects provides a unique opportunity for detection. Insect antennae have been used in the past to detect not only sex pheromones but also chemicals that are relevant to humans, e.g., volatile compounds emanating from cancer cells or toxic and illicit substances. We describe here a protocol for using insect antennae on autonomous robots and present a proof of concept for tracking odor plumes to their source. The global response of olfactory neurons is recorded in situ in the form of electroantennograms (EAGs). Our experimental design, based on a whole insect preparation, allows stable recordings within a working day. In comparison, EAGs on excised antennae have a lifetime of 2 hr. A custom hardware/software interface was developed between the EAG electrodes and a robot. The measurement system resolves individual odor patches up to 10 Hz, which exceeds the time scale of artificial chemical sensors. The efficiency of EAG sensors for olfactory searches is further demonstrated in driving the robot toward a source of pheromone. By using identical olfactory stimuli and sensors as in real animals, our robotic platform provides a direct means for testing biological hypotheses about olfactory coding and search strategies. It may also prove beneficial for detecting other odorants of interests by combining EAGs from different insect species in a bioelectronic nose configuration or using nanostructured gas sensors that mimic insect antennae.

  20. Mobile robot navigation in unknown static environments using ANFIS controller

    Directory of Open Access Journals (Sweden)

    Anish Pandey

    2016-09-01

    Full Text Available Navigation and obstacle avoidance are the most important task for any mobile robots. This article presents the Adaptive Neuro-Fuzzy Inference System (ANFIS controller for mobile robot navigation and obstacle avoidance in the unknown static environments. The different sensors such as ultrasonic range finder sensor and sharp infrared range sensor are used to detect the forward obstacles in the environments. The inputs of the ANFIS controller are obstacle distances obtained from the sensors, and the controller output is a robot steering angle. The primary objective of the present work is to use ANFIS controller to guide the mobile robot in the given environments. Computer simulations are conducted through MATLAB software and implemented in real time by using C/C++ language running Arduino microcontroller based mobile robot. Moreover, the successful experimental results on the actual mobile robot demonstrate the effectiveness and efficiency of the proposed controller.

  1. Intelligent Vision System for Door Sensing Mobile Robot

    Directory of Open Access Journals (Sweden)

    Jharna Majumdar

    2012-08-01

    Full Text Available Wheeled Mobile Robots find numerous applications in the Indoor man made structured environments. In order to operate effectively, the robots must be capable of sensing its surroundings. Computer Vision is one of the prime research areas directed towards achieving these sensing capabilities. In this paper, we present a Door Sensing Mobile Robot capable of navigating in the indoor environment. A robust and inexpensive approach for recognition and classification of the door, based on monocular vision system helps the mobile robot in decision making. To prove the efficacy of the algorithm we have designed and developed a ‘Differentially’ Driven Mobile Robot. A wall following behavior using Ultra Sonic range sensors is employed by the mobile robot for navigation in the corridors.  Field Programmable Gate Arrays (FPGA have been used for the implementation of PD Controller for wall following and PID Controller to control the speed of the Geared DC Motor.

  2. Terpsichore. ENEA's autonomous robotics project; Progetto Tersycore, la robotica autonoma

    Energy Technology Data Exchange (ETDEWEB)

    Taraglio, S.; Zanela, S.; Santini, A.; Nanni, V. [ENEA, Centro Ricerche Casaccia, Rome (Italy). Div. Robotica e Informatica Avanzata

    1999-10-01

    The article presents some of the Terpsichore project's results aimed to developed and test algorithms and applications for autonomous robotics. Four applications are described: dynamic mapping of a building's interior through the use of ultrasonic sensors; visual drive of an autonomous robot via a neural network controller; a neural network-based stereo vision system that steers a robot through unknown indoor environments; and the evolution of intelligent behaviours via the genetic algorithm approach.

  3. Study on a human guidance method for autonomous cruise of indoor robot

    Science.gov (United States)

    Jia, Bao-Zhi; Zhu, Ming

    2011-12-01

    This paper describes a method of human guidance for autonomous cruise of indoor robot. A low-cost robot follows a person in a room and notes the path for autonomous cruise using its monocular vision. A method of video-based object detection and tracking is taken to detect the target by the video received from the robot's camera. The validity of the human guidance method is proved by the experiment.

  4. Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

    DEFF Research Database (Denmark)

    Christensen, David Johan; Andersen, Jens Christian; Blanke, Mogens;

    This paper provides a brief overview of an underwater robotic system for autonomous inspection in confined offshore underwater structures. The system, which is currently in development, consist of heterogeneous modular robots able to physically dock and communicate with other robots, transport...... tools and robots, and recharge their batteries while underwater. These properties will provide the system, when fully developed, with unique capabilities such as ability to adapt robotic morphology and function to the current task and tolerate failures leading to long-term autonomous operations....

  5. Chemical Source Localization using Mobile Robots in Indoor Arena

    Directory of Open Access Journals (Sweden)

    Yuli Zhang

    2013-07-01

    Full Text Available This paper presents a virtual-physics force based control strategy for swarm robotic chemical source localization. The control force includes: structure formation force, goal force, and obstacle avoidant force. For swarm formation, the robots maintain the regular polygon formation and a virtual robot is located at the center of the polygon. The motion of the virtual robot depends on the goal force which obtained from the sensor observations of the robots. Once the virtual robot moved to a new place, the robots would also move as a single body with the structure formation force and obstacle avoidant force. In this paper, we adopted chemotaxis as plume tracing algorithms. Simulation experiments in indoor arena without obstacle and with obstacles using different robot number are carried out respectively, and the results show that the proposed strategy can effectively navigate the mobile robotics swarms to the chemical source once selecting proper number of robots.  

  6. Rule-based Dynamic Safety Monitoring for Mobile Robots

    DEFF Research Database (Denmark)

    Adam, Marian Sorin; Larsen, Morten; Jensen, Kjeld;

    2016-01-01

    —Safety is a key challenge in robotics, in particular for mobile robots operating in an open and unpredictable environment. Safety certification is desired for commercial robots, but no existing approaches for addressing the safety challenge provide a clearly specified and isolated safety layer...

  7. A Fuzzy Logic Behavior Architecture Controller for a Mobile Robot Path Planning in Multi-obstacles Environment

    Directory of Open Access Journals (Sweden)

    Zhu Qi-dan

    2013-04-01

    Full Text Available The path planning and obstacle avoidance are the most important tasks for an autonomous mobile robot moving in an unknown environment. This paper presents a simple fuzzy logic controller which involves searching target and path planning with obstacle avoidance. In this contest, fuzzy logic controllers are constructed for target searching behavior and obstacle avoidance behavior based on the distance and angle between the robot and the target as inputs for the first behavior and the distance between the robot and the nearest obstacle for the second behavior; then a third fusion behavior is developed to combine the outputs of the two behaviors to compute the speed of the mobile robot in order to fulfill its task properly. Simulation results show that the proposed approach is efficient and can be applied to the mobile robots moving in unknown environments.

  8. Mobile robots in research and development programs at the Savannah River site

    Energy Technology Data Exchange (ETDEWEB)

    Martin, T.P.; Byrd, J.S.; Fisher, J.J.

    1987-01-01

    Mobile robots for deployment in nuclear applications at the Savannah River Plant (SRP) have been developed. Teleoperated mobile vehicles have been successfully used for several onsite applications. Development work using two research vehicles is underway to demonstrate semi-autonomous intelligent expert robot system operation in process areas. A description of the mechanical equipment, control systems, and operating modes of these vehicles is presented, including the integration of onboard sensors. A control hierarchy that uses modest computational methods is being developed at SRL to allow vehicles to autonomously navigate and perform tasks in known environments, without the need for large computer systems. Knowledge-based expert systems are being evaluated to simplify operator control, to assist in navigation functions, and to analyze sensory information.

  9. A Survey of Collective Movement of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Iñaki Navarro

    2013-01-01

    Full Text Available Collective movement of mobile robots is the problem of how to control a group of robots making them move as a group, in a cohesive way, towards a common direction. Collective movement serves not only to move a group of robots from one point to another, but to perform more complex tasks such as using the group of robots as a moving sensor array, collective mapping and searching tasks. In this article, a survey of collective movement of mobile robots is done, including a classification and characterization of its different types, a review of the most important architectures and a list of its promising applications.

  10. A Connectionism Approach to the Emulation of Multi-Agent Mobile Robots

    OpenAIRE

    Massey, S; Zalzala, A.M.S.

    1994-01-01

    The work presented in this report deals with the modelling and subsequent neural network emulation of autonomous mobile robots, moving in pre-defined environments in response to given control signals. This work was undertaken with the intention of training neural network based controllers for the vehicles, in order to control them whilst they performed required navigational tasks, whilst avoiding collisions with each other and with environmental obstacles. The required modelling was carried o...

  11. Hybrid stabilizing control on a real mobile robot

    NARCIS (Netherlands)

    Oelen, Wilco; Berghuis, Harry; Nijmeijer, Henk; Canudas de Wit, Carlos

    1995-01-01

    To establish empirical verification of a stabilizing controller for nonholonomic systems, the authors implement a hybrid control concept on a 2-DOF mobile robot. Practical issues of velocity control are also addressed through a velocity controller which transforms the mobile robot to a new system wi

  12. Research on mobile robot navigation based on gyro

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    <正>A kind of mobile robot navigation system based on Silicon gyro was designed in this paper.First,full-field emplacement theory was discussed.Second,using TMS320F2812 DSP and CRS03 sensor,useful signal was extracted by signal conditioning circuit.Finally,the location of mobile robot was confirmed through digital filtering and gyro date processing.

  13. Using Advanced Computer Vision Algorithms on Small Mobile Robots

    Science.gov (United States)

    2006-04-20

    this approach is the implementation of advanced computer vision algorithms on small mobile robots . We demonstrate the implementation and testing of the...following two algorithms useful on mobile robots : (1) object classification using a boosted Cascade of classifiers trained with the Adaboost training

  14. Localization of Wheeled Mobile Robot Based on Extended Kalman Filtering

    Directory of Open Access Journals (Sweden)

    Li Guangxu

    2015-01-01

    Full Text Available A mobile robot localization method which combines relative positioning with absolute orientation is presented. The code salver and gyroscope are used for relative positioning, and the laser radar is used to detect absolute orientation. In this paper, we established environmental map, multi-sensor information fusion model, sensors and robot motion model. The Extended Kalman Filtering (EKF is adopted as multi-sensor data fusion technology to realize the precise localization of wheeled mobile robot.

  15. The 1996 AAAI Mobile Robot Competition and Exhibition

    OpenAIRE

    Kortenkamp, David; Nourbakhsh, Illah; Hinkle, David

    1997-01-01

    The Fifth Annual AAAI Mobile Robot Competition and Exhibition was held in Portland, Oregon, in conjunction with the Thirteenth National Conference on Artificial Intelligence. The competition consisted of two events: (1) Office Navigation and (2) Clean Up the Tennis Court. The first event stressed navigation and planning. The second event stressed vision sensing and manipulation. In addition to the competition, there was a mobile robot exhibition in which teams demonstrated robot behaviors tha...

  16. Distributed Mobile Robot Localization and Communication System for Special Interventions

    OpenAIRE

    Sales Gil, Jorge

    2011-01-01

    This thesis focuses on the development of a distributed mobile robot localization and communication system for special interventions like those carried out by fire-fighters in fire ground search and rescue. The use case scenario is related to the one described for the GUARDIANS EU project, where a swarm formation of mobile robots accompany a fire fighter during a rescue intervention in a warehouse. In this line, localizing the robots and the fire fighter during an indoor intervention with the...

  17. Study of Self-Organization Model of Multiple Mobile Robot

    OpenAIRE

    Li Shu-qin; Ceng Xian-yi; Xia De-shen

    2006-01-01

    A good organization model of multiple mobile robot should be able to improve the efficiency of the system, reduce the complication of robot interactions, and detract the difficulty of computation. From the sociology aspect of topology, structure and organization, this paper studies the multiple mobile robot organization formation and running mechanism in the dynamic, complicated and unknown environment. It presents and describes in detail a Hierarchical- Web Recursive Organization Model (HWRO...

  18. A Modular Approach for a Family of Ground Mobile Robots

    Directory of Open Access Journals (Sweden)

    Giuseppe Quaglia

    2013-07-01

    Full Text Available This paper deals with Epi.q, a family of mobile robots whose main characteristic is a wheel-legged hybrid locomotion. These multi-purpose robots can be successfully exploited for security and surveillance tasks. The document presents state of the art security robotics, the Epi.q mechanical architecture, the concept behind the robot driving unit, three prototypes and the design of a new one.

  19. Indoor monocular mobile robot navigation based on color landmarks

    Institute of Scientific and Technical Information of China (English)

    LUO Yuan; ZHANG Bai-sheng; ZHANG Yi; LI Ling

    2009-01-01

    A robot landmark navigation system based on monocular camera was researched theoretically and experimentally. First the landmark setting and its data structure in programming was given; then the coordinates of them getting by robot and global localization of the robot was described; finally experiments based on Pioneer III mobile robot show that this system can work well at different topographic situation without lose of signposts.

  20. Multi-sensors multi-baseline mapping system for mobile robot using stereovision camera and laser-range device

    Directory of Open Access Journals (Sweden)

    Mohammed Faisal

    2016-06-01

    Full Text Available Countless applications today are using mobile robots, including autonomous navigation, security patrolling, housework, search-and-rescue operations, material handling, manufacturing, and automated transportation systems. Regardless of the application, a mobile robot must use a robust autonomous navigation system. Autonomous navigation remains one of the primary challenges in the mobile-robot industry; many control algorithms and techniques have been recently developed that aim to overcome this challenge. Among autonomous navigation methods, vision-based systems have been growing in recent years due to rapid gains in computational power and the reliability of visual sensors. The primary focus of research into vision-based navigation is to allow a mobile robot to navigate in an unstructured environment without collision. In recent years, several researchers have looked at methods for setting up autonomous mobile robots for navigational tasks. Among these methods, stereovision-based navigation is a promising approach for reliable and efficient navigation. In this article, we create and develop a novel mapping system for a robust autonomous navigation system. The main contribution of this article is the fuse of the multi-baseline stereovision (narrow and wide baselines and laser-range reading data to enhance the accuracy of the point cloud, to reduce the ambiguity of correspondence matching, and to extend the field of view of the proposed mapping system to 180°. Another contribution is the pruning the region of interest of the three-dimensional point clouds to reduce the computational burden involved in the stereo process. Therefore, we called the proposed system multi-sensors multi-baseline mapping system. The experimental results illustrate the robustness and accuracy of the proposed system.

  1. Obstacle Avoidance of mobile robot using PSO based Neuro Fuzzy Technique

    Directory of Open Access Journals (Sweden)

    Sourav Dutta

    2010-03-01

    Full Text Available Navigation and obstacle avoidance are veryimportant issues for the successful use of an autonomous mobilerobot. To allow the robot to move between its current and finalconfigurations without any collision within the surroundingenvironment, motion planning needs much treatment. Thus togenerate collision free path it should have proper motionplanning as well as obstacle avoidance scheme. This work mainlydeals with the obstacle avoidance of a wheeled mobile robot instructured environment by using PSO based neuro-fuzzyapproach. Here three layer neural network with PSO is used aslearning algorithm to determine the optimal collision-free path.

  2. A Component-Oriented Programming for Embedded Mobile Robot Software

    Directory of Open Access Journals (Sweden)

    Safaai Deris

    2008-11-01

    Full Text Available Applying software reuse to many Embedded Real-Time (ERT systems poses significant challenges to industrial software processes due to the resource-constrained and real-time requirements of the systems. Autonomous Mobile Robot (AMR system is a class of ERT systems, hence, inherits the challenge of applying software reuse in general ERT systems. Furthermore, software reuse in AMR systems is challenged by the diversities in terms of robot physical size and shape, environmental interaction and implementation platform. Thus, it is envisioned that component-based software engineering will be the suitable way to promote software reuse in AMR systems with consideration to general requirements to be self-contained, platform-independent and real-time predictable. A framework for component-oriented programming for AMR software development using PECOS component model is proposed in this paper. The main features of this framework are: (1 use graphical representation for components definition and composition; (2 target C language for optimal code generation with resource-constrained micro-controller; and (3 minimal requirement for run-time support. Real-time implementation indicates that, the PECOS component model together with the proposed framework is suitable for resource constrained embedded AMR systems software development.

  3. ALGORITHM AND IMPLEMENTATION OF AUTO-SEARCHING WELD LINE FOR WELDING MOBILE ROBOT

    Institute of Scientific and Technical Information of China (English)

    ZHANG Ke; L(U) Xueqin; WU Yixiong; LOU Songnian

    2006-01-01

    An algorithm of auto-searching weld line for welding mobile robot is presented.Auto-searching weld line is that the robot can automatically recognize a weld groove according to the characteristics of the weld groove before welding, and then adjust itself posture to the desired status preparing for welding, namely, it is a process that the robot autonomously aligns itself to the center of welding seam. Firstly, the configuration of welding mobile robot with the function of auto-searching weld line is introduced, then the algorithm and implementation of auto-searching weld line are presented on the basis of kinematics model of the robot, at last trajectory planning among auto-searching weld line is investigated in detail. The experiment result shows that the developed welding mobile robot can successfully implement the task of auto-searching weld line before welding, tracking error precision can be controlled to approximate ± 1.5 mm, and satisfy the requirement of practical welding project.

  4. Training a Network of Electronic Neurons for Control of a Mobile Robot

    Science.gov (United States)

    Vromen, T. G. M.; Steur, E.; Nijmeijer, H.

    An adaptive training procedure is developed for a network of electronic neurons, which controls a mobile robot driving around in an unknown environment while avoiding obstacles. The neuronal network controls the angular velocity of the wheels of the robot based on the sensor readings. The nodes in the neuronal network controller are clusters of neurons rather than single neurons. The adaptive training procedure ensures that the input-output behavior of the clusters is identical, even though the constituting neurons are nonidentical and have, in isolation, nonidentical responses to the same input. In particular, we let the neurons interact via a diffusive coupling, and the proposed training procedure modifies the diffusion interaction weights such that the neurons behave synchronously with a predefined response. The working principle of the training procedure is experimentally validated and results of an experiment with a mobile robot that is completely autonomously driving in an unknown environment with obstacles are presented.

  5. Review and Latest Trends in Mobile Robots Used on Power Transmission Lines

    Directory of Open Access Journals (Sweden)

    Rogério Sales Gonçalves

    2013-12-01

    Full Text Available This paper presents the current state of the art in mobile robots used on power transmission lines. Many theoretical and experimental studies have been conducted in order to develop autonomous machines to travel along transmission lines to perform inspection and/or repair work. These machines can improve efficiency, reduce labour costs and are expected to reduce the risk of injury to maintenance personnel. Despite there already being a number of pieces of theoretical research and technological developments in this area, problems related to stability, ability and autonomy still exist. As such, first this paper presents the main studies already carried out and the devices generally used on power transmission lines. After the latest trends have been presented, a new idea for module robots carrying out inspections/maintenance of power transmission lines is presented. Finally, the future of mobile robots applied to power transmission lines is discussed.

  6. Fuzzy-based Navigation and Control of a Non-Holonomic Mobile Robot

    CERN Document Server

    Rashid, Razif; Begam, Mumtaj; Arrofiq, M

    2010-01-01

    In recent years, the use of non-analytical methods of computing such as fuzzy logic, evolutionary computation, and neural networks has demonstrated the utility and potential of these paradigms for intelligent control of mobile robot navigation. In this paper, a theoretical model of a fuzzy based controller for an autonomous mobile robot is developed. The paper begins with the mathematical model of the robot that involves the kinematic model. Then, the fuzzy logic controller is developed and discussed in detail. The proposed method is successfully tested in simulations, and it compares the effectiveness of three different set of membership of functions. It is shown that fuzzy logic controller with input membership of three provides better performance compared with five and seven membership functions.

  7. A Car Transportation System in Cooperation by Multiple Mobile Robots for Each Wheel: iCART II

    Science.gov (United States)

    Kashiwazaki, Koshi; Yonezawa, Naoaki; Kosuge, Kazuhiro; Sugahara, Yusuke; Hirata, Yasuhisa; Endo, Mitsuru; Kanbayashi, Takashi; Shinozuka, Hiroyuki; Suzuki, Koki; Ono, Yuki

    The authors proposed a car transportation system, iCART (intelligent Cooperative Autonomous Robot Transporters), for automation of mechanical parking systems by two mobile robots. However, it was difficult to downsize the mobile robot because the length of it requires at least the wheelbase of a car. This paper proposes a new car transportation system, iCART II (iCART - type II), based on “a-robot-for-a-wheel” concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than half the conventional robot. First, a method for lifting up a wheel by MRWheel is described. In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore, we propose a follower's motion error estimation algorithm based on the internal force applied to each follower by extending a conventional leader-follower type decentralized control algorithm for cooperative object transportation. The proposed algorithm enables followers to estimate their motion errors and enables the robots to transport a car to a desired position. In addition, we analyze and prove the stability and convergence of the resultant system with the proposed algorithm. In order to extract only the internal force from the force applied to each robot, we also propose a model-based external force compensation method. Finally, proposed methods are applied to the car transportation system, the experimental results confirm their validity.

  8. Bilateral Teleoperation of Wheeled Mobile Robots Working in Common Workspace

    Directory of Open Access Journals (Sweden)

    Lorinc Marton Marton

    2014-07-01

    Full Text Available This paper proposes a bilateral control framework for mobile robots which share the same workspace. The robots are teleoperated by independent users. Accordingly, for each teleoperated robot the other robots represent moving obstacles or static obstacles with a-priori unknown positions. For such teleoperation systems a velocity generator algorithm is proposed to obtain the linear and angular velocity commands of the mobile robots. A procedure is also given to calculate the haptic force corresponding to each mobile robot. To guarantee the stability of the teleoperation in the presence of large communication delays, a supervisor control algorithm is proposed which constantly monitors the stability of the teleoperation system. Experimental measurements are provided to show the effectiveness of the proposed bilateral teleoperation strategy.

  9. 轮式移动机器人自主充电电源自动对接装置研究与设计%Research and Design of Autonomous Rechargeable Power Automatic Docking System of Wheeled Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    刘卓明; 柳斐; 郑倩倩; 徐平; 马承志; 杨玺; 郭素梅; 王少荣

    2014-01-01

    Autonomous robots charging technology has a wildly applied prospect. Under the foundation of basic principles of analysis and experimental verification,this paper proposes a new practical power automatic docking methods. The method analogy human behavior that getting power plug and plugging the power, When the robot ready to charge, the power docking controller conducts mechanical hand horizontally extending backwards firstly, then via radio signals cable and special power outlet are controlled remotely to move laterally approaching mechanical hand, after the touching of cable and mechanical hand, controlling cable moving lateral movement in order to get a adjusting height of the special outlet . This method realizes accurate positioning of the special power outlets in three-dimensional space. Thus, as long as the wheeled robot is parked in designated areas, although there are moored deviation and tire pressure changes caused by variation of mechanical hand in height from the ground,the robot can achieve precise control of the special power outlet . In this paper,a method is described in detail.%机器人自主充电技术是一项具有广泛应用前景的技术。在进行原理分析和实验验证的基础上,提出了一种新型实用的电源自动对接方法。所提方法类比人获取电源插头和插接电源的行为,当机器人回到舱位准备充电时,装设在机器人上的电源对接控制器首先控制机器人的机械手水平向后伸出,接着通过无线电信号遥控装设在机器人舱位中的馈电装置带动电源线及特制电源插座进行靠近机械手方向的水平横向移动,在电源线和机械手接触后,进一步控制电源线横向移动以实现特制电源插座在机械手上的高度调节。这种方法实现了特制电源插座在空间三维坐标中的准确定位。从而,只要轮式机器人停泊在指定区域,尽管存在停泊偏差以及轮胎气压变化引起的机械手离

  10. Towards an in vivo wireless mobile robot for surgical assistance.

    Science.gov (United States)

    Hawks, Jeff A; Rentschler, Mark E; Redden, Lee; Infanger, Roger; Dumpert, Jason; Farritor, Shane; Oleynikov, Dmitry; Platt, Stephen R

    2008-01-01

    The use of miniature in vivo robots that fit entirely inside the peritoneal cavity represents a novel approach to laparoscopic surgery. Previous work has demonstrated that mobile and fixed-base in vivo robots can be used to improve visualization of the surgical field and perform surgical tasks such as collecting biopsy tissue samples. All of these robots used tethers to provide for power and data transmission. This paper describes recent work focused on developing a modular wireless mobile platform that could be used for in vivo robotic sensing and manipulation applications. One vision for these types of self-contained in vivo robotic devices is that they could be easily carried and deployed by non-medical personnel at the site of an injury. Such wireless in vivo robots are much more transportable and lower cost than current robotic surgical assistants, and could ultimately allow a surgeon to become a remote first responder irrespective of the location of the patient.

  11. Mobile Robotics Activities in DOE Laboratories

    Energy Technology Data Exchange (ETDEWEB)

    Ron Lujan; Jerry Harbour; John T. Feddema; Sharon Bailey; Jacob Barhen; David Reister

    2005-03-01

    This paper will briefly outline major activities in Department of Energy (DOE) Laboratories focused on mobile platforms, both Unmanned Ground Vehicles (UGV’s) as well as Unmanned Air Vehicles (UAV’s). The activities will be discussed in the context of the science and technology construct used by the DOE Technology Roadmap for Robotics and Intelligent Machines (RIM)1 published in 1998; namely, Perception, Reasoning, Action, and Integration. The activities to be discussed span from research and development to deployment in field operations. The activities support customers in other agencies. The discussion of "perception" will include hyperspectral sensors, complex patterns discrimination, multisensor fusion and advances in LADAR technologies, including real-world perception. "Reasoning" activities to be covered include cooperative controls, distributed systems, ad-hoc networks, platform-centric intelligence, and adaptable communications. The paper will discuss "action" activities such as advanced mobility and various air and ground platforms. In the RIM construct, "integration" includes the Human-Machine Integration. Accordingly the paper will discuss adjustable autonomy and the collaboration of operator(s) with distributed UGV’s and UAV’s. Integration also refers to the applications of these technologies into systems to perform operations such as perimeter surveillance, large-area monitoring and reconnaissance. Unique facilities and test beds for advanced mobile systems will be described. Given that this paper is an overview, rather than delve into specific detail in these activities, other more exhaustive references and sources will be cited extensively.

  12. Object Detection Applied to Indoor Environments for Mobile Robot Navigation

    Science.gov (United States)

    Hernández, Alejandra Carolina; Gómez, Clara; Crespo, Jonathan; Barber, Ramón

    2016-01-01

    To move around the environment, human beings depend on sight more than their other senses, because it provides information about the size, shape, color and position of an object. The increasing interest in building autonomous mobile systems makes the detection and recognition of objects in indoor environments a very important and challenging task. In this work, a vision system to detect objects considering usual human environments, able to work on a real mobile robot, is developed. In the proposed system, the classification method used is Support Vector Machine (SVM) and as input to this system, RGB and depth images are used. Different segmentation techniques have been applied to each kind of object. Similarly, two alternatives to extract features of the objects are explored, based on geometric shape descriptors and bag of words. The experimental results have demonstrated the usefulness of the system for the detection and location of the objects in indoor environments. Furthermore, through the comparison of two proposed methods for extracting features, it has been determined which alternative offers better performance. The final results have been obtained taking into account the proposed problem and that the environment has not been changed, that is to say, the environment has not been altered to perform the tests. PMID:27483264

  13. Object Detection Applied to Indoor Environments for Mobile Robot Navigation.

    Science.gov (United States)

    Hernández, Alejandra Carolina; Gómez, Clara; Crespo, Jonathan; Barber, Ramón

    2016-07-28

    To move around the environment, human beings depend on sight more than their other senses, because it provides information about the size, shape, color and position of an object. The increasing interest in building autonomous mobile systems makes the detection and recognition of objects in indoor environments a very important and challenging task. In this work, a vision system to detect objects considering usual human environments, able to work on a real mobile robot, is developed. In the proposed system, the classification method used is Support Vector Machine (SVM) and as input to this system, RGB and depth images are used. Different segmentation techniques have been applied to each kind of object. Similarly, two alternatives to extract features of the objects are explored, based on geometric shape descriptors and bag of words. The experimental results have demonstrated the usefulness of the system for the detection and location of the objects in indoor environments. Furthermore, through the comparison of two proposed methods for extracting features, it has been determined which alternative offers better performance. The final results have been obtained taking into account the proposed problem and that the environment has not been changed, that is to say, the environment has not been altered to perform the tests.

  14. Mobile Robot Localization and Navigation in Artificial Intelligence: Survey

    Directory of Open Access Journals (Sweden)

    G. Nirmala

    2017-01-01

    Full Text Available The potential applications for mobile robots are enormous. The mobile robots must quickly and robustly perform useful tasks in a previously unknown, dynamic and challenging environment. Mobile robot navigation plays a key role in all mobile robot activities and tasks such as path planning. Mobile robots are machines which navigate around their environment getting sensory information about that environment and performing actions dependent on this sensory information. Localization is basic to navigation. Various techniques have been described for estimating the orientation and positioning of a mobile robot. Navigation may be defined as the process of guiding the movement of intelligent vehicle systems from one location to another location with the support of various types of sensors to the different environments such as indoor, outdoor and other complex environments by using various navigation methods. This paper reviews the following mobile robot systems which are used in navigation for localization (1 Odometry (2 Magnetic compass (3 Active beacons (4 Global positioning system (5 Landmark navigation (6 Pattern matching.

  15. A cognitive robotic system based on the Soar cognitive architecture for mobile robot navigation, search, and mapping missions

    Science.gov (United States)

    Hanford, Scott D.

    Most unmanned vehicles used for civilian and military applications are remotely operated or are designed for specific applications. As these vehicles are used to perform more difficult missions or a larger number of missions in remote environments, there will be a great need for these vehicles to behave intelligently and autonomously. Cognitive architectures, computer programs that define mechanisms that are important for modeling and generating domain-independent intelligent behavior, have the potential for generating intelligent and autonomous behavior in unmanned vehicles. The research described in this presentation explored the use of the Soar cognitive architecture for cognitive robotics. The Cognitive Robotic System (CRS) has been developed to integrate software systems for motor control and sensor processing with Soar for unmanned vehicle control. The CRS has been tested using two mobile robot missions: outdoor navigation and search in an indoor environment. The use of the CRS for the outdoor navigation mission demonstrated that a Soar agent could autonomously navigate to a specified location while avoiding obstacles, including cul-de-sacs, with only a minimal amount of knowledge about the environment. While most systems use information from maps or long-range perceptual capabilities to avoid cul-de-sacs, a Soar agent in the CRS was able to recognize when a simple approach to avoiding obstacles was unsuccessful and switch to a different strategy for avoiding complex obstacles. During the indoor search mission, the CRS autonomously and intelligently searches a building for an object of interest and common intersection types. While searching the building, the Soar agent builds a topological map of the environment using information about the intersections the CRS detects. The agent uses this topological model (along with Soar's reasoning, planning, and learning mechanisms) to make intelligent decisions about how to effectively search the building. Once the

  16. Embedded mobile farm robot for identification of diseased plants

    Science.gov (United States)

    Sadistap, S. S.; Botre, B. A.; Pandit, Harshavardhan; Chandrasekhar; Rao, Adesh

    2013-07-01

    This paper presents the development of a mobile robot used in farms for identification of diseased plants. It puts forth two of the major aspects of robotics namely automated navigation and image processing. The robot navigates on the basis of the GPS (Global Positioning System) location and data obtained from IR (Infrared) sensors to avoid any obstacles in its path. It uses an image processing algorithm to differentiate between diseased and non-diseased plants. A robotic platform consisting of an ARM9 processor, motor drivers, robot mechanical assembly, camera and infrared sensors has been used. Mini2440 microcontroller has been used wherein Embedded linux OS (Operating System) is implemented.

  17. An Energetically-Autonomous Robotic Tadpole with Single Membrane Stomach and Tail

    OpenAIRE

    2015-01-01

    We present an energetically autonomous robotic tadpole that uses a single membrane component for both electrical energy generation and propulsive actuation. The coupling of this small bio-inspired power source to a bio-inspired actuator demonstrates the first generation design for an energetically autonomous swimming robot consisting of a single membrane. An ionic polymer metal composite (IPMC) with a Nafion polymer layer is demonstrated in a novel application as the ion exchange membrane and...

  18. Person identification for mobile robot using audio-visual modality

    Science.gov (United States)

    Kim, Young-Ouk; Chin, Sehoon; Lee, Jihoon; Paik, Joonki

    2005-10-01

    Recently, we experienced significant advancement in intelligent service robots. The remarkable features of an intelligent robot include tracking and identification of person using biometric features. The human-robot interaction is very important because it is one of the final goals of an intelligent service robot. Many researches are concentrating in two fields. One is self navigation of a mobile robot and the other is human-robot interaction in natural environment. In this paper we will present an effective person identification method for HRI (Human Robot Interaction) using two different types of expert systems. However, most of mobile robots run under uncontrolled and complicated environment. It means that face and speech information can't be guaranteed under varying conditions, such as lighting, noisy sound, orientation of a robot. According to a value of illumination and signal to noise ratio around mobile a robot, our proposed fuzzy rule make a reasonable person identification result. Two embedded HMM (Hidden Marhov Model) are used for each visual and audio modality to identify person. The performance of our proposed system and experimental results are compared with single modality identification and simply mixed method of two modality.

  19. A Survey on Open Problems for Mobile Robots

    CERN Document Server

    Bandettini, Alberto; Viglietta, Giovanni

    2011-01-01

    Gathering mobile robots is a widely studied problem in robotic research. This survey first introduces the related work, summarizing models and results. Then, the focus shifts on the open problem of gathering fat robots. In this context, "fat" means that the robot is not represented by a point in a bidimensional space, but it has an extent. Moreover, it can be opaque in the sense that other robots cannot "see through" it. All these issues lead to a redefinition of the original problem and an extension of the CORDA model. For at most 4 robots an algorithm is provided in the literature, but is gathering always possible for n>4 fat robots? Another open problem is considered: Boundary Patrolling by mobile robots. A set of mobile robots with constraints only on speed and visibility is working in a polygonal environment having boundary and possibly obstacles. The robots have to perform a perpetual movement (possibly within the environment) so that the maximum timespan in which a point of the boundary is not being wa...

  20. Designing Omni-Directional Mobile Robot with Mecanum Wheel

    Directory of Open Access Journals (Sweden)

    Jefri E.M. Salih

    2006-01-01

    Full Text Available This study presents the processes undertaken in the design and development of an intelligent omni-directional mobile robot using four custom-made mecanum wheels. The mecanum wheel developed consists of nine rollers made from delrin. All mecanum wheels are independently powered using four units of precisian gear DC motors and the wheel/motor assemblies were mounted directly to the robot chassis made using an aluminum frame. A four channel high power H-bridge using 2 units of LMD 18200 motor drivers IC circuit was design, built and interfaced to a BasicStamp (BS2 microcontroller board. Basic mobility algorithm using BasicStamp software was developed to test the basic mobility capabilities and test the qualitative view of the system's mobility performance. An experiment was set-up to analyze the motion characteristic of the mobile robot motion in Y-axis, X-axis and rotary motion. Data from the experiment will be used for mathematically model for mobile robot platform and speed controller modeling and design. Mecanum wheel mobile robot provides a convenient platform for further development in the mobile platform. The combination of mechanical design on the wheel and chassis, motion control and multiple input/output sensors allow the exploration of large number of control algorithm and software to be implemented to the robot for practical applications.

  1. Rational Handling of Multiple Goals for Mobile Robots

    Science.gov (United States)

    1993-11-01

    AD.-A273 733 V * ~ 1. K ~Rational Handling of Multiple Goals for Mobile Robots Richard Goodwin Reid Simmons November 1, 1993. CM-S-93-204 ... I.f it...8217A ~~DEC99 oilsi VI-uI Best Available Copy Radonal Handling of Multiple Goals for Mobile Robots Richard Goodwin Reid Sinnos November 1, 1993 CMU-€S-93...Engineering Research Council of Canada. 93 12 8, 081 1 Introduction This report examines a method for handling multiple active goals for mobile robots . Specifically

  2. Acquisition of 3-D Map Structures for Mobile Robots

    Science.gov (United States)

    2007-11-02

    U.S.N.A. — Trident Scholar project report; no. 295 (2002) Acquisition of 3-D Map Structures for Mobile Robots by Midshipman Edward H.L. Fong, Class...REPORT TYPE 3. DATES COVERED (FROM - TO) xx-xx-2002 to xx-xx-2002 4. TITLE AND SUBTITLE Acquisition of 3-D Map Structures for Mobile Robots Unclassified...AND SUBTITLE Acquisition of 3-D map structures for mobile robots 6. AUTHOR(S) Fong, Edward H. L. (Edward Hsiang Lung), 1980- 5. FUNDING NUMBERS 7

  3. Industrial Component-based Sample Mobile Robot System

    Directory of Open Access Journals (Sweden)

    Péter Kucsera

    2007-12-01

    Full Text Available The mobile robot development can be done in two different ways. The first is tobuild up an embedded system, the second is to use ‘ready to use’ industrial components.With the spread of Industrial mobile robots there are more and more components on themarket which can be used to build up a whole control and sensor system of a mobile robotplatform. Using these components electrical hardware development is not needed, whichspeeds up the development time and decreases the cost. Using a PLC on board, ‘only’constructing the program is needed and the developer can concentrate on the algorithms,not on developing hardware. My idea is to solve the problem of mobile robot localizationand obstacle avoidance using industrial components and concentrate this topic to themobile robot docking. In factories, mobile robots can be used to deliver parts from oneplace to another, but there are always two critical points. The robot has to be able tooperate in human environment, and also reach the target and get to a predefined positionwhere another system can load it or get the delivered product. I would like to construct amechanically simple robot model, which can calculate its position from the rotation of itswheels, and when it reaches a predefined location with the aid of an image processingsystem it can dock to an electrical connector. If the robot succeeded it could charge itsbatteries through this connector as well.

  4. Toward the Automated Synthesis of Cooperative Mobile Robot Teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

    A current limitation in the real-world use of cooperating mobiIe robots is the difficulty in determining the proper team composition for a given robotic application. Present technology restricts the design and implementation of cooperative robot teams to the expertise of a robotics researcher, who has to develop robot teams on an application-specific basis. The objective of our research is to reduce the complexity of cooperative robotic systems through the development of a methodology that enables the automated synthesis of cooperative robot teams. We propose an approach to this problem that uses a combination of the theories of sensori-computational systems and information invariants, building on the earlier work of Donald, Rus, et al. We describe the notion of defining equivalence classes that serve as fundamental building blocks of more complex cooperative mobile robot behaviors. We postulate a methodology for framing mission requirements in terms of the goals and constraints of the problem, incorporating issues such as multi-robot interference, communication, control strategy, robot complexity, and so forth, into the mechanism. Our initial work restricts the robot application and design space to three multi-robot application domains we have previously studied and implemented: keeping formation, "mock" hazardous waste cleanup, and cooperative observation. This paper presents the foundational ideas upon which our approach to cooperative team design is based. Keywords: Cooperative behaviors, behavior synthesis, multi-robot learning

  5. Markov Localization for Mobile Robots in Dynamic Environments

    CERN Document Server

    Burgard, W; Thrun, S; 10.1613/jair.616

    2011-01-01

    Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored towards dynamic environments. The key idea of Markov localization is to maintain a probability density over the space of all locations of a robot in its environment. Our approach represents this space metrically, using a fine-grained grid to approximate densities. It is able to globally localize the robot from scratch and to recover from localization failures. It is robust to approximate models of the environment (such as occupancy grid maps) and noisy sensors (such as ultrasound sensors). Our approach also includes a filtering technique which allows a mobile robot to reliably estimate its position even in densely populated environments in which crowds of people block the robot's sensors for extended periods of time. The method described here has been implemented and teste...

  6. Localization/mapping motion control system for a mobile robot

    Science.gov (United States)

    Yang-Syu, Jr.; Su, Chiun-Shiang; Yang, Chan-Yun

    2011-12-01

    The objective of this paper is to design a mobile robot with automatic motion behaviors and obstacle avoidance functions. The robot is also able to make the SLAM (Simultaneous Localization And Mapping) at an unknown environment. The robot position is calculated by the developed software program from the motor encoders. An obstacle avoidance controller is developed by the fuzzy theory. A LRF(laser ranger finder) is installed on the robot. The sensing data of this LRF are applied to calculate the environmental information for the obstacle avoidance controller. Then, the ICP (Iterative Closest Point) algorithm is applied to compare the position error of the environmental data in order to obtain the estimated position of the LRF. Finally, these estimated position data are used to calculate the final SLAM of this mobile robot. Both the simulation and experimental results show that this developed robot system work very well.

  7. FPGA-based Controller for a Mobile Robot

    CERN Document Server

    Kale, Shilpa

    2009-01-01

    With application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This project presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and computing proposal oriented to embed systems implementation. This kind of controller can be tested on different platform representing the mobile robots using reprogrammable logic components (FPGA). This mobile robot will detect obstacle and also be able to control the speed. Different modules will be Actuators, Sensors, wireless transmission. All this modules will be interfaced using FPGA controller. I would like to construct a mechanically simple robot model, which can measure the distance from obstacle with the aid of sensor and accordingly should able to control the speed of motor. I would like to construct a mechanically s...

  8. Internet-based Teleoperation Platform For Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    YE Xiu-fen; LIU Peter; Xiao-ping; LI Guo-bin

    2002-01-01

    An Internet-based teleoperation platform for Mobile Robot is introduced in this paper. The hardware of the system mainly consists of a mobile robot. Its software employs client-server architecture for robot control and feedback information display. Different communication protocols are adopted according to the characteristics of message exchanged between the robot server and the client. The user interface is designed for the purpose of interaction. The great benefit of this client-server architecture is that the client software is insulated from the lowest level details of the mobile robot. Thus, it is very easy to implement and test new advanced teleoperation control algorithms, interface designs and applications on this platform without large programming work.

  9. Test of a vision-based autonomous space station robotic task

    Science.gov (United States)

    Castellano, Anthony R.; Hwang, Vincent S. S.; Stoney, William E.

    1991-02-01

    An area of increasing interest in Al Robotics and Computer Vision is integrating techniques from these fields to the problem of controlling autonomous systems. Space-based systems such as NASA''s robotic assembly of Orbital Replacement Units (ORU''s) provide a complex realistic domain for this integration research. In this paper we report on current MITRE research in the use of situated control for autonomous robotic assembly of ORUs. A wrist-mounted camera is used to acquire the pose of ORU''s. An on-line control module uses the pose data to refine the on-going robot actions so that the planned task can be executed both safely and robustly. Experimental results on a Cincinnati Milacron T3 Industrial robot at Goddard Space Right Center (GSFC) Intelligent Robotic Laboratory will be included.

  10. Tethered Contactless Mobile Nuclear Environment Monitoring Robot

    Energy Technology Data Exchange (ETDEWEB)

    Choi, S. Y.; Lee, E. S.; Lee, Kun J.; Kim, Su H.; Rim, C. T. [Korea Advanced Institute of Science and Technology, Daejeon (Korea, Republic of)

    2013-05-15

    In fact, the nuclear environment monitoring is significantly crucial for early detection of NPP accident, radiological emergency, the estimation of radiation exposure to nearby residents as well as the long term radioactivity. In the UAE, the nuclear environment monitoring is, however, quite challenging because sampling locations are far from NPPs and the outdoor temperature and humidity are very high for NPP workers to collect soil, air, and water samples. Therefore, nuclear environment monitoring robots (Nubos) are strongly needed for the NPPs in the UAE. The Nubos can be remotely controlled to collect samples in extreme environment instead of NPP workers. Moreover, the Nubos can be unmanned ground vehicles (UGVs), unmanned aerial vehicles (UAVs) and unmanned marine vehicles (UMVs) to collect soil, air, and water samples, respectively. In this paper, the prototype development of UGV type Nubos using power cable for a long distance power delivery, called Tethered contactless mobile Nubo is introduced and validated by experiments. In this paper, the prototype development of Tethered Contactless Mobile (TeCoM) Nubo, which can be powered continuously within several km distance and avoid tangled cable, and the indoor test are finished. As further works, outdoor demonstration and a grand scale R and D proposal of practical Nubo will be proceeded.

  11. Dynamics and control of nonholonomic mobile robot systems

    OpenAIRE

    Schiehlen, Werner

    1994-01-01

    The positional degrees of freedom of a mobile robot are reduced by nonholonomic constraints further to a smaller number of motional degrees of freedom. It is shown how the equations of motion can be reduced to a minimal number using generalized coordinates and generalized velocities. The theoretical results are applied to an actively controlled robot with stiff tires. One scalar control variable provides full controllability of the position of the robot moving on a plane surface. A control st...

  12. Sensor Fusion and Model Verification for a Mobile Robot

    OpenAIRE

    Bisgaard, Morten; Vinther, Dennis; Østergaard, Kasper Zinck; Bendtsen, Jan Dimon; Izadi-Zamanabadi, Roozbeh

    2005-01-01

    This paper presents the results of modeling, sensor fusion and model verification for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The model derived for the robot describes the actuator and wheel dynamics and the vehicle kinematics, and includes friction terms as well as slip. An Unscented Kalman Filter (UKF) based on the dynamic model is used for sensor fusion, feeding sensor measurements back to the robot controller in an intelligent manner. Through practi...

  13. A Novel Camera Based Mobile Robot With Obstacle Avoidance And Fire Extinguish Control

    Directory of Open Access Journals (Sweden)

    S.Vivekanadan

    2016-04-01

    Full Text Available The project is based on mobile wireless robot technology that performs the dual operation as obstacle avoidance and fire extinguish. The sensors used here are ultrasonic sensor for obstacle avoidance and flame sensor to detect the fire. Here, the signals are received by an Arduino board for controlling the robot. The motor drives are used to drive the robot. A wireless monitoring system is used to display the present scenario.in detail It is a robot that autonomously detects and extinguish fire. It uses flame sensor for detection of fire, also ultrasonic sensor to detect obstacles and Arduino board for processing. The Fire extinguisher along with actuator is used to extinguishing the fire which is been detected. The robot continuously scans for fire. This scanning is performed by Flame sensors placed on the sides When a fire is detected, it moves in the direction of fire and stops in front of it and trigger the extinguisher to turn out the fire.In order to achieve the extinguish process a robot has arm with Electronic valve and a motor is used along with the body to change the angle of the arm. This arm and motor can be controlled by the Arduino. The power source for the robot comes from a battery.

  14. Regolith Advanced Surface Systems Operations Robot (RASSOR) Phase 2 and Smart Autonomous Sand-Swimming Excavator

    Science.gov (United States)

    Sandy, Michael

    2015-01-01

    The Regolith Advanced Surface Systems Operations Robot (RASSOR) Phase 2 is an excavation robot for mining regolith on a planet like Mars. The robot is programmed using the Robotic Operating System (ROS) and it also uses a physical simulation program called Gazebo. This internship focused on various functions of the program in order to make it a more professional and efficient robot. During the internship another project called the Smart Autonomous Sand-Swimming Excavator was worked on. This is a robot that is designed to dig through sand and extract sample material. The intern worked on programming the Sand-Swimming robot, and designing the electrical system to power and control the robot.

  15. A Contest-Oriented Project for Learning Intelligent Mobile Robots

    Science.gov (United States)

    Huang, Hsin-Hsiung; Su, Juing-Huei; Lee, Chyi-Shyong

    2013-01-01

    A contest-oriented project for undergraduate students to learn implementation skills and theories related to intelligent mobile robots is presented in this paper. The project, related to Micromouse, Robotrace (Robotrace is the title of Taiwanese and Japanese robot races), and line-maze contests was developed by the embedded control system research…

  16. Integrating Mobile Robotics and Vision with Undergraduate Computer Science

    Science.gov (United States)

    Cielniak, G.; Bellotto, N.; Duckett, T.

    2013-01-01

    This paper describes the integration of robotics education into an undergraduate Computer Science curriculum. The proposed approach delivers mobile robotics as well as covering the closely related field of Computer Vision and is directly linked to the research conducted at the authors' institution. The paper describes the most relevant details of…

  17. Range determination for mobile robots using one omnidirectional camera

    OpenAIRE

    Millnert, Ola; Goedemé, Toon; Tuytelaars, Tinne; Van Gool, Luc; Hüntemann, Alexander; Nuttin, Marnix

    2006-01-01

    Millnert O., Goedemé T., Tuytelaars T., Van Gool L., Hüntemann A., Nuttin M., ''Range determination for mobile robots using one omnidirectional camera'', 3rd international conference on informatics in control, automation and robotics - ICINCO 2006, pp. 366-371, August 1-5, 2006, Setúbal, Portugal.

  18. Sensor Fusion and Model Verification for a Mobile Robot

    DEFF Research Database (Denmark)

    Bisgaard, Morten; Vinther, Dennis; Østergaard, Kasper Zinck

    2005-01-01

    This paper presents the results of modeling, sensor fusion and model verification for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The model derived for the robot describes the actuator and wheel dynamics and the vehicle kinematics, and includes friction terms...

  19. Integrating Mobile Robotics and Vision with Undergraduate Computer Science

    Science.gov (United States)

    Cielniak, G.; Bellotto, N.; Duckett, T.

    2013-01-01

    This paper describes the integration of robotics education into an undergraduate Computer Science curriculum. The proposed approach delivers mobile robotics as well as covering the closely related field of Computer Vision and is directly linked to the research conducted at the authors' institution. The paper describes the most relevant…

  20. Adaptive control of mobile robots using a neural network.

    Science.gov (United States)

    de Sousa Júnior, C; Hermerly, E M

    2001-06-01

    A Neural Network - based control approach for mobile robot is proposed. The weight adaptation is made on-line, without previous learning. Several possible situations in robot navigation are considered, including uncertainties in the model and presence of disturbance. Weight adaptation laws are presented as well as simulation results.