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. 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.

  3. Development of an Autonomous Mobile Robot

    OpenAIRE

    Niewada, Valentin

    2015-01-01

    Although the robotics community did a lot of research in the field of autonomous mobile robotics, there are still many unsolved challenges. With this dynamic, the European Robotics Challenges (EUROC) aim at enhancing mobile robotics research by building concrete projects with industrial applications. During my final year internship for the Télécom Physique Strasbourg’s Engineering Degree which has taken place in the Robotics and Mechatronics Institute at the DLR Oberpfaffenhofen (Germany),...

  4. Reference test courses for autonomous mobile robots

    Science.gov (United States)

    Jacoff, Adam; Messina, Elena; Evans, John

    2001-09-01

    One approach to measuring the performance of intelligent systems is to develop standardized or reproducible tests. These tests may be in a simulated environment or in a physical test course. The National Institute of Standards and Technology has developed a test course for evaluating the performance of mobile autonomous robots operating in an urban search and rescue mission. The test course is designed to simulate a collapsed building structure at various levels of fidelity. The course will be used in robotic competitions, such as the American Association for Artificial Intelligence (AAAI) Mobile Robot Competition and the RoboCup Rescue. Designed to be repeatable and highly reconfigurable, the test course challenges a robot's cognitive capabilities such as perception, knowledge representation, planning, autonomy and collaboration. The goal of the test course is to help define useful performance metrics for autonomous mobile robots which, if widely accepted, could accelerate development of advanced robotic capabilities by promoting the re-use of algorithms and system components. The course may also serve as a prototype for further development of performance testing environments which enable robot developers and purchasers to objectively evaluate robots for a particular application. In this paper we discuss performance metrics for autonomous mobile robots, the use of representative urban search and rescue scenarios as a challenge domain, and the design criteria for the test course.

  5. 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.

  6. 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.

  7. 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.

  8. Autonomous mobile robots behaviour control

    Czech Academy of Sciences Publication Activity Database

    Ehrenberger, Zdeněk; Kratochvíl, Ctirad

    Vol. 1. Varšava : Meander S.C., 2000 - (Jablonski, R.), s. 63-66 ISBN 83-914366-0-8. [International conference Mechatronics 2000. Varšava (PL), 05.11.2000-07.11.2000] Grant ostatní: ÚT AV ČR(XC) 11/1U Keywords : modelling * robots Subject RIV: JA - Electronics ; Optoelectronics, Electrical Engineering

  9. Mobile autonomous robot for radiological surveys

    International Nuclear Information System (INIS)

    The robotics development group at the Savannah River Laboratory (SRL) is developing a mobile autonomous robot that performs radiological surveys of potentially contaminated floors. The robot is called SIMON, which stands for Semi-Intelligent Mobile Observing Navigator. Certain areas of SRL are classified as radiologically controlled areas (RCAs). In an RCA, radioactive materials are frequently handled by workers, and thus, the potential for contamination is ever present. Current methods used for floor radiological surveying includes labor-intensive manual scanning or random smearing of certain floor locations. An autonomous robot such as SIMON performs the surveying task in a much more efficient manner and will track down contamination before it is contacted by humans. SIMON scans floors at a speed of 1 in./s and stops and alarms upon encountering contamination. Its environment is well defined, consisting of smooth building floors with wide corridors. The kind of contaminations that SIMON is capable of detecting are alpha and beta-gamma. The contamination levels of interest are low to moderate

  10. Autonomous Navigation for Mobile Robots with Human-Robot Interaction

    Science.gov (United States)

    Ballantyne, James; Johns, Edward; Valibeik, Salman; Wong, Charence; Yang, Guang-Zhong

    Dynamic and complex indoor environments present a challenge for mobile robot navigation. The robot must be able to simultaneously map the environment, which often has repetitive features, whilst keep track of its pose and location. This chapter introduces some of the key considerations for human guided navigation. Rather than letting the robot explore the environment fully autonomously, we consider the use of human guidance for progressively building up the environment map and establishing scene association, learning, as well as navigation and planning. After the guide has taken the robot through the environment and indicated the points of interest via hand gestures, the robot is then able to use the geometric map and scene descriptors captured during the tour to create a high-level plan for subsequent autonomous navigation within the environment. Issues related to gesture recognition, multi-cue integration, tracking, target pursuing, scene association and navigation planning are discussed.

  11. 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.

  12. Autonomous Navigation by a Mobile Robot

    Science.gov (United States)

    Huntsberger, Terrance; Aghazarian, Hrand

    2005-01-01

    ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.

  13. Autonomous Mobile Robots: Past, Present and Future of SLAM 2013

    OpenAIRE

    Hamid D. Taghirad

    2013-01-01

    Autonomous Mobile Robots: Past, Present and Future of SLAM” 2013. In:Workshop at the First RSI/ISM International Conference on Robotics and Mechatronics by Sharif University of Technology. Presenter: Prof. Hamid D. Taghirad, 2013.

  14. 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...

  15. Autonomous Mobile Robot That Can Read

    OpenAIRE

    Dominic Létourneau; François Michaud; Jean-Marc Valin

    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 mes...

  16. 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.

  17. Adaptive navigation and motion planning for autonomous mobile robots

    OpenAIRE

    Aboshosha, Ashraf

    2004-01-01

    Exploring autonomy in robotics is a meaningful task. The intuitive definition of autonomy is the capability of a robot to make a decision based on its own knowledge, acquired by its distributed sensors, without any human interference. Throughout this framework we discuss some algorithms and techniques underlying the subjects of adaptive navigation and motion planning for autonomous mobile robots. Mobile Robots will play an important role in many future applications, such as ...

  18. 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.......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 constantly...

  19. Map format for mobile robot map-based autonomous navigation

    OpenAIRE

    Corominas Murtra, Andreu; Mirats-Tur, Josep M.

    2007-01-01

    This technical report defines the spatial representation and the map file format used in a mobile robot map-based autonomous navigation system designed to be deployed in urban areas. After a discussion about common requirements of spatial representations for map-based mobile robot autonomous navigation, a proposed environment model that fulfills previously discussed requirements is formally presented. An example of a map representing an outdoor area of an university campus of about 10000m2 is...

  20. A machine consciousness approach to autonomous mobile robotics

    OpenAIRE

    Arrabales, Raúl; Sanchis, Araceli

    2006-01-01

    In this paper we argue that machine consciousness can be successfully modelled to be the base of a control system for an autonomous mobile robot. Such a bio-inspired system provides the robot with cognitive benefits the same way that consciousness does for humans and other higher mammals. The key functions of consciousness are identified and partially applied to an original computational model, which is implemented in a software simulated mobile robot. We use a simulator to prove our assumpti...

  1. Middleware for Efficient Programming of Autonomous Mobile Robots

    OpenAIRE

    Thomas, Dirk

    2010-01-01

    Programming of autonomous mobile robots is subject to a set of unique requirements, which differ significantly from pure software projects and programming of stationary robots. Despite severe constraint on the payload and thereby limited available computational power, real-time constraints for physical interaction of the robot with its environment must be satisfied. Furthermore, the complexity of robots, the uncertainties in sensors and the interaction with the environment and the cooperation...

  2. 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.

  3. A mobile autonomous robot for radiological surveys

    International Nuclear Information System (INIS)

    The Robotics Development Group at the Savannah River Site is developing an autonomous robot (SIMON) to perform radiological surveys of potentially contaminated floors. The robot scans floors at a speed of one-inch/second and stops, sounds an alarm, and flashes lights when contamination in a certain area is detected. The contamination of interest here is primarily alpha and beta-gamma. The robot, a Cybermotion K2A base, is radio controlled, uses dead reckoning to determine vehicle position, and docks with a charging station to replenish its batteries and calibrate its position. It uses an ultrasonic ranging system for collision avoidance. In addition, two safety bumpers located in the front and the back of the robot will stop the robots motion when they are depressed. Paths for the robot are preprogrammed and the robots motion can be monitored on a remote screen which shows a graphical map of the environment. The radiation instrument being used is an Eberline RM22A monitor. This monitor is microcomputer based with a serial I/0 interface for remote operation. Up to 30 detectors may be configured with the RM22A

  4. Autonomous mobile robot for radiologic surveys

    Science.gov (United States)

    Dudar, Aed M.; Wagner, David G.; Teese, Gregory D.

    1994-01-01

    An apparatus for conducting radiologic surveys. The apparatus comprises in the main a robot capable of following a preprogrammed path through an area, a radiation monitor adapted to receive input from a radiation detector assembly, ultrasonic transducers for navigation and collision avoidance, and an on-board computer system including an integrator for interfacing the radiation monitor and the robot. Front and rear bumpers are attached to the robot by bumper mounts. The robot may be equipped with memory boards for the collection and storage of radiation survey information. The on-board computer system is connected to a remote host computer via a UHF radio link. The apparatus is powered by a rechargeable 24-volt DC battery, and is stored at a docking station when not in use and/or for recharging. A remote host computer contains a stored database defining paths between points in the area where the robot is to operate, including but not limited to the locations of walls, doors, stationary furniture and equipment, and sonic markers if used. When a program consisting of a series of paths is downloaded to the on-board computer system, the robot conducts a floor survey autonomously at any preselected rate. When the radiation monitor detects contamination, the robot resurveys the area at reduced speed and resumes its preprogrammed path if the contamination is not confirmed. If the contamination is confirmed, the robot stops and sounds an alarm.

  5. Autonomous mobile robot for radiologic surveys

    International Nuclear Information System (INIS)

    An apparatus is described for conducting radiologic surveys. The apparatus comprises in the main a robot capable of following a preprogrammed path through an area, a radiation monitor adapted to receive input from a radiation detector assembly, ultrasonic transducers for navigation and collision avoidance, and an on-board computer system including an integrator for interfacing the radiation monitor and the robot. Front and rear bumpers are attached to the robot by bumper mounts. The robot may be equipped with memory boards for the collection and storage of radiation survey information. The on-board computer system is connected to a remote host computer via a UHF radio link. The apparatus is powered by a rechargeable 24-volt DC battery, and is stored at a docking station when not in use and/or for recharging. A remote host computer contains a stored database defining paths between points in the area where the robot is to operate, including but not limited to the locations of walls, doors, stationary furniture and equipment, and sonic markers if used. When a program consisting of a series of paths is downloaded to the on-board computer system, the robot conducts a floor survey autonomously at any preselected rate. When the radiation monitor detects contamination, the robot resurveys the area at reduced speed and resumes its preprogrammed path if the contamination is not confirmed. If the contamination is confirmed, the robot stops and sounds an alarm. 5 figures

  6. 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.

  7. 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...

  8. 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.

  9. 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.

  10. 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.

  11. Mobile autonomous robotic apparatus for radiologic characterization

    International Nuclear Information System (INIS)

    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

  12. 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.

  13. Autonomous navigation for mobile service robots in urban pedestrian environments

    OpenAIRE

    Trulls, Eduard; Corominas Murtra, Andreu; Pérez-Ibarz, J.; Ferrer, Gonzalo; Vasquez, D.; Mirats-Tur, Josep M.; Sanfeliu, Alberto

    2011-01-01

    This paper presents a fully autonomous navigation solution for urban, pedestrian environments. The task at hand, undertaken within the context of the European project URUS, was to enable two urban service robots, based on Segway RMP200 platforms and using planar lasers as primary sensors, to navigate around a known, large (10,000 m2), pedestrian-only environment with poor global positioning system coverage. Special consideration is given to the nature of our robots, highly mobile but two-whee...

  14. Remote radioactive waste drum inspection with an autonomous mobile robot

    International Nuclear Information System (INIS)

    An autonomous mobile robot is being developed to perform remote surveillance and inspection task on large numbers of stored radioactive waste drums. The robot will be self guided through narrow storage aisles and record the visual image of each viewable drum for subsequent off line analysis and archiving. The system will remove the personnel from potential exposure to radiation, perform the require inspections, and improve the ability to assess the long term trends in drum conditions

  15. 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.

  16. Autonomous navigation system for mobile robots of inspection

    International Nuclear Information System (INIS)

    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)

  17. System safety analysis of an autonomous mobile robot

    International Nuclear Information System (INIS)

    Analysis of the safety of operating and maintaining the Stored Waste Autonomous Mobile Inspector (SWAMI) II in a hazardous environment at the Fernald Environmental Management Project (FEMP) was completed. The SWAMI II is a version of a commercial robot, the HelpMate trademark robot produced by the Transitions Research Corporation, which is being updated to incorporate the systems required for inspecting mixed toxic chemical and radioactive waste drums at the FEMP. It also has modified obstacle detection and collision avoidance subsystems. The robot will autonomously travel down the aisles in storage warehouses to record images of containers and collect other data which are transmitted to an inspector at a remote computer terminal. A previous study showed the SWAMI II has economic feasibility. The SWAMI II will more accurately locate radioactive contamination than human inspectors. This thesis includes a System Safety Hazard Analysis and a quantitative Fault Tree Analysis (FTA). The objectives of the analyses are to prevent potentially serious events and to derive a comprehensive set of safety requirements from which the safety of the SWAMI II and other autonomous mobile robots can be evaluated. The Computer-Aided Fault Tree Analysis (CAFTA copyright) software is utilized for the FTA. The FTA shows that more than 99% of the safety risk occurs during maintenance, and that when the derived safety requirements are implemented the rate of serious events is reduced to below one event per million operating hours. Training and procedures in SWAMI II operation and maintenance provide an added safety margin. This study will promote the safe use of the SWAMI II and other autonomous mobile robots in the emerging technology of mobile robotic inspection

  18. Rice-obot 1: An intelligent autonomous mobile robot

    Science.gov (United States)

    Defigueiredo, R.; Ciscon, L.; Berberian, D.

    1989-01-01

    The Rice-obot I is the first in a series of Intelligent Autonomous Mobile Robots (IAMRs) being developed at Rice University's Cooperative Intelligent Mobile Robots (CIMR) lab. The Rice-obot I is mainly designed to be a testbed for various robotic and AI techniques, and a platform for developing intelligent control systems for exploratory robots. Researchers present the need for a generalized environment capable of combining all of the control, sensory and knowledge systems of an IAMR. They introduce Lisp-Nodes as such a system, and develop the basic concepts of nodes, messages and classes. Furthermore, they show how the control system of the Rice-obot I is implemented as sub-systems in Lisp-Nodes.

  19. 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.

  20. A Voice Operated Tour Planning System for Autonomous Mobile Robots

    Directory of Open Access Journals (Sweden)

    Charles V. Smith Iii

    2010-06-01

    Full Text Available Control systems driven by voice recognition software have been implemented before but lacked the context driven approach to generate relevant responses and actions. A partially voice activated control system for mobile robotics is presented that allows an autonomous robot to interact with people and the environment in a meaningful way, while dynamically creating customized tours. Many existing control systems also require substantial training for voice application. The system proposed requires little to no training and is adaptable to chaotic environments. The traversable area is mapped once and from that map a fully customized route is generated to the user

  1. 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.

  2. 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.

  3. 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.

  4. Knowledge/geometry-based Mobile Autonomous Robot Simulator (KMARS)

    Science.gov (United States)

    Cheng, Linfu; Mckendrick, John D.; Liu, Jeffrey

    1990-01-01

    Ongoing applied research is focused on developing guidance system for robot vehicles. Problems facing the basic research needed to support this development (e.g., scene understanding, real-time vision processing, etc.) are major impediments to progress. Due to the complexity and the unpredictable nature of a vehicle's area of operation, more advanced vehicle control systems must be able to learn about obstacles within the range of its sensor(s). A better understanding of the basic exploration process is needed to provide critical support to developers of both sensor systems and intelligent control systems which can be used in a wide spectrum of autonomous vehicles. Elcee Computek, Inc. has been working under contract to the Flight Dynamics Laboratory, Wright Research and Development Center, Wright-Patterson AFB, Ohio to develop a Knowledge/Geometry-based Mobile Autonomous Robot Simulator (KMARS). KMARS has two parts: a geometry base and a knowledge base. The knowledge base part of the system employs the expert-system shell CLIPS ('C' Language Integrated Production System) and necessary rules that control both the vehicle's use of an obstacle detecting sensor and the overall exploration process. The initial phase project has focused on the simulation of a point robot vehicle operating in a 2D environment.

  5. Concept of Intelligent Mechanical Design for Autonomous Mobile Robots

    OpenAIRE

    Nassiraei, Amir Ali Forough

    2007-01-01

    (Abstract) During the 21st century, it is expected that the robots with different degrees of autonomy and mobility will play an increasingly important role in all side of human life. Thus these kinds of robots will become much more complex than today, and the development of such robots present a great challenge for researchers. However, drawbacks of robot complexity, necessity of more complex hardware, software and mechanical structure may lead to low reliability and increasing...

  6. Mechanical deployment system on aries an autonomous mobile robot

    International Nuclear Information System (INIS)

    ARIES (Autonomous Robotic Inspection Experimental System) is under development for the Department of Energy (DOE) to survey and inspect drums containing low-level radioactive waste stored in warehouses at DOE facilities. This paper focuses on the mechanical deployment system-referred to as the camera positioning system (CPS)-used in the project. The CPS is used for positioning four identical but separate camera packages consisting of vision cameras and other required sensors such as bar-code readers and light stripe projectors. The CPS is attached to the top of a mobile robot and consists of two mechanisms. The first is a lift mechanism composed of 5 interlocking rail-elements which starts from a retracted position and extends upward to simultaneously position 3 separate camera packages to inspect the top three drums of a column of four drums. The second is a parallelogram special case Grashof four-bar mechanism which is used for positioning a camera package on drums on the floor. Both mechanisms are the subject of this paper, where the lift mechanism is discussed in detail

  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

    International Nuclear Information System (INIS)

    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. Evaluation of a Home Biomonitoring Autonomous Mobile Robot.

    Science.gov (United States)

    Dorronzoro Zubiete, Enrique; Nakahata, Keigo; Imamoglu, Nevrez; Sekine, Masashi; Sun, Guanghao; Gomez, Isabel; Yu, Wenwei

    2016-01-01

    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. PMID:27212940

  14. Evaluation of a Home Biomonitoring Autonomous Mobile Robot

    Science.gov (United States)

    Dorronzoro Zubiete, Enrique; Nakahata, Keigo; Imamoglu, Nevrez; Sekine, Masashi; Sun, Guanghao; Gomez, Isabel; Yu, Wenwei

    2016-01-01

    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. PMID:27212940

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

    OpenAIRE

    Mingjun Wang; Jun Zhou; Jun Tu; Chengliang Liu

    2010-01-01

    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 p...

  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. 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.

  19. 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.

  20. 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.

  1. An autonomous mobil robot to perform waste drum inspections

    International Nuclear Information System (INIS)

    A mobile robot is being developed by the Savannah River Technology Center (SRTC) Robotics Group of Westinghouse Savannah River company (WSRC) to perform mandated inspections of waste drums stored in warehouse facilities. The system will reduce personnel exposure and create accurate, high quality documentation to ensure regulatory compliance. Development work is being coordinated among several DOE, academic and commercial entities in accordance with DOE's technology transfer initiative. The prototype system was demonstrated in November of 1993. A system is now being developed for field trails at the Fernald site

  2. 2D navigation and pilotage of an autonomous mobile robot

    International Nuclear Information System (INIS)

    The contribution of this thesis deals with the navigation and the piloting of an autonomous robot, in a known or weakly known environment of dimension two without constraints. This leads to generate an optimal path to a given goal and then to compute the commands to follow this path. Several constraints are taken into account (obstacles, geometry and kinematic of the robot, dynamic effects). The first part defines the problem and presents the state of the art. The three following parts present a set of complementary solutions according to the knowledge level of the environment and to the space constraints: - Case of a known environment: generation and following of a trajectory with respect to given path points. - Case of a weakly known environment: coupling of a command module interacting with the environment perception, and a path planner. This allows a fast motion of the robot. - Case of a constrained environment: planner enabling the taking into account of many constraints as the robot's shape, turning radius limitation, backward motion and orientation. (author)

  3. On autonomous terrain model acquistion by a mobile robot

    Science.gov (United States)

    Rao, N. S. V.; Iyengar, S. S.; Weisbin, C. R.

    1987-01-01

    The following problem is considered: A point robot is placed in a terrain populated by an unknown number of polyhedral obstacles of varied sizes and locations in two/three dimensions. The robot is equipped with a sensor capable of detecting all the obstacle vertices and edges that are visible from the present location of the robot. The robot is required to autonomously navigate and build the complete terrain model using the sensor information. It is established that the necessary number of scanning operations needed for complete terrain model acquisition by any algorithm that is based on scan from vertices strategy is given by the summation of i = 1 (sup n) N(O sub i)-n and summation of i = 1 (sup n) N(O sub i)-2n in two- and three-dimensional terrains respectively, where O = (O sub 1, O sub 2,....O sub n) set of the obstacles in the terrain, and N(O sub i) is the number of vertices of the obstacle O sub i.

  4. Positional estimation techniques for an autonomous mobile robot

    Science.gov (United States)

    Nandhakumar, N.; Aggarwal, J. K.

    1990-01-01

    Techniques for positional estimation of a mobile robot navigation in an indoor environment are described. A comprehensive review of the various positional estimation techniques studied in the literature is first presented. The techniques are divided into four different types and each of them is discussed briefly. Two different kinds of environments are considered for positional estimation; mountainous natural terrain and an urban, man-made environment with polyhedral buildings. In both cases, the robot is assumed to be equipped with single visual camera that can be panned and tilted and also a 3-D description (world model) of the environment is given. Such a description could be obtained from a stereo pair of aerial images or from the architectural plans of the buildings. Techniques for positional estimation using the camera input and the world model are presented.

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

    DEFF Research Database (Denmark)

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

    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...

  6. 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...

  7. 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...

  8. Cartographie et estimation globale de la position pour un robot mobile autonome

    OpenAIRE

    Filliat, David

    2001-01-01

    Managing the movements of an autonomous mobile robot in its environment is a problem that has been tackled since the early integration of arti ficial intelligence and robotics. However, this problem remains di fficult and no general solution has been devised. Among existing navigation strategies, we will focus on those that use a map to represent the spatial layout of the environment and that allow to plan movements toward distant goals. Map-building and self-positioning within these maps are...

  9. Toward semi-autonomous control of mobile robots for constrained environments

    International Nuclear Information System (INIS)

    Drawing from long-time experience in nuclear maintenance robotics, FRAMATOME leads with several partners an important effort with the goal of developing the decision and operator assistance capabilities of mobile robots. Future robots shall be better adapted (in size and configuration) to the operational requirements of nuclear plants work than current demonstrators. Due regards shall be paid to safety aspects and qualification procedure shall be specified soon. Also, dosimetry gains (e.g. as evaluated by DOSIANA) shall be evaluated to establish further the advantages of robotic solutions. Current achievements and plans for the next two years are expected to provide the necessary know-how for semi-autonomous control of various mobile robots in actual missions in nuclear plant environment. These advances in many closely connected disciplines and technologies should put FRAMATOME in a leader position as systems integrator or as developer for future markets in autonomous mobile robotics, not only in the nuclear field but in other domains as well. (author)

  10. 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.

  11. 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…

  12. A real-time distributed software infrastructure for cooperating mobile autonomous robots

    OpenAIRE

    Frederico Santos; Luis Almeida; Paulo Pedreiras; Luis Seabra Lopes

    2009-01-01

    Cooperating mobile autonomous robots have been generating a growing interest in fields such as rescue, demining and security. These applications require a real time middleware and wireless communication protocol that can effecient and timely support the fusion of the distributed perception and the development of coordinated behaviors. This paper proposes an affordable middleware, based on low-cost and open-source COTS technologies, which relies on a real-time database partially replicated in ...

  13. Controlling omni-directional Wheels of a MSL RoboCup autonomous mobile robot

    OpenAIRE

    Ribeiro, António Fernando; Moutinho, Ivo; Silva, Pedro; Fraga, Carlos; Pereira, Nino

    2004-01-01

    Autonomous Mobile Locomotion is of extreme importance in RoboCup robots. Even though in 2050 the robotic team will very likely use legs rather than wheels, at the moment all teams on middle size league use wheels to overcome other problems first. Most teams are using two driving wheels (with one or two cast wheels), four driving wheels and even three driving wheels. The Minho team has been using two driving wheels for the last 5 years (with two caster wheels), but for reaction speed optimi...

  14. 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.

  15. 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.

  16. 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

  17. Kinematics modeling and simulation of an autonomous omni-directional mobile robot

    Directory of Open Access Journals (Sweden)

    Daniel Garcia Sillas

    2015-08-01

    Full Text Available Although robotics has progressed to the extent that it has become relatively accessible with low-cost projects, there is still a need to create models that accurately represent the physical behavior of a robot. Creating a completely virtual platform allows us to test behavior algorithms such as those implemented using artificial intelligence, and additionally, it enables us to find potential problems in the physical design of the robot. The present work describes a methodology for the construction of a kinematic model and a simulation of the autonomous robot, specifically of an omni-directional wheeled robot. This paper presents the kinematic model development and its implementation using several tools. The result is a model that follows the kinematics of a triangular omni-directional mobile wheeled robot, which is then tested by using a 3D model imported from 3D Studio® and Matlab® for the simulation. The environment used for the experiment is very close to the real environment and reflects the kinematic characteristics of the robot.

  18. A Sensory Input System for Autonomous Mobile Robots

    OpenAIRE

    Bixler, J. Patrick; Miller, David P.

    1987-01-01

    In order to accomplish navigation in an similar world a robot must be able to build and update its own world map continuously and in real time. This paper proposes a sensory input system based on the fusion of simple low-resolution vision with directed high-resolution sonar. The basic idea is to use a simple vision system to locate the position in which an obstacle lies, and then use an ultrasonic rangefinder to determine the depth of the object and to gain clues about its shape. By fusing tw...

  19. 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

  20. Mobile Intelligent Autonomous Systems

    OpenAIRE

    Jitendra R. Raol; Ajith Gopal

    2010-01-01

    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) ve...

  1. 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.

  2. 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.

  3. 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)

  4. 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.

  5. Towards Autonomous Inspection of Space Systems Using Mobile Robotic Sensor Platforms

    Science.gov (United States)

    Wong, Edmond; Saad, Ashraf; Litt, Jonathan S.

    2007-01-01

    The space transportation systems required to support NASA's Exploration Initiative will demand a high degree of reliability to ensure mission success. This reliability can be realized through autonomous fault/damage detection and repair capabilities. It is crucial that such capabilities are incorporated into these systems since it will be impractical to rely upon Extra-Vehicular Activity (EVA), visual inspection or tele-operation due to the costly, labor-intensive and time-consuming nature of these methods. One approach to achieving this capability is through the use of an autonomous inspection system comprised of miniature mobile sensor platforms that will cooperatively perform high confidence inspection of space vehicles and habitats. This paper will discuss the efforts to develop a small scale demonstration test-bed to investigate the feasibility of using autonomous mobile sensor platforms to perform inspection operations. Progress will be discussed in technology areas including: the hardware implementation and demonstration of robotic sensor platforms, the implementation of a hardware test-bed facility, and the investigation of collaborative control algorithms.

  6. 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. PMID:22736962

  7. 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.

  8. 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...

  9. 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.

  10. 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.

  11. Design and simulation of a motion controller for a wheeled mobile-robot autonomous navigation

    Science.gov (United States)

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

    2005-10-01

    This paper describes the development of PD, PID Computed-Torque (CT), and a PD digital motion controller for the autonomous navigation of a Wheeled Mobile Robot (WMR) in outdoor environments. The controllers select the suitable control torques, so that the WMR follows the desired path produced from a navigation algorithm described in a previous paper. PD CT, PID CT, and PD digital controllers were developed using a linear system design procedure to select the feedback control signal that stabilizes the tracking error equation. The torques needed for the motors were computed by using the inverse of the dynamic equation for the WMR. Simulation software was developed to simulate the performance and efficiency of the controllers. Simulation results verified the effectiveness of the controllers under different motion trajectories, comparing the performance of the three controllers shows that the PD digital controller was the best where the tracking error did not exceed .05 using 20 msec sample period. The significance of this work lies in the development of CT and digital controllers for WMR navigation, instead of robot manipulators. These CT controllers will facilitate the use of WMRs in many applications including defense, industrial, personal, and medical robots.

  12. 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.

  13. Fast mapping of the local environment of an autonomous mobile robot

    International Nuclear Information System (INIS)

    The construction of a map of the local world for the navigation of an autonomous mobile robot leads to the following problem: how to extract among the sensor data information accurate an reliable enough to plan a path, in a way that enables a reasonable displacement speed. Choice has been made not to tele-operate the vehicle nor to design any custom architecture. So the only way to match the computational cost is to look for the most efficient sensor-algorithms-architecture combination. A good solution is described in this study, using a laser range-finder, a grid model of the world and both SIMD and MIMD parallel processors. A short review of some possible approaches is made first; the mapping algorithms are then described as also the parallel implementations with the corresponding speedup and efficiency factors. (author)

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

    International Nuclear Information System (INIS)

    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 θ) 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

  15. Pseudo-bacterial Potential Field Based Path Planner for Autonomous Mobile Robot Navigation

    Directory of Open Access Journals (Sweden)

    Ulises Orozco-Rosas

    2015-07-01

    Full Text Available This paper introduces the pseudo-bacterial potential field (PBPF as a new path planning method for autonomous mobile robot navigation. The PBPF allows us to obtain an optimal and safe path, in contrast to the classical potential field approach which is not suitable for path planning because it lacks a means of obtaining the optimal proportional gains. The PBPF uses the pseudo-bacterial genetic algorithm (PBGA and a fitness function based on the potential field concepts to construct viable paths in dynamical environments to mostly result in the optimal path being obtained. Comparative experiments of sequential and parallel implementations of the PBPF for off-line and online in structured and unstructured conditions are presented; the results are contrasted with the artificial potential field (APF method to demonstrate how the PBPF proposal overcomes the traditional method.

  16. 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.

  17. 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,

  18. 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

  19. Motion Planning Of an Autonomous Mobile Robot Using Artificial Neural Network

    OpenAIRE

    Tripathi, G. N.; Rihani, V.

    2012-01-01

    The paper presents the electronic design and motion planning of a robot based on decision making regarding its straight motion and precise turn using Artificial Neural Network (ANN). The ANN helps in learning of robot so that it performs motion autonomously. The weights calculated are implemented in microcontroller. The performance has been tested to be excellent.

  20. Mobile Robot Navigation

    DEFF Research Database (Denmark)

    Andersen, Jens Christian

    2007-01-01

    . 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...... validation of the implemented solutions and the ability of the methods to solve real world problems. The amount of software needed by an autonomous robot can be overwhelming. Software reuse and distributed development are therefore important issues. The thesis describes a new component architecture......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...

  1. Autonomous packaging robot

    OpenAIRE

    Vo, Van Thanh

    2010-01-01

    The objective of the autonomous packaging robot application is to replace manual product packaging in food industry with a fully automatic robot. The objective is achieved by using the combination of machine vision, central computer, sensors, microcontroller and a typical ABB robot. The method is to equip the robot with different sensors: camera as “eyes” of robot, distance sensor and microcontroller as “sense of touch” of the robot, central computer as “brain” of the robot. Because the ro...

  2. Conception de structures neuronales pour le contrôle de robots mobiles autonomes

    OpenAIRE

    Mondada, Francesco; Nicoud, Jean-Daniel

    2008-01-01

    There is a large number of possible applications in the field of mobile robotics: Mail delivery robots, domestic or industrial vacuum cleaners, surveillance robots, demining robots and many others could be very interesting products. Despite this potential market and the actual technology, only few simple systems are commercially available. This proves that there are several important and problematic issues in this field, mainly at the intelligence level. As a reaction to the failure of the cl...

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

    OpenAIRE

    Stephen Armah; Sun Yi; Taher Abu-Lebdeh

    2014-01-01

    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 success...

  4. 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.

  5. Recognition and automatic tracking of weld line in fringe welding by autonomous mobile robot with visual sensor

    International Nuclear Information System (INIS)

    An autonomous mobile robot with visual sensor and four driving axes for welding of pipe and fringe was constructed. The robot can move along a pipe, and detect the weld line to be welded by visual sensor. Moreover, in order to perform welding automatically, the tip of welding torch can track the weld line of the joint by rotating the robot head. In the case of welding of pipe and fringe, the robot can detect the contact angle between the two base metals to be welded, and the torch angle changes according to the contact angle. As the result of tracking test by the robot system, it was made clear that the recognition of geometry of the joint by the laser lighting method and automatic tracking of weld line were possible. The average tracking error was ±0.3 mm approximately and the torch angle could be always kept at the optimum angle. (author)

  6. The Embudito Mission: A Case Study of the Systematics of Autonomous Ground Mobile Robots; TOPICAL

    International Nuclear Information System (INIS)

    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

  7. 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...

  8. The Mobile Robot RHINO

    OpenAIRE

    Buhmann, Joachim; Burgard, Wolfram; Cremers, Armin B.; Fox, Dieter; Hofmann, Thomas; Schneider, Frank E.; Strikos, Jiannis; Thrun, Sebastian

    1995-01-01

    Rhino was the University of Bonn's entry in the 1994 AAAI Robot Competition and Exhibition. rhino is a mobile robot designed for indoor navigation and manipulation tasks. The general scientific goal of the rhino project is the development and the analysis of autonomous and complex learning systems. This article briefly describes the major components of the rhino control software as they were exhibited at the competition. It also sketches the basic philosophy of the rhino architecture and disc...

  9. 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.

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

    OpenAIRE

    Sobers Lourdu Xavier Francis; Anavatti, Sreenatha G.; 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...

  11. Intelligent behavior generator for autonomous mobile robots using planning-based AI decision making and supervisory control logic

    Science.gov (United States)

    Shah, Hitesh K.; Bahl, Vikas; Martin, Jason; Flann, Nicholas S.; Moore, Kevin L.

    2002-07-01

    In earlier research the Center for Self-Organizing and Intelligent Systems (CSOIS) at Utah State University (USU) have been funded by the US Army Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program to develop and demonstrate enhanced mobility concepts for unmanned ground vehicles (UGVs). One among the several out growths of this work has been the development of a grammar-based approach to intelligent behavior generation for commanding autonomous robotic vehicles. In this paper we describe the use of this grammar for enabling autonomous behaviors. A supervisory task controller (STC) sequences high-level action commands (taken from the grammar) to be executed by the robot. It takes as input a set of goals and a partial (static) map of the environment and produces, from the grammar, a flexible script (or sequence) of the high-level commands that are to be executed by the robot. The sequence is derived by a planning function that uses a graph-based heuristic search (A* -algorithm). Each action command has specific exit conditions that are evaluated by the STC following each task completion or interruption (in the case of disturbances or new operator requests). Depending on the system's state at task completion or interruption (including updated environmental and robot sensor information), the STC invokes a reactive response. This can include sequencing the pending tasks or initiating a re-planning event, if necessary. Though applicable to a wide variety of autonomous robots, an application of this approach is demonstrated via simulations of ODIS, an omni-directional inspection system developed for security applications.

  12. 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.

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

    International Nuclear Information System (INIS)

    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

  14. 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.

  15. 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.

  16. Structured control for autonomous robots

    International Nuclear Information System (INIS)

    To operate in rich, dynamic environments, autonomous robots must be able to effectively utilize and coordinate their limited physical and occupational resources. As complexity increases, it becomes necessary to impose explicit constraints on the control of planning, perception, and action to ensure that unwanted interactions between behaviors do not occur. This paper advocates developing complex robot systems by layering reactive behaviors onto deliberative components. In this structured control approach, the deliberative components handle normal situations and the reactive behaviors, which are explicitly constrained as to when and how they are activated, handle exceptional situations. The Task Control Architecture (TCA) has been developed to support this approach. TCA provides an integrated set of control constructs useful for implementing deliberative and reactive behaviors. The control constructs facilitate modular and evolutionary system development: they are used to integrate and coordinate planning, perception, and execution, and to incrementally improve the efficiency and robustness of the robot systems. To date, TCA has been used in implementing a half-dozen mobile robot systems, including an autonomous six-legged rover and indoor mobile manipulator

  17. 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, interactio...

  18. 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...... about their game play patterns and get ideas about future improvements of the game....

  19. Extended architecture for autonomous robots (architecture for robotic autonomy functionality)

    Czech Academy of Sciences Publication Activity Database

    Březina, Tomáš; Ehrenberger, Zdeněk; Houška, P.; Singule, V.

    Brno : VUT, 2003 - (Březina, T.; Ehrenberger, Z.; Houška, P.; Singule, V.), s. 1-2 ISBN 80-214-2312-9. [Mechanortonics, robotisc and biomechanics 2003. Hrotovice (CZ), 24.03.2003-27.03.2003] Institutional research plan: CEZ:AV0Z2076919 Keywords : mobile robots * autonomous operation * control Subject RIV: JD - Computer Applications, Robotics

  20. 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.

  1. 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.

  2. 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.

  3. Tandem mobile robot system

    Science.gov (United States)

    Buttz, James H.; Shirey, David L.; Hayward, David R.

    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.

  4. 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.

  5. Infrared Beacons based Localization of Mobile Robot

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, Stanislav

    2012-01-01

    Roč. 117, č. 1 (2012), s. 17-22. ISSN 1392-1215 Institutional research plan: CEZ:AV0Z20760514 Keywords : mobile robot localization * extended Kalman filter * autonomous mobile robot Subject RIV: JD - Computer Applications, Robot ics Impact factor: 0.411, year: 2012 http://www.eejournal.ktu.lt/index.php/elt/article/view/1046

  6. 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.

  7. 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.

  8. ARIES: A mobile robot inspector

    International Nuclear Information System (INIS)

    ARIES (Autonomous Robotic Inspection Experimental System) is a mobile robot inspection system being developed for the Department of Energy (DOE) to survey and inspect drums containing mixed and low-level radioactive waste stored in warehouses at DOE facilities. The drums are typically stacked four high and arranged in rows with three-foot aisle widths. The robot will navigate through the aisles and perform an autonomous inspection operation, typically performed by a human operator. It will make real-time decisions about the condition of the drums, maintain a database of pertinent information about each drum, and generate reports

  9. Autonomous Industrial Mobile Manipulation (AIMM)

    DEFF Research Database (Denmark)

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

    2012-01-01

    ; 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......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...

  10. 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.

  11. ARK-2: a mobile robot that navigates autonomously in an industrial environment

    International Nuclear Information System (INIS)

    ARK-2 is a robot that uses a vision system based on a camera and spot laser rangefinder mounted on a pan and tilt unit for navigation. This vision system recognizes known landmarks and computes its position relative to them, thus bounding the error in its position. The vision system is also used to find known gauges, given their approximate locations, and takes readings from them. 'Approximate' in this context means the same sort of accuracy that a human would need: 'down aisle 3 on the right' suffices. ARK-2 is also equipped with the FAD (Floor Anomaly Detector) which is based on the NRC (National Research Council of Canada) BIRIS (Bi-IRIS) sensor, and keeps ARK-2 from failing into open drains or trying to negotiate large cables or pipes on the floor. ARK-2 has also been equipped with a variety of application sensors for security and safety patrol applications. Radiation sensors are used to produce contour maps of radiation levels. In order to detect fires, environmental changes and intruders, ARK-2 is equipped with smoke, temperature, humidity and gas sensors, scanning ultraviolet and infrared detectors and a microwave motion detector. In order to support autonomous, untethered operation for hours at a time, ARK-2 also has onboard systems for power, sonar-based obstacle detection, computation and communications. The project uses a UNIX environment for software development, with the onboard SPARC processor appearing as just another workstation on the LAN. Software modules include the hardware drivers, path planning, navigation, emergency stop, obstacle mapping and status monitoring. ARK-2 may also be controlled from a ROBCAD simulation. (author)

  12. Autonomous Home Automated Hexapod Robot

    Directory of Open Access Journals (Sweden)

    Addanki Purna Ramesh,

    2010-12-01

    Full Text Available This paper focuses on design and implementation of six legged robot that is capable of monitoring and performing house hold works independently. The Autonomous Home Automated Hexapod is developed with three AT89C52 microcontrollers which functions as brain of the robot to which all operating functions of each module are chronologically programmed in it. The legs of the robot were developed with 2 servo motors to provide two degree for each leg. Several additional sensors like TSOP1738 (IR, RF transmitter andreceiver, DS1307 (Real Time Clock have been embedded into robot in modular form to make it work autonomously.

  13. 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.

  14. Fuzzy control of autonomous robot

    International Nuclear Information System (INIS)

    An autonomous robot which can move and find its own route to a destination by means of fuzzy control is under development. An AI technique is utilized to determine the route to a destination from geographical information gathered through an ITV camera mounted on the robot. Information on robot location is also gained through an ITV camera, and, by applying fuzzy inference operation, the robot's movement is controlled. This paper describes the methods that are used for finding a route and controlling movement. Effectiveness of the proposed methods has been confirmed through actual robot movement tests and through computer simulations. (author)

  15. 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...

  16. 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...

  17. Mobile Robots for Hospital Logistics

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan

    services to maintain the quality of healthcare provided. Logistics is the most resource demanding service in a hospital. The scale of the transportation tasks is huge and the material flow in a hospital is comparable to that of a factory. We believe that these transportation tasks, to a great extent, can...... 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...... a redundant layer 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...

  18. Mobile robot for hazardous environments

    International Nuclear Information System (INIS)

    This paper describes the architecture and potential applications of the autonomous robot for a known environment (ARK). The ARK project has developed an autonomous mobile robot that can move around by itself in a complicated nuclear environment utilizing a number of sensors for navigation. The primary sensor system is computer vision. The ARK has the intelligence to determine its position utilizing open-quotes natural landmarks,close quotes such as ordinary building features at any point along its path. It is this feature that gives ARK its uniqueness to operate in an industrial type of environment. The prime motivation to develop ARK was the potential application of mobile robots in radioactive areas within nuclear generating stations and for nuclear waste sites. The project budget is $9 million over 4 yr and will be completed in October 1995

  19. 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. PMID:19651459

  20. 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...

  1. 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.

  2. 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

  3. ROBERT autonomous navigation robot with artificial vision

    International Nuclear Information System (INIS)

    This work, a joint research between ENEA (the Italian National Agency for Energy, New Technologies and the Environment) and DIGlTAL, presents the layout of the ROBERT project, ROBot with Environmental Recognizing Tools, under development in ENEA laboratories. This project aims at the development of an autonomous mobile vehicle able to navigate in a known indoor environment through the use of artificial vision. The general architecture of the robot is shown together with the data and control flow among the various subsystems. Also the inner structure of the latter complete with the functionalities are given in detail

  4. Robot vision for autonomous object learning and tracking

    OpenAIRE

    Sanfeliu Cortés, Alberto

    2003-01-01

    In this paper we present a summary of some of the research that we are developing in the Institute of Robotics of the CSIC-UPC, in the field of Learning and Robot Vision for autonomous mobile robots. We describe the problems that we have found and some solutions that have been applied in two issues: tracking objects and learning and recognition of 3D objects in robotic environments. We will explain some of the results accomplished.

  5. 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.

  6. RAFI- A STEREO VISION BASED AUTONOMOUS MOBILE AREA MAPPING ROBOT WITH 16 DOF

    Directory of Open Access Journals (Sweden)

    Md. Shafayat Hossain

    2013-01-01

    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 with wheels having differential type motion with 2DOF. The head has 3 DOF sufficient for volumetric mapping by 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 for obstacle-detection and avoidance which are also interfaced with the same microcontroller. Its head is equipped with two identical webcams for stereoscopic vision for generating 3D map of the field of view after generating disparity map. To optimize the computational speed and mapping accuracy images of 640×480 resolution are 85% compressed and dynamic programming with image pyramiding by quadpyramid without sub-pixel estimation is pursued

  7. Adaptive fuzzy approach to modeling of operational space for autonomous mobile robots

    Science.gov (United States)

    Musilek, Petr; Gupta, Madan M.

    1998-10-01

    Robots operating in an unstructured environment need high level of modeling of their operational space in order to plan a suitable path from an initial position to a desired goal. From this perspective, operational space modeling seems to be crucial to ensure a sufficient level of autonomy. In order to compile the information from various sources, we propose a fuzzy approach to evaluate each unit region on a grid map by a certain value of transition cost. This value expresses the cost of movement over the unit region: the higher the value, the more expensive the movement through the region in terms of energy, time, danger, etc. The approach for modeling, proposed in this paper, employs fuzzy granulation of information on various terrain features and their combination based on a fuzzy neural network. In order to adapt to the changing environmental conditions, and to improve the validity of constructed cost maps on-line, the system can be endowed with learning abilities. The learning subsystem would change parameters of the fuzzy neural network based decision system by reinforcements derived from comparisons of the actual cost of transition with the cost obtained from the model.

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

    Czech Academy of Sciences Publication Activity Database

    Věchet, Stanislav; Chen, K.-S.; Krejsa, Jiří

    2013-01-01

    Roč. 3, č. 4 (2013), s. 273-277. ISSN 2223-9766 Institutional support: RVO:61388998 Keywords : particle filters * autonomous mobile robot s * mixed potential fields Subject RIV: JD - Computer Applications, Robot ics http://www.ausmt.org/index.php/AUSMT/article/view/214/239

  9. Tele-assistance for semi-autonomous robots

    Science.gov (United States)

    Rogers, Erika; Murphy, Robin R.

    1994-01-01

    This paper describes a new approach in semi-autonomous mobile robots. In this approach the robot has sufficient computerized intelligence to function autonomously under a certain set of conditions, while the local system is a cooperative decision making unit that combines human and machine intelligence. Communication is then allowed to take place in a common mode and in a common language. A number of exception-handling scenarios that were constructed as a result of experiments with actual sensor data collected from two mobile robots were presented.

  10. 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...

  11. Robotic perception for autonomous navigation

    OpenAIRE

    Furlan,

    2014-01-01

    This thesis presents the research work the author carried on during his PhD on the topic of robotic perception for autonomous navigation. In particular, the efforts focus on the Self-Localization, Scene Understanding and Object Detection and Tracking problems, proposing for each of these three topics one or more approaches that present an improvement over the state-of-the-art. In some cases the proposed approaches mutually exploit the generated information to improve the quality of the final ...

  12. 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

  13. Mobility Assistive Robots for Disabled Patients

    OpenAIRE

    Kuo, Chung-Hsien

    2008-01-01

    This chapter presents the navigation technologies of mobility assistive robots for disabled patients. The autonomous navigations of conventional robotic wheelchairs are not easy to be implemented because the inconvenience of setting target positions for each segmental path, and unavailable global localization and map of environment. Therefore, a feasible robotic wheelchair is achieved by controlling the wheelchair using the joystick, and the hybrid function converts joystick command as the vi...

  14. A mobile service robot for industrial applications

    OpenAIRE

    Lattanzi, L; Angione, G.; Cristalli, C.; Weisshardt, F.; Arbeiter, G.; Graf, B

    2012-01-01

    This paper addresses the challenge of introducing mobile robots in industrial applications, where changes in the working environment and diversification of tasks require flexibility, adaptability and in some cases basic reasoning capabilities. Classical industrial robots hardly permit to meet these requirements, so a new concept of service robots facing challenging industrial production system needs is proposed. The realization of such an autonomous agent is illustrated and described in detai...

  15. Development of Prometeu autonomous robot for ball handling in Eurobot

    OpenAIRE

    Ribeiro, António Fernando; Monteiro, Jorge; Silva, Pedro; Silva, Victor; Braga, Paulo

    2008-01-01

    Eurobot is a robotics European challenge for the young generation (university and technical schools) which is held annually, with a different challenge in every edition, and participate around about 200 teams every year. Each game comprises two teams competing against each other and does not allow draws. This work describes the design, development and building up of an autonomous mobile robot to fulfill this challenge. This paper includes the challenge description, robot design, sensors...

  16. Mobile Robot Localisation and World Modeling in a Real-Time Software Architecture

    OpenAIRE

    Micucci,

    2004-01-01

    The goal of autonomous mobile robotics is to build physical systems that can interact with environments not specifically structured for this purpose. Even if the applications that might exploit autonomous mobile robots are widespread, current technologies are still immature at satisfying the growing requests. For this reason, robot navigation constitutes one of the major trends in the current research on robotics. A precondition for a mobile robot to be autonomous is the ability to self-lo...

  17. 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

  18. Mobile robot control system

    OpenAIRE

    Jiruška, Jiří

    2015-01-01

    This thesis deals with differential drive wheeled mobile robot which is running under a real-time operating system. Introductory part is focused on theoretical description of robot and its original firmware. Practical part deals with creating software and implementation several methods that allow following the line by robot using reflectance sensor array. Significant part of this thesis is focused on design and implementation of communication protocol, based on IEEE 802.15.4 which provides co...

  19. 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

  20. 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.

  1. Task-level control for autonomous robots

    Science.gov (United States)

    Simmons, Reid

    1994-01-01

    Task-level control refers to the integration and coordination of planning, perception, and real-time control to achieve given high-level goals. Autonomous mobile robots need task-level control to effectively achieve complex tasks in uncertain, dynamic environments. This paper describes the Task Control Architecture (TCA), an implemented system that provides commonly needed constructs for task-level control. Facilities provided by TCA include distributed communication, task decomposition and sequencing, resource management, monitoring and exception handling. TCA supports a design methodology in which robot systems are developed incrementally, starting first with deliberative plans that work in nominal situations, and then layering them with reactive behaviors that monitor plan execution and handle exceptions. To further support this approach, design and analysis tools are under development to provide ways of graphically viewing the system and validating its behavior.

  2. 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.

  3. 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.

  4. 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

  5. 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...... for solving this exists. This project includes an effort towards such a generic navigation system. It should provide a stable and easy-to-setup experience for robotics researcher and industry integrators who needs navigation capability for a specic mobile robot. At the same time a common package......, 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...

  6. 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.

  7. Autonomous biomorphic robots as platforms for sensors

    International Nuclear Information System (INIS)

    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

  8. 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.

  9. 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.

  10. Autonomous navigation framework for a car-like robot

    OpenAIRE

    Hernádez Juan, Sergi; Herrero Cotarelo, Fernando

    2015-01-01

    This technical report describes the work done to develop a new navigation scheme for an autonomous car-like robot available at the Mobile Robotics Laboratory at IRI. To plan the general path the robot should follow (i.e. the global planner), a search based planner algorithm, with motion primitives which take into account the kinematic constraints of the robot, is used. To actually execute the path and avoid dynamic obstacles (i.e the local planner) a modification of the DWA algorithm is used,...

  11. Multisensory autonomous robotic inspection and manipulation in an unstructured environment

    International Nuclear Information System (INIS)

    In this paper we demonstrate the feasibility of an autonomous robotics inspection and manipulation in an unstructured environment, using information coming from a multisensory integrated system. The task is to perform a real operation, such as adjusting a valve, on a testbed representing an hydraulic circuit. The robotics system, made up of a mobile crawling robot and of an anthropomorphous, six-degree-of-freedom industrial robot, can achieve the goal by the joint use of vision, range and force/torque sensors. (author)

  12. 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...... however, it is challenging to realize such characteristics since state-of-the-art systems and solutions suffer from several inherent technical and theoretical problems and limitations. In this thesis, we address these challenges by exploring four central elements of autonomous self-reconfigurable modular...

  13. 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

  14. 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. PMID:26227680

  15. 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.

  16. Segway robotic mobility platform

    Science.gov (United States)

    Nguyen, Hoa G.; Morrell, John; Mullens, Katherine D.; Burmeister, Aaron B.; Miles, Susan; Farrington, Nathan; Thomas, Kari M.; Gage, Douglas W.

    2004-12-01

    The Segway Robotic Mobility Platform (RMP) is a new mobile robotic platform based on the self-balancing Segway Human Transporter (HT). The Segway RMP is faster, cheaper, and more agile than existing comparable platforms. It is also rugged, has a small footprint, a zero turning radius, and yet can carry a greater payload. The new geometry of the platform presents researchers with an opportunity to examine novel topics, including people-height sensing and actuation modalities. This paper describes the history and development of the platform, its characteristics, and a summary of current research projects involving the platform at various institutions across the United States.

  17. Vision and distance integrated sensor (Kinect) for an autonomous robot

    OpenAIRE

    Ribeiro, Paulo Rogério de Almeida; Ribeiro, António Fernando; Lopes, Gil

    2011-01-01

    This work presents an application of the Microsoft Kinect camera for an autonomous mobile robot. In order to drive autonomously one main issue is the ability to recognize signalling panels positioned overhead. The Kinect camera can be applied in this task due to its double integrated sensor, namely vision and distance. The vision sensor is used to perceive the signalling panel, while the distance sensor is applied as a segmentation filter, by eliminating pixels by their depth in the object’s ...

  18. 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.

  19. 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....

  20. Visual navigation and servoing for object manipulation with mobile robots

    OpenAIRE

    Nierobisch, Thomas

    2014-01-01

    In the future, autonomous service robots are supposed to remove the burden of monotonic and tedious tasks like pickup and delivery from people. Vision being the most important human sensor and feedback system is considered to play a prominent role in the future of robotics. Robust techniques for visual robot navigation, object recognition and vision assisted object manipulation are essential in service robotics tasks. Mobile manipulation in service robotics applications requires the alignment...

  1. Computer vision for autonomous robotics in space

    Science.gov (United States)

    Wong, Andrew K. C.

    1993-08-01

    This paper presents a computer vision system being developed at the Pattern Analysis and Machine Intelligence (PAMI) Lab of the University of Waterloo and at the Vision, Intelligence and Robotics Technologies Corporation (VIRTEK) in support of the Canadian Space Autonomous Robotics Project. This system was originally developed for flexible manufacturing and guidance of autonomous roving vehicles. In the last few years, it has been engineered to support the operations of the Mobile Service System (MSS) (or its equivalence) for the Space Station Project. In the near term, this vision system will provide vision capability for the recognition, location and tracking of payloads as well as for relating the spatial information to the manipulator for capturing, manipulating and berthing payloads. In the long term, it will serve in the role of inspection, surveillance and servicing of the Station. Its technologies will be continually expanded and upgraded to meet the demand as the needs of the Space Station evolve and grow. Its spin-off technologies will benefit the industrial sectors as well.

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

    Institute of Scientific and Technical Information of China (English)

    孙俊焘

    2014-01-01

    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。%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.

  3. Adaptive learning fuzzy control of a mobile robot

    International Nuclear Information System (INIS)

    In this report a problem is studied to construct a fuzzy controller for a mobile robot to move autonomously along a given reference direction curve, for which control rules are generated and acquired through an adaptive learning process. An adaptive learning fuzzy controller has been developed for a mobile robot. Good properties of the controller are shown through the travelling experiments of the mobile robot. (author)

  4. 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.

  5. 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.

  6. Mobile robots for hazardous environments

    International Nuclear Information System (INIS)

    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. 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.

  8. The Stored Waste Autonomous Mobile Inspector (SWAMI)

    International Nuclear Information System (INIS)

    A mobile robot system called Stored Waste Autonomous Mobile Inspector (SWAMI) is under development by the Savannah River Technology Center (SRTC) Robotics Group of Westinghouse Savannah River Company (WSRC) to perform mandated inspections of waste drums stored in warehouse facilities. The system will reduce personnel exposure to potential hazards and create accurate, high-quality documentation to ensure regulatory compliance and enhance waste management operations. Development work is coordinated among several Department of Energy (DOE), academic, and commercial entities in accordance wit DOE's technology transfer initiative. The prototype system, SWAMI I, was demonstrated at Savannah River Site (SRS) in November, 1993. SWAMI II is now under development for field trails at the Fernald site

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

    OpenAIRE

    Noureddine Ouadah; Lamine Ourak; Fares Boudjema

    2008-01-01

    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-lik...

  10. Tele-robotic/autonomous control using controlshell

    Energy Technology Data Exchange (ETDEWEB)

    Wilhelmsen, K.C.; Hurd, R.L.; Couture, S.

    1996-12-10

    A tele-robotic and autonomous controller architecture for waste handling and sorting has been developed which uses tele-robotics, autonomous grasping and image processing. As a starting point, prior work from LLNL and ORNL was restructured and ported to a special real-time development environment. Significant improvements in collision avoidance, force compliance, and shared control aspects were then developed. Several orders of magnitude improvement were made in some areas to meet the speed and robustness requirements of the application.

  11. 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...

  12. 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.

  13. Information Engineering in Autonomous Robot Software

    OpenAIRE

    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 its operations. In collaborating with a human to bake a cake, for instance, the robot needs a large number of components to perceive and manipulate the objects and to communicate and coordinate the t...

  14. Autonomous Robot Navigation In Public Nature Park

    DEFF Research Database (Denmark)

    Andersen, Jens Christian; Andersen, Nils Axel; Ravn, Ole; Blas, Morten Rufus

    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...

  15. Control algorithms for autonomous robot navigation

    International Nuclear Information System (INIS)

    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

  16. 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.

  17. Tele/Autonomous Robot For Nuclear Facilities

    Science.gov (United States)

    Backes, Paul G.; Tso, Kam S.

    1994-01-01

    Fail-safe tele/autonomous robotic system makes it unnecessary for human technicians to enter nuclear-fuel-reprocessing facilities and other high-radiation or otherwise hazardous industrial environments. Used to carry out experiments as exchanging equipment modules, turning bolts, cleaning surfaces, and grappling turning objects by use of mixture of autonomous actions and teleoperation with either single arm or two cooperating arms. System capable of fully autonomous operation, teleoperation or shared control.

  18. 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.

  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. 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......The use of landmarks for robot navigation is a popular alternative to having a geometrical model of the environment through which to navigate and monitor self-localization. If the landmarks are defined as special visual structures already in the environment then we have the possibility of fully...

  1. 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.

  2. 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...

  3. 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.

  4. 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.

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

    International Nuclear Information System (INIS)

    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. (paper)

  6. 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. PMID:23385344

  7. 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.

  8. Reflex control for safe autonomous robot operation

    International Nuclear Information System (INIS)

    This paper describes the design of an autonomous, sonar-based world mapping system for collision prevention in robotic systems. Obstacle detection and mapping is performed as a task that competes with higher-level tasks for the robot's attention. All tasks are integrated within a hierarchy, organized and co-ordinated by schemes analogous to biological reflexes and fixed action patterns. It is illustrated how the existence of low-level reflex behaviours can enhance the survivability and autonomy of complex systems and simplify the design of complex higher-level controls like our autonomous sonar-based world mapping system

  9. 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...

  10. Autonomous navigation of a robot with computer vision

    OpenAIRE

    Magallón Hernández, Ignacio

    2011-01-01

    This TCC (Undergraduate Course Final Project) aims to develop a solution for intelligent autonomous navigation with mobile robots using computer vision. Using C language and OpenCV, an image processing library, the generated code applies different filters and convolutions in the input image obtained by webcam in order to reduce input noise, homogenize regions and detect borders. The program, which can be adapted to different environments by regulating four parameters, allows th...

  11. Towards Robot Scientists for autonomous scientific discovery

    OpenAIRE

    Sparkes, Andrew; Aubrey, Wayne; Byrne, Emma; Clare, Amanda; Khan, Muhammed N; Liakata, Maria; Markham, Magdalena; Rowland, Jem; Soldatova, Larisa N.; Whelan, Kenneth E; Young, Michael; King, Ross D.

    2010-01-01

    We review the main components of autonomous scientific discovery, and how they lead to the concept of a Robot Scientist. This is a system which uses techniques from artificial intelligence to automate all aspects of the scientific discovery process: it generates hypotheses from a computer model of the domain, designs experiments to test these hypotheses, runs the physical experiments using robotic systems, analyses and interprets the resulting data, and repeats the cycle. We describe our two ...

  12. 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

  13. Perception issues in mobile robotics

    OpenAIRE

    Andrade-Cetto, J.

    2004-01-01

    This paper presents some recent advances in perception for mobile robotics The main objective is, by fusing multisensor information, to obtain sufficiently robust perception capabilities for the successful completion of typical mobile robotics tasks, including human-machine interaction. The use of these techniques is tailored at service robotics applications, such as cleaning of large industrial areas, inspection, security, transportation, costumer service, etc. The article focuses in two spe...

  14. Intelligent mobile robots

    International Nuclear Information System (INIS)

    For the purpose of the application to remote working apparatuses in nuclear power plants and others, the software and moving mechanism of mobile robots that automatically accomplish the movement by only specifying the destination were manufactured for trial. The software has the function of searching a path to determine the quasi-shortest path and the function of controlling execution to control the action of the robots and guide to the destination. By taking heuristics into the method of searching a path and utilizing ultrasonic waves for the function of sight as they can easily detect distance though the information quantity is small, the execution was accelerated. By the simulation examination and the experiment using a mobile apparatus made for trial, it was confirmed that the route plan was able to be made almost in real time, and the appearance of an unknown obstacle was detected before collision and able to be reasonably avoided by the revision of the plan. An environment model, a route planner, the program for controlling execution, the makeup and control of moving function and the experiment on the movement are reported. The shortening of the processing time by dealing with unconfirmed echo and simplifying the writing in a map is a future problem. (Kako, I.)

  15. Autonomous robots and the SP theory of intelligence

    OpenAIRE

    Wolff, J. Gerard

    2014-01-01

    This article is about how the "SP theory of intelligence" and its realisation in the "SP machine" (both outlined in the article) may help to solve computer-related problems in the design of autonomous robots, meaning robots that do not depend on external intelligence or power supplies, are mobile, and are designed to exhibit as much human-like intelligence as possible. The article is about: how to increase the computational and energy efficiency of computers and reduce their bulk; how to achi...

  16. Neural Networks in Mobile Robot Motion

    Directory of Open Access Journals (Sweden)

    Danica Janglova

    2008-11-01

    Full Text Available This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of them are allowed to move. We describe our approach to solving the motion-planning problem in mobile robot control using neural networks-based technique. Our method of the construction of a collision-free path for moving robot among obstacles is based on two neural networks. The first neural network is used to determine the "free" space using ultrasound range finder data. The second neural network "finds" a safe direction for the next robot section of the path in the workspace while avoiding the nearest obstacles. Simulation examples of generated path with proposed techniques will be presented.

  17. Niche Pseudo-Parallel Genetic Algorithms for Path Optimization of Autonomous Mobile Robot - A Specific Application of TSP

    OpenAIRE

    Shen, Zhihua; Zhao, Yingkai

    2008-01-01

    The research, based on combination of niche genetic algorithm and pseudo parallel genetic algorithm, comes into being NPPGA technique which both considers the rate of genetic evolution and diversity of population. The strategy seems to be able to restrain the premature among population and closely cooperate with each other to improve the overall search performance. We presented NPPGA and used a single step NPPGA to figure out the optimal paths in “Robot tour around Pekin”, which is a prac...

  18. Robot soccer anywhere: achieving persistent autonomous navigation, mapping and object vision tracking in dynamic environments

    OpenAIRE

    Dragone, Mauro; O'Donaghue, Ruadhan; Leonard, John J.; O'Hare, G. M. P.; Duffy, Brian R.; Patrikalakis, Andrew; Leederkerken, Jacques

    2005-01-01

    The paper describes an ongoing effort to enable autonomous mobile robots to play soccer in unstructured, everyday environments. Unlike conventional robot soccer competitions that are usually held on purpose-built robot soccer "fields", in our work we seek to develop the capability for robots to demonstrate aspects of soccer-playing in more diverse environments, such as schools, hospitals, or shopping malls, with static obstacles (furniture) and dynamic natural obstacles (people). This problem...

  19. High Level Software for Autonomous Racing Robot

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, Stanislav; Ondroušek, V.

    Praha: Institute of Thermomechanics AS CR, v. v. i., 2007 - (Zolotarev, I.), s. 139-140 ISBN 978-80-87012-06-2. [Engineering Mechanics 2007: national conference with international participation. Svratka (CZ), 14.05.2007-17.05.2007] Institutional research plan: CEZ:AV0Z20760514 Keywords : mobile robot * navigation * localization Subject RIV: JD - Computer Applications, Robot ics

  20. 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. PMID:15828659

  1. A study on autonomous pipeline maintenance robot, 3

    International Nuclear Information System (INIS)

    A new type of mobile robots with a looping movement mechanism in the lateral and circular direction of a pipeline is presented in this paper for pipeline maintenance operations. This robot has four degrees of freedom and more flexibility than the first and the second prototype robots, which have the wheel type of mobile mechanism for horizontally located pipelines. This robot can pass over obstacles such as flanges and also T-joint pipelines, which the previously reported robots can do, and furthermore has more pipeline maintenance adaptabilities such that the new robot can move along vertically located pipelines and that it can move to an adjacently located pipeline. Therefore, the control must be so complicated that the dual mode control is introduced by employing the coordinate transformation matrix. To detect flanges, T-joints and pipelines in the neighbourhood, ultrasonic sensors as well as infra ray sensors are installed as the short and the long range sensors, so that the robot can autonomously move along pipelines. (author)

  2. Autonomous Systems, Robotics, and Computing Systems Capability Roadmap: NRC Dialogue

    Science.gov (United States)

    Zornetzer, Steve; Gage, Douglas

    2005-01-01

    Contents include the following: Introduction. Process, Mission Drivers, Deliverables, and Interfaces. Autonomy. Crew-Centered and Remote Operations. Integrated Systems Health Management. Autonomous Vehicle Control. Autonomous Process Control. Robotics. Robotics for Solar System Exploration. Robotics for Lunar and Planetary Habitation. Robotics for In-Space Operations. Computing Systems. Conclusion.

  3. A study on autonomous maintenance robot, 7

    International Nuclear Information System (INIS)

    This paper deals with the new mechanism of a new maintenance robot, Mark IV, following the previous reports on pipeline inspection and maintenance robots of Mark I, II, and III. The Mark IV has a mechanism capable of inspecting surfaces of storage tanks as well as pipeline outer surfaces, which is another capability of the maintenance robots, different from the previous ones. The main features of Mark IV are as follows, (i) The robot has a multijoint structure, so that it has better adaptability to the curvartures of pipelines and storage tanks. (ii) The joint of the robot has SMA actuators to make the robot lighter in weight. Some actuator shape characteristics are also examined for the robot structure and control. (iii) The robot has suckers at both ends so that the robot can climb up along the wall from the ground. (iv) A robot with the inch worm mechanisms has many functional motions, such that it can pass over flanges and T-joints, and transfer to adjacent pipelines with a wider range of pipe diameters. (v) A control method is given for the mobile motion control. Thus, the functional level of the maintenance robot has been greatly improved by the introduction of the Mark IV robot. (author)

  4. 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).

  5. 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.

  6. 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...

  7. Diagnosing faults in autonomous robot plan execution

    Science.gov (United States)

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

    1989-01-01

    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.

  8. Sociable mobile robots through self-maintained energy

    DEFF Research Database (Denmark)

    Ngo, Trung Dung; Schiøler, Henrik

    2006-01-01

    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......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...... 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...

  9. 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,...

  10. AMiRESot - A New Robot Soccer League with Autonomous Miniature Robots

    Science.gov (United States)

    Witkowski, Ulf; Sitte, Joaquin; Herbrechtsmeier, Stefan; Rückert, Ulrich

    AMiRESot is a new robot soccer league that is played with small autonomous miniature robots. Team sizes are defined with one, two, and three robots per team. Special to the AMiRESot league are the fully autonomous behavior of the robots and their small size. For the matches, the rules mainly follow the FIFA laws with some modifications being useful for robot soccer. The new AMiRESot soccer robot is small in size (maximum 110 mm diameter) but a powerful vehicle, equipped with a differential drive system. For sensing, the robots in their basic configuration are equipped with active infrared sensors and a color image sensor. For information processing a powerful mobile processor and reconfigurable hardware resources (FPGA) are available. Due to the robot’s modular structure it can be easily extended by additional sensing and processing resources. This paper gives an overview of the AMiRESot rules and presents details of the new robot platform used for AMiRESot.

  11. Supervised autonomous robotic soft tissue surgery.

    Science.gov (United States)

    Shademan, Azad; Decker, Ryan S; Opfermann, Justin D; Leonard, Simon; Krieger, Axel; Kim, Peter C W

    2016-05-01

    The current paradigm of robot-assisted surgeries (RASs) depends entirely on an individual surgeon's manual capability. Autonomous robotic surgery-removing the surgeon's hands-promises enhanced efficacy, safety, and improved access to optimized surgical techniques. Surgeries involving soft tissue have not been performed autonomously because of technological limitations, including lack of vision systems that can distinguish and track the target tissues in dynamic surgical environments and lack of intelligent algorithms that can execute complex surgical tasks. We demonstrate in vivo supervised autonomous soft tissue surgery in an open surgical setting, enabled by a plenoptic three-dimensional and near-infrared fluorescent (NIRF) imaging system and an autonomous suturing algorithm. Inspired by the best human surgical practices, a computer program generates a plan to complete complex surgical tasks on deformable soft tissue, such as suturing and intestinal anastomosis. We compared metrics of anastomosis-including the consistency of suturing informed by the average suture spacing, the pressure at which the anastomosis leaked, the number of mistakes that required removing the needle from the tissue, completion time, and lumen reduction in intestinal anastomoses-between our supervised autonomous system, manual laparoscopic surgery, and clinically used RAS approaches. Despite dynamic scene changes and tissue movement during surgery, we demonstrate that the outcome of supervised autonomous procedures is superior to surgery performed by expert surgeons and RAS techniques in ex vivo porcine tissues and in living pigs. These results demonstrate the potential for autonomous robots to improve the efficacy, consistency, functional outcome, and accessibility of surgical techniques. PMID:27147588

  12. Situation Assessment for Mobile Robots

    DEFF Research Database (Denmark)

    Beck, Anders Billesø

    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...... are presented, which applies an Extensible Markov Model (EMM) to represent the spatio-temporal nature of situations. On-line data-streams from the robot sensors and algorithms are processed using stream-based clustering to build the spatio-temporal structure or match the situation of the robot to existing...... states. Situation prediction is proposed using an on-line graph-search of maximum likelihoods in the EMM. The developed software modules are integrated in a new software architecture, which facilitates integration into any robotic control framework and uses on-line visualization of the spatio...

  13. Search and Pursuit - Evasion in Mobile Robotics, A survey

    OpenAIRE

    Chung, Timothy H.; Hollinger, Geoffrey A.; Isler, Volkan

    2011-01-01

    This paper surveys recent results in pursuitevasion and autonomous search relevant to applications in mobile robotics. We provide a taxonomy of search problems that highlights the differences resulting from varying assumptions on the searchers, targets, and the environment. We then list a number of fundamental results in the areas of pursuit-evasion and probabilistic search, and we discuss field implementations on mobile robotic systems. In addition, we highlight curre...

  14. 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...

  15. Planification du trajectoire et évitement d’obstacle par lés réseaux de neurones pour les robots mobile autonome

    OpenAIRE

    BELKHOUCHE, Ismail

    2011-01-01

    La robotique mobile et grâce à leurs domaines d’applications très variés, elle occupe un champ de recherche prédominant. Dans le cas des robots mobiles, le concept de planification de la trajectoire et d’évitement d’obstacles est très important, parce qu’il contribue largement à réussir la mission pour la quelle le robot mobile a été conçu, c’est la raison pour laquelle on trouve beaucoup de contributions et de recherches qui proposent des solutions différentes à cette problématique....

  16. Terrain Classification for Outdoor Autonomous Robots using 2D Laser Scans

    DEFF Research Database (Denmark)

    Rufus Blas, Morten; Riisgaard, Søren; Ravn, Ole;

    2005-01-01

    Interpreting laser data to allow autonomous robot navigation on paved as well as dirt roads using a fixed angle 2D laser scanner is a daunting task. This paper introduces an algorithm for terrain classification that fuses four distinctly different classifiers: raw height, step size, slope, and...... department developed Medium Mobile Robot and tests conducted in a national park environment....

  17. Terrain Classification for Outdoor Autonomous Robots using 2D Laser Scans

    DEFF Research Database (Denmark)

    Rufus Blas, Morten; Riisgaard, Søren; Ravn, Ole;

    2005-01-01

    Interpreting laser data to allow autonomous robot navigation on paved as well as dirt roads using a fixed angle 2D laser scanner is a daunting task. This paper introduces an algorithm for terrain classification that fuses four distinctly different classifiers: raw height, step size, slope...... with a department developed Medium Mobile Robot and tests conducted in a national park environment....

  18. Flocking algorithm for autonomous flying robots.

    Science.gov (United States)

    Virágh, Csaba; Vásárhelyi, Gábor; Tarcai, Norbert; Szörényi, Tamás; Somorjai, Gergő; Nepusz, Tamás; Vicsek, Tamás

    2014-06-01

    Animal swarms displaying a variety of typical flocking patterns would not exist without the underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with agent-based models. If we want to reproduce these patterns with artificial systems, such as autonomous aerial robots, agent-based models can also be used in their control algorithms. However, finding the proper algorithms and thus understanding the essential characteristics of the emergent collective behaviour requires thorough and realistic modeling of the robot and also the environment. In this paper, we first present an abstract mathematical model of an autonomous flying robot. The model takes into account several realistic features, such as time delay and locality of communication, inaccuracy of the on-board sensors and inertial effects. We present two decentralized control algorithms. One is based on a simple self-propelled flocking model of animal collective motion, the other is a collective target tracking algorithm. Both algorithms contain a viscous friction-like term, which aligns the velocities of neighbouring agents parallel to each other. We show that this term can be essential for reducing the inherent instabilities of such a noisy and delayed realistic system. We discuss simulation results on the stability of the control algorithms, and perform real experiments to show the applicability of the algorithms on a group of autonomous quadcopters. In our case, bio-inspiration works in two ways. On the one hand, the whole idea of trying to build and control a swarm of robots comes from the observation that birds tend to flock to optimize their behaviour as a group. On the other hand, by using a realistic simulation framework and studying the group behaviour of autonomous robots we can learn about the major factors influencing the flight of bird flocks. PMID:24852272

  19. 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…

  20. 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. PMID:22893571

  1. Design of an autonomous exterior security robot

    Science.gov (United States)

    Myers, Scott D.

    1994-01-01

    This paper discusses the requirements and preliminary design of robotic vehicle designed for performing autonomous exterior perimeter security patrols around warehouse areas, ammunition supply depots, and industrial parks for the U.S. Department of Defense. The preliminary design allows for the operation of up to eight vehicles in a six kilometer by six kilometer zone with autonomous navigation and obstacle avoidance. In addition to detection of crawling intruders at 100 meters, the system must perform real-time inventory checking and database comparisons using a microwave tags system.

  2. Mobile Robotics in Precision Agriculture: A CAN bus interface implementation of differential drive and exploration of localization, pose estimation and autonomous navigation.

    OpenAIRE

    Lien, Torgrim Aalvik

    2013-01-01

    A complete setup of sensors, estimators and controllers for autonomous and manual control of an unmanned dierential steered ground vehicle has been implemented in this paper. The entire system is implemented in Robot Operative System (ROS) using the open source ROS software platform FroboMind as a foundation. The system is running on a Ubuntu 12.10 laptop, with the Groovy distribution of ROS.A reliable CANopen communication for real-time control and monitoring of the motors over a single CAN ...

  3. Mobile Robots and Sensor Network: Working Together

    OpenAIRE

    Batalin, Maxim; Sukhatme, Gaurav S.

    2003-01-01

    Our research is focused around idea of using sensor network and mobile robots cooperatively for solving various tasks. Moreover, sensor networks and mobile robots both benefit from such collaboration. One of the examples of such "symbiotic" approach is solution to the mobile robot navigation problem. The task is to detect the area requiring robot"s presence in the environment and then to guide the robot into that area. We propose solution to such problem and present results from real-world ex...

  4. Systèmes de navigation biologiques et artificiels : apprentissage de routes par des fourmis et par un robot mobile autonome

    OpenAIRE

    Beugnon, Guy

    2005-01-01

    Ce texte est un rapport de fin de recherche issu de l'ACI cognitique. Specification abstract A major aim of mobile robotic is to provide machines with a greater autonomy allowing them to move about in and manipulate their environment independently of human intervention. In the living world, several insect species have developed efficient and robust navigational abilities in the course of evolution. This has motivated roboticists to look for biological navigation mechanisms that can be impl...

  5. Mobile Robots in Human Environments

    DEFF Research Database (Denmark)

    Svenstrup, Mikael

    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...... with the robot. This is done using a Case-Based Reasoning System (CBR), which analyses current behaviour patterns while comparing these to experiences and outcomes from previous human encounters. The motion of the robot is controlled based on adaptive potential functions. The potential functions are adjusted......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...

  6. 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.

  7. Building a Fully Autonomous Tour Guide Robot: Where Academic Research Meets Industry

    OpenAIRE

    Tomatis, Nicola; Philippsen, Roland; Jensen, Björn; Arras, Kai Oliver; Terrien, G.; Piguet, Ralph; Siegwart, Roland

    2002-01-01

    This paper presents the effort that has been undertaken in designing and building both hardware and software for a fully autonomous navigating vehicle aimed for a tour guide application. The challenge for such a project is to combine industrial high quality production for the mobile platforms with techniques for mobile robot navigation and interaction which are currently best available in academic research. For this the experience and technology of the Autonomous Systems Lab at EPFL has been ...

  8. Motion vision for mobile robots

    Science.gov (United States)

    Herrb, Matthieu

    The problem of using computer vision in mobile robots is dealt with. The datacube specialized cards and a parallel machine using a transputer network are studied. The tracking and localization of a three dimensional object in a sequence of images is examined, using first order prediction of the motion in the image plane and verification by a maximal clique search in the graph of mutually compatible matchings. A dynamic environment modeling module, using numerical fusion between trinocular stereovision and tracking of stereo matched primitives is presented. The integration of this perception system in the control architecture of a mobile robot is examined to achieve various functions, such as vision servo motion and environment modeling. The functional units implementing vision tasks and the data exchanged with other units are outlined. Experiments realized with the mobile robot Hilare 1.5 allowed the proposed algorithms and concepts to be validated.

  9. Fault diagnostic system for a mobile robot

    Science.gov (United States)

    Nikam, Umesh; Hall, Ernest L.

    1997-09-01

    This paper describes the development of a robot fault diagnosis system (RFDS). Though designed ostensibly for the University of Cincinnati's autonomous, unmanned, mobile robot for a national competition, it has the flexibility to be adapted for industrial applications as well. Using a top-down approach the robot is sub-divided into different functional units, such as the vision guidance system, the ultrasonic obstacle avoidance system, the steering mechanism, the speed control system, the braking system and the power unit. The techniques of potential failure mode and effects analysis (PFMEA) are used to analyze faults, their visible symptoms, and probable causes and remedies. The relationships obtained therefrom are mapped in a database framework. This is then coded in a user-friendly interactive Visual BasicTM program that guides the user to the likely cause(s) of failure through a question-answer format. A provision is made to ensure better accuracy of the system by incorporating historical data on failures as it becomes available. The RFDS thus provides a handy trouble-shooting tool that cuts down the time involved in diagnosing failures in the complex robot consisting of mechanical, electric, electronic and optical systems. This has been of great help in diagnosing failures and ensuring maximum performance from the robot during the contest in the face of pressure of the competition and the outdoor conditions.

  10. Mobile Bricklaying Robot

    OpenAIRE

    ECT Team, Purdue

    2007-01-01

    Bricklaying is a highly repetitive and physically exhaustive task. The tasks of the construction site bricklaying robot include removing bricks or blocks from prepared pallets, the application of bonding material and the erection of brickwork at a high level of accuracy and quality. Prototype realization of the bricklaying robot, which is based on a commercial construction machine, has been done by two research institutes in close cooperation with ten industrial partners.

  11. Application of autonomous robotized systems for the collection of nearshore topographic changing and hydrodynamic measurements

    Science.gov (United States)

    Belyakov, Vladimir; Makarov, Vladimir; Zezyulin, Denis; Kurkin, Andrey; Pelinovsky, Efim

    2015-04-01

    Hazardous phenomena in the coastal zone lead to the topographic changing which are difficulty inspected by traditional methods. It is why those autonomous robots are used for collection of nearshore topographic and hydrodynamic measurements. The robot RTS-Hanna is well-known (Wubbold, F., Hentschel, M., Vousdoukas, M., and Wagner, B. Application of an autonomous robot for the collection of nearshore topographic and hydrodynamic measurements. Coastal Engineering Proceedings, 2012, vol. 33, Paper 53). We describe here several constructions of mobile systems developed in Laboratory "Transported Machines and Transported Complexes", Nizhny Novgorod State Technical University. They can be used in the field surveys and monitoring of wave regimes nearshore.

  12. 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.

  13. 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.

  14. Mobile robot vehicles for physical security

    International Nuclear Information System (INIS)

    A fleet of vehicles is being developed and maintained by Sandia National Labs for studies in remote control and autonomous operation. These vehicles range from modified commercial vehicles to specially constructed mobile platforms and are utilized as test beds for developing concepts in the application of robotics to interior and exterior physical security. Actuators control the vehicle speed, brakes, and steering through manual input from a remote driving station or through some level of digital computer control. On-board processing may include simple vehicle control functions or may allow for unmanned, autonomous operation. communication links are provided for digital communication between control computers, television transmission for vehicle vision, and voice for local control. With these vehicles, SNL can develop, test, and evaluate sensors, processing requirements, various methods of actuator implementation, operator controlled feedback requirements, and vehicle operations. A description of the major features and uses for each of the vehicles in the fleet is provided

  15. Mobile robot vehicles for physical security

    International Nuclear Information System (INIS)

    A fleet of vehicles is being developed and maintained by Sandia National Labs for studies in remote control and autonomous operation. These vehicles range from modified commercial vehicles to specially constructed mobile platforms and are utilized as test beds for developing concepts in the application of robotics to interior and exterior physical security. Actuators control the vehicle speed, brakes, and steering through manual input from a remote driving station or through some level of digital computer control. On-board processing may include simple vehicle control functions or may allow for unmanned, autonomous operation. Communication links are provided for digital communication between control computers, television transmission for vehicle vision, and voice for local control. With these vehicles, SNL can develop, test, and evaluate sensors, processing requirements, various methods of actuator implementation, operator controlled feedback requirements, and vehicle operations. A description of the major features and uses for each of the vehicles in the fleet is provided. 4 refs., 1 fig., 1 tab

  16. Mobile robot vehicles for physical security

    International Nuclear Information System (INIS)

    A fleet of vehicles is being developed and maintained by Sandia National Labs for studies in remote control and autonomous operation. These vehicles range from modified commercial vehicles to specially constructed mobile platforms and are utilized as test beds for developing concepts in the application of robotics to interior and exterior physical security. Actuators control the vehicle speed, brakes, and steering through manual input from a remote driving station or through some level of digital computer control. On-board processing may include simple vehicle control functions or may allow for unmanned, autonomous operation. Communication links are provided for digital communication between control computers, television transmission for vehicle vision, and voice for local control. With these vehicles, SNL can develop, test, and evaluate sensors, processing requirements, various methods of actuator implementation, operator controlled feedback requirements, and vehicle operations. A description of the major features and uses for each of the vehicles in the fleet is provided

  17. Levels of autonomy control approach for mobile robots

    Science.gov (United States)

    Moorehead, Stewart J.

    2003-09-01

    Increasingly mobile robots are finding applications in the military, mining, nuclear and agriculture industries. These fields require a robot capable of operating in a highly unstructured and changing environment. Current autonomous control techniques are not robust enough to allow successful operation at all times in these environments. Teleoperation can help with many tasks but causes operator fatigue and negates much of the economic advantages of using robots by requiring one person per robot. This paper introduces a control system for mobile robots based on the concept of levels of autonomy. Levels of autonomy recognizes that control can be shared between the operator and robot in a continuous fashion from teleoperation to full autonomy. By sharing control, the robot can benefit from the operator's knowledge of the world to help extricate it from difficult situations. The robot can operate as autonomously as the situation allows, reducing operator fatigue and increasing the economic benefit by allowing a single operator to control multiple robots simultaneously. This paper presents a levels of autonomy control system developed for use in exploration or reconnaissance tasks.

  18. Development of autonomous eating mechanism for biomimetic robots

    Science.gov (United States)

    Jeong, Kil-Woong; Cho, Ik-Jin; Lee, Yun-Jung

    2005-12-01

    Most of the recently developed robots are human friendly robots which imitate animals or humans such as entertainment robot, bio-mimetic robot and humanoid robot. Interest for these robots are being increased because the social trend is focused on health, welfare, and graying. Autonomous eating functionality is most unique and inherent behavior of pets and animals. Most of entertainment robots and pet robots make use of internal-type battery. Entertainment robots and pet robots with internal-type battery are not able to operate during charging the battery. Therefore, if a robot has an autonomous function for eating battery as its feeds, the robot is not only able to operate during recharging energy but also become more human friendly like pets. Here, a new autonomous eating mechanism was introduced for a biomimetic robot, called ELIRO-II(Eating LIzard RObot version 2). The ELIRO-II is able to find a food (a small battery), eat and evacuate by itself. This work describe sub-parts of the developed mechanism such as head-part, mouth-part, and stomach-part. In addition, control system of autonomous eating mechanism is described.

  19. Autonomous Industrial Mobile Manipulation (AIMM) - Maturation, Exploitation and Implementation

    DEFF Research Database (Denmark)

    Bøgh, Simon

    2012-01-01

    a state-of-the-art review, it is observed that implementations of mobile manipulators in industry have been limited although the needs for flexible automation are present. The second topic is “Identifying skills for AIMM robots” and is dedicated to defining a unifying terminology for task...... for AIMM robots. Firstly an application-based analysis is conducted, to identify skills in the logistic domain, based on real-world experiments at the industrial partner. Secondly an analysis based on standard operating procedures (SOPs) is conducted.......The overall topic of this PhD thesis is Autonomous Industrial Mobile Manipulation (AIMM) - maturation, exploitation and implementation. The thesis addresses two topics. The first topic is “From research to industry” and the challenges this holds. The Autonomous Industrial Mobile Manipulator (AIMM...

  20. A task control architecture for autonomous robots

    Science.gov (United States)

    Simmons, Reid; Mitchell, Tom

    1990-01-01

    An architecture is presented for controlling robots that have multiple tasks, operate in dynamic domains, and require a fair degree of autonomy. The architecture is built on several layers of functionality, including a distributed communication layer, a behavior layer for querying sensors, expanding goals, and executing commands, and a task level for managing the temporal aspects of planning and achieving goals, coordinating tasks, allocating resources, monitoring, and recovering from errors. Application to a legged planetary rover and an indoor mobile manipulator is described.

  1. 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.

  2. A fuzzy logic based navigation for mobile robot

    International Nuclear Information System (INIS)

    The main issue of intelligent robot is how to reach its goal safely in real time when it moves in unknown environment. The navigational planning is becoming the central issue in development of real-time autonomous mobile robots. Behaviour based robots have been successful in reacting with dynamic environment but still there are some complexity and challenging problems. Fuzzy based behaviours present as powerful method to solve the real time reactive navigation problems in unknown environment. We shall classify the navigation generation methods, five some characteristics of these methods, explain why fuzzy logic is suitable for the navigation of mobile robot and automated guided vehicle, and describe a reactive navigation that is flexible to react through their behaviours to the change of the environment. Some simulation results will be presented to show the navigation of the robot. (Author)

  3. Impact of autonomous vehicles on urban mobility

    OpenAIRE

    Azmat, Muhammad

    2015-01-01

    The urban population is growing at an exponential rate throughout the world leading to the problems related to swift and speedy mobility or issues caused by convectional mobility options. This study illustrates and explores the new ways to transport people specially taking into account the self-driving cars concept and discusses the concept of mobility 4.0 (smart / intelligent mobility) and briefly highlights the technological aspects of autonomous vehicles, adaptation advantages and progress...

  4. Mobile robot navigation modulated by artificial emotions.

    Science.gov (United States)

    Lee-Johnson, C P; Carnegie, D A

    2010-04-01

    For artificial intelligence research to progress beyond the highly specialized task-dependent implementations achievable today, researchers may need to incorporate aspects of biological behavior that have not traditionally been associated with intelligence. Affective processes such as emotions may be crucial to the generalized intelligence possessed by humans and animals. A number of robots and autonomous agents have been created that can emulate human emotions, but the majority of this research focuses on the social domain. In contrast, we have developed a hybrid reactive/deliberative architecture that incorporates artificial emotions to improve the general adaptive performance of a mobile robot for a navigation task. Emotions are active on multiple architectural levels, modulating the robot's decisions and actions to suit the context of its situation. Reactive emotions interact with the robot's control system, altering its parameters in response to appraisals from short-term sensor data. Deliberative emotions are learned associations that bias path planning in response to eliciting objects or events. Quantitative results are presented that demonstrate situations in which each artificial emotion can be beneficial to performance. PMID:19822475

  5. Low-level stored waste inspection using mobile robots

    International Nuclear Information System (INIS)

    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

  6. Towards Competitive Commercial Autonomous Robots: The Configuration Problem

    DEFF Research Database (Denmark)

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

    2011-01-01

    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......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...... and improving robustness of autonomous robot applications....

  7. Autonomous robot behavior based on neural networks

    Science.gov (United States)

    Grolinger, Katarina; Jerbic, Bojan; Vranjes, Bozo

    1997-04-01

    The purpose of autonomous robot is to solve various tasks while adapting its behavior to the variable environment, expecting it is able to navigate much like a human would, including handling uncertain and unexpected obstacles. To achieve this the robot has to be able to find solution to unknown situations, to learn experienced knowledge, that means action procedure together with corresponding knowledge on the work space structure, and to recognize working environment. The planning of the intelligent robot behavior presented in this paper implements the reinforcement learning based on strategic and random attempts for finding solution and neural network approach for memorizing and recognizing work space structure (structural assignment problem). Some of the well known neural networks based on unsupervised learning are considered with regard to the structural assignment problem. The adaptive fuzzy shadowed neural network is developed. It has the additional shadowed hidden layer, specific learning rule and initialization phase. The developed neural network combines advantages of networks based on the Adaptive Resonance Theory and using shadowed hidden layer provides ability to recognize lightly translated or rotated obstacles in any direction.

  8. 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?.

  9. 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.

  10. Mobile Surveillance and Monitoring Robots

    International Nuclear Information System (INIS)

    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

  11. 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.

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

    OpenAIRE

    Youjin Shin; Donghyeon Kim; Hyunsuk Lee; Jooyoung Park; Woojin Chung

    2013-01-01

    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 roa...

  13. Exploration and Navigation for Mobile Robots With Perceptual Limitations

    OpenAIRE

    Morales, Eduardo F.; L. Enrique Sucar; Leonardo Romero

    2008-01-01

    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 ass...

  14. Performance Evaluation of Autonomous Contour Following Algorithms for Industrial Robot

    OpenAIRE

    Prabuwono, Anton Satria; Said, Samsi; Burhanuddin; Sulaiman, Riza

    2010-01-01

    In this study, the performance evaluations of autonomous contour following task with three different algorithms have been performed for Adept SCARA robot. A prototype of smart tool integrated with sensor has been designed. It can be attached and reattached into robot gripper and interfaced through I/O pins of Adept robot controller for automated robot teaching operation. The algorithms developed were tested on a semicircle object of 40 millimeter radius. The semicircle object was selected bec...

  15. Modular neural network and classical reinforcement learning for autonomous robot navigation: inhibiting undesirable behaviors

    OpenAIRE

    Antonelo, Eric; Baerveldt, Albert-Jan; Rögnvaldsson, Thorsteinn; Figueiredo, Mauricio

    2006-01-01

    Classical reinforcement learning mechanisms and a modular neural network are unified for conceiving an intelligent autonomous system for mobile robot navigation. The conception aims at inhibiting two common navigation deficiencies: generation of unsuitable cyclic trajectories and ineffectiveness in risky configurations. Distinct design apparatuses are considered for tackling these navigation difficulties, for instance: 1) neuron parameter for memorizing neuron activities (also functioning as ...

  16. Development of the stored waste autonomous mobile inspector (SWAMI II)

    International Nuclear Information System (INIS)

    A mobile robot system called the Stored Waste Autonomous Mobile Inspector (SWAMI) is under development by the Savannah River Technology Center (SRTC) Robotics Group of Westinghouse Savannah River Company (WSRC) to perform mandated inspections of waste drums stored in warehouse facilities. The system will reduce personnel exposure to potential hazards and create accurate, high-quality documentation to ensure regulatory compliance and enhance waste management operations. Development work is coordinated among several Department of Energy (DOE), academic, and commercial entities in accordance with DOE's technology transfer initiative. The prototype system, SWAMI I, was demonstrated at Savannah River Site (SRS) in November, 1993. SWAMI II is now under development for field trials at the Fernald site

  17. Internet Protocol based networking of mobile robots

    OpenAIRE

    Zeiger, Florian

    2011-01-01

    This work is composed of three main parts: remote control of mobile systems via Internet, ad-hoc networks of mobile robots, and remote control of mobile robots via 3G telecommunication technologies. The first part gives a detailed state of the art and a discussion of the problems to be solved in order to teleoperate mobile robots via the Internet. The focus of the application to be realized is set on a distributed tele-laboratory with remote experiments on mobile robots which can be accessed ...

  18. Gauging Intelligence of Mobile Robots

    OpenAIRE

    Ka C Cheok

    2006-01-01

    The paper illustrates three means for gauging the intelligence of mobile robots: The qualitative perception of intelligence based on extending Turing test to the systems at hand; the quantitative measure that gauges task-specific intelligence from its performance in uncertain environments; the comparative measure that calibrates difficulty levels of what the system has to do against levels of human skills. The framework of an agent, an environment and a goal was applied to two case studies wa...

  19. 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...

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

    Science.gov (United States)

    Almasri, Marwah; Elleithy, Khaled; Alajlan, Abrar

    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 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. PMID:26712766

  1. 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.

  2. Quantifying Emergent Behavior of Autonomous Robots

    Science.gov (United States)

    Martius, Georg; Olbrich, Eckehard

    2015-10-01

    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 using the algorithm by Kraskov et al. (2004) which is 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.

  3. 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.

  4. 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.

  5. Traversable terrain classification for outdoor autonomous robots using single 2D laser scans

    DEFF Research Database (Denmark)

    Andersen, Jens Christian; Blas, Morten Rufus; Andersen, Nils Axel; Ravn, Ole; Blanke, Mogens

    2006-01-01

    Interpreting laser data to allow autonomous robot navigation on paved as well as dirt roads using a fixed angle 2D laser scanner is a daunting task. This paper introduces an algorithm for terrain classification that fuses seven distinctly different classifiers: raw height, roughness, step size......, curvature, slope, width and invalid data. These are then used to extract road borders, traversable terrain and identify obstacles. Experimental results are shown and discussed. The results were obtained using a DTU developed mobile robot, and the autonomous tests were conducted in a national park...

  6. 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.

  7. 能量受限的多自主移动机器人围捕策略研究%A capture strategy for energy limited multi autonomous mobile robots

    Institute of Scientific and Technical Information of China (English)

    梁家海; 黄雪燕

    2013-01-01

    Basing on the performance characteristics of real robots , this paper researches movement of energy limited multi autonomous mobile robots .Propose a capture strategy when energy limited .First, it establish capture ring for target robot using virtual points .Then build a model to evaluate composite in-dicator of distance and their own energy .Choose the optimization capture robot to move to target with higher speed .Other robots move with energy conservation .The obstacle -avoidance problem is im-proved .The simulation results show that multi energy limited robots can better accomplish capture tasks by reasonable distribution of energy .%  从真实机器人的性能特点出发研究能量受限的自主移动机器人的运动规律,提出一种基于能量受限状态下的自主移动机器人的围捕策略,该策略首先建立由虚拟围捕点组成的目标机器人的围捕圈,然后建立模型评价围捕机器人到目标机器人的距离和自身能量的综合指标,选择该指标最优的围捕机器人,让该机器人总以高于目标机器人的速度及以目标机器人的当前运动方向的围捕点为目标运动,其他机器人采用节能的方式向各自的围捕点运动,同时改进了机器人的避障策略;最后对该策略进行仿真,仿真结果表明:多个能量受限的机器人利用总能量的优势,通过对围捕机器人的能量合理的分配能较好地完成对目标机器人的围捕任务。

  8. Integrated mobile-robot design

    International Nuclear Information System (INIS)

    Ten mobile robots entered the AAAI '92 Robot Competition, held at last year's national conference. Carmel, the University of Michigan entry, won. The competition consisted of three stages. The first stage required roaming a 22x22-meter arena while avoiding static and dynamic obstacles; the second involved searching for and visiting 10 objects in the same arena. The obstacles were at least 1.5 meters apart, while the objects were spaced roughly evenly throughout the arena. Visiting was defined as moving to within two robot diameters of the object. The last stage was a timed race to visit three of the objects located earlier and return home. Since the first stage was primarily a subset of the second-stage requirements, and the third-stage implementation was very similar to that of the second, the authors' focus here on the second stage. Carmel (Computer-Aided Robotics for Maintenance, Emergency, and Life support) is based on a commercially available Cybermotion K2A mobile-robot platform. It has a top speed of approximately 800 millimeters per second and moves on three synchronously driven wheels. For sensing, Carmel, has a ring of 24 Polaroid sonar sensors and a single black-and-white charge-coupled-device camera mounted on a rotating table. Carmel has three processors: one controls the drive motors, one fires the sonar ring, and the third, a 486-based PC clone, executes all the high-level modules. The 486 also has a frame grabber for acquiring images. All computation and power are contained on-board

  9. Real-time software for mobile robot simulation and experimentation in cooperative environments

    OpenAIRE

    Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sandoval Torres, Óscar; Sanfeliu Cortés, Alberto

    2008-01-01

    This paper presents the software being developed at IRI (Institut de Robotica i Informatica Industrial) for mobile robot autonomous navigation in the context of the European project URUS (Ubiquitous Robots in Urban Settings). In order that a deployed sensor network and robots operating in the environment cooperate in terms of information sharing, main requirements are real-time performance and the integration of information coming from remote machines not onboard the robot. Moreover, the proj...

  10. A Qualitative Approach to Mobile Robot Navigation Using RFID

    International Nuclear Information System (INIS)

    Radio Frequency Identification (RFID) system allows automatic identification of items with RFID tags using radio-waves. As the RFID tag has its unique identification number, it is also possible to detect a specific region where the RFID tag lies in. Recently it is widely been used in mobile robot navigation, localization, and mapping both in indoor and outdoor environment. This paper represents a navigation strategy for autonomous mobile robot using passive RFID system. Conventional approaches, such as landmark or dead-reckoning with excessive number of sensors, have complexities in establishing the navigation and localization process. The proposed method satisfies less complexity in navigation strategy as well as estimation of not only the position but also the orientation of the autonomous robot. In this research, polar coordinate system is adopted on the navigation surface where RFID tags are places in a grid with constant displacements. This paper also presents the performance comparisons among various grid architectures through simulation to establish a better solution of the navigation system. In addition, some stationary obstacles are introduced in the navigation environment to satisfy the viability of the navigation process of the autonomous mobile robot

  11. A mobile robot system executing a task under human assistance

    International Nuclear Information System (INIS)

    We have developed a new type of mobile robot system, in which robot executes a task under human assistance, aiming to improve reliability and rapidity of task performance. This robot system incorporates the human assistance for solving the unexpected problem arose during the task execution. The basic idea of the system is that in normal situation robot takes an autonomous action derected by the program, while in abnormal situation which means that some unexpected problem arose, human assists to help the robot action. As a system component, we have developed navigation command interpreter with intervention function to realize human assisted navigation conveniently. In this system, human assistance is also effectively utilized in the image information extraction for positioning error correction. We have demonstrated the feasibility of the system under the mock-up environment. (author)

  12. Mechatronics Design of a Mobile Robot System

    OpenAIRE

    Ahmad A. Mahfouz; Ayman A. Aly; Farhan A. Salem

    2013-01-01

    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 roboti...

  13. Mobile robots for use in nuclear facilities

    International Nuclear Information System (INIS)

    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.)

  14. Mobile Robot Navigation

    OpenAIRE

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

    2007-01-01

    Robotter vil om få år blive en del af vores daglige liv. Inden for produktionsindustrien har det allerede være tilfældet i mange år, men anvendelsen af mobile robotter har hidtil været henvist til isolerede områder som græsslåning, overvågning, landbrugsproduktion og militære funktioner. Fremskridt i forskningen gør, at robotter vil kunne assistere os i mange af vore daglige gøremål i en ikke så fjern fremtid. En af de teknologier, der skal gøre dette muligt, er navigation, og navigation er e...

  15. 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.

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

    International Nuclear Information System (INIS)

    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. (paper)

  17. 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.

  18. Application of autonomous mobile patrol system for nuclear power plants

    International Nuclear Information System (INIS)

    The integrity of the components of an operating nuclear power plant(NPP) is usually monitored daily by an operator patrol. Currently, there are a great need to replace such human patrol activities by automated remote monitoring in order to reduce radiation exposure and severe workload. From this perspective, with the sponsorship of the Ministry of International Trade and Industry(MITI), we started and R and D project with the objective of developing an autonomous mobile patrol system for NPPs. The project started in 1991 and is scheduled to be completed in 1996. The main targets of this project are as follows. (1) development of an autonomous and independent mobile robot, (2) development of a transportable compact remote sensing system for plant component inspection, (3) development of a patrol guidance and sensing data evaluation system supporting the daily activity of operators in plant monitoring. The present paper describes the concept of the entire patrol system and its three main component technologies, that is, mobile robot, remote sensing and inspected data evaluation. (author)

  19. Application of autonomous mobile patrol system for nuclear power plants

    International Nuclear Information System (INIS)

    The integrity of the components of an operating nuclear power plant (NPP) is usually monitored daily by an operator patrol. Currently, there is a great need to replace such human patrol activities by automated remote monitoring in order to reduce radiation exposure and severe workload. From this perspective, we started an R and D project with the objective of developing an autonomous mobile patrol system for NPPs. The project started in 1991 and is scheduled to be completed in 1996. The main targets of this project are as follows. (1) Development of an autonomous and independent mobile robot, (2) Development of a transportable compact remote sensing system for plant component inspection, (3) Development of a patrol guidance and sensing data evaluation system. The remote sensing system has the capability of detecting video image, sound, temperature and vibration distribution of component surfaces. A laser Doppler vibrometer is newly developed to measure a wide range of vibration distribution remotely. Also, in order to integrate and recognize various kinds of remote sensing data, a 3-dimensional (3D) computer aided design database and 3D graphics technology is extensively used. Operators can interpret the measured image data by mapping their textures onto the 3-dimensional model surface. In this paper, we describe the concept of the entire patrol system and its three main component technologies, that is, mobile robot, remote sensing and inspected data evaluations. (author)

  20. 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...

  1. Real Time Localization for Mobile Robot

    Czech Academy of Sciences Publication Activity Database

    Věchet, S.; Krejsa, Jiří

    2005-01-01

    Roč. 12, A 1 (2005), s. 3-10. ISSN 1210-2717. [Mechatronics, Robotics and Biomechanics 2005. Třešť, 26.09.2005-29.09.2005] Institutional research plan: CEZ:AV0Z20760514 Keywords : localization * mobile robot Subject RIV: JD - Computer Applications, Robotics

  2. 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.

  3. Testing Different Evolutionary Neural Networks for Autonomous Robot Control

    Czech Academy of Sciences Publication Activity Database

    Slušný, Stanislav; Vidnerová, Petra; Neruda, Roman

    Seňa: PONT, 2007 - (Vojtáš, P.), s. 103-108 ISBN 978-80-969184-7-8. [ITAT 2007. Conference on Theory and Practice of Information Theory. Poľana (SK), 21.09.2007-27.09.2007] Grant ostatní: GA UK(CZ) 184/2002 Institutional research plan: CEZ:AV0Z10300504 Keywords : evolutionary robotics * neural networks * autonomous robot * robot control Subject RIV: IN - Informatics, Computer Science

  4. A study on an autonomous pipeline maintenance robot, 8

    International Nuclear Information System (INIS)

    This paper deals with the path planning and sensing planning expert system with learning functions for the pipeline inspection and maintenance robot, Mark IV. The robot can carry out inspection tasks to autonomously detect malfunctions in a plant pipeline system. Furthermore, the robot becomes more intelligent by adding the following functions: (1) the robot, Mark IV, is capable of inspecting surfaces of storage tanks as well as pipeline outer surfaces; (2) in path planning, the robot has a learning function using information generated in the past such as a moving path, task level and control commands of the robot; (3) in inspecting a pipeline system with plant equipment such as valves, franges, T- and L-joints, the robot is capable of inspecting continuous surfaces in pipeline. Thus, together with the improved path planning expert system (PPES) and the sensing planning expert system (SPES), the Mark IV robot becomes intelligent enough to automatically carry out given inspection tasks. (author)

  5. Semi-autonomous robots for reactor containments

    International Nuclear Information System (INIS)

    During 1993, the activity at the University was split into two primary groups. One group provided direct support for the development and testing of the RVIR vehicle. This effort culminated in a demonstration of the vehicle at ORNL during December. The second group of researchers focused attention on pushing the technology forward in the areas of radiation imaging, navigation, and sensing modalities. A major effort in technology transfer took place during this year. All of these efforts reflected in the periodic progress reports which are attached. During 1994, our attention will change from the Nuclear Energy program to the Environmental Restoration and Waste Management office. The immediate needs of the Robotics Technology Development Program within the Office of Technology Development of EM drove this change in target applications. The University will be working closely with the national laboratories to further develop and transfer existing technologies to mobile platforms which are currently being designed and employed in seriously hazardous environments

  6. 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.

  7. Autonomous Industrial Mobile Manipulation (AIMM) - maturation, exploitation and implementation

    DEFF Research Database (Denmark)

    Hvilshøj, Mads

    This thesis introduces the Autonomous Industrial Mobile Manipulator ”Little Helper”, a robotic co-worker which extends the potential of industrial robotics by combining locomotion and manipulation capabilities. The thesis presents promising findings for industrial maturation, exploitation...... and implementation of AIMM. The first part concerns the missing links and gaps for bringing AIMM from research to industry. A general AIMM manufacturing concept has been formulated, AIMM prototypes have been developed and laboratory experiments have been conducted. From this, we have joined forces with Grundfos A....../S, where full-scale industrial AIMM demonstrations in terms of automatic multiple part feeding have been successfully realized. The second part concerns the development of modular and (re)configurable AIMM systems. At present, it is technically and/or economically unfeasible to create a hyper flexible AIMM...

  8. 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.

  9. A Review of Mobile Robotic Telepresence

    Directory of Open Access Journals (Sweden)

    Annica Kristoffersson

    2013-01-01

    Full Text Available 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 challenges found in the literature concerning mobile robotic telepresence is provided. The survey also proposes a set terminology for the field as there is currently a lack of standard terms for the different concepts related to MRP systems. Further, this paper provides an outlook on the various research directions for developing and enhancing mobile robotic telepresence systems per se, as well as evaluating the interaction in laboratory and field settings. Finally, the survey outlines a number of design implications for the future of mobile robotic telepresence systems for social interaction.

  10. 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.

  11. Improving mobile robot localization: grid-based approach

    Science.gov (United States)

    Yan, Junchi

    2012-02-01

    Autonomous mobile robots have been widely studied not only as advanced facilities for industrial and daily life automation, but also as a testbed in robotics competitions for extending the frontier of current artificial intelligence. In many of such contests, the robot is supposed to navigate on the ground with a grid layout. Based on this observation, we present a localization error correction method by exploring the geometric feature of the tile patterns. On top of the classical inertia-based positioning, our approach employs three fiber-optic sensors that are assembled under the bottom of the robot, presenting an equilateral triangle layout. The sensor apparatus, together with the proposed supporting algorithm, are designed to detect a line's direction (vertical or horizontal) by monitoring the grid crossing events. As a result, the line coordinate information can be fused to rectify the cumulative localization deviation from inertia positioning. The proposed method is analyzed theoretically in terms of its error bound and also has been implemented and tested on a customary developed two-wheel autonomous mobile robot.

  12. 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.

  13. 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.

  14. 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...

  15. 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.

  16. Semi-autonomous exploration of multi-floor buildings with a legged robot

    Science.gov (United States)

    Wenger, Garrett J.; Johnson, Aaron M.; Taylor, Camillo J.; Koditschek, Daniel E.

    2015-05-01

    This paper presents preliminary results of a semi-autonomous building exploration behavior using the hexapedal robot RHex. Stairwells are used in virtually all multi-floor buildings, and so in order for a mobile robot to effectively explore, map, clear, monitor, or patrol such buildings it must be able to ascend and descend stairwells. However most conventional mobile robots based on a wheeled platform are unable to traverse stairwells, motivating use of the more mobile legged machine. This semi-autonomous behavior uses a human driver to provide steering input to the robot, as would be the case in, e.g., a tele-operated building exploration mission. The gait selection and transitions between the walking and stair climbing gaits are entirely autonomous. This implementation uses an RGBD camera for stair acquisition, which offers several advantages over a previously documented detector based on a laser range finder, including significantly reduced acquisition time. The sensor package used here also allows for considerable expansion of this behavior. For example, complete automation of the building exploration task driven by a mapping algorithm and higher level planner is presently under development.

  17. Autonomous Evolution of Dynamic Gaits with Two Quadruped Robots

    Science.gov (United States)

    Hornby, Gregory S.; Takamura, Seichi; Yamamoto, Takashi; Fujita, Masahiro

    2004-01-01

    A challenging task that must be accomplished for every legged robot is creating the walking and running behaviors needed for it to move. In this paper we describe our system for autonomously evolving dynamic gaits on two of Sony's quadruped robots. Our evolutionary algorithm runs on board the robot and uses the robot's sensors to compute the quality of a gait without assistance from the experimenter. First we show the evolution of a pace and trot gait on the OPEN-R prototype robot. With the fastest gait, the robot moves at over 10/min/min., which is more than forty body-lengths/min. While these first gaits are somewhat sensitive to the robot and environment in which they are evolved, we then show the evolution of robust dynamic gaits, one of which is used on the ERS-110, the first consumer version of AIBO.

  18. Mobile robot response to actions associated with the release of hazardous materials

    International Nuclear Information System (INIS)

    This paper presents a rational and composite summary of tasks and missions that could be assigned to mobile robots and other teleoperated devices in response to accidental releases of radioactive and other hazardous/toxic materials to the environment. This paper will also discuss specific missions that have been, or could be, assigned to mobile robots operating at the TMI-2 and Chernobyl-4 nuclear power plant sites. Other items and issues that will also be considered are: availability of applicable mobile robot units, expendability/durability/decontamination, portability/maneuverability/mobility, communication techniques, power supply, and artificial intelligence/autonomous navigation interactions

  19. Improving the Expressiveness of Mobile Robots

    OpenAIRE

    Mayor, Laetitia; Jensen, Björn; Lorotte, Antoine; Siegwart, Roland

    2002-01-01

    RoboX is a tour guide robot, designed to interact with visitors at Expo02, the Swiss National Exhibition. During five months, ten RoboXs will be in contact with people not trained to autonomous robots and will guide them throughout an exhibition about robotics. The work exposed here was dedicated to make RoboX lifelike and credible in implementing an expression generator. This generator uses the robot capacities in order to best express its internal state which is influenced by its sensor ent...

  20. Micro-Controller Based Obstacle Avoiding Autonomous Robot

    OpenAIRE

    Subhranil Som; Arjun Shome

    2014-01-01

    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 ...

  1. 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.

  2. 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.

  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. Interactive animated displayed of man-controlled and autonomous robots

    International Nuclear Information System (INIS)

    An interactive computer graphics program has been developed which allows an operator to more readily control robot motions in two distinct modes; viz., man-controlled and autonomous. In man-controlled mode, the robot is guided by a joystick or similar device. As the robot moves, actual joint angle information is measured and supplied to a graphics system which accurately duplicates the robot motion. Obstacles are placed in the actual and animated workspace and the operator is warned of imminent collisions by sight and sound via the graphics system. Operation of the system in man-controlled mode is shown. In autonomous mode, a collision-free path between specified points is obtained by previewing robot motions on the graphics system. Once a satisfactory path is selected, the path characteristics are transmitted to the actual robot and the motion is executed. The telepresence system developed at the University of Florida has been successful in demonstrating that the concept of controlling a robot manipulator with the aid of an interactive computer graphics system is feasible and practical. The clarity of images coupled with real-time interaction and real-time determination of imminent collision with obstacles has resulted in improved operator performance. Furthermore, the ability for an operator to preview and supervise autonomous operations is a significant attribute when operating in a hazardous environment

  5. Methods of determining complete sensor requirements for autonomous mobility

    Science.gov (United States)

    Curtis, Steven A. (Inventor)

    2012-01-01

    A method of determining complete sensor requirements for autonomous mobility of an autonomous system includes computing a time variation of each behavior of a set of behaviors of the autonomous system, determining mobility sensitivity to each behavior of the autonomous system, and computing a change in mobility based upon the mobility sensitivity to each behavior and the time variation of each behavior. The method further includes determining the complete sensor requirements of the autonomous system through analysis of the relative magnitude of the change in mobility, the mobility sensitivity to each behavior, and the time variation of each behavior, wherein the relative magnitude of the change in mobility, the mobility sensitivity to each behavior, and the time variation of each behavior are characteristic of the stability of the autonomous system.

  6. 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.

  7. Laboratory experiments in mobile robot navigation

    International Nuclear Information System (INIS)

    Mobile robots have potential applications in remote surveillance and operation in hazardous areas. To be effective, they must have the ability to navigate on their own to desired locations. Several experimental navigational runs of a mobile robot developed have been conducted. The robot has three wheels of which the front wheel is steered and the hind wheels are driven. The robot is equipped with an ultrasonic range sensor, which is turned around to get range data in all directions. The range data is fed to the input of a neural net, whose output steers the robot towards the goal. The robot is powered by batteries (12V 10Ah). It has an onboard stepper motor controller for driving the wheels and the ultrasonic setup. It also has an onboard computer which runs the navigation program NAV. This program sends the range data and configuration parameters to the operator''s console program OCP, running on a stationary PC, through radio communication on a serial line. Through OCP, an operator can monitor the progress of the robot from a distant control room and intervene if necessary. In this paper the control modules of the mobile robot, its ways of operation and also results of some of the experimental runs recorded are reported. It is seen that the trained net guides the mobile robot through gaps of 1m and above to its destination with about 84% success measured over a small sample of 38 runs

  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. Managing Autonomous Mobility on Demand Systems for Better Passenger Experience

    OpenAIRE

    Shen, Wen; Lopes, Cristina

    2015-01-01

    Autonomous mobility on demand systems, though still in their infancy, have very promising prospects in providing urban population with sustainable and safe personal mobility in the near future. While much research has been conducted on both autonomous vehicles and mobility on demand systems, to the best of our knowledge, this is the first work that shows how to manage autonomous mobility on demand systems for better passenger experience. We introduce the Expand and Target algorithm which can ...

  10. 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.

  11. 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.

  12. 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.

  13. 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...

  14. Design of refuelling robot for autonomous driving

    OpenAIRE

    Ramis Trubat, Àfrica

    2013-01-01

    The rapid development of 3D computer graphics and virtual environments has allowed the researchers to avoid working with physical robotic systems. These require specialised knowledge, a very complex construction, a huge time-consuming and it may not be financially feasible. Therefore, an alternative approach would be to use robot simulations which allow researchers to carry out experiments on the computer. Ideally one would first prototype a robot, then controls its algorithms ...

  15. Image Processing Using Pearson's Correlation Coefficient: Applications on Autonomous Robotics

    OpenAIRE

    Miranda Neto, Arthur; Corrêa Victorino, Alessandro; Fantoni, Isabelle; Zampieri, Douglas Eduardo; Ferreira, Janito Vaqueiro; Lima, Danilo Alves

    2013-01-01

    International audience Autonomous robots have motivated researchers from different groups due to the challenge that it represents. Many applications for control of autonomous platform are being developed and one important aspect is the excess of information, frequently redundant, that imposes a great computational cost in data processing. Taking into account the temporal coherence between consecutive frames, we have proposed a set of tools based on Pearson's Correlation Coefficient (PCC): ...

  16. Outdoor flocking and formation flight with autonomous aerial robots

    OpenAIRE

    Vásárhelyi, Gábor; Virágh, Csaba; Somorjai, Gergő; Tarcai, Norbert; Szörényi, Tamás; Nepusz, Tamás; Vicsek, Tamás

    2014-01-01

    We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information received from other robots in the vicinity. We do not use central data processing or control; instead, all the necessary computations are carried out by miniature on-board computers. The only global information the system exploits is from GPS receivers, whi...

  17. A Tethering Device for Mobile Robot Guidance

    Directory of Open Access Journals (Sweden)

    Sangik Na

    2009-11-01

    Full Text Available A new human and robot interface tool, so-called Navi-Guider, which makes it easy to handle mobile robots, is presented in this paper. The Navi-Guider is easily mounted on a mobile robot and is able to detect a length and a direction of the tether pulled out by a user. Those detected factors are utilized for the robot guidance and control. This paper addresses detailed hardware and software architecture of the Navi-Guider and demonstrates the practical usability of the system through actual experimental tests. The new device, NaviGuider, is an intuitive control tool for moving mobile robots from a place to another place just by pulling the tether.

  18. 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. .

  19. Safety oriented software engineering process for autonomous robots

    OpenAIRE

    Gribov, Vladislav; Voos, Holger

    2013-01-01

    In this paper, a safety oriented model based software engineering process for autonomous robots is proposed. Herein, the main focus is on the modeling of the safety case based on the standard ISO/DIS 13482. Combined with a safe multilayer robot software architecture it allows to trace the safety requirements and to model safety relevant properties on the early design stages in order to build a reliable chain of evidence. The introduced engineering processes consist of the Domain Engineering, ...

  20. 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.

  1. 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. PMID:24558734

  2. 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.

  3. Covering the Working Space of Mobile Robot

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, Stanislav

    Brno: Brno University of Technology, 2014, s. 469-472. ISBN 978-80-214-4817-9. [International Conference on Mechatronics /16./. Brno (CZ), 03.12.2014-05.12.2014] Institutional support: RVO:61388998 Keywords : mobile robot * path planning * configuration space covering * rapidly exploring random trees Subject RIV: JD - Computer Applications, Robotics

  4. Complex Dynamic Modelling of Mobile Robot

    Czech Academy of Sciences Publication Activity Database

    Grepl, Robert; Vlach, Radek; Ondrůšek, Č.

    New York: ASME, 2004, s. 145-151. ISBN 0-7918-4669-5. [ASME Pressure Vessels and Piping Conference 2004. San Diego (US), 25.07.2004] R&D Projects: GA AV ČR KSK2076106 Source of funding: CZ Keywords : mobile robot * simmechanics Subject RIV: JD - Computer Applications, Robot ics

  5. Mobile robot motion planner via neural network

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, Stanislav

    Prague: Institute of Thermomechanics AS CR, v. v. i., 2011 - (Fuis, V.), s. 327-330 ISBN 978-80-87012-33-8. [Engineering Mechanics 2011 /17./. Svratka (CZ), 09.05.2011-12.05.2011] Institutional research plan: CEZ:AV0Z20760514 Keywords : mobile robot * motion planning * neural network Subject RIV: JD - Computer Applications, Robot ics

  6. Algorithms for VLSI stereo vision circuits applied to autonomous robots

    OpenAIRE

    Lopez de Meneses Novosilzov, Yuri; Nicoud, Jean-Daniel

    2005-01-01

    Since the inception of Robotics, visual information has been incorporated in order to allow the robots to perform tasks that require an interaction with their environment, particularly when it is a changing environment. Depth perception is a most useful information for a mobile robot to navigate in its environment and interact with its surroundings. Among the different methods capable of measuring the distance to the objects in the scene, stereo vision is the most advantageous for a small, mo...

  7. Algorithms for VLSI stereo vision circuits applied to autonomous robots

    OpenAIRE

    Lopez de Meneses Novosilzov, Yuri

    1999-01-01

    Since the inception of Robotics, visual information has been incorporated in order to allow the robots to perform tasks that require an interaction with their environment, particularly when it is a changing environment. Depth perception is a most useful information for a mobile robot to navigate in its environment and interact with its surroundings. Among the different methods capable of measuring the distance to the objects in the scene, stereo vision is the most advantageous for a small, mo...

  8. FPGA implementation of vision algorithms for small autonomous robots

    Science.gov (United States)

    Anderson, J. D.; Lee, D. J.; Archibald, J. K.

    2005-10-01

    The use of on-board vision with small autonomous robots has been made possible by the advances in the field of Field Programmable Gate Array (FPGA) technology. By connecting a CMOS camera to an FPGA board, on-board vision has been used to reduce the computation time inherent in vision algorithms. The FPGA board allows the user to create custom hardware in a faster, safer, and more easily verifiable manner that decreases the computation time and allows the vision to be done in real-time. Real-time vision tasks for small autonomous robots include object tracking, obstacle detection and avoidance, and path planning. Competitions were created to demonstrate that our algorithms work with our small autonomous vehicles in dealing with these problems. These competitions include Mouse-Trapped-in-a-Box, where the robot has to detect the edges of a box that it is trapped in and move towards them without touching them; Obstacle Avoidance, where an obstacle is placed at any arbitrary point in front of the robot and the robot has to navigate itself around the obstacle; Canyon Following, where the robot has to move to the center of a canyon and follow the canyon walls trying to stay in the center; the Grand Challenge, where the robot had to navigate a hallway and return to its original position in a given amount of time; and Stereo Vision, where a separate robot had to catch tennis balls launched from an air powered cannon. Teams competed on each of these competitions that were designed for a graduate-level robotic vision class, and each team had to develop their own algorithm and hardware components. This paper discusses one team's approach to each of these problems.

  9. 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.

  10. 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

  11. ODYSSEUS autonomous walking robot: The leg/arm design

    Science.gov (United States)

    Bourbakis, N. G.; Maas, M.; Tascillo, A.; Vandewinckel, C.

    1994-01-01

    ODYSSEUS is an autonomous walking robot, which makes use of three wheels and three legs for its movement in the free navigation space. More specifically, it makes use of its autonomous wheels to move around in an environment where the surface is smooth and not uneven. However, in the case that there are small height obstacles, stairs, or small height unevenness in the navigation environment, the robot makes use of both wheels and legs to travel efficiently. In this paper we present the detailed hardware design and the simulated behavior of the extended leg/arm part of the robot, since it plays a very significant role in the robot actions (movements, selection of objects, etc.). In particular, the leg/arm consists of three major parts: The first part is a pipe attached to the robot base with a flexible 3-D joint. This pipe has a rotated bar as an extended part, which terminates in a 3-D flexible joint. The second part of the leg/arm is also a pipe similar to the first. The extended bar of the second part ends at a 2-D joint. The last part of the leg/arm is a clip-hand. It is used for selecting several small weight and size objects, and when it is in a 'closed' mode, it is used as a supporting part of the robot leg. The entire leg/arm part is controlled and synchronized by a microcontroller (68CH11) attached to the robot base.

  12. 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.

  13. 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.

  14. 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

  15. Robotic vehicle with multiple tracked mobility platforms

    Science.gov (United States)

    Salton, Jonathan R.; Buttz, James H.; Garretson, Justin; Hayward, David R.; Hobart, Clinton G.; Deuel, Jr., Jamieson K.

    2012-07-24

    A robotic vehicle having two or more tracked mobility platforms that are mechanically linked together with a two-dimensional coupling, thereby forming a composite vehicle of increased mobility. The robotic vehicle is operative in hazardous environments and can be capable of semi-submersible operation. The robotic vehicle is capable of remote controlled operation via radio frequency and/or fiber optic communication link to a remote operator control unit. The tracks have a plurality of track-edge scallop cut-outs that allow the tracks to easily grab onto and roll across railroad tracks, especially when crossing the railroad tracks at an oblique angle.

  16. 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.

  17. 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.

  18. A study on autonomous pipeline maintenance robots, 6

    International Nuclear Information System (INIS)

    This paper deals with the sensing planning for a pipeline inspection and the maintenance robot, by which the robot can carry out inspection tasks to detect a malfunction location in a plant pipeline system autonomously. For this purpose, the robot needs knowledge of the plant map, plant function and plant diagnosis. In the previous report, the path planning expert system (PPES) was reported; if the plant map is given, the robot can automatically produce the path to reach a location from another location within the robot task level. In this paper, PPES is modified to adapt the sensing planning expert system (SPES) and generates executable robot commands for motion control. In addition, the plant knowledge system requires more information concerning plant operation states, such as standard value/status and up/down stream. Furthermore, the robot needs knowledge on inspection/repair and diagnosis, so that the robot can estimate the malfunction candidates and select one individually after some inspection trials. Together with PPES and SPES, the robot becomes intelligent enough to carry out given inspection tasks automatically. (author)

  19. Autonomous robot vision software design using Matlab toolboxes

    Science.gov (United States)

    Tedder, Maurice; Chung, Chan-Jin

    2004-10-01

    The purpose of this paper is to introduce a cost-effective way to design robot vision and control software using Matlab for an autonomous robot designed to compete in the 2004 Intelligent Ground Vehicle Competition (IGVC). The goal of the autonomous challenge event is for the robot to autonomously navigate an outdoor obstacle course bounded by solid and dashed lines on the ground. Visual input data is provided by a DV camcorder at 160 x 120 pixel resolution. The design of this system involved writing an image-processing algorithm using hue, satuaration, and brightness (HSB) color filtering and Matlab image processing functions to extract the centroid, area, and orientation of the connected regions from the scene. These feature vectors are then mapped to linguistic variables that describe the objects in the world environment model. The linguistic variables act as inputs to a fuzzy logic controller designed using the Matlab fuzzy logic toolbox, which provides the knowledge and intelligence component necessary to achieve the desired goal. Java provides the central interface to the robot motion control and image acquisition components. Field test results indicate that the Matlab based solution allows for rapid software design, development and modification of our robot system.

  20. Concurrent planning and execution for autonomous robots

    Science.gov (United States)

    Simmons, Reid G.

    1992-01-01

    The Task Control Architecture (TCA) provides communication and coordination facilities to construct distributed, concurrent robotic systems. The use of TCA in a system that walks a legged robot through rugged terrain is described. The walking system, as originally implemented, had a sequential sense-plan-act control cycle. Utilizing TCA features for task sequencing and monitoring, the system was modified to concurrently plan and execute steps. Walking speed improved by over 30 percent, with only a relatively modest conversion effort.

  1. 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.

  2. 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. PMID:23122490

  3. Applications of concurrent neuromorphic algorithms for autonomous robots

    Science.gov (United States)

    Barhen, J.; Dress, W. B.; Jorgensen, C. C.

    1988-01-01

    This article provides an overview of studies at the Oak Ridge National Laboratory (ORNL) of neural networks running on parallel machines applied to the problems of autonomous robotics. The first section provides the motivation for our work in autonomous robotics and introduces the computational hardware in use. Section 2 presents two theorems concerning the storage capacity and stability of neural networks. Section 3 presents a novel load-balancing algorithm implemented with a neural network. Section 4 introduces the robotics test bed now in place. Section 5 concerns navigation issues in the test-bed system. Finally, Section 6 presents a frequency-coded network model and shows how Darwinian techniques are applied to issues of parameter optimization and on-line design.

  4. Biomimetic smart sensors for autonomous robotic behavior II: vestibular processing

    Science.gov (United States)

    Xue, Shuwan; Deligeorges, Socrates; Soloway, Aaron; Lichtenstein, Lee; Gore, Tyler; Hubbard, Allyn

    2009-05-01

    Limited autonomous behaviors are fast becoming a critical capability in the field of robotics as robotic applications are used in more complicated and interactive environments. As additional sensory capabilities are added to robotic platforms, sensor fusion to enhance and facilitate autonomous behavior becomes increasingly important. Using biology as a model, the equivalent of a vestibular system needs to be created in order to orient the system within its environment and allow multi-modal sensor fusion. In mammals, the vestibular system plays a central role in physiological homeostasis and sensory information integration (Fuller et al, Neuroscience 129 (2004) 461-471). At the level of the Superior Colliculus in the brain, there is multimodal sensory integration across visual, auditory, somatosensory, and vestibular inputs (Wallace et al, J Neurophysiol 80 (1998) 1006-1010), with the vestibular component contributing a strong reference frame gating input. Using a simple model for the deep layers of the Superior Colliculus, an off-the-shelf 3-axis solid state gyroscope and accelerometer was used as the equivalent representation of the vestibular system. The acceleration and rotational measurements are used to determine the relationship between a local reference frame of a robotic platform (an iRobot Packbot®) and the inertial reference frame (the outside world), with the simulated vestibular input tightly coupled with the acoustic and optical inputs. Field testing of the robotic platform using acoustics to cue optical sensors coupled through a biomimetic vestibular model for "slew to cue" gunfire detection have shown great promise.

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

    Science.gov (United States)

    Hayward, David R.; Buttz, James H.; Shirey, David L.

    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.

  6. 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.

  7. 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.

  8. Design of the human-robot interaction for a semi-autonomous service robot to assist elderly people

    OpenAIRE

    Mast, Marcus; Burmester, Michael; Graf, Birgit; Weisshardt, Florian; Arbeiter, Georg; Španel, Michal; Zdenek, Materna; Smrz, Pavel; Kronreif, Gernot

    2015-01-01

    Service robots could support elderly people's activities of daily living and enable them to live in their own residences independently as long as possible. Current robot technology does not allow reliable fully autonomous operation of service robots with manipulation capabilities in the heterogeneous environments of private homes. We developed and evaluated a usage concept for semi-autonomous robot control as well as user interfaces for three user groups. Elderly people are provided with simp...

  9. Intelligent Mobile Olfaction of Swarm Robots

    Directory of Open Access Journals (Sweden)

    Siti Nurmaini

    2013-06-01

    Full Text Available This work presents intelligent mobile olfaction design and experimental results of intelligent swarm robots to detection a gas/odour source in an indoor environment by using multi agent based on hybrid algorithm. We examine the problem for deciding when, how and where the gas/odour sensor should be activated. Simple form of cooperation between Interval Type-2 Fuzzy Logic and Particle Swarm Optimization (IT2FL-PSO algorithm is implemented in the olfaction strategies. The real experiments performed on smaller five mobile robots equipped with dynamic gas/odour sensor TGS2600 and three infra-red sensors. The results show that single robot-based olfaction system with 5 behaviors capable for searching source of a simulated chemical leak in unknown environment and flooking behavior can be done by 3 robots to find the source of gas/odour.

  10. 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

  11. Konsep dan Cara membuat mobile robot

    OpenAIRE

    Syam, Rafiuddin

    2012-01-01

    Buku ini disusun untuk memperkaya hasanah buku di Indonesia bidang ilmu robotika. Perkembangan ilmu robotika di Indonesia dalam dekade terakhir ini sangat pesat, walaupun jauh tertinggal dibandingkan ilmu ilmu lain. Sebagai ilmu terapan, robotika, menggabungkan beberepa disiplin ilmu antara mekanika, elektrikal, teknik kendali dan inteligensia buatan serta teknik sensor. Selanjutnya, dalam buku ini dijelaskan konsep dan cara membuat robot, baik berupa mobile robot maupun manipulator. Pem...

  12. Mobile Robot Tracking Using Image Processing

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, Stanislav; Ripel, T.

    Praha: Institute of Theoretical and Applied Mechanics AS CR, v.v.i, 2012 - (Náprstek, J.; Fischer, C.), s. 741-744 ISBN 978-80-86246-40-6. [Engineering mechanics 2012 - International conference /18./. Svratka (CZ), 14.05.2012-17.05.2012] Institutional research plan: CEZ:AV0Z20760514 Keywords : mobile robot * image processing * object tracking Subject RIV: JD - Computer Applications, Robot ics

  13. Landmark perception planning for mobile robot localization

    OpenAIRE

    Armingol, José M.; Moreno, Luis; Escalera, Arturo de la; Salichs, Miguel A.

    1998-01-01

    This paper presents a fuzzy perception planner that takes into account the time cost, the suitability of every landmark detection and the different uncertainties the robot encounters along its path for mobile robot localization. The sensor used is a camera with a motorized zoom on a pan & tilt platform and the artificial landmarks are circles detected through normalized grayscale correlation. An Extended Kalman Filter is used to correct the position and orientation of the vehicle. The resulti...

  14. On the development a pneumatic four-legged mechanism autonomous vertical wall climbing robot

    International Nuclear Information System (INIS)

    The paper describes the design of a prototype legged mechanism together with suction mechanism, the mechanical design, on-board controller and an initial performance test. The design is implemented in the form of a pneumatically powered multi-legged robot equipped with suction pads at the sole of the feet for wall climbing purpose. The whole mechanism and suction system is controlled by controller which is housed on-board the robot. The gait of the motion depended on the logic control patterns as dictated by the controller. The robot is equipped with sensors both at the front and rear ends that function as an obstacle avoidance facility. Once objects are detected, signals are sent to the controller to start an evasive action that is to move in the opposite direction. The mechanism has been tested and initial results have shown promising potential for an autonomous mobile. (Author)

  15. 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

  16. Switched control of a nonholonomic mobile robot

    Science.gov (United States)

    Sankaranarayanan, V.; Mahindrakar, Arun D.

    2009-05-01

    We present a switched control algorithm to stabilize a car-like mobile robot which possesses velocity level nonholonomic constraint. The control approach rests on splitting the system into several second-order subsystems and then stabilizing the system sequentially using finite-time controllers, finally resulting in the mobile robot being moved from one point to another point. State dependent switching control is employed in which the controllers switches on a thin surface in the state-space. Robustness analysis is presented by redefining the switching signal using relaxed switching surface. Both, non-robust and robust controllers are validated through numerical simulation.

  17. Perception intelligente pour la navigation rapide de robots mobiles en environnement naturel

    OpenAIRE

    Malartre, Florent

    2011-01-01

    This thesis addresses the perception of the environment for the automatic guidance of a mobile robot. When one wishes to achieve autonomous navigation, several elements must be addressed. Among them we will discuss the traversability of the environment on the vehicle path. This traversability depends on the ground geometry and type and also the position of the robot in its environment (in a local coordinate system) taking into acount the objective that must be achieved (in a global coordinate...

  18. A vision-guided parallel parking system for a mobile robot using approximate policy iteration

    OpenAIRE

    Shaker, Marwan; Duckett, Tom; Yue, Shigang

    2010-01-01

    Reinforcement Learning (RL) methods enable autonomous robots to learn skills from scratch by interacting with the environment. However, reinforcement learning can be very time consuming. This paper focuses on accelerating the reinforcement learning process on a mobile robot in an unknown environment. The presented algorithm is based on approximate policy iteration with a continuous state space and a fixed number of actions. The action-value function is represented by a weighted combination of...

  19. Fast Calibration of Industrial Mobile Robots to Workstations using QR Codes

    DEFF Research Database (Denmark)

    Andersen, Rasmus Skovgaard; Damgaard, Jens Skov; Madsen, Ole;

    2013-01-01

    Much research is directed at developing increasingly efficient and flexible production, and one important potential advancement is the robots known as Autonomous Industrial Mobile Manipulators (AIMMs). The idea behind AIMMs is to have robots that can move around and have the ability to perform...... of a new camera. The calibration have been implemented on Aalborg University's AIMM, Little Helper, and tested both in a laboratory and in a real-life industrial environment at the Danish pump manufacturer Grundfos A/S....

  20. Artificial Intelligence techniques for mission planning for mobile robots

    International Nuclear Information System (INIS)

    This work focuses on Spatial Modelization Techniques and on Control Software Architectures, in order to deal efficiently with the Navigation and Perception problems encountered in Mobile Autonomous Robotics. After a brief survey of the current various approaches for these techniques, we expose ongoing simulation works for a specific mission in robotics. Studies in progress used for Spatial Reasoning are based on new approaches combining Artificial Intelligence and Geometrical techniques. These methods deal with the problem of environment modelization using three types of models: geometrical topological and semantic models at different levels. The decision making processes of control are presented as the result of cooperation between a group of decentralized agents that communicate by sending messages. (author)

  1. 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. PMID:20365620

  2. 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.

  3. Fusion de données : application à un robot mobile : le robot HAMMI

    OpenAIRE

    Sáez Cardador, Javier

    2009-01-01

    Le robot mobile et autonome d’assistance aux personnes handicapées appelé HAMMI est conçu pour pousser n’importe quel fauteuil roulant. Après plusieurs études, l’objectif est maintenant d’intégrer les données fournies par des capteurs de distance infrarouges et ultrasons pour obtenir des renseignements utiles agissant sur les trajectoires. On a réalisé plusieurs essais pour conditionner les capteurs. La programmation a été effectuée avec Visual C++ de Microsoft et avec les bibliothèques des c...

  4. 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....

  5. 自主移动机器人中基于强化学习的噪声消解策略%Noise Resolution Strategy Based on Reinforcement Learning in Autonomous Mobile Robot System

    Institute of Scientific and Technical Information of China (English)

    任燚; 陈宗海

    2005-01-01

    基于行为的自主移动机器人在获取外界信息时不可避免地会引入噪声,给其系统性能造成一定的影响.提出了一种基于过程奖赏和优先扫除(PS-process)的强化学习算法作为噪声消解策略.针对典型的觅食任务,以计算机仿真为手段.并与其它四种算法--基于结果奖赏和优先扫除(PS-result)、基于过程奖赏和Q学习(Q-process)、基于结果奖赏和Q学习(Q-result)和基于手工编程策略(Hand) 进行比较.研究结果表明比起其它四种算法,本文所提出的基于过程奖赏和优先扫除的强化学习算法能有效降低噪声的影响,提高了系统整体性能.%Noise is always induced for behavior-based autonomous mobile robot when the environmental information is obtained,which affects its system performance.A reinforcement learning algorithm (PS-process) based on process reward and prioritized sweeping is presented as noise resolution strategy.A typical forage task with computational simulation is adopted.Comparisons of other four strategies,such as PS-result based on result reward and prioritized sweeping,Q-process based on process reward and Q-learning,Q-result based on result reward and Q-learning,and Hand based on hand code,are carried out.The comparison results show that the algorithm based on process reward and prioritized sweeping presented can resolve effectively noise and improve the system performance,comparing to other four algorithms.

  6. 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.

  7. 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). PMID:23524383

  8. Head mounted display technology for non-autonomous nuclear robotics

    International Nuclear Information System (INIS)

    This paper suggests an alternative to the current approach to visual feedback for common robotic tasks in the nuclear industry, particularly those under the direct supervision of an operator. The concept depends on the use of head mounted displays (HMD's), capable of presenting real-time video imagery from gimbaled cameras, whose pointing direction is slaved to the head position of the operator wearing the HMD. Tasks ranging from simple inspection to visualization of extreme, unexpected situations could benefit from greatly improved flexibility through this concept; this natural, autonomous visual feedback loop allows the operator to concentrate on the actual robotic manipulation, in addition to improving positional awareness of his robotic tools with respect to their surroundings. 1 fig

  9. Acquisition of Autonomous Behaviors by Robotic Assistants

    Science.gov (United States)

    Peters, R. A., II; Sarkar, N.; Bodenheimer, R. E.; Brown, E.; Campbell, C.; Hambuchen, K.; Johnson, C.; Koku, A. B.; Nilas, P.; Peng, J.

    2005-01-01

    Our research achievements under the NASA-JSC grant contributed significantly in the following areas. Multi-agent based robot control architecture called the Intelligent Machine Architecture (IMA) : The Vanderbilt team received a Space Act Award for this research from NASA JSC in October 2004. Cognitive Control and the Self Agent : Cognitive control in human is the ability to consciously manipulate thoughts and behaviors using attention to deal with conflicting goals and demands. We have been updating the IMA Self Agent towards this goal. If opportunity arises, we would like to work with NASA to empower Robonaut to do cognitive control. Applications 1. SES for Robonaut, 2. Robonaut Fault Diagnostic System, 3. ISAC Behavior Generation and Learning, 4. Segway Research.

  10. 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.

  11. 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.

  12. 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.

  13. Mobile robotics application in the nuclear industry

    International Nuclear Information System (INIS)

    Mobile robots have been developed to perform hazardous operations in place of human workers. Applications include nuclear plant inspection/maintenance, decontamination and decommissioning police/military explosive ordinance disposal (EOD), hostage/terrorist negotiations and fire fighting. Nuclear facilities have proven that robotic applications can be cost-effective solutions to reducing personnel exposure and plant downtime. The first applications of mobile robots in the nuclear industry began in the early 1980's, with the first vehicles being one of a kind machines or adaptations of commercial EOD robots. These activities included efforts by numerous commercial companies, the U.S. Nuclear Regulatory Commission, EPRI, and several national laboratories. Some of these efforts were driven by the recovery and cleanup activities at TMI which demonstrated the potential and need for a remote means of performing surveillance and maintenance tasks in nuclear plants. The use of these machines is now becoming commonplace in nuclear facilities throughout the world. The hardware maturity and the confidence of the users has progressed to the point where the applications of mobile robots is not longer considered a novelty. These machines are being used in applications where the result is to help achieve more aggressive goals for personnel radiation exposure and plant availability, perform tasks more efficiently, and allow plant operators to retrieve information from areas previously considered inaccessible. Typical examples include surveillance in high radiation areas (during operation and outage activities), radiation surveys, waste handling, and decontamination evolutions. This paper will discuss this evolution including specific applications experiences, examples of currently available technology, and the benefits derived from the use of mobile robotic vehicles in commercial nuclear power facilities

  14. 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.

  15. 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.

  16. 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.

  17. 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.

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

    International Nuclear Information System (INIS)

    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

  19. 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.

  20. 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.

  1. 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.

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

    International Nuclear Information System (INIS)

    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)

  3. Situation Assessment for Mobile Robots

    OpenAIRE

    Beck, Anders Billesø; Ravn, Ole; Andersen, Nils Axel; Risager, Claus

    2012-01-01

    Mobile robotter er blevet en moden teknologi. De første kabelførte logistikroboter blev introduceret i industrien for næsten 60 år siden. Igennem denne tid, har markedet for mobile robotter i industrien kun bevidnet en meget moderat vækst og blot 2.100 systemer blev solgt verden over i 2011. I de senere år har mange andre domæner adopteret de mobile robotter, som f.eks. logistikrobotter på hospitaler og støvsuger-robotter i vores hjem. Men hvis man betragter de sidste 15 års forskningsresulta...

  4. Mobile robot prototype detector of gamma radiation

    International Nuclear Information System (INIS)

    In this paper the technological development of a mobile robot prototype detector of gamma radiation is shown. This prototype has been developed for the purpose of algorithms implementation for the applications of terrestrial radiation monitoring of exposed sources, search for missing radioactive sources, identification and delineation of radioactive contamination areas and distribution maps generating of radioactive exposure. Mobile robot detector of radiation is an experimental technology development platform to operate in laboratory environment or flat floor facilities. The prototype integrates a driving section of differential configuration robot on wheels, a support mechanism and rotation of shielded detector, actuator controller cards, acquisition and processing of sensor data, detection algorithms programming and control actuators, data recording (Data Logger) and data transmission in wireless way. The robot in this first phase is remotely operated in wireless way with a range of approximately 150 m line of sight and can extend that range to 300 m or more with the use of signal repeaters. The gamma radiation detection is performed using a Geiger detector shielded. Scan detection is performed at various time sampling periods and diverse positions of discrete or continuous angular orientation on the horizon. The captured data are geographical coordinates of robot GPS (latitude and longitude), orientation angle of shield, counting by sampling time, date, hours, minutes and seconds. The data is saved in a file in the Micro Sd memory on the robot. They are also sent in wireless way by an X Bee card to a remote station that receives for their online monitoring on a laptop through an acquisition program by serial port on Mat Lab. Additionally a voice synthesizing card with a horn, both in the robot, periodically pronounced in Spanish, data length, latitude, orientation angle of shield and detected accounts. (Author)

  5. 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.

  6. 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.

  7. Autonomous robot navigation using vision- and sensor-based algorithm

    Science.gov (United States)

    Bhandari, Susmita; Mathis, Allison; Mohiuddin, Kashif; Pietrocola, David; Restrepo, Maria; Ahlgren, David J.

    2006-10-01

    ALVIN-VII is an autonomous vehicle designed to compete in the AUVSI Intelligent Ground Vehicle Competition (IGVC). The competition consists of two events, the Autonomous Challenge and Navigation Challenge. Using tri-processor control architecture the information from sonar sensors, cameras, GPS and compass is effectively integrated to map out the path of the robot. In the Autonomous Challenge, the real time data from two Firewire web cameras and an array of four sonar sensors are plotted on a custom-defined polar grid to identify the position of the robot with respect to the obstacles in its path. Depending on the position of the obstacles in the grid, a state number is determined and a command of action is retrieved from the state table. The image processing algorithm comprises a series of steps involving plane extraction, morphological analysis, edge extraction and interpolation, all of which are statistically based allowing optimum operation at varying ambient conditions. In the Navigation Challenge, data from GPS and sonar sensors are integrated on a polar grid with flexible distance thresholds and a state table approach is used to drive the vehicle to the next waypoint while avoiding obstacles. Both algorithms are developed and implemented using National Instruments (NI) hardware and LabVIEW software. The task of collecting and processing information in real time can be time consuming and hence not reactive enough for moving robots. Using three controllers, the image processing is done separately for each camera while a third controller integrates the data received through an Ethernet connection.

  8. Experiments in teleoperator and autonomous control of space robotic vehicles

    Science.gov (United States)

    Alexander, Harold L.

    1991-01-01

    A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.

  9. 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.

  10. 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.

  11. 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...... functions for extended Kalman filtering as well as for the DD1 filter and the DD2 filter. It also contains functions for Unscented Kalman filters as well as three versions of particle filters. The toolbox requires MATLAB version 7, but no additional toolboxes are required.......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...

  12. Neurobiologically inspired mobile robot navigation and planning

    OpenAIRE

    Mathias Quoy

    2007-01-01

    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”.

  13. Neurobiologically Inspired Mobile Robot Navigation and Planning

    OpenAIRE

    Cuperlier, Nicolas; Quoy, Mathias; Gaussier, Philippe

    2007-01-01

    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”.

  14. 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”.

  15. 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.

  16. Differential evolution to enhance localization of mobile robots

    DEFF Research Database (Denmark)

    Lisowski, Michal; Fan, Zhun; Ravn, Ole

    This paper focuses on the mobile robot localization problems: pose tracking, global localization and robot kidnap. Differential Evolution (DE) applied to extend Monte Carlo Localization (MCL) was investigated to better solve localization problem by increasing localization reliability and speed. In...

  17. Advances in learning for intelligent mobile robots

    Science.gov (United States)

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

    2004-10-01

    Intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths to accomplish a variety of tasks. Such machines have many potential useful applications in medicine, defense, industry and even the home so that the design of such machines is a challenge with great potential rewards. Even though intelligent systems may have symbiotic closure that permits them to make a decision or take an action without external inputs, sensors such as vision permit sensing of the environment and permit precise adaptation to changes. Sensing and adaptation define a reactive system. However, in many applications some form of learning is also desirable or perhaps even required. A further level of intelligence called understanding may involve not only sensing, adaptation and learning but also creative, perceptual solutions involving models of not only the eyes and brain but also the mind. The purpose of this paper is to present a discussion of recent technical advances in learning for intelligent mobile robots with examples of adaptive, creative and perceptual learning. The significance of this work is in providing a greater understanding of the applications of learning to mobile robots that could lead to important beneficial applications.

  18. Lunar surface exploration using mobile robots

    Science.gov (United States)

    Nishida, Shin-Ichiro; Wakabayashi, Sachiko

    2012-06-01

    A lunar exploration architecture study is being carried out by space agencies. JAXA is carrying out research and development of a mobile robot (rover) to be deployed on the lunar surface for exploration and outpost construction. The main target areas for outpost construction and lunar exploration are mountainous zones. The moon's surface is covered by regolith. Achieving a steady traversal of such irregular terrain constitutes the major technical problem for rovers. A newly developed lightweight crawler mechanism can effectively traverse such irregular terrain because of its low contact force with the ground. This fact was determined on the basis of the mass and expected payload of the rover. This paper describes a plan for Japanese lunar surface exploration using mobile robots, and presents the results of testing and analysis needed in their development. This paper also gives an overview of the lunar exploration robot to be deployed in the SELENE follow-on mission, and the composition of its mobility, navigation, and control systems.

  19. 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.

  20. 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. PMID:12160343

  1. 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

    2014-01-01

    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. PMID:25145980

  2. 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.

  3. 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.

  4. 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.

  5. Design and Implementation of Autonomous Stair Climbing with Nao Humanoid Robot

    OpenAIRE

    Lu, Wei

    2015-01-01

    With the development of humanoid robots, autonomous stair climbing is an important capability. Humanoid robots will play an important role in helping people tackle some basic problems in the future. The main contribution of this thesis is that the NAO humanoid robot can climb the spiral staircase autonomously. In the vision module, the algorithm of image filtering and detecting the contours of the stair contributes to calculating the location of the stairs accurately. Additionally, the st...

  6. 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.

  7. Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

    DEFF Research Database (Denmark)

    Christensen, David Johan; Andersen, Jens Christian; Blanke, Mogens;

    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.......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...

  8. An Interactive Auto-recharging System for Mobile Robots

    OpenAIRE

    Kuo-Lan Su; Yi-Lin Liao; Shih-Ping Lin; Sian-Fu Lin

    2014-01-01

    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 st...

  9. The IIIA30 Mobile Robot Object Recognition Dataset

    OpenAIRE

    Ramisa, Arnau; Aldavert, David; Vasudevan, Shrihari; Toledo, Ricardo; Lopez de Mantaras, Ramon

    2011-01-01

    Object perception is a key feature in order to make mobile robots able to perform high-level tasks. However, research aimed at addressing the constraints and limitations encountered in a mobile robotics scenario, like low image resolution, motion blur or tight computational constraints, is still very scarce. In order to facilitate future research in this direction, in this work we present an object detection and recognition dataset acquired using a mobile robotic platform. As a baseline for t...

  10. Multi-agent Architecture Model for Driving Mobile Manipulator Robots

    OpenAIRE

    Hentout, A.; Bouzouia, B.; Z. Toukal

    2008-01-01

    In this article, we present generic hierarchical behavior-based architecture model for driving mobile manipulator robots. Two behaviors are of high-level. They constitute the Supervisory agent, which manages the global system. Two others are of intermediate-level and finally one behavior is of low-level. These last ones constitute the Mobile Robot agent and the Manipulator Robot agent controlling, respectively, the mobile base and the manipulator arm. The choice of the suggest...

  11. 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.

  12. Fuzzy control system for a mobile robot

    International Nuclear Information System (INIS)

    Since the first fuzzy logic control system was proposed by Mamdani, many studies have been carried out on industrial process and real-time controls. The key problem for the application of fuzzy logic control is to find a suitable set of fuzzy control rules. Three common modes of deriving fuzzy control rules are often distinguished and mentioned: (1) expert experience and knowledge; (2) modeling operator control actions; and (3) modeling a process. In cases where an operator's skill is important, it is very useful to derive fuzzy control rules by modeling an operator's control actions. It is possible to model an operator's control behaviors in terms of fuzzy implications using the input-output data concerned with his/her control actions. The authors use the model obtained in this way as the basis for a fuzzy controller. The authors use a finite number of fuzzy or approximate control rules. To control a robot in a cluttered reactor environment, it is desirable to combine all the methods. In this paper, the authors describe a general algorithm for a mobile robot control system with fuzzy logic reasoning. They discuss the way that knowledge of fuzziness will be represented in this control system. They also describe a simulation program interface to the K2A Cybermation mobile robot to be used to demonstrate the control system

  13. Advanced technology mobile robotics vehicle fleet

    International Nuclear Information System (INIS)

    A fleet of vehicles is being developed and maintained by Sandia National Laboratories for studies in remote control and autonomous operation. The vehicles range from modified commercial vehicles to specially constructed mobile platforms and are utilized as testbeds for developing concepts in the areas of remote control (teleoperation) and computer control (autonomy). Actuators control the vehicle speed, brakes, and steering via manual input from a remote driving station or through some level of digital computer control. On-board processing may include simple vehicle control functions or may allow for unmanned, autonomous operation. Communication links are provided for digital communication between control computers, television transmission for vehicle vision, and voice for local control. SNL can develop, test, and evaluate sensors, processing requirements, various methods of actuator implementation, operator controlled feedback requirements, and vehicle operations. A description of the major features and uses for each of the vehicles in the fleet is provided

  14. 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.

  15. Human-robot collaborative navigation for autonomous maintenance management of nuclear installation

    International Nuclear Information System (INIS)

    Development of human and robot collaborative navigation for autonomous maintenance management of nuclear installation has been conducted. The human-robot collaborative system is performed using a switching command between autonomous navigation and manual navigation that incorporate a human intervention. The autonomous navigation path is conducted using a novel algorithm of MLG method based on Lozano-Perezs visibility graph. The MLG optimizes the shortest distance and safe constraints. While the manual navigation is performed using manual robot tele operation tools. Experiment in the MLG autonomous navigation system is conducted for six times with 3-D starting point and destination point coordinate variation. The experiment shows a good performance of autonomous robot maneuver to avoid collision with obstacle. The switching navigation is well interpreted using open or close command to RS-232C constructed using LabVIEW

  16. 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.  

  17. Mobile robots in research and development programs at the Savannah River Site

    International Nuclear Information System (INIS)

    Savannah River Laboratory (SRL) is developing mobile robots for deployment in nuclear applications at the Savannah River Plant (SRP). 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

  18. Mobile robots in research and development programs at the Savannah River site

    International Nuclear Information System (INIS)

    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

  19. Rapidly Exploring Random Trees Used for Mobile Robots Path Planning

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, S.

    2005-01-01

    Roč. 12, č. 4 (2005), s. 231-238. ISSN 1802-1484. [Mechatronics, Robotics and Biomechanics 2005. Třešť, 26.09.2005-29.09.2005] Institutional research plan: CEZ:AV0Z20760514 Keywords : path planning * mobile robot Subject RIV: JD - Computer Applications, Robotics

  20. Monocular Vision Based SLAM for Mobile Robots

    OpenAIRE

    Mouragnon, Etienne; Lhuillier, Maxime; Dhome, Michel; Dekeyser, Fabien; Sayd, Patrick

    2006-01-01

    This paper describes a new vision based method for the Simultaneous Localization and Mapping of mobile robots. The only data used is a video input from a moving cali- brated monocular camera. From the detection and match- ing of interest points in images at video rate, robust esti- mates of the camera poses are computed in real-time and a 3D map of the environment is reconstructed. The computed 3D structure is constantly refined thanks to the introduction of a fast and local bundle adjustment...

  1. 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.

  2. A review on actuation principls for few cubic millimeter sized mobile micro-robots

    OpenAIRE

    Breguet, Jean-Marc; Johansson, Stefan; Driesen, Walter; Simu, Urban

    2006-01-01

    Actuation systems for few cubic millimeter sized mobile autonomous robots are subject to severe constraints in terms of e.g. size, fabrication or power consumption. Also the onboard electronics has limited performance due to both size and power restrictions, so actuation voltages, currents and frequency should be minimized. Various principles of electrical to mechanical energy conversion will be presented (piezoelectric, polymer, electrostatic) and their performances compared considering the ...

  3. Assessment of a visually guided autonomous exploration robot

    Science.gov (United States)

    Harris, C.; Evans, R.; Tidey, E.

    2008-10-01

    A system has been developed to enable a robot vehicle to autonomously explore and map an indoor environment using only visual sensors. The vehicle is equipped with a single camera, whose output is wirelessly transmitted to an off-board standard PC for processing. Visual features within the camera imagery are extracted and tracked, and their 3D positions are calculated using a Structure from Motion algorithm. As the vehicle travels, obstacles in its surroundings are identified and a map of the explored region is generated. This paper discusses suitable criteria for assessing the performance of the system by computer-based simulation and practical experiments with a real vehicle. Performance measures identified include the positional accuracy of the 3D map and the vehicle's location, the efficiency and completeness of the exploration and the system reliability. Selected results are presented and the effect of key system parameters and algorithms on performance is assessed. This work was funded by the Systems Engineering for Autonomous Systems (SEAS) Defence Technology Centre established by the UK Ministry of Defence.

  4. Sensor fusion for mobile robot navigation

    International Nuclear Information System (INIS)

    The authors review techniques for sensor fusion in robot navigation, emphasizing algorithms for self-location. These find use when the sensor suite of a mobile robot comprises several different sensors, some complementary and some redundant. Integrating the sensor readings, the robot seeks to accomplish tasks such as constructing a map of its environment, locating itself in that map, and recognizing objects that should be avoided or sought. The review describes integration techniques in two categories: low-level fusion is used for direct integration of sensory data, resulting in parameter and state estimates; high-level fusion is used for indirect integration of sensory data in hierarchical architectures, through command arbitration and integration of control signals suggested by different modules. The review provides an arsenal of tools for addressing this (rather ill-posed) problem in machine intelligence, including Kalman filtering, rule-based techniques, behavior based algorithms and approaches that borrow from information theory, Dempster-Shafer reasoning, fuzzy logic and neural networks. It points to several further-research needs, including: robustness of decision rules; simultaneous consideration of self-location, motion planning, motion control and vehicle dynamics; the effect of sensor placement and attention focusing on sensor fusion; and adaptation of techniques from biological sensor fusion

  5. Auto-calibration of Systematic Odometry Errors in Mobile Robots

    DEFF Research Database (Denmark)

    Bak, Martin; Larsen, Thomas Dall; Andersen, Nils Axel; Ravn, Ole

    This paper describes the phenomenon of systematic errors in odometry models in mobile robots and looks at various ways of avoiding it by means of auto-calibration. The systematic errors considered are incorrect knowledge of the wheel base and the gains from encoder readings to wheel displacement...... and experiments on a mobile robot....

  6. 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

  7. 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...

  8. 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...

  9. 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.

  10. An Analytical Approach to Avoid Obstacles in Mobile Robot Navigation

    OpenAIRE

    Alexandre Santos Brandão; Mário Sarcinelli-Filho; Ricardo Carelli

    2013-01-01

    A nonlinear supervised globally stable controller is proposed to reactively guide a mobile robot to avoid obstacles while seeking a goal. Whenever the robot detects an object nearby, its orientation is changed to be aligned with the tangent to the border of the obstacle. Then, the robot starts following it, looking for a feasible path to its goal. The supervisor is responsible for deciding which path to take when the robot faces some particular obstacle configurations that are quite difficult...

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

    OpenAIRE

    Luca Iocchi; Giorgio Grisetti; Alessandro Farinelli

    2006-01-01

    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 robo...

  12. 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.

  13. Design considerations for an intelligent mobile robot for mixed-waste inspection

    International Nuclear Information System (INIS)

    Large quantities of low-level radioactive waste are stored in steel drums at various Department of Energy (DOE) sites in the United States. Much of the stored waste qualifies as mixed waste and falls under Environmental Protection Agency (EPA) regulations that require periodic inspection. A semi-autonomous mobile robot is being developed during Phase 1 of a DOE contract to perform the inspection task and consequently reduce the radiation exposure of inspection personnel to ALARA (as low as reasonably achievable). The nature of the inspection process, the resulting robot design requirements, and the current status of the project are the subjects of this paper

  14. 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.

  15. 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.

  16. Development of a self-navigating mobile interior robot application as a security guard/sentry

    International Nuclear Information System (INIS)

    This paper describes a mobile robot system designed to function as part of an overall security system at a high security facility. The features of this robot system include specialized software and sensors for navigation without the need for external locator beacons or signposts, sensors for remote imaging and intruder detection, and the ability to communicate information either directly to the electronic portion of the security system or to a manned central control center. Other desirable features of the robot system include low weight, compact size, and low power consumption. The robot system can be operated either by remote manual control, or it can operate autonomously where direct human control can be limited to the global command level. The robot can act as a mobile remote sensing platform for alarm assessment or roving patrol, as a point sensor (sentry) in routine security applications, or as an exploratory device in situations potentially hazardous to humans. This robot system may also be used to ''walk-test'' intrusion detection sensors as part of a routine test and maintenance program for an interior intrusion detection system. The hardware, software, and operation of this robot system will be briefly described herein

  17. Development of a self-navigating mobile interior robot application as a security guard/sentry

    International Nuclear Information System (INIS)

    This paper describes a mobile robot system designed to function as part of an overall security system at a high security facility. The features of this robot system include specialized software and sensors for navigation without the need for external locator beacons or signposts, sensors for remote imaging and intruder detection, and the ability to communicate information either directly to the electronic portion of the security system or to a manned central control center. Other desirable features of the robot system include low weight, compact size, and low power consumption. The robot system can be operated either by remote manual control, or it can operate autonomously where direct human control can be limited to the global command level. The robot can act as a mobile remote sensing platform for alarm assessment or roving patrol, as a point sensor (sentry) in routine security applications, or as an exploratory device in situations potentially hazardous to humans. This robot system may also be used to ''walk-test'' intrusion detection sensors as part of a routine test and maintenance program for an interior intrusion detection system. The hardware, software, and operation of this robot system are briefly described herein

  18. Fault Tolerance in Control Architectures for Mobile Robots: Fantasy or Reality?

    OpenAIRE

    Crestani, Didier; Godary-Dejean, Karen

    2012-01-01

    Due to the future development of robotic autonomous systems in human environment, the fault tolerance paradigm will be a central issue in robotics. This article presents a survey of fault tolerance concepts, means and implementations in robotic architectures.

  19. Navigation of an Autonomous Underwater Vehicle in a Mobile Network

    OpenAIRE

    Nuno Santos; Anibal Matos; Nuno Cruz

    2008-01-01

    This work addresses the implementation of the navigation, guidance and control of autonomous underwater vehicles on mobile acoustic networks. After a theoretical discussion of the algorithms required for such operation, we present results from simulation and real experiments that validate the proposed solutions.

  20. 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.

  1. Demonstration of a Spoken Dialogue Interface for Planning Activities of a Semi-autonomous Robot

    Science.gov (United States)

    Dowding, John; Frank, Jeremy; Hockey, Beth Ann; Jonsson, Ari; Aist, Gregory

    2002-01-01

    Planning and scheduling in the face of uncertainty and change pushes the capabilities of both planning and dialogue technologies by requiring complex negotiation to arrive at a workable plan. Planning for use of semi-autonomous robots involves negotiation among multiple participants with competing scientific and engineering goals to co-construct a complex plan. In NASA applications this plan construction is done under severe time pressure so having a dialogue interface to the plan construction tools can aid rapid completion of the process. But, this will put significant demands on spoken dialogue technology, particularly in the areas of dialogue management and generation. The dialogue interface will need to be able to handle the complex dialogue strategies that occur in negotiation dialogues, including hypotheticals and revisions, and the generation component will require an ability to summarize complex plans. This demonstration will describe a work in progress towards building a spoken dialogue interface to the EUROPA planner for the purposes of planning and scheduling the activities of a semi-autonomous robot. A prototype interface has been built for planning the schedule of the Personal Satellite Assistant (PSA), a mobile robot designed for micro-gravity environments that is intended for use on the Space Shuttle and International Space Station. The spoken dialogue interface gives the user the capability to ask for a description of the plan, ask specific questions about the plan, and update or modify the plan. We anticipate that a spoken dialogue interface to the planner will provide a natural augmentation or alternative to the visualization interface, in situations in which the user needs very targeted information about the plan, in situations where natural language can express complex ideas more concisely than GUI actions, or in situations in which a graphical user interface is not appropriate.

  2. Robotics.

    Science.gov (United States)

    Waddell, Steve; Doty, Keith L.

    1999-01-01

    "Why Teach Robotics?" (Waddell) suggests that the United States lags behind Europe and Japan in use of robotics in industry and teaching. "Creating a Course in Mobile Robotics" (Doty) outlines course elements of the Intelligent Machines Design Lab. (SK)

  3. Robotics and autonomous systems in the 50th anniversary of artificial intelligence

    OpenAIRE

    Casals, Alicia; Fernández Caballero, Antonio

    2007-01-01

    The special issue on ?Robotics and Autonomous Systems in the 50th Anniversary of Artificial Intelligence? collects a subset of the best papers in the fields of Robotics and Autonomous Systems presented at the Campus Multidisciplinary in Perception and Intelligence, CMPI-2006. The CMPI-2006 international conference, held in Albacete, Spain, from July 10 to 14, 2006, resulted in a forum for scientists in commemoration of the 50th Anniversary of Artificial Intelligence, which successfully report...

  4. Trajectory Tracking Control of Mobile Robot by Fluid Model

    Science.gov (United States)

    Miyata, Junichi; Murakami, Toshiyuki

    This paper describes a fluid model based path planning of mobile robot. In the previous research, the authors have already proposed TBSA (Time Based Spline Approach) for smooth motion of industrial robots(1). The TBSA is a powerful method in industrial applications, but the future position and velocity commands must be known to use it. In the general applications of repeat motion, this assumption is acceptable. In the path planning of mobile robot, however, the future position and velocity commands are unknown. To address the above issue, a strategy to generate the path of mobile robot based on fluid model is proposed in this paper. The combination of the TBSA and the generated path by fluid model brings a smooth motion of mobile robots.

  5. 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.

  6. 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

  7. 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

  8. 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.

  9. A Path Tracking Algorithm Using Future Prediction Control with Spike Detection for an Autonomous Vehicle Robot

    Directory of Open Access Journals (Sweden)

    Muhammad Aizzat Zakaria

    2013-08-01

    Full Text Available Trajectory tracking is an important aspect of autonomous vehicles. The idea behind trajectory tracking is the ability of the vehicle to follow a predefined path with zero steady state error. The difficulty arises due to the nonlinearity of vehicle dynamics. Therefore, this paper proposes a stable tracking control for an autonomous vehicle. An approach that consists of steering wheel control and lateral control is introduced. This control algorithm is used for a non-holonomic navigation problem, namely tracking a reference trajectory in a closed loop form. A proposed future prediction point control algorithm is used to calculate the vehicle’s lateral error in order to improve the performance of the trajectory tracking. A feedback sensor signal from the steering wheel angle and yaw rate sensor is used as feedback information for the controller. The controller consists of a relationship between the future point lateral error, the linear velocity, the heading error and the reference yaw rate. This paper also introduces a spike detection algorithm to track the spike error that occurs during GPS reading. The proposed idea is to take the advantage of the derivative of the steering rate. This paper aims to tackle the lateral error problem by applying the steering control law to the vehicle, and proposes a new path tracking control method by considering the future coordinate of the vehicle and the future estimated lateral error. The effectiveness of the proposed controller is demonstrated by a simulation and a GPS experiment with noisy data. The approach used in this paper is not limited to autonomous vehicles alone since the concept of autonomous vehicle tracking can be used in mobile robot platforms, as the kinematic model of these two platforms is similar.

  10. Behavior-based multi-robot collaboration for autonomous construction tasks

    Science.gov (United States)

    Stroupe, Ashley; Huntsberger, Terry; Okon, Avi; Aghazarian, Hrand; Robinson, Matthew

    2005-01-01

    The Robot Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous construction of a structure through assembly of Long components. The two robot team demonstrates component placement into an existing structure in a realistic environment. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. A behavior-based architecture provides adaptability. The RCC approach minimizes computation, power, communication, and sensing for applicability to space-related construction efforts, but the techniques are applicable to terrestrial construction tasks.

  11. Autonomous robot systems and competitions : proceedings of the 12th International Conference

    OpenAIRE

    Bicho, E.; Ribeiro, Fernando; Louro, Luis, ed. lit.; International Conference on Autonomous Robot Systems and Competitions, 12, Guimarães, 2012; Robotica’2012

    2012-01-01

    This is the 2012’s edition of the scientific meeting of the Portuguese Robotics Open (ROBOTICA’ 2012). It aims to disseminate scientific contributions and to promote discussion of theories, methods and experiences in areas of relevance to Autonomous Robotics and Robotic Competitions. All accepted contributions are included in this proceedings book. The conference program has also included an invited talk by Dr.ir. Raymond H. Cuijpers, from the Department of Human Technology Interacti...

  12. 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.

  13. Localization System for a Mobile Robot Using Computer Vision Techniques

    OpenAIRE

    Rony Cruz Ramírez; Maikel O. Torres Piñeiro; Valery Moreno Vega

    2012-01-01

    Mobile Robotics is a subject with multiple fields of action hence studies in this area are of vital importance. This paper describes the development of localization system for a mobile robot using Computer Vision. A webcam is placed at a height where the navigation environment can be seen. A LEGO NXT kit is used to build a wheeled mobile robot of differential drive configuration. The software is programmed in C++ using the functions library Open CV 2.0. this software then soft handles the web...

  14. 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.

  15. 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

  16. Biomimetic autonomous robot inspired by the Cyanea capillata (Cyro)

    International Nuclear Information System (INIS)

    A biomimetic robot inspired by Cyanea capillata, termed as ‘Cyro’, was developed to meet the functional demands of underwater surveillance in defense and civilian applications. The vehicle was designed to mimic the morphology and swimming mechanism of the natural counterpart. The body of the vehicle consists of a rigid support structure with linear DC motors which actuate eight mechanical arms. The mechanical arms in conjunction with artificial mesoglea create the hydrodynamic force required for propulsion. The full vehicle measures 170 cm in diameter and has a total mass of 76 kg. An analytical model of the mechanical arm kinematics was developed. The analytical and experimental bell kinematics were analyzed and compared to the C. capillata. Cyro was found to reach the water surface untethered and autonomously from a depth of 182 cm in five actuation cycles. It achieved an average velocity of 8.47 cm s−1 while consuming an average power of 70 W. A two-axis thrust stand was developed to calculate the thrust directly from a single bell segment yielding an average thrust of 27.9 N for the whole vehicle. Steady state velocity during Cyro's swimming test was not reached but the measured performance during its last swim cycle resulted in a cost of transport of 10.9 J (kg ⋅ m)−1 and total efficiency of 0.03. (paper)

  17. Autonomous multi-robot exploration in communication-limited environments

    NARCIS (Netherlands)

    J. de Hoog; S. Cameron; A. Visser

    2010-01-01

    Teams of communicating robots are likely to be used for a wide range of applications in the near future, such as robotic search and rescue or robotic exploration of hostile and remote environments. In such scenarios, environments are likely to contain significant interference and multi-robot systems

  18. Distributed Lazy Q-learning for Cooperative Mobile Robots

    OpenAIRE

    Claude F. Touzet

    2008-01-01

    Compared to single robot learning, cooperative learning adds the challenge of a much larger search space (combined individual search spaces), awareness of other team members, and also the synthesis of the individual behaviors with respect to the task given to the group. Over the years, reinforcement learning has emerged as the main learning approach in autonomous robotics, and lazy learning has become the leading bias, allowing the reduction of the time required by an experiment to the time n...

  19. Autonomous Shopping Cart Platform for People with Mobility Impairments

    OpenAIRE

    Marchetti, L.; Pucci,, D.; Morin, Pascal

    2012-01-01

    Providing a platform able to interact with a spe- cific user is a challenging problem for assistance technologies. Among the many platforms accomplishing this task, we address the problem of designing an autonomous shopping cart. We assume that the shopping cart is set-up on a unicycle-like robot endowed with two sensors: an RGB-D camera and a planar laser range finder. To combine the information from these two sensors, a data fusion algorithm has been developed using a particle filter, augme...

  20. Advances in Autonomous Mini Robots : Proceedings of the 6-th AMiRE Symposium

    CERN Document Server

    Joaquin, Sitte; Felix, Werner

    2012-01-01

    Autonomous robots must carry out useful tasks all by themselves relying entirely on their own perceptions of their environment. The cognitive abilities required for autonomous action are largely independent of robot size, which makes mini robots attractive as artefacts for research, education and entertainment. Autonomous mini robots must be small enough for experimentation on a desktop or a small laboratory.  They must be easy to carry and safe for interaction with humans. They must not be expensive. Mini robot designers have to work at the leading edge of technology so that their creations can carry out purposeful autonomic action under these constraints. Since 2001 researchers have met every two years for an international symposium to report on the advances achieved in Autonomous Mini  Robots for Research and Edutainment (AMiRE). The AMiRE Symposium is a single track conference that offers ample opportunities for discussion and exchange of ideas. This volume contains the contributed papers of the 2011 AM...

  1. 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...

  2. Tethered Contactless Mobile Nuclear Environment Monitoring Robot

    International Nuclear Information System (INIS)

    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

  3. A New Vision for Smart Objects and the Internet of Things: Mobile Robots and Long-Range UHF RFID Sensor Tags

    OpenAIRE

    Wang, Jennifer; Schluntz, Erik; Otis, Brian; Deyle, Travis

    2015-01-01

    We present a new vision for smart objects and the Internet of Things wherein mobile robots interact with wirelessly-powered, long-range, ultra-high frequency radio frequency identification (UHF RFID) tags outfitted with sensing capabilities. We explore the technology innovations driving this vision by examining recently-commercialized sensor tags that could be affixed-to or embedded-in objects or the environment to yield true embodied intelligence. Using a pair of autonomous mobile robots out...

  4. 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.

  5. Autonomous multi-robot exploration in communication-limited environments

    OpenAIRE

    Hoog, de, G.S.; Cameron, S.; de Visser, A.

    2010-01-01

    Teams of communicating robots are likely to be used for a wide range of applications in the near future, such as robotic search and rescue or robotic exploration of hostile and remote environments. In such scenarios, environments are likely to contain significant interference and multi-robot systems must be able to cope with loss of communication. We propose a novel multi-robot exploration approach, role-based exploration, in which members of the team explicitly plan to explore beyond communi...

  6. Development of a semi-autonomous directional and spectroscopic radiation detection mobile platform

    International Nuclear Information System (INIS)

    This paper presents a method for a small, inexpensive mobile robot equipped with a single high resolution scintillation detector to quickly survey an area and convey information about local sources of gamma radiation to a remote human operator. This is achieved by surrounding the detector with a lead sheath that blocks all gamma-rays except those incident along the detector's axial direction. A 180° horizontal scan is performed by rotating the detector and a directional profile of gamma radiation is constructed. In addition, a 180° visual panorama of the local area is assembled using a camera mounted on the detector. A plot of the detector count rate versus angle is then overlaid on top of the visual panorama and visible peaks clearly indicate the direction of local gamma radiation sources. Measuring the energy spectrum of gamma-rays in each direction produces a 2D count frequency histogram where distinct peaks indicate the energy and direction of local gamma-ray sources allowing the identification of different radio-isotopes. The mobile robot can use the peaks as goal directions and autonomously move towards gamma-ray sources. - Highlights: • We present a method for a small, inexpensive robot to survey an area and convey information about local gamma-ray sources. • We use a LaBr3 detector inside a lead collimator for directional and spectroscopic gamma-ray measurements. • Overlaying radiation measurement data on 180° visual panoramas indicates the location of radioactive sources

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

    OpenAIRE

    Jesus Capitán Fernández; Jose Ramiro Martinez-de-Dios; Ivan Maza; Felipe Ramon Fabresse; Anibal Ollero

    2015-01-01

    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 ...

  8. The Controlling of Mobile Robot Based on ARM9

    OpenAIRE

    Roopashree S S,; Manjunath Lakkannavar

    2012-01-01

    In this proposed work the robot is built using two dc motors for the movement which is administered by AT89C51 Microcontroller, the obstacle is detected by ultrasonic sensor, the controlling of the robot is done by using the resources of MINI 2440 development board. The application of this system can be implemented at archeological survey, place of natural disaster and industrial applications. The previous system of Mobile robot which relies on PC System to coordinate the whole resources, in ...

  9. 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 as...

  10. 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…

  11. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...

  12. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...

  13. Practical indoor mobile robot navigation using hybrid maps

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan; Fan, Zhun; Xiao, Jizhong;

    2011-01-01

    This paper presents a practical navigation scheme for indoor mobile robots using hybrid maps. The method makes use of metric maps for local navigation and a topological map for global path planning. Metric maps are generated as 2D occupancy grids by a range sensor to represent local information...... physical robot and evaluated in a hospital environment....

  14. 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…

  15. Markov Localization for Mobile Robots: Simulation and Experiments

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, S.

    Praha: Ústav termomechaniky AV ČR, 2005 - (Fuis, V.; Krejčí, P.; Návrat, T.), s. 177-178 ISBN 80-85918-93-5. [Engineering Mechanics 2005. Svratka (CZ), 09.05.2005-12.05.2005] Institutional research plan: CEZ:AV0Z20760514 Keywords : localization * mobile robot Subject RIV: JD - Computer Applications, Robot ics

  16. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory trackin...

  17. Design and Implementation an Autonomous Humanoid Robot Based on Fuzzy Rule-Based Motion Controller

    Directory of Open Access Journals (Sweden)

    Mohsen Taheri

    2010-04-01

    Full Text Available Research on humanoid robotics in Mechatronics and Automation Laboratory, Electrical and Computer Engineering, Islamic Azad University Khorasgan branch (Isfahan of Iran was started at
    the beginning of this decade. Various research prototypes for humanoid robots have been designed and are going through evolution over these years. This paper describes the hardware and software design of the kid size humanoid robot systems of the PERSIA Team in 2009. The robot has 20 actuated degrees of freedom based on Hitec HSR898. In this paper we have tried to focus on areas such as mechanical structure, Image processing unit, robot controller, Robot AI and behavior
    learning. In 2009, our developments for the Kid size humanoid robot include: (1 the design and construction of our new humanoid robots (2 the design and construction of a new hardware and software controller to be used in our robots. The project is described in two main parts: Hardware and Software. The software is developed a robot application which consists walking controller, autonomous motion robot, self localization base on vision and Particle Filter, local AI, Trajectory Planning, Motion Controller and Network. The hardware consists of the mechanical structure and the driver circuit board. Each robot is able to walk, fast walk, pass, kick and dribble when it catches
    the ball. These humanoids have been successfully participating in various robotic soccer competitions. This project is still in progress and some new interesting methods are described in the current report.

  18. Self-organization in a group of mobile autonomous agents

    OpenAIRE

    Long WANG

    2004-01-01

    This paper considers a discrete time swarm model of a group of mobile autonomous agents with a simple attraction and repulsion function for swarm aggregation and investigates its stability properties. In particular, it is proved that the individuals (members) of the swarm will aggregate and form a cohesive cluster of a finite size depending only on the parameters of the swarm model in a finite time, and the swarm system is completely stable.

  19. Autonomous space exploration using the Turtlebot mobile platform

    OpenAIRE

    Saprunov, Luka

    2016-01-01

    The purpose of this undergraduate thesis is to implement the autonomous exploration of space on the Turtlebot mobile platform that uses the ROS development environment. We implemented an exploration algorithm based on the detection and use of frontier regions as potential exploration goals. Since the algorithm is able to choose an exploration goal based on the combination of different assessments, we tested and compared which combination of goal assessments enables the most efficient explorat...

  20. Wireless Communication Enhancement Methods for Mobile Robots in Radiation Environments

    CERN Document Server

    Nattanmai Parasuraman, Ramviyas; Ferre, Manuel

    In hostile environments such as in scientific facilities where ionising radiation is a dominant hazard, reducing human interventions by increasing robotic operations are desirable. CERN, the European Organization for Nuclear Research, has around 50 km of underground scientific facilities, where wireless mobile robots could help in the operation of the accelerator complex, e.g. in conducting remote inspections and radiation surveys in different areas. The main challenges to be considered here are not only that the robots should be able to go over long distances and operate for relatively long periods, but also the underground tunnel environment, the possible presence of electromagnetic fields, radiation effects, and the fact that the robots shall in no way interrupt the operation of the accelerators. Having a reliable and robust wireless communication system is essential for successful execution of such robotic missions and to avoid situations of manual recovery of the robots in the event that the robot runs ...