Journal articles: 'Autonomous robot system'

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Ishihara, Hidenori, and Toshio Fukuda. "Micro Autonomous Robotic System." Journal of Robotics and Mechatronics 11, no. 5 (October 20, 1999): 443–47. http://dx.doi.org/10.20965/jrm.1999.p0443.

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Miniaturized autonomous robots have been developed by several research groups. The miniaturized autonomous robot is defined as a miniaturized closed-loop system with microprocessors, microactuators, and microsensors. We developed a micro autonomous robot (MARS) consisting of a microprocessor, microsensors, microactuators, communication units, and batteries. MARS controls itself by a downloaded program supplied through infrared communication. We demonstrate performance of MARS, and discuss system features.

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Muda, Nur Rachman Supadmana, Nugraha Gumilar, R. Djoko Andreas Navalino, Tirton N, and M. Iman Hidayat. "Implementation of Autonomous Control System of The Chain Wheel Robot Using the Backpropagation Artificial Neural Network (ANN) Methods." Volume 5 - 2020, Issue 8 - August 5, no. 8 (September 8, 2020): 1230–35. http://dx.doi.org/10.38124/ijisrt20aug688.

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The purpose of this research is to implement the Artificial Neural Network (ANN) method in combat robots so it can be directed to shoot targets well. The robot control system uses remote control and autonomous. In the autonomous robot system, ANN back propagation method is applied, where the weight value variable depends on ultrasonic sensor, GPS and camera. The microcontroller system will process automatically depending on the sensor input. Output data is used to direct the robot to the target, tracking and shooting. Robot is used chain wheel systems and weapons that used pistol types. The riffle is mounted on the robot can be moved mechanically azimuth and the elevation towards the target then triggered mechanically by the riffle through the activation of data relays from the microcontroller. Thus, the backpropagation method can be applied to robots so it can be functioned autonomously.

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Han, Dong Qi, and Jin Li. "Design of Cleaning Robot Autonomous Charging System." Advanced Materials Research 722 (July 2013): 497–502. http://dx.doi.org/10.4028/www.scientific.net/amr.722.497.

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A system of cleaning robots independent charge containing hardware system and software system is designed. The hardware circuit of charging station includes a power supply circuit, the battery constant current charging circuit of charging current which can be regulated by the hardware and software, position coding signal transmitting circuit. This paper also presents a new independent charging algorithm that the robot can search automatically charging station using the random walk model in unknown environment, so that the robot have the ability to find independently the charging station. The results show that the cleaning robot can complete automatic charging, and the success rate is 100%.

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BARNES, NICK, and ZHI-QIANG LIU. "VISION GUIDED CIRCUMNAVIGATING AUTONOMOUS ROBOTS." International Journal of Pattern Recognition and Artificial Intelligence 14, no. 06 (September 2000): 689–714. http://dx.doi.org/10.1142/s0218001400000489.

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We present a system for vision guided autonomous circumnavigation, allowing a mobile robot to navigate safely around objects of arbitrary pose, and avoid obstacles. The system performs model-based object recognition from an intensity image. By enabling robots to recognize and navigate with respect to particular objects, this system empowers robots to perform deterministic actions on specific objects, rather than general exploration and navigation as emphasized in much of the current literature. This paper describes a fully integrated system, and, in particular, introduces canonical-views. Further, we derive a direct algebraic method for finding object pose and position for the four-dimensional case of a ground-based robot with uncalibrated vertical movement of its camera. Vision for mobile robots can be treated as a very different problem to traditional computer vision, as mobile robots have a characteristic perspective, and there is a causal relation between robot actions and view changes. Canonical-views are a novel, active object representation designed specifically to take advantage of the constraints of the robot navigation problem to allow efficient recognition and navigation.

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Sun, Jifeng, Tadashi Nagata, and Kenji Kurosu. "Cooperative Behavior of a Schedule-Based Distributed Autonomous Robotic System." Journal of Robotics and Mechatronics 6, no. 2 (April 20, 1994): 162–68. http://dx.doi.org/10.20965/jrm.1994.p0162.

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A scheduling method for distributed autonomous robotic systems (DRS) is proposed. Given the global task for a DRS, each robot generates a subtask according to the global load of the whole system and the partial capacity of individual robots. The determined schedule is then executed by a sign-board inter-robot communication. Some experiments of a three-robot system are performed using the proposed method.

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BESSEGHIEUR, Khadir, Wojciech KACZMAREK, and Jarosław PANASIUK. "Multi-robot Control via Smart Phone and Navigation in Robot Operating System." Problems of Mechatronics Armament Aviation Safety Engineering 8, no. 4 (December 30, 2017): 37–46. http://dx.doi.org/10.5604/01.3001.0010.7316.

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Robot Operating System (ROS) is an open source robot software framework which provides several libraries and tools to easily conduct different robot applications like autonomous navigation and robot teleoperation. Most of the available packages across the ROS community are addressed for controlling a single robot. In this paper, we aim to extend some packages so, they can be used in multi-robot applications on ROS. Mainly, the multi-robot autonomous navigation and multi-robot smart phone teleoperation are addressed in this work. After being extended and compiled, the new packages are assessed in some simulations and experiments with real robots.

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Okina, Shinnosuke, Kuniaki Kawabata, Teruo Fujii, Yasuharu Kunii, Hajime Asama, and Isao Endo. "Self-diagnosis System of an Autonomous Mobile Robot Using Sensory Information." Journal of Robotics and Mechatronics 12, no. 2 (April 20, 2000): 72–77. http://dx.doi.org/10.20965/jrm.2000.p0072.

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In this paper, we describe a basic sensing system for self-diagnosing an autonomous mobile robot. In recent years, many researches on intelligent robots and systems have been done. But, when such robots and systems work in the real environment, it is important for those robots and systems to have the ability to recognize their own conditions for detecting faults. On the point of view, we should consider pay more attention to diagnose in such intelligent systems. Therefore we try to construct an internal sensing system as a self-diagnosis system on a real robot. Especially, in this paper, we discuss about motor system of an autonomous omnidirectional mobile robot, which was developed in RIKEN. The self-diagnosis system consists of multiple sensors, which are voltage, current, encoder, and magnetic sensors. We show some diagnosing experimental results using the real system. From the results, we could collect basic data for fault detection of the system.

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Valliappan, Karthik C*, and Vikram R. "Autonomous Indoor Navigation for Mobile Robots." Regular issue 10, no. 7 (May 30, 2021): 122–26. http://dx.doi.org/10.35940/ijitee.g9038.0510721.

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An autonomous navigation system for a robot is key for it to be self-reliant in any given environment. Precise navigation and localization of robots will minimize the need for guided work areas specifically designed for the utilization of robots. The existing solution for autonomous navigation is very expensive restricting its implementation to satisfy a wide variety of applications for robots. This project aims to develop a low-cost methodology for complete autonomous navigation and localization of the robot. For localization, the robot is equipped with an image sensor that captures reference points in its field of view. When the robot moves, the change in robot position is estimated by calculating the shift in the location of the initially captured reference point. Using the onboard proximity sensors, the robot generates a map of all the accessible areas in its domain which is then used for generating a path to the desired location. The robot uses the generated path to navigate while simultaneously avoiding any obstacles in its path to arrive at the desired location.

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Noritsugu, Toshiro, and Hiroyuki Inoue. "Cooperative Control of Human-Robot System Using Fuzzy Reasoning." Journal of Robotics and Mechatronics 7, no. 1 (February 20, 1995): 69–74. http://dx.doi.org/10.20965/jrm.1995.p0069.

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The present autonomous control robots are technically difficult to introduce into unknown working environments. A cooperative control approach between human and robot may be an effective approach for complex and uncertain tasks. This study develops a new cooperative control approach between human and robot by using a fuzzy reasoning and handles force control under the uncertain working environments. The proposed control approach can achieve three control modes: manual, cooperative, and autonomous control, one of which can be automatically chosen by the operator through fuzzy reasoning. Fuzzy reasoning receives two inputs from the operator and the robot. By introducing the fuzzy reasoning, the various human skills can be introduced into cooperative control and can integrate an intuitive human control and a precise autonomous robot control. Some contacting tasks are executed for various object walls using a two-degrees of freedom Cartesian robot. The results indicate the availability of the proposed control approach.

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Rahmadian, Reza, and Mahendra Widyartono. "Harvesting System for Autonomous Robotic in Agriculture: A Review." INAJEEE Indonesian Journal of Electrical and Eletronics Engineering 2, no. 1 (May 23, 2019): 1. http://dx.doi.org/10.26740/inajeee.v2n1.p1-6.

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Technology in the modern day has led to the development of agricultural robots that helps to increase the agriculture productivity. Numerous research has been conducted to help increasing the capability of the robot in assisting agricultural operation, which leads to development of autonomous robot. The development aim is to help reducing agriculture’s dependency on operators, workers, also reducing the inaccuracy caused by human errors. There are two important development components for autonomous harvesting. The first component is Machine vision for detecting the crops and guiding the robot through the field and the second component actuator to grab or picking the crops or fruits.

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Kurabayashi, Daisuke, and Hajime Asama. "Autonomous Knowledge Acquisition and Revision by Intelligent Data Carriers in a Dynamic Environment." Journal of Robotics and Mechatronics 13, no. 2 (April 20, 2001): 154–59. http://dx.doi.org/10.20965/jrm.2001.p0154.

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In this paper, we built a device and algorithm for implementation in autonomous robots that can enhance efficiency through autonomous knowledge acquisition and sharing. We also propose an algorithm to adapt our robotic system to dynamic environments. In this robotic system, the ""Intelligent Data Carrier"" provides navigational knowledge for autonomous mobile robots. An IDC summarizes fragmyents of knowledge from individual robots and tells the best direction toward a destination at which a robot wants to arrive. We make models of dynamic environments, and investigate the behaviors of autonomous robots that navigate using an intelligent data carrier system. We also create an algorithm that estimates the validity of knowledge in an IDC and allows the IDC to renew the knowledge autonomously. We verify effectiveness of the proposed algorithm by means of simulations.

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Yasuda, Toshiyuki, and Kazuhiro Ohkura. "Autonomous Role Assignment in a Homogeneous Multi-Robot System." Journal of Robotics and Mechatronics 17, no. 5 (October 20, 2005): 596–604. http://dx.doi.org/10.20965/jrm.2005.p0596.

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This paper describes an approach for controlling an autonomous homogeneous multi-robot system. An extremely important topic for this type of system is the design of an on-line autonomous behavior acquisition mechanism that is capable of developing cooperative roles as well as assigning them to a robot appropriately in a noisy embedded environment. Our approach applies reinforcement learning that adopts the Bayesian discrimination method for segmenting a continuous state space and a continuous action space simultaneously. In addition, a neural network is provided for predicting the average of the other robots’ postures at the next time step in order to stabilize the reinforcement learning environment. The proposed method is validated through computer simulations as well as our hand-made multi-robot system.

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Geng, Mingyang, Shuqi Liu, and Zhaoxia Wu. "Sensor Fusion-Based Cooperative Trail Following for Autonomous Multi-Robot System." Sensors 19, no. 4 (February 17, 2019): 823. http://dx.doi.org/10.3390/s19040823.

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Autonomously following a man-made trail in the wild is a challenging problem for robotic systems. Recently, deep learning-based approaches have cast the trail following problem as an image classification task and have achieved great success in the vision-based trail-following problem. However, the existing research only focuses on the trail-following task with a single-robot system. In contrast, many robotic tasks in reality, such as search and rescue, are conducted by a group of robots. While these robots are grouped to move in the wild, they can cooperate to lead to a more robust performance and perform the trail-following task in a better manner. Concretely, each robot can periodically exchange the vision data with other robots and make decisions based both on its local view and the information from others. This paper proposes a sensor fusion-based cooperative trail-following method, which enables a group of robots to implement the trail-following task by fusing the sensor data of each robot. Our method allows each robot to face the same direction from different altitudes to fuse the vision data feature on the collective level and then take action respectively. Besides, considering the quality of service requirement of the robotic software, our method limits the condition to implementing the sensor data fusion process by using the “threshold” mechanism. Qualitative and quantitative experiments on the real-world dataset have shown that our method can significantly promote the recognition accuracy and lead to a more robust performance compared with the single-robot system.

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Tanaka, Kouetsu, Makoto Kajitani, Chisato Kanamori, and Yasunori Abe. "Development of a Construction Robot for Marking on Ceiling Boards." Journal of Robotics and Mechatronics 9, no. 4 (August 20, 1997): 293–98. http://dx.doi.org/10.20965/jrm.1997.p0293.

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Previously, we proposed a self-positioning measurement system for autonomous mobile robots at work sites.1-4)The system depends on the basic principle of triangulation. Preparations are not required for specific reference points, but use pillars standing on the floor. We also developed a prototype robot that utilizes the system. The marking robot leaves a specific mark at the installation position for apparatuses on ceiling boards in large buildings. The robot moves autonomously, recognizes its position, and draws figures with an error of a few millimeters on the ceiling board. It can reach a height of about 3000mm.

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Mahacek, Paul, Ignacio Mas, Ognjen Petrovic, Jose Acain, and Christopher Kitts. "Cluster Space Control of Autonomous Surface Vessels." Marine Technology Society Journal 43, no. 1 (March 1, 2009): 13–20. http://dx.doi.org/10.4031/mtsj.43.1.2.

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AbstractMulti-robot systems offer many advantages over a single-robot system, including redundancy, coverage and flexibility. One of the key technical considerations in fielding multi-robot systems for real-world applications is the coordination of the individual units. The cluster space control technique promotes simplified specification and monitoring of the motion of mobile multi-robot systems. Previous work has established this approach and has experimentally verified its use for land-based systems consisting of 2-4 robots and with varying implementations ranging from automated trajectory control to human-in-the-loop piloting. In this paper, we describe the design and fabrication of a new low-cost autonomous surface vessel (ASV). The technical system includes a multi-boat system capable of autonomous navigation using the cluster space control technique. It also includes a centralized controller, currently implemented via a shore-based computer that wirelessly receives ASV data and relays drive commands. Using the cluster space control approach, these drive commands allow a pilot to remotely drive a two-ASV cluster or to specify that the two ASVs maintain formation with a third boat. The resulting multi-ASV clusters can be arbitrarily translated, rotated, and resized depending on the needs of a specific application. Experimental results demonstrating these capabilities are provided, and plans for future work are discussed.

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Acosta Calderon, Antonio Carlos, Buck Sin Ng, Elara Rajesh Mohan, and Heng Khai Ng. "Docking System and Power Management for Autonomous Mobile Robots." Applied Mechanics and Materials 590 (June 2014): 407–12. http://dx.doi.org/10.4028/www.scientific.net/amm.590.407.

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Mobile robots’ tasks depends the batteries to supply power. Automated mobile robots should manage its power to maximize the battery performance. Docking and recharging are crucial abilities to ensure the performance of the power system. This paper presents a complete solution for a power system to address the problem of power management and autonomously recharging of batteries for a mobile robot. The main two aspects in this solution are the power management including charging of the batteries and the docking system are described in detail. The paper presents results that shown the feasibility of the proposed docking station for autonomous recharging. A comparison of different batteries tested in this project is also presented in the paper.

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Zghair, Noor Abdul Khaleq, and Ahmed S. Al-Araji. "A one decade survey of autonomous mobile robot systems." International Journal of Electrical and Computer Engineering (IJECE) 11, no. 6 (December 1, 2021): 4891. http://dx.doi.org/10.11591/ijece.v11i6.pp4891-4906.

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<span lang="EN-US">Recently, autonomous mobile robots have gained popularity in the modern world due to their relevance technology and application in real world situations. The global market for mobile robots will grow significantly over the next 20 years. Autonomous mobile robots are found in many fields including institutions, industry, business, hospitals, agriculture as well as private households for the purpose of improving day-to-day activities and services. The development of technology has increased in the requirements for mobile robots because of the services and tasks provided by them, like rescue and research operations, surveillance, carry heavy objects and so on. Researchers have conducted many works on the importance of robots, their uses, and problems. This article aims to analyze the control system of mobile robots and the way robots have the ability of moving in real-world to achieve their goals. It should be noted that there are several technological directions in a mobile robot industry. It must be observed and integrated so that the robot functions properly: Navigation systems, localization systems, detection systems (sensors) along with motion and kinematics and dynamics systems. All such systems should be united through a control unit; thus, the mission or work of mobile robots are conducted with reliability.</span>

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Senda, Kei, Yoshisada Murotsu, Akira Mitsuya, Hirokazu Adachi, Shin'ichi Ito, and Jynya Shitakubo. "Hardware Experiments of Autonomous Space Robot – A Demonstration of Truss Structure Assembly –." Journal of Robotics and Mechatronics 12, no. 4 (August 20, 2000): 343–50. http://dx.doi.org/10.20965/jrm.2000.p0343.

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This paper addresses an experimental system simulating a free-flying space robot, which has been constructed to study autonomous space robots. The experimental system consists of a space robot model, a frictionless table system, a computer system, and a vision sensor system. The robot model composed of two manipulators and a satellite vehicle can move freely on a two-dimensional planar table without friction by using air-bearings. The robot model has successfully performed the automatic truss structure construction including many jobs, e.g., manipulator berthing, component manipulation, arm trajectory control avoiding collision, assembly considering contact with the environment, etc. The experiment demonstrates the possibility of the automatic construction and the usefulness of space robots.

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Try, Pieter, Steffen Schöllmann, Lukas Wöhle, and Marion Gebhard. "Visual Sensor Fusion Based Autonomous Robotic System for Assistive Drinking." Sensors 21, no. 16 (August 11, 2021): 5419. http://dx.doi.org/10.3390/s21165419.

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People with severe motor impairments like tetraplegia are restricted in activities of daily living (ADL) and are dependent on continuous human assistance. Assistive robots perform physical tasks in the context of ADLs to support people in need of assistance. In this work a sensor fusion algorithm and a robot control algorithm for localizing the user’s mouth and autonomously navigating a robot arm are proposed for the assistive drinking task. The sensor fusion algorithm is implemented in a visual tracking system which consists of a 2-D camera and a single point time-of-flight distance sensor. The sensor fusion algorithm utilizes computer vision to combine camera images and distance measurements to achieve reliable localization of the user’s mouth. The robot control algorithm uses visual servoing to navigate a robot-handled drinking cup to the mouth and establish physical contact with the lips. This system features an abort command that is triggered by turning the head and unambiguous tracking of multiple faces which enable safe human robot interaction. A study with nine able-bodied test subjects shows that the proposed system reliably localizes the mouth and is able to autonomously navigate the cup to establish physical contact with the mouth.

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Yu, Ying, Yan Fen Mao, Hans Wiedmann, and Yu Wang. "Flying Referencing System for an Autonomous Mobile Robot." Advanced Materials Research 338 (September 2011): 731–36. http://dx.doi.org/10.4028/www.scientific.net/amr.338.731.

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In CDHAW of Tongji University an autonomous mobile robot system, is actually used for education of Bachelor students in the majors AES (Automotive Engineering & Service) as well as in MT (Mechatronics) and for development and research on different topics of both majors. One such research project is introduced in this paper. It aims to improve the inaccuracy of the robots built-in navigation system based upon odometry by development of a flying referencing system. It is described how the well known raster navigation is extended from a single point raster to a grid of lines which improves navigation correctness much better as by using the single points of the conventional raster navigation method.

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Zhang, Chao, Quanzhong Zhan, Qi Wang, Haichao Wu, Ting He, and Yi An. "Autonomous Dam Surveillance Robot System Based on Multi-Sensor Fusion." Sensors 20, no. 4 (February 17, 2020): 1097. http://dx.doi.org/10.3390/s20041097.

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Dams are important engineering facilities in the water conservancy industry. They have many functions, such as flood control, electric power generation, irrigation, water supply, shipping, etc. Therefore, their long-term safety is crucial to operational stability. Because of the complexity of the dam environment, robots with various kinds of sensors are a good choice to replace humans to perform a surveillance job. In this paper, an autonomous system design is proposed for dam ground surveillance robots, which includes general solution, electromechanical layout, sensors scheme, and navigation method. A strong and agile skid-steered mobile robot body platform is designed and created, which can be controlled accurately based on an MCU and an onboard IMU. A novel low-cost LiDAR is adopted for odometry estimation. To realize more robust localization results, two Kalman filter loops are used with the robot kinematic model to fuse wheel encoder, IMU, LiDAR odometry, and a low-cost GNSS receiver data. Besides, a recognition network based on YOLO v3 is deployed to realize real-time recognition of cracks and people during surveillance. As a system, by connecting the robot, the cloud server and the users with IOT technology, the proposed solution could be more robust and practical.

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Mima, Kazuhiro, Masahiro Endou, Aiguo Ming, Chisato Kanamori, and Makoto Kajitani. "Development of Mobile Robot Elevator Utility System." Journal of Robotics and Mechatronics 11, no. 1 (February 20, 1999): 78–85. http://dx.doi.org/10.20965/jrm.1999.p0078.

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This paper describes an elevator utility system that enables autonomous mobile robots to travel in office buildings. Attachments emulating the behavior of human fingers were developed to retrofit them to elevators without affecting elevators' inner workings. These attachments, consisting of button operation, controllers, and infrared ray communication, are remotely controlled by wireless commands from a robot. Mobile robots must use elevators without interfering with people using it, proposingcourses of robot action. A sensor system is presented for detecting people or objects in elevators. A prototype was developed, and its usefulness verified experimentally. The concept is expected to be useful for service robots working in office buildings.

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Anto, Adhy Febry, and Totok Sukardiyono. "Prototype Autonomous Rover Pembersih Sampah Pantai menggunakan ArduPilot." Elinvo (Electronics, Informatics, and Vocational Education) 4, no. 2 (December 13, 2019): 202–9. http://dx.doi.org/10.21831/elinvo.v4i2.28793.

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Indonesia has the second longest coastline in the world. On the other hand, Indonesia is the second largest contributor to marine waste in the world. Coastal cleanliness needs to be maintained so that it becomes an attraction for tourism and to protect the marine ecosystem. This article describes the results of testing devices that can be used to clean beaches. Research carried out by the development method. An autonomous beach garbage cleaning rover is a beach trash sweeper robot equipped with GPS, compass, telemetry, ArduPilot as a navigation and communication system when the robot operates. This robot moves using 2 DC motors with torque of ± 4 kg. The robot is also equipped with a conveyor that functions to sweep plastic debris on the beach. The test results show that the robot can go according to the specified path, according to the coordinates entered (100% accuracy) and be able to transport plastic waste. This is because the motor used has a small torque, so it is not able to lift large objects. The next robot development can be done in terms of: identifying the capacity of robots to accommodate various types of waste, testing the ability of robots to clean waste, the use of solar cells, and trajectory management systems.

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Carballo, Alexander, Shunya Seiya, Jacob Lambert, Hatem Darweesh, Patiphon Narksri, Luis Yoichi Morales, Naoki Akai, Eijiro Takeuchi, and Kazuya Takeda. "End-to-End Autonomous Mobile Robot Navigation with Model-Based System Support." Journal of Robotics and Mechatronics 30, no. 4 (August 20, 2018): 563–83. http://dx.doi.org/10.20965/jrm.2018.p0563.

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Autonomous mobile robot navigation in real unmodified outdoor areas frequented by people on their business, children playing, fast running bicycles, and even robots, remains a difficult challenge. For eleven years, the Tsukuba Challenge Real World Robot Challenge (RWRC) has brought together robots, researchers, companies, government, and ordinary citizens, under the same outdoor space to push forward the limits of autonomous mobile robots. For the Tsukuba Challenge 2017 participation, our team proposed to study the problem of sensors-to-actuators navigation (also called End-to-End), this is, having the robot to navigate towards the destination on a complex path, not only moving straight but also turning at intersections. End-to-End (E2E) navigation was implemented using a convolutional neural network (CNN): the robot learns how to go straight, turn left, and turn right, using camera images and trajectory data. E2E network training and evaluation was performed at Nagoya University, on similar outdoor conditions to that of Tsukuba Challenge 2017 (TC2017). Even thought E2E was trained on a different environment and conditions, the robot successfully followed the designated trajectory in the TC2017 course. Learning how to follow the road no matter the environment is of the key attributes of E2E based navigation. Our E2E does not perform obstacle avoidance and can be affected by illumination and seasonal changes. Therefore, to improve safety and add fault tolerance measures, we developed an E2E navigation approach with model-based system as backup. The model-based system is based on our open source autonomous vehicle software adapted to use on a mobile robot. In this work we describe our approach, implementation, experiences and main contributions.

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Granosik, Grzegorz, Kacper Andrzejczak, Mateusz Kujawinski, Rafal Bonecki, Lukasz Chlebowicz, Blazej Krysztofiak, Konrad Mirecki, and Marek Gawryszewski. "USING ROBOT OPERATING SYSTEM FOR AUTONOMOUS CONTROL OF ROBOTS IN EUROBOT, ERC AND ROBOTOUR COMPETITIONS." Acta Polytechnica CTU Proceedings 6 (November 23, 2016): 11. http://dx.doi.org/10.14311/app.2016.6.0011.

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This paper presents application of the Navigation Stack available in Robot Operating System as a basis for the autonomous control of the mobile robots developed for a few different robot competitions. We present three case studies.

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Abu Baker, Ayman, and Yazeed Yasin Ghadi. "Autonomous system to control a mobile robot." Bulletin of Electrical Engineering and Informatics 9, no. 4 (August 1, 2020): 1711–17. http://dx.doi.org/10.11591/eei.v9i4.2380.

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This paper presents an ongoing effort to control a mobile robot in unstructured environment. Obstacle avoidance is an important task in the field of robotics, since the goal of autonomous robot is to reach the destination without collision. Several algorithms have been proposed for obstacle avoidance, having drawbacks and benefits. In this paper, the fuzzy controller is used to tackle the problem of mobile robot autonomous navigation in unstructured environment. The objective is to make the robot move along a collision free trajectory until it reaches its target. The proposed approach uses the fuzzified, adaptive inference engine and defuzzification engine. Also number of linguistic labels is optimized for the input of the mobile robot in order to reduce computational time for real-time applications. The proposed fuzzy controller is evaluated subjectively and objectively with other approaches and also the processing time is taken in consideration.

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Tanaka, Takayuki, Kazuo Yamafuji, and Hidenori Takahashi. "Development of the Intelligent Mobile Robot for Service Use Report 1: Environmental-Adjustable Autonomous Locomotion Control System." Journal of Robotics and Mechatronics 9, no. 4 (August 20, 1997): 275–82. http://dx.doi.org/10.20965/jrm.1997.p0275.

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We have developed an intelligent mobile robot for use as an office “secretary/ helper” by day and “security maintenance guard” by night. The robot’s autonomous locomotion control system (ALCS) plans its paths, recognizes absolute positions and learns navigation control. To aid the robot in moving more appropriately and smoothly among human beings and obstacles in an office environment, we studied learning by a fuzzy neural network that tunes membership functions for fuzzy locomotion control, i.e., the intelligent robot learns to move autonomously through its surroundings. Results obtained by computer simulation show the proposed method is useful in autonomous robot locomotion control.

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Rahmadian, Reza, and Mahendra Widyartono. "Machine Vision and Global Positioning System for Autonomous Robotic Navigation in Agriculture: A Review." Journal of Information Engineering and Educational Technology 1, no. 1 (March 13, 2017): 46. http://dx.doi.org/10.26740/jieet.v1n1.p46-54.

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Interest on robotic agriculture system has led to the development of agricultural robots that helps to improve the farming operation and increase the agriculture productivity. Much research has been conducted to increase the capability of the robot to assist agricultural operation, which leads to development of autonomous robot. This development provides a means of reducing agriculture’s dependency on operators, workers, also reducing the inaccuracy caused by human errors. There are two important development components for autonomous navigation. The first component is Machine vision for guiding through the crops and the second component is GPS technology to guide the robot through the agricultural fields.

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Aguado, Esther, Zorana Milosevic, Carlos Hernández, Ricardo Sanz, Mario Garzon, Darko Bozhinoski, and Claudio Rossi. "Functional Self-Awareness and Metacontrol for Underwater Robot Autonomy." Sensors 21, no. 4 (February 9, 2021): 1210. http://dx.doi.org/10.3390/s21041210.

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Autonomous systems are expected to maintain a dependable operation without human intervention. They are intended to fulfill the mission for which they were deployed, properly handling the disturbances that may affect them. Underwater robots, such as the UX-1 mine explorer developed in the UNEXMIN project, are paradigmatic examples of this need. Underwater robots are affected by both external and internal disturbances that hamper their capability for autonomous operation. Long-term autonomy requires not only the capability of perceiving and properly acting in open environments but also a sufficient degree of robustness and resilience so as to maintain and recover the operational functionality of the system when disturbed by unexpected events. In this article, we analyze the operational conditions for autonomous underwater robots with a special emphasis on the UX-1 miner explorer. We then describe a knowledge-based self-awareness and metacontrol subsystem that enables the autonomous reconfiguration of the robot subsystems to keep mission-oriented capability. This resilience augmenting solution is based on the deep modeling of the functional architecture of the autonomous robot in combination with ontological reasoning to allow self-diagnosis and reconfiguration during operation. This mechanism can transparently use robot functional redundancy to ensure mission satisfaction, even in the presence of faults.

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Liu, Yanfei, Jiaxin Zhao, Josh Apple, Torrey Frank, Matthew Saylor, and Ted Siegel. "An Autonomous Omnidirectional Robot." Journal of Robotics 2010 (2010): 1–9. http://dx.doi.org/10.1155/2010/857594.

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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.

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Agrawal, Akash, Sung Jun Won, Tushar Sharma, Mayuri Deshpande, and Christopher McComb. "A MULTI-AGENT REINFORCEMENT LEARNING FRAMEWORK FOR INTELLIGENT MANUFACTURING WITH AUTONOMOUS MOBILE ROBOTS." Proceedings of the Design Society 1 (July 27, 2021): 161–70. http://dx.doi.org/10.1017/pds.2021.17.

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AbstractIntelligent manufacturing (IM) embraces Industry 4.0 design principles to advance autonomy and increase manufacturing efficiency. However, many IM systems are created ad hoc, which limits the potential for generalizable design principles and operational guidelines. This work offers a standardizing framework for integrated job scheduling and navigation control in an autonomous mobile robot driven shop floor, an increasingly common IM paradigm. We specifically propose a multi-agent framework involving mobile robots, machines, humans. Like any cyberphysical system, the performance of IM systems is influenced by the construction of the underlying software platforms and the choice of the constituent algorithms. In this work, we demonstrate the use of reinforcement learning on a sub-system of the proposed framework and test its effectiveness in a dynamic scenario. The case study demonstrates collaboration amongst robots to maximize throughput and safety on the shop floor. Moreover, we observe nuanced behavior, including the ability to autonomously compensate for processing delays, and machine and robot failures in real time.

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Dr. N.S. Kalyan Chakravarthy, K. Alhaf Malik, Dr D. Elayaraja, Dr S. Jafar Ali Ibrahim,. "INVESTIGATING THE POTENTIAL CONSEQUENCES OF THE MEMBERSHIP FUNCTIONS IN A FUZZY LOGIC CONTROLLER-BASED OBSTACLE CLIMBING ROBOT." INFORMATION TECHNOLOGY IN INDUSTRY 9, no. 1 (March 18, 2021): 1294–99. http://dx.doi.org/10.17762/itii.v9i1.270.

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Autonomous mobile robots are the robots which can perform desired tasks in unstructured environment without continuous human guidance. This paper deals with the design of an Autonomous obstacle climbing robot that will able to climb an obstacle. This obstacle climbing navigation system is utilized by the intelligent fuzzy logic controller. The controller has 2 inputs and single output system. The inputs are slope and terrain type and the output is the speed of the robot. The membership functions are the building blocks of fuzzy logic system and play a vital role in the performance of mobile robot. This paper describes the effect of different membership functions namely triangular, trapezoidal membership functions are considered.

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Conduraru, Ionel, Ioan Doroftei, and Alina Conduraru (Slătineanu). "Localization Methods for Mobile Robots - A Review." Advanced Materials Research 837 (November 2013): 561–66. http://dx.doi.org/10.4028/www.scientific.net/amr.837.561.

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In recent years more and more emphasis was placed on the idea of autonomous mobile robots, researches being constantly rising. Mobile robots have a large scale use in industry, military operations, exploration and other applications where human intervention is risky. The accurate estimation of the position is a key component for the successful operation for most of autonomous mobile robots. The localization of an autonomous robot system refers mainly to the precise determination of the coordinates where the system is present at a certain moment of time. In many applications, the orientation and an initial estimation of the robot position are known, being supplied directly or indirectly by the user or the supervisor. During the execution of the tasks, the robot must update this estimation using measurements from its sensors. This is known as local localization. Using only sensors that measure relative movements, the error in the pose estimation increases over time as errors are accumulated. Localization is a fundamental operation for navigating mobile robots

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Grigore, Lucian Stefanita, Iustin Priescu, Daniela Joita, and Ionica Oncioiu. "The Integration of Collaborative Robot Systems and Their Environmental Impacts." Processes 8, no. 4 (April 23, 2020): 494. http://dx.doi.org/10.3390/pr8040494.

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Today, industrial robots are used in dangerous environments in all sectors, including the sustainable energy sector. Sensors and processors collect and transmit information and data from users as a result of the application of robot control systems and sensory feedback. This paper proposes that the estimation of a collaborative robot system’s performance can be achieved by evaluating the mobility of robots. Scenarios have been determined in which an autonomous system has been used for intervention in crisis situations due to fire. The experimental model consists of three autonomous vehicles, two of which are ground vehicles and the other is an aerial vehicle. The conclusion of the research described in this paper highlights the fact that the integration of robotic systems made up of autonomous vehicles working in unstructured environments is difficult and at present there is no unitary analytical model.

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Beloev, Ivan, Diyana Kinaneva, Georgi Georgiev, Georgi Hristov, and Plamen Zahariev. "Artificial Intelligence-Driven Autonomous Robot for Precision Agriculture." Acta Technologica Agriculturae 24, no. 1 (January 29, 2021): 48–54. http://dx.doi.org/10.2478/ata-2021-0008.

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Abstract In the recent years, robotic systems became more advanced and more accessible. This has led to their slow, but stable integration and use in different processes and applications, including in the agricultural domain. Nowadays, agricultural robots are developed with the aim to replace the human labour in the otherwise exhausting, time-consuming or dangerous activities. Agricultural robotic systems provide many advantages, which can differ based on the type of the robot and its sensors, actuators and communication systems. This paper presents the design, the construction process, the main characteristics and the evaluation of a prototype of a small-scale agricultural robot that can be used for some of the simplest activities in agricultural enterprises. The robot is designed as an end-user autonomous mobile system, which is capable of self-localization and can map or inspect a specific farming area. The decision-making capabilities of the robot are based on artificial intelligence (AI) algorithms, which allow it to perform specific actions in accordance to the situation and the surrounding environment. The presented prototype is in its early development and evaluation stages and the paper concludes with discussions on the possible further improvements of the platform.

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Wu, Yi-Chang, and Huan-Chun Wang. "Laboratory environment monitoring and specimen transport robots." IAES International Journal of Robotics and Automation (IJRA) 8, no. 4 (December 1, 2019): 313. http://dx.doi.org/10.11591/ijra.v8i4.pp313-326.

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Robots have been used in various areas to replace manpower, reduce costs, and facilitate more effective resource allocation. This study sought to assist the business of the bureau by developing two robots using the Robot Operating System. The developed robots have autonomous intelligent navigation functions and are suited to monitor the environment of <br /> the laboratories in the bureau. One robot had a temperature and humidity sensor and an infrared thermal camera, and it could be used to patrol and monitor the laboratory environment. The other robot had drawers in which specimens could be placed; robotic arm in the elevator could coordinate and control elevators, enabling the robot to move and transport specimens autonomously. Plenty of tests were conducted to verify the feasibility <br /> and practicality.

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Kurabayashi, Daisuke, Tatsuki Choh, Jia Cheng, and Tetsuro Funato. "Adaptive Formation Transition of a Swarm of Mobile Robots Based on Phase Gradient." Journal of Robotics and Mechatronics 22, no. 4 (August 20, 2010): 467–74. http://dx.doi.org/10.20965/jrm.2010.p0467.

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This paper describes an algorithm, inspired by the intelligent property of a slim mold, for adaptive formation transitions of a robot group composed of autonomous, non-labeled robots. In the proposed system, one leader robot that knows the target position guides the other robots; the other robots do not have any global information. Each individual robot is equipped with a nonlinear oscillator and a simple communication system realized by flashing LEDs. In order to control these robots, phase gradients and phase waves are used in a manner similar to those of a slime mold (amoeba). By controlling the directions the followers are heading according to the phase gradients, a swarm of robots can change its formation adaptively in an obstacle course. Not only is the algorithm formulated, but also real hardware is developed and the system design is analyzed. The proposed system was verified through simulations and real implementations of 10 autonomous mobile robots.

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Hou, Yew Cheong, Khairul Salleh Mohamed Sahari, Leong Yeng Weng, Hong Kah Foo, Nur Aira Abd Rahman, Nurul Anis Atikah, and Raad Z. Homod. "Development of collision avoidance system for multiple autonomous mobile robots." International Journal of Advanced Robotic Systems 17, no. 4 (July 1, 2020): 172988142092396. http://dx.doi.org/10.1177/1729881420923967.

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This article presents a collision avoidance system for multiple robots based on the current autonomous car collision avoidance system. The purpose of the system is to improve the current autonomous car collision avoidance system by including data input of other vehicles’ velocity and positioning via vehicle-to-vehicle communication into the current autonomous car collision avoidance system. There are two TurtleBots used in experimental testing. TurtleBot is used as the robot agent while Google Lightweight Communication and Marshalling is used for inter-robot communication. Additionally, Gazebo software is used to run the simulation. There are two types of collision avoidance system algorithm (collision avoidance system without inter-robot communication and collision avoidance system with inter-robot communication) that are developed and tested in two main road crash scenarios, rear end collision scenario and junction crossing intersection collision scenario. Both algorithms are tested and run both in simulation and experiment setup, each with 10 repetitions for Lead TurtleBot sudden stop, Lead TurtleBot decelerate, Lead TurtleBot slower speed, and straight crossing path conditions. Simulation and experimental results data for each algorithm are recorded and tabulated. A comprehensive comparison of performance between the proposed algorithms is analyzed. The results showed that the proposed system is able to prevent collision between vehicles with an acceptable success rate.

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Rodriguez y Baena, Ferdinando, and Brian Davies. "Robotic surgery: from autonomous systems to intelligent tools." Robotica 28, no. 2 (August 27, 2009): 163–70. http://dx.doi.org/10.1017/s0263574709990427.

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SUMMARYA brief history of robotic surgery is provided, which describes the transition from autonomous robots to hands-on systems that are under the direct control of the surgeon. An example of the latter is the Acrobot (for active-constraint robot) system used in orthopaedics, whilst soft-tissue surgery is illustrated by the daVinci telemanipulator system. Non-technological aspects of robotic surgery have often been a major impediment to their widespread clinical use. These are discussed in detail, together with the role of navigation systems, which are considered a major competitor to surgical robots. A detailed description is then given of a registration method for robots to achieve improved accuracy. Registration is a major source of error in robotic surgery, particularly in orthopaedics. The paper describes the design and clinical implementation of a novel method, coined the bounded registration method, applied to minimally invasive registration of the femur. Results of simulations which compare the performance of bounded registration with a standard implementation of the iterative closest point algorithm are also presented, alongside a description of their application in the Acrobot hands-on robot, used clinically for uni-condylar knee arthroplasty.

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Suzuki, Taro, Mitsunori Kitamura, Yoshiharu Amano, and Nobuaki Kubo. "Autonomous Navigation of a Mobile Robot Based on GNSS/DR Integration in Outdoor Environments." Journal of Robotics and Mechatronics 26, no. 2 (April 20, 2014): 214–24. http://dx.doi.org/10.20965/jrm.2014.p0214.

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This paper describes the development of a mobile robot system and an outdoor navigationmethod based on global navigation satellite system (GNSS) in an autonomous mobile robot navigation challenge, called the Tsukuba Challenge, held in Tsukuba, Japan, in 2011 and 2012. The Tsukuba Challenge promotes practical technologies for autonomous mobile robots working in ordinary pedestrian environments. Many teams taking part in the Tsukuba Challenge used laser scanners to determine robot positions. GNSS was not used in localization because its positioning has multipath errors and problems in availability. We propose a technique for realizing multipath mitigation that uses an omnidirectional IR camera to exclude “invisible” satellites, i.e., those entirely obstructed by a building and whose direct waves therefore are not received. We applied GPS / dead reckoning (DR) integrated based on observation data from visible satellites determined by the IR camera. Positioning was evaluated during Tsukuba Challenge 2011 and 2012. Our robot ran the 1.4 km course autonomously and evaluation results confirmed the effectiveness of our proposed technique and the feasibility of its highly accurate positioning.

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Lan, Chien-Wu, and Chi-Yao Chang. "Development of a Low Cost and Path-free Autonomous Patrol System Based on Stereo Vision System and Checking Flags." Applied Sciences 10, no. 3 (February 2, 2020): 974. http://dx.doi.org/10.3390/app10030974.

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Nowadays, security guard patrol services are becoming roboticized. However, high construction prices and complex systems make patrol robots difficult to be popularized. In this research, a simplified autonomous patrolling robot is proposed, which is fabricated by upgrading a wheeling household robot with stereo vision system (SVS), radio frequency identification (RFID) module, and laptop. The robot has four functions: independent patrolling without path planning, checking, intruder detection, and wireless backup. At first, depth information of the environment is analyzed through SVS to find a passable path for independent patrolling. Moreover, the checkpoints made with RFID tag and color pattern are placed in appropriate positions within a guard area. While a color pattern is detected by the SVS, the patrolling robot is guided to approach the pattern and check its RFID tag. For more, the human identification function of SVS is used to detect an intruder. While a skeleton information of the human is analyzed by SVS, the intruder detection function is triggered, then the robot follows the intruder and record the images of the intruder. The recorded images are transmitted to a server through Wi-Fi to realize the remote backup, and users can query the recorded images from the network. Finally, an experiment is made to test the functions of the autonomous patrolling robot successfully.

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Iio, Takamasa, Yuichiro Yoshikawa, and Hiroshi Ishiguro. "Retaining Human-Robots Conversation: Comparing Single Robot to Multiple Robots in a Real Event." Journal of Advanced Computational Intelligence and Intelligent Informatics 21, no. 4 (July 20, 2017): 675–85. http://dx.doi.org/10.20965/jaciii.2017.p0675.

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In human-robot conversation in a real environment, low speech recognition and unnatural response generation are critical issues. Most autonomous conversational robotic systems avoid these issues by restricting user input and robot responses. However, such restrictions often render the interaction boring because the conversation becomes predictable. In this study, we propose the use of multiple robots as a solution for this problem. To explore the effect of multiple robots on a conversation, we developed an autonomous conversational robotic system and conducted a field trial in a real event. Our system adopted a button interface, which restricted user input within positive or negative intention, and maintained a conversation by choosing the most suitable of the prepared static scenarios. Through the field trial, we found that visitors who conversed with multiple robots continued their conversation for a more prolonged period, and their experience improved their impression on the conversation, in contrast to the visitors who conversed with a single robot.

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Olatunji, Samuel, Andre Potenza, Tal Oron-Gilad, Andrey Kiselev, Amy Loutfi, and Yael Edan. "Usability Testing for the Operation of a Mobile Robotic Telepresence System by Older Adults." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 64, no. 1 (December 2020): 1191–95. http://dx.doi.org/10.1177/1071181320641284.

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Mobile robotic telepresence (MRP) systems feature a video conferencing interface on a mobile robot, enabling pilot users to remotely control the robot while communicating with a local user. For older adults in an assisted living facility, the operators are mostly caregivers or remote family members. This small-sample usability testing aimed to evaluate the use of MRP by the older adult. Participants navigated the robot to locations in the home, e.g., to check if the front-door is closed. Two levels of automation were introduced; assisted teleoperation and autonomous. Observations revealed that the older adults enjoyed the dexterity with which the robot could be teleoperated in the assisted teleoperation mode. Yet, they preferred the operation of the MRP at the autonomous mode where the robot navigated autonomously towards the locations the user indicated. Usability, preference and objective findings raise awareness regarding elder care assistive robot developmental factors. Future experimental plans are discussed.

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Ledziński, Damian, Tomasz Marciniak, Mirosław Maszewski, and Dariusz Boroński. "Robot Actions Planning Algorithms in Multi-Agent System." Solid State Phenomena 223 (November 2014): 221–30. http://dx.doi.org/10.4028/www.scientific.net/ssp.223.221.

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In this paper, the basic information about multi-agent systems is given. The authors propose robot control algorithms for managing virtual autonomous warehouses, where the task performed by the robots is transportation between specific locations in the warehouse and a number of distribution points. Algorithms control the work of a single robot, including the cooperation with other robots in the environment as well as collisions avoidance. Different routing algorithms are evaluated through simulations focusing on service time and waiting time of executing tasks. The impact of the proposed algorithms on energy consumption was also checked, since this is important for the working time between battery charges.

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Torres-Sospedra, Joaquín, and Patricio Nebot. "Combining Satellite Images and Cadastral Information for Outdoor Autonomous Mapping and Navigation: A Proof-of-Concept Study in Citric Groves." Algorithms 12, no. 9 (September 11, 2019): 193. http://dx.doi.org/10.3390/a12090193.

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The development of robotic applications for agricultural environments has several problems which are not present in the robotic systems used for indoor environments. Some of these problems can be solved with an efficient navigation system. In this paper, a new system is introduced to improve the navigation tasks for those robots which operate in agricultural environments. Concretely, the paper focuses on the problem related to the autonomous mapping of agricultural parcels (i.e., an orange grove). The map created by the system will be used to help the robots navigate into the parcel to perform maintenance tasks such as weed removal, harvest, or pest inspection. The proposed system connects to a satellite positioning service to obtain the real coordinates where the robotic system is placed. With these coordinates, the parcel information is downloaded from an online map service in order to autonomously obtain a map of the parcel in a readable format for the robot. Finally, path planning is performed by means of Fast Marching techniques using the robot or a team of two robots. This paper introduces the proof-of-concept and describes all the necessary steps and algorithms to obtain the path planning just from the initial coordinates of the robot.

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Tarao, Susumu, Yasunori Fujiwara, Naoaki Tsuda, and Soichiro Takata. "Prototyping Using a Mobile Robot Platform Equipped with Low-End In-Wheel Motors." Journal of Robotics and Mechatronics 32, no. 6 (December 20, 2020): 1154–63. http://dx.doi.org/10.20965/jrm.2020.p1154.

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In the near future, autonomous mobile robots are expected to operate effectively in various locations, such as in living spaces as well as industrial establishments. Against this background, a new autonomous mobile robot platform was designed and prototyped in this research. For simplicity of design and easy assembly of the drive units, a robot with two low-end in-wheel motors is considered. It is also effective in saving space, and can be used for high-power operations and travelability in various road surface conditions. This paper presents a concept for developing a new type of autonomous mobile robot platform, its control system for autonomous operation, actual prototyping using this platform, and sample applications of this platform.

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Molina, Martin, Abraham Carrera, Alberto Camporredondo, Hriday Bavle, Alejandro Rodriguez-Ramos, and Pascual Campoy. "Building the executive system of autonomous aerial robots using the Aerostack open-source framework." International Journal of Advanced Robotic Systems 17, no. 3 (May 1, 2020): 172988142092500. http://dx.doi.org/10.1177/1729881420925000.

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A variety of open-source software tools are currently available to help building autonomous mobile robots. These tools have proven their effectiveness in developing different types of robotic systems, but there are still needs related to safety and efficiency that are not sufficiently covered. This article describes recent advances in the Aerostack software framework to address part of these needs, which may become critical in the case of aerial robots. The article describes a software tool that helps to develop the executive system, an important component of the control architecture whose characteristics significantly affect the quality of the final autonomous robotic system. The presented tool uses an original solution for execution control that aims at simplifying mission specification and protecting against errors, considering also the efficiency needs of aerial robots. The effectiveness of the tool was evaluated by building an experimental autonomous robot. The results of the evaluation show that it provides significant benefits about usability and reliability with acceptable development effort and computational cost. The tool is based on Robot Operating System and it is publicly available as part of the last release of the Aerostack software framework (version 3.0).

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Choi, Jung Hyun, Kangwagye Samuel, Kanghyun Nam, and Sehoon Oh. "An Autonomous Human Following Caddie Robot with High-Level Driving Functions." Electronics 9, no. 9 (September 15, 2020): 1516. http://dx.doi.org/10.3390/electronics9091516.

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Nowadays, mobile robot platforms are utilized in various fields not only for transportation but also for other diverse services such as industrial, medical and, sports, etc. Mobile robots are also an emerging application as sports field robots, where they can help serve players or even play the games. In this paper, a novel caddie robot which can autonomously follow the golfer as well as provide useful information such as golf course navigation system and weather updates, is introduced. The locomotion of the caddie robot is designed with two modes: autonomous human following mode and manual driving mode. The transition between each mode can be achieved manually or by an algorithm based on the velocity, heading angle, and inclination of the ground surface. Moreover, the transition to manual mode is activated after a caddie robot has recognized the human intention input by hand. In addition, the advanced control algorithm along with a trajectory generator for the caddie robot are developed taking into consideration the locomotion modes. Experimental results show that the proposed strategies to drive various operating modes are efficient and the robot is verified to be utilized in the golf course.

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Tsmots, Ivan, Iryna Vavruk, and Roman Tkachenko. "MOTION CONTROL SYSTEM OF AUTONOMOUS MOBILE ROBOT." Informatics, Control, Measurement in Economy and Environment Protection 4, no. 4 (December 9, 2014): 89–93. http://dx.doi.org/10.5604/20830157.1130204.

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An, Feng, Qiang Chen, Yanfang Zha, and Wenyin Tao. "Mobile Robot Designed with Autonomous Navigation System." Journal of Physics: Conference Series 910 (October 2017): 012036. http://dx.doi.org/10.1088/1742-6596/910/1/012036.

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Journal articles on the topic 'Autonomous robot system'

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