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Fu, Yuheng, and Qinyou Zhou. "Analysis and application research of mobile robot navigation related technologies." Applied and Computational Engineering 9, no. 1 (September 25, 2023): 92–96. http://dx.doi.org/10.54254/2755-2721/9/20230055.
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With social progress and technological development, mobile robots have played an important role in industries, medical care, safety, home and other fields due to their advantages of saving labor costs, reducing personnel work intensity, and avoiding potential job hazards. Especially in indoor environments, such as industrial indoor operations, warehousing and logistics distribution, indoor safety patrols, and other application scenarios, mobile robots have highlighted inestimable application value. Intelligent mobile robot is an important tool in the field of service and automation, and robot navigation technology is an important technology for intelligent mobile robot to achieve self-positioning, robot mapping and path planning. This paper expounds three technologies of mobile robot navigation mapping: visual mapping and positioning, lidar mapping and positioning, and sensor fusion mapping and positioning. After that, the method of path planning of the mobile robot is analyzed. Finally, the application of intelligent mobile robots in factory automation and supermarket guidance is pointed out, and the development trend of intelligent mobile robots is prospected.
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Ivanov, A. P. "Vibroimpact Mobile Robot." Nelineinaya Dinamika 17, no. 4 (2021): 429–36. http://dx.doi.org/10.20537/nd210405.
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A simple model of a capsule robot is studied. The device moves upon a rough horizontal plane and consists of a capsule with an embedded motor and an internal moving mass. The motor generates a harmonic force acting on the bodies. Capsule propulsion is achieved by collisions of the inner body with the right wall of the shell. There is Coulomb friction between the capsule and the support, it prevents a possibility of reversal motion. A periodic motion is constructed such that the robot gains the maximal average velocity.
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Xiang, Hong Wei, Chang Zheng Chen, and Chang Long Ye. "Analysis of Articulated Mobile Robots for the Urban Search and Rescue." Applied Mechanics and Materials 303-306 (February 2013): 1641–46. http://dx.doi.org/10.4028/www.scientific.net/amm.303-306.1641.
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Articulated structure of mobile robot presents high flexibility on the environment adaptation. It has been widely used on the mobile robot to get through rough terrain. This class of robots named as articulated mobile robots can move in hard condition with high stability and environment adaptability. In order to satisfy the requirement of Urban Search and Rescue (USAR), a series of articulated mobile robots are analyzed. The performance of articulated mobile robots is analyzed for get an appropriate robot for USAR. Two snake-like robots named Perambulator I and II are analyzed. Based on the structure of Perambulator II, the articulated mobile robot Ameba II are presented based on track drive mechanism. Ameba II has high performance on mobility and adaptability in complex environment. The comparisons among of some typical articulated robots are given based on mobility and environment adaptation. The experimental results of both Perambulator II and Ameba II show that the Ameba II mobile robot is a better than the snake-like robot Perambulator II on the urban search and rescue applications.
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Utama, Yoga Alif Kurnia, Arief Budijanto, and Aditya K. S. "Desain Pengendalian Koordinat Gerak Robot Nirkabel Cerdas Menggunakan Aplikasi Android Melalui Akselerasi Gerakan Smartphone." Electrician 12, no. 1 (July 18, 2018): 10. http://dx.doi.org/10.23960/elc.v12n1.2068.
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Intisari — Perkembangan teknologi saat ini banyak mengarah kepada dunia robotika. Saat ini robot menjadi alat bantu untuk menyelesaikan pekerjaan manusia sehari-hari. Peranan robot juga sudah mulai mengganti peran manusia dalam dunia industri seperti pada industri mobil, sepeda motor, dan lain-lain. Oleh karena itu tidak heran, penelitian mengenai robot, semakin lama semakin bertambah. Banyak sekali jenis robot yang telah diciptakan oleh manusia, seperti robot manipulator atau yang biasa disebut robot lengan yang banyak diaplikasikan untuk membawa barang. Ada pula robot humanoid, yang merupakan robot berbentuk manusia, yang saat ini telah dikembangkan untuk membawa orang sakit, dan mobile robot yang sekarang banyak digunakan untuk menjelajah suatu daerah. Dalam beberapa penelitian robot saat ini, penggunaan teknologi mobile robot sebagai robot penjelajah menjadi fokus utama peneliti. Sistem navigasi pada mobile robot merupakan salah satu permasalahan yang sering dihadapi. Oleh karena itu, penelitian ini mencoba untuk mengembangkan suatu cara pengendalian navigasi robot untuk bergerak pada suatu koordinat tertentu dengan menggunakan aplikasi android pada smartphone. Dari hasil pengujian yang telah dilakukan dapat dilihat bahwa rata-rata eror yang telah terjadi selama pergerakan pada sumbu x adalah 0.27 cm sedangkan pada sumbu y adalah 0.28 cm dimana pergerakan robot ini menggunakan bluetooth dengan baudrate sebesar 57600 bps.Kata kunci — Accelerometer, Android, Arduino, Bluetooth, Robot Abstract — Today, development of technology leads to the world of robotics. Currently the robot is a tool to complete the daily work of man. The role of robots has also begun to replace human roles in the industrial world such as in the car industry, motorcycles, and the others. Therefore, it is not surprisingly, research on robots was increased. There are many of types of robots that have been created by humans, such as robot manipulators or commonly called arm robots that are widely applied to carry goods. There is also a humanoid robot, which is a human-shaped robot, which has been developed to bring sick people, and mobile robots are widely used to explore some areas. In recent robotic studies, the mobile robot technology uses as an exploratory robot is the main focus of the researcher. Navigation system in mobile robot is one of the problems that often faced. Therefore, this research tries to develop a way of controlling the navigation of robots to move on a certain coordinate by using android applications on smartphones. From the results of tests that have been done can be seen that the average error that has occurred during the movement on the x axis is 0.27 cm while on the y-axis is 0.28 cm where the movement of this robot using bluetooth with baudrate of 57600 bps.Keywords— Accelerometer, Android, Arduino, Bluetooth, Robot
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Komoriya, Kiyoshi. "Special Issue on Mobile Robot." Journal of Robotics and Mechatronics 11, no. 1 (February 20, 1999): 1. http://dx.doi.org/10.20965/jrm.1999.p0001.
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Mobility, or locomotion, is as important a function for robots as manipulation. A robot can enlarge its work space by locomotion. It can also recognize its environment well with its sensors by moving around and by observing its surroundings from various directions. Much researches has been done on mobile robots and the research appears to be mature. Research activity on robot mobility is still very active; for example, 22% of the sessions at ICRA'98 - the International Conference on Robotics and Automation - and 24% of the sessions at IROS'98 - the International Conference on Intelligent Robots and Systems - dealt with issues directly related to mobile robots. One of the main reasons may be that intelligent mobile robots are thought to be the closest position to autonomous robot applications. This special issue focuses on a variety of mobile robot research from mobile mechanisms, localization, and navigation to remote control through networks. The first paper, entitled ""Control of an Omnidirectional Vehicle with Multiple Modular Steerable Drive Wheels,"" by M. Hashimoto et al., deals with locomotion mechanisms. They propose an omnidirectional mobile mechanism consisting of modular steerable drive wheels. The omnidirectional function of mobile mechanisms will be an important part of the human-friendly robot in the near future to realize flexible movements in indoor environments. The next three papers focus on audiovisual sensing to localize and navigate a robot. The second paper, entitled ""High-Speed Measurement of Normal Wall Direction by Ultrasonic Sensor,"" by A. Ohya et al., proposes a method to measure the normal direction of walls by ultrasonic array sensor. The third paper, entitled ""Self-Position Detection System Using a Visual-Sensor for Mobile Robots,"" is written by T. Tanaka et al. In their method, the position of the robot is decided by measuring marks such as name plates and fire alarm lamps by visual sensor. In the fourth paper, entitled ""Development of Ultra-Wide-Angle Laser Range Sensor and Navigation of a Mobile Robot in a Corridor Environment,"" written by Y Ando et al., a very wide view-angle sensor is realized using 5 laser fan beam projectors and 3 CCD cameras. The next three papers discussing navigation problems. The fifth paper, entitled ""Autonomous Navigation of an Intelligent Vehicle Using 1-Dimensional Optical Flow,"" by M. Yamada and K. Nakazawa, discusses navigation based on visual feedback. In this work, navigation is realized by general and qualitative knowledge of the environment. The sixth paper, entitled ""Development of Sensor-Based Navigation for Mobile Robots Using Target Direction Sensor,"" by M. Yamamoto et al., proposes a new sensor-based navigation algorithm in an unknown obstacle environment. The seventh paper, entitled ""Navigation Based on Vision and DGPS Information for Mobile Robots,"" S. Kotani et al., describes a navigation system for an autonomous mobile robot in an outdoor environment. The unique point of their paper is the utilization of landmarks and a differential global positioning system to determine robot position and orientation. The last paper deals with the relationship between the mobile robot and computer networks. The paper, entitled ""Direct Mobile Robot Teleoperation via Internet,"" by K. Kawabata et al., proposes direct teleoperation of a mobile robot via the Internet. Such network-based robotics will be an important field in robotics application. We sincerely thank all of the contributors to this special issue for their cooperation from the planning stage to the review process. Many thanks also go to the reviewers for their excellent work. We will be most happy if this issue aids readers in understanding recent trends in mobile robot research and furthers interest in this research field.
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Umetani, Tomohiro, Yuya Kondo, and Takuma Tokuda. "Rapid Development of a Mobile Robot for the Nakanoshima Challenge Using a Robot for Intelligent Environments." Journal of Robotics and Mechatronics 32, no. 6 (December 20, 2020): 1211–18. http://dx.doi.org/10.20965/jrm.2020.p1211.
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Automated mobile platforms are commonly used to provide services for people in an intelligent environment. Data on the physical position of personal electronic devices or mobile robots are important for information services and robotic applications. Therefore, automated mobile robots are required to reconstruct location data in surveillance tasks. This paper describes the development of an autonomous mobile robot to achieve tasks in intelligent environments. In particular, the robot constructed route maps in outdoor environments using laser imaging detection and ranging (LiDAR), and RGB-D sensors via simultaneous localization and mapping. The mobile robot system was developed based on a robot operating system (ROS), reusing existing software. The robot participated in the Nakanoshima Challenge, which is an experimental demonstration test of mobile robots in Osaka, Japan. The results of the experiments and outdoor field tests demonstrate the feasibility of the proposed robot system.
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Elmoselhy, Salah A. M. "Empirically Investigating a Hybrid Lean-Agile Design Paradigm for Mobile Robots." Journal of Intelligent Systems 24, no. 1 (March 1, 2015): 117–34. http://dx.doi.org/10.1515/jisys-2014-0024.
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AbstractLean design and agile design paradigms have been proposed for designing robots; yet, none of them could strike a balance between cost-effectiveness and short duration of the design process without compromising the quality of performance. The present article identifies the key determinants of the mobile robots development process. It also identifies empirically the mobile robot design activities and strategies with the most influence on mobile robot performance. The study identified statistically the mobile robot design activities and strategies most positively correlated with mobile robot performance. The results showed that 65% of typical mobile robot design activities and strategies are affiliated with the lean design paradigm, while the remaining 35% are affiliated with the agile design paradigm. In addition, it was found that 22% of the lean mobile robot design activities and strategies and 25% of the agile mobile robot design activities and strategies, significantly with 99% confidence, are among the design activities and strategies most positively correlated with improving mobile robot performance. A hybrid lean-agile design paradigm is thus proposed.
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Pamenang, Muhammad Jodi, Indrazno Siradjuddin, and Budhy Setiawan. "Pengendalian konvergensi eksponensial untuk omnidirectional mobile robot dengan empat roda." JURNAL ELTEK 18, no. 1 (April 28, 2020): 108. http://dx.doi.org/10.33795/eltek.v18i1.225.
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Tujuan mendasar dari kontrol gerak mobile robot adalah untuk mengarahkan robot ke posisi yang diberikan secara acak pada ruang 2D. Mobile robot dengan roda omni memiliki sifat holonomic di mana memiliki keunggulan kelincahan dan permasalahan pengendalian gerak hanya pada sisi aktuator, sedangkan mobile robot dengan roda konvensional, memiliki permasalahan tambahan pengendalian gerak dalam ruang area operasional robot. Karenanya, robot omni lebih gesit untuk bergerak dalam konfigurasi ruang area kerja apa pun. Makalah ini menyajikan model kontrol konvergensi eksponensial berbasis model untuk mobile robot omnidirectional roda empat. Kontrol yang diusulkan menjamin penurunan kesalahan secara eksponensial dari gerakan robot ke setiap posisi robot yang diinginkan. Pembahasan meliputi model kinematik dan kontrol dari robot bergerak omnidirectional roda empat dan eksperimen simulasi yang telah dilakukan untuk memverifikasi kinerja kontrol yang meliputi lintasan robot 2D, serta nilai error atau kesalahan pada kontrol robot. Hasil dari eksperimen simulasi menunjukkan keefektifan kontrol yang diusulkan. Mobile robot telah bergerak ke posisi yang diinginkan pada garis lurus dengan tujuan robot yang akurat dan niali error atau kesalahan yang didapat ialah |0.02735| serta grafik error telah menurun secara eksponensial.
The fundamental objective of a mobile robot motion control is to navigate the robot to any given arbitrary posture in which robot 2D location and its heading are concerned. Mobile robots with omni wheels have a holonomic properties the advantage is of agility and motion control problems only on the actuator, while mobile robots with conventional wheels, have a problem of motion control the robot in task space. Therefore, the omni-wheeled mobile robots are more agile to move in any task space configuration. This paper presents a model based exponential convergence control law for a four-wheeled omnidirectional mobile robot. The proposed control law guarantees an exponential error decay of mobile robot motion to any given desired robot posture. The kinematic model and the control law of a four-wheeled omnidirectional mobile robot are discussed. Simulation experiments have been conducted to verify the control law performances which include the 2D robot trajectory, the error signals, and the robot control signals. Results from simulation experiments show the effectiveness of the proposed control law. Mobile robot has moved to the desired position in a straight line with the aim of the robot that is accurate and the error or error obtained is | 0.02735 | and the error graph has decreased exponentially
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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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Jamaludin, Syukrul Hassani, Muhammad Naufal Mansor, Ahmad Kadri Junoh, and Azrini Idris. "Gantry Robot for Mobile Observation." Applied Mechanics and Materials 798 (October 2015): 70–74. http://dx.doi.org/10.4028/www.scientific.net/amm.798.70.
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A gantry robot consists of a manipulator mounted onto an overhead system that allows movement across a horizontal plane. Gantry robots are also called Cartesian or linear robots. They are usually large systems that perform pick and place applications, but they can also be used in welding and other applications like for observing the behavior of patient in hospital wards. Fast motion of a gantry robot is usually associated with undesirable induced oscillations of the suspended object. Because of these oscillations, gantry robot maneuvers are performed slowly contributing to low site efficiency and high transportation costs. These undesirable oscillations can be minimized at reasonably high travel speeds by designing effective controllers. To solve this problem precaution should also be considered as not to use unbalanced structure and also the most important was the mechanism of the robot. The robot structure requires high stability so that when the camera housing is positioned to the required locations it will not disturbed and ensure safety to the patient.
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Wang, Hongxing, Ruifeng Li, Yunfeng Gao, Chuqing Cao, and Lianzheng Ge. "Comparative study on the redundancy of mobile single- and dual-arm robots." International Journal of Advanced Robotic Systems 13, no. 6 (December 1, 2016): 172988141666678. http://dx.doi.org/10.1177/1729881416666782.
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A whole resolved motion rate control algorithm designed for mobile dual-arm redundant robots is presented in this article. Based on this algorithm, the end-effector movements of the dual arms of the mobile dual-arm redundant robot can be decomposed into the movements of the two driving wheels of the differential driving platform and the movements of the dual-arm each joint of this robot harmoniously. The influence of the redundancies of the single- and dual-arm robots on the operation based on the fixed- and differential-driving platforms, which are then based on the whole resolved motion rate control algorithm, is studied after building their motion models. Some comparisons are made to show the advantages of this algorithm on the entire modeling of the complicated robotic system and the influences of the redundancy. First, the comparison of the simulation results between the fixed single-arm robot and the mobile single-arm robot is presented. Second, a comparison of the simulation results between the mobile single-arm robot and the mobile dual-arm robots is shown. Compared with the mobile single-arm robot and the fixed dual-arm robot based on this algorithm, the mobile dual-arm robot has more redundancy and can simultaneously track and operate different objects. Moreover, the mobile dual-arm redundant robot has better smoothness, more flexibility, larger operational space, and more harmonious cooperation between the two arms and the differential driving platform during the entire mobile operational process.
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Wang, Jieyu, Yan'an Yao, and Xianwen Kong. "A reconfigurable tri-prism mobile robot with eight modes." Robotica 36, no. 10 (June 27, 2018): 1454–76. http://dx.doi.org/10.1017/s0263574718000498.
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SUMMARYA novel reconfigurable tri-prism mobile robot with eight modes is proposed. The robot is composed of two feet connected by three U-R-U (universal-revolute-universal) limbs. The robot incorporates the kinematic properties of sphere robots, squirming robots, tracked robots, wheeled robots and biped robots. In addition, the somersaulting and turning modes are also explored. After the description of the robot, the DOF (degree-of-freedom) is calculated based on screw theory. The 3D model and simulations indicate that the robot can cross several typical obstacles and can also be folded via two approaches. Finally, the prototype experiments are presented to verify the feasibility of the proposed mobile robot in different motion mode.
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Hirata, Yasuhisa, Kazuhiro Kosuge, Tomohiro Oosumi, Hajime Asama, Hayato Kaetsu, and Kuniaki Kawabata. "Coordinated Transportation of a Single Object by Omni-Directional Mobile Robots with Body Force Sensor." Journal of Robotics and Mechatronics 12, no. 3 (June 20, 2000): 242–48. http://dx.doi.org/10.20965/jrm.2000.p0242.
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In this paper, we propose a new mobile robot architecture with a body force sensor. The body force sensor is the force/torque sensor, which is located between the drive mechanism and the body of the mobile robot. The use of the body force sensor almost realizes the collocation of sensor and actuators, and makes the whole body of the mobile robot sensitive to external force/moment. Decentralized motion control algorithm for handling a single object by multiple mobile robots in coordination is implemented in each omni-dirctional mobile robot and multiple mobile robots with the body force sensor realize stable handling of an object. Experimental results illustrate the validity of the proposed architecture.
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Batlle, J., and P. Ridao. "Mobile robots in industrial environments." Human Systems Management 18, no. 3-4 (December 29, 1999): 275–85. http://dx.doi.org/10.3233/hsm-1999-183-412.
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It is known that mobile robot applications have a preponderant role in industrial and social environments and, more specifically, helping human beings in carrying out difficult tasks in hostile environments. From teleoperated systems to autonomous robots, there is a wide variety of possibilities requiring a high technological level. Many concepts such as perception, manipulator design, grasping, dynamic control, etc. are involved in the field of industrial mobile robots. In this context, human–robot interaction is one of the most widely studied topics over the last few years together with computer vision techniques and virtual reality tools. In all these technical fields, a common goal is pursued, i.e., robots to come closer to human skills. In this paper, first some important research projects and contributions on mobile robots in industrial environments are overviewed. Second, a proposal for classification of mobile robot architectures is described. Third, results achieved in two specific application areas of mobile robotics are reported. The first is related to the tele-operation of a mobile robot called ROGER by means of a TCP/IP network. The control system of the robot is built up as a distributed system, using distributed object oriented software, CORBA compatible. The second is related to the teleoperation of an underwater robot called GARBI. (Research project co-ordinated with the Polytechnic University of Catalonia (Prof. Josep Amat) and financed by the Spanish Government.) The utility of this kind of prototype is demonstrated in tasks such as welding applications in underwater environments, inspection of dammed walls, etc. Finally, an industrial project involving the use of intelligent autonomous robots is presented showing how the experience gained in robotics has been applied.
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R, Smt Thilagavathy, Dr Sumithra Devi K. A, and Saagar, M. P. "Energy Efficient Routing Protocols for Mobile Robots: A Review." Saudi Journal of Engineering and Technology 8, no. 07 (July 22, 2023): 163–70. http://dx.doi.org/10.36348/sjet.2023.v08i07.002.
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Many vital applications benefit from mobile multi-robot teams, including search and rescue, environmental monitoring, military, unmanned space exploration, hazard detection and analysis. Communication between robots is important for group coordination and information sharing in mobile multi-robot teams. Because many mobile robot applications involve scenarios where communication infrastructure is destroyed or unavailable, mobile robot teams must regularly connect with one another through ADHOC networking. In such situations, low over-head and energy efficient routing systems for sending information are essential. The most difficult task is to provide a unified foundation for robot communication. The framework of Mobile Robots is described in this paper, as well as a review and analysis of several research papers on Energy Efficient Routing in Robotic Wireless sensor networks (RWSN).
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Han, Jong-Ho. "Tracking Control of Moving Sound Source Using Fuzzy-Gain Scheduling of PD Control." Electronics 9, no. 1 (December 21, 2019): 14. http://dx.doi.org/10.3390/electronics9010014.
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This paper proposes fuzzy gain scheduling of proportional differential control (FGS-PD) system for tracking mobile robot to moving sound sources. Given that the target positions of the real-time moving sound sources are dynamic, the mobile robots should be able to estimate the target points continuously. In such a case, the robots tend to slip owing to abnormal velocities and abrupt changes in the tracking path. The selection of an appropriate curvature along which the robot follows a sound source makes it possible to ensure that the robot reaches the target sound source precisely. For enabling the robot to recognize the sound sources in real time, three microphones are arranged in a straight formation. In addition, by applying the cross correlation algorithm to the time delay of arrival base, the received signals can be analyzed for estimating the relative positions and velocities of the mobile robot and the sound source. Even if the mobile robot is navigating along a curved path for tracking the sound source, there could be errors due to the inertial and centrifugal forces resulting from the motion of the mobile robot. Velocities of both robot wheels are controlled using FGS-PD control to compensate for slippage and to minimize tracking errors. For experimentally verifying the efficacy of the proposed the control system with sound source estimation, two mobile robots were fabricated. It was demonstrated that the proposed control method effectively reduces the tracking error of a mobile robot following a sound source.
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Li, Guo, Rui Lin, Maohai Li, Rongchuan Sun, and Songhao Piao. "A Master-Slave Separate Parallel Intelligent Mobile Robot Used for Autonomous Pallet Transportation." Applied Sciences 9, no. 3 (January 22, 2019): 368. http://dx.doi.org/10.3390/app9030368.
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This work reports a master-slave separate parallel intelligent mobile robot for the fully autonomous transportation of pallets in the smart factory logistics. This separate parallel intelligent mobile robot consists of two independent sub robots, one master robot and one slave robot. It is similar to two forks of the forklift, but the slave robot does not have any physical or mechanical connection with the master robot. A compact driving unit was designed and used to ensure access to the narrow free entry under the pallets. It was also possible for the mobile robot to perform a synchronous pallet lifting action. In order to ensure the consistency and synchronization of the motions of the two sub robots, high-gain observer was used to synchronize the moving speed, the lifting speed and the relative position. Compared with the traditional forklift AGV (Automated Guided Vehicle), the mobile robot has the advantages of more compact structure, higher expandability and safety. It can move flexibly and take zero-radius turn. Therefore, the intelligent mobile robot is quite suitable for the standardized logistics factory with small working space.
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Zhao, Tie Jun. "Study Situation and Key Technology of Mobile Humanoid Robot." Advanced Materials Research 295-297 (July 2011): 450–53. http://dx.doi.org/10.4028/www.scientific.net/amr.295-297.450.
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With the increasingly aging societies coming, as a service robot, the mobile humanoid robot is worth making efforts to study. This paper mainly introduces the developing status of the mobile humanoid robot. The characteristics of five robots are presented. Key technology of the mobile humanoid robot is pointed out, and the problems needing further research are discussed.
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Ilyas, Muneeb, Muhammad Ehsan Ali, Nasir Rehman, and Abdul Rehman Abbasi. "1 Design, Development & Evaluation of a Prototype Tracked Mobile Robot for Difficult Terrain." Sir Syed Research Journal of Engineering & Technology 1, no. 1 (December 20, 2013): 7. http://dx.doi.org/10.33317/ssurj.v1i1.61.
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This paper reports the design, development andevaluation of a prototype tracked mobile robot for task executionin both natural and human-made environments with stairclimbing feature. First, different types of locomotion systems usedfor mobile robots are compared and their pros and cons arepresented. Then the mechanism designed for the prototypetracked mobile robot is described with the aid of a CAD model.Finally, the results of field testing of the actual robot are presentedand the behavior of tracked mobile robots in presence of slippageis discussed.
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Ilyas, Muneeb, Muhammad Ehsan Ali, Nasir Rehman, and Abdul Rehman Abbasi. "Design, Development & Evaluation of a Prototype Tracked Mobile Robot for Difficult Terrain." Sir Syed University Research Journal of Engineering & Technology 3, no. 1 (December 20, 2013): 7. http://dx.doi.org/10.33317/ssurj.v3i1.61.
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This paper reports the design, development andevaluation of a prototype tracked mobile robot for task executionin both natural and human-made environments with stairclimbing feature. First, different types of locomotion systems usedfor mobile robots are compared and their pros and cons arepresented. Then the mechanism designed for the prototypetracked mobile robot is described with the aid of a CAD model.Finally, the results of field testing of the actual robot are presentedand the behavior of tracked mobile robots in presence of slippageis discussed.
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Ilyas, Muneeb, Muhammad Ehsan Ali, Nasir Rehman, and Abdul Rehman Abbasi. "Design, Development & Evaluation of a Prototype Tracked Mobile Robot for Difficult Terrain." Sir Syed University Research Journal of Engineering & Technology 3, no. 1 (December 20, 2013): 7. http://dx.doi.org/10.33317/ssurj.61.
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This paper reports the design, development andevaluation of a prototype tracked mobile robot for task executionin both natural and human-made environments with stairclimbing feature. First, different types of locomotion systems usedfor mobile robots are compared and their pros and cons arepresented. Then the mechanism designed for the prototypetracked mobile robot is described with the aid of a CAD model.Finally, the results of field testing of the actual robot are presentedand the behavior of tracked mobile robots in presence of slippageis discussed.
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Jiao, Jian. "Mobile Industrial Robots Localization Algorithm Based on Improved Multidimensional Scale and Received Signal Strength Indication." Advances in Multimedia 2021 (December 15, 2021): 1–9. http://dx.doi.org/10.1155/2021/2437224.
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Aiming at the problem of large error in the location algorithm based on MDS-MAP when the distance between mobile industrial robots is not measurable, a mobile industrial robot location algorithm based on improved MDS-MAP is proposed. Experimental simulation shows that the algorithm can achieve good positioning effect. When the distance between mobile industrial robots is measurable, the positioning algorithm based on RSSI achieves good positioning effect. Therefore, this paper discusses the influence of different anchor robot selection methods on the positioning accuracy of RSSI positioning algorithm. The experimental simulation shows that when the selection method of anchoring robot is that the unknown robot with adjacent anchoring robot uses the original anchoring robot for positioning and the unknown robot without anchoring robot uses the adjacent positioning robot as the anchoring robot for positioning, its positioning effect is the best, and it can still achieve good positioning effect when there are few anchoring robots.
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Xu, Rui, Lu Qian, and Xingwei Zhao. "Development of dual-arm mobile robot platform based on ROS." Cobot 1 (January 12, 2022): 4. http://dx.doi.org/10.12688/cobot.17457.1.
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Background: With the increasing demand of mobile robots in warehousing, logistics and service fields, simple planar motion is difficult to meet the task requirements of complex environment. The combination of mobile robot and cooperative robot is helpful to improve the dexterity of robot movement and expand the application of robots. Methods: Aiming at the application requirements of dual-arm robots and mobile robots in practical applications, this paper designed the hardware of a platform, built a simulation platform based on ROS (Robot Operating System), and designed the actual software control framework. Finally, the feasibility of the platform design was verified by the coupling motion experiment of the two robots. Results: We have established a simulation of the dual-arm mobile platform in ROS, designed the actual software control framework, and verified the feasibility of the platform design through experiments. Conclusions: The mobile platform can meet a variety of application requirements and lay the foundation for subsequent development.
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Zhang, Hong Min. "Path Planning Methods of Mobile Robot Based on Soft Computing Technique." Advanced Materials Research 216 (March 2011): 677–80. http://dx.doi.org/10.4028/www.scientific.net/amr.216.677.
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Path planning is one of the most important and challenging problems of mobile robot. It is one of the keys that will make the mobile robots fully autonomous. In this paper, we summarized the application of soft computing approaches in path planning for mobile robot. Finally the future works of path planning for mobile robots are prospected.
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Su, Kuo Lan, Bo Yi Li, and Jian Da Fong. "Development of the Escaping Programming System for Fire Environment." Applied Mechanics and Materials 300-301 (February 2013): 389–92. http://dx.doi.org/10.4028/www.scientific.net/amm.300-301.389.
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We present the path planning techniques of the fire escaping system using multiple mobile robots for intelligent building. The controller of the mobile robot is MCS-51 microchip, and acquires the detection signal from flame sensor through I/O pins, and receives the command from the supervised compute via wireless RF interface. The mobile robot transmits ID code, detection signal, location and orientation of the mobile robots to the supervised computer via wireless RF interface. We proposed A* searching algorithm to program escaping motion paths to guard peoples moving to the safety area using mobile robots, and develop user interface on the supervised computer for the fire escaping system. In the experimental results, the supervised computer locates the positions of fire sources by mobile robots, and programs the escaping paths on the user interface, and transmits the motion command to the mobile robots. The mobile robot guards peoples leaving the fire sources.
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Lin, Feng Yun, Ji Rong Wang, and Yu Wang. "Study on Kinematics of a Ice-Skater Robot of Passive Wheel Type and its Structure Characteristics." Applied Mechanics and Materials 415 (September 2013): 60–64. http://dx.doi.org/10.4028/www.scientific.net/amm.415.60.
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This paper put forward the idea of ice skater robot of passive wheeled type integrating the features of wheeled mobile robots and legged mobile robots. The motion principle of a kind of leg-wheeled robot was analyzed. On the basis of introduction of kinematics analysis, the paper gives the model of the robot kinematics, Meanwhile, the paper analyzes the motion condition of the robot.
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Su, Kuo Lan, Jr Hung Guo, Cheng Yun Chung, and Cheng Yun Chung. "Fire Detection System Based-On Mobile Robots." Applied Mechanics and Materials 418 (September 2013): 25–28. http://dx.doi.org/10.4028/www.scientific.net/amm.418.25.
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The paper develops a fire detection system using mobile robots, and calculates the risk values of the escaping paths using Bayesian estimated method. Mobile robots contain two types moving in the platform. One is fire detection robot (FDR) to search fire sources. The other represents the people walking in the platform autonomously. The controller of the mobile robot detects fire source using flame sensor, and receives the motion command from the supervised compute via wireless RF interface. The mobile robot transmits ID code, position and orientation information, positions of fire sources to the supervised computer via wireless RF interface, too. We program the motion path of fire detection robots to search fire sources, and uses Gauss distribution function to describe the risk values of each fire source. The supervised computer uses Bayesian estimated algorithm to calculate the relation risk value of each cross point for multiple fire sources. In the fire condition, each FDR calculates shortest displacement from the people. The assigned FDR carries the people leaving the dangerous area. Then the user interface programs the escaping paths using A* searching algorithm for mobile robots. The mobile robot guides the people (mobile robot) leaving the fire area according the programmed safety escaping path.
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Jiang, Dongqing, and Chunxiang Dai. "Design and Analysis of Indoor Mobile Robot Positioning Technology." Journal of Physics: Conference Series 2074, no. 1 (November 1, 2021): 012002. http://dx.doi.org/10.1088/1742-6596/2074/1/012002.
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Abstract In the field of mobile robot technology research, positioning technology is one of the core technologies, so it has been widely concerned in the field of industry. Due to the limitation of space, indoor mobile robots often have a high demand for their own position confirmation in the process of operation. Therefore, exploration based on positioning technology is very important for the further development of indoor mobile robots. Based on the research on the positioning technology of wheeled indoor mobile robot, this paper will make an effective evaluation on the future development direction of indoor mobile robot technology.
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Shi, Qi, and Jucheng Wang. "Design and Realization of Mobile Robot Driven by Omnidirectional Wheels." Journal of Physics: Conference Series 2402, no. 1 (December 1, 2022): 012035. http://dx.doi.org/10.1088/1742-6596/2402/1/012035.
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Abstract Omnidirectional mobile robot refers to a robot technology that can move in any direction on the ground. Aiming at the problems of complex control, low driving efficiency, and poor carrying capacity of ordinary omnidirectional mobile robots, an omnidirectional wheel-driven mobile robot was proposed. The robot can achieve traverse characteristic motion with zero gyration radius without changing its attitude. Through the kinematic analysis of the mobile robot equipped with this wheelset, the omnidirectional motion function of efficient driving is verified. Prototype experiments show that the robot can effectively improve space utilization and intelligence in scenarios with limited space.
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Khairudin, M., R. Refalda, S. Yatmono, H. S. Pramono, A. K. Triatmaja, and A. Shah. "The Mobile Robot Control in Obstacle Avoidance Using Fuzzy Logic Controller." Indonesian Journal of Science and Technology 5, no. 3 (December 1, 2020): 334–51. http://dx.doi.org/10.17509/ijost.v5i3.24889.
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A very challenging problem in mobile robot systems is mostly in obstacle avoidance strategies. This study aims to describe how the obstacle avoidance system on mobile robots works. This system is designed automatically using fuzzy logic control (FLC) developed using Matlab to help the mobile robots to avoid a head-on collision. The FLC designs were simulated on the mobile robot system. The simulation was conducted by comparing FLC performance to the proportional integral derivative (PID) controller. The simulation results indicate that FLC works better with lower settling time performance. To validate the results, FLC was used in a mobile robot system. It shows that FLC can control the velocity by braking or accelerating according to the sensor input installed in front of the mobile robot. The FLC control system functions as ultrasonic sensor input or a distance sensor. The input voltage was simulated with the potentiometer, whereas the output was shown by the velocity of DC motor. This study employed the simulation work in Simulink and Matlab, while the experimental work used laboratory scale of mobile robots. The results show that the velocity control of DC motors with FLC produces accurate data, so the robot could avoid the existing obstacles. The findings indicate that the simulation and the experimental work of FLC for mobile robot in obstacle avoidance are very close.
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Krid, Mohamed. "Design and Coordination of Cooperative Mobile Robots." IAES International Journal of Robotics and Automation (IJRA) 5, no. 2 (June 1, 2016): 115. http://dx.doi.org/10.11591/ijra.v5i2.pp115-135.
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<p>Object transportation is an important task considered in mobile robotics. For many years, it has been performed by single robots, capable to transport payload of moderate size and mass with respect to the robot size and mass. But if the payload gets bigger, the robot fails in the transporting task. For wider or heavier payloads, human operators improve their capacities by working in group. A similar improvement should be expected with a group of mobile robots.</p><p>In this paper, we proposed a new concept of cooperative mobile robots to deal with the problem of long object transportation in unstructured environment whatever the payload length. The proposed C3Bots AT/VLP robot is formed by the association of two or more mono-robots with simple kinematics forming a poly-robot system.</p><p>The paper presents several kinematic schemes and the corresponding obstacle-crossing processes. It deals with the problem of how to maintain stable motion for the poly-robot during obstacle crossing. Changes in the internal configuration of the robot adjust the center of gravity to guarantee stable motion. A specific stability criterion for contact on three wheels is presented. By adjusting the relative poses of the front and rear axles with respect to the payload, it is possible to maximize the stability of the poly-robot and its payload during obstacle crossing.</p>
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Ünal, İlker, Önder Kabaş, Osman Eceoğlu, and Georgiana Moiceanu. "Adaptive Multi-Robot Communication System and Collision Avoidance Algorithm for Precision Agriculture." Applied Sciences 13, no. 15 (July 26, 2023): 8602. http://dx.doi.org/10.3390/app13158602.
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In precision farming technology, the interest of the researchers has been focused on the applications of autonomous mobile robots for agricultural operations such as planting, inspection, spraying, and harvesting. However, each autonomous robot generally performs a single agricultural task. In this context, complete autonomy in precision farming can be achieved by using coordinated multi-robot systems that can easily and safely cooperate to accomplish agricultural tasks. The efficiency of the multi-robot system depends on the number of robots, the size of the robots, the distance between each robot, the instant location and heading angle of the robots, and the size of the farmland. This paper describes the development of wireless Robot to Robot (R2R) communication system architecture and the collision avoidance algorithm for multi-robot precision farming applications. The developed system uses the fusion of a digital compass and GPS receiver for wirelessly broadcasting the spatial and temporal data of the mobile robots through WiFi. In this study, WiFi broadcasting was chosen for reasons such as the advantages of long wireless signal range and strength, not being easily affected by weather and dust, low cost, and so on. The proposed system realizes the real-time wireless broadcasting of the mobile robot information for eliminating the collision of mobile robots and improving the level of safety management. The results show that the system has flexible, reliable, and adaptable solution, and thus can increase the efficiency of the multi-robot system in precision farming applications.
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Su, K. L., J. H. Guo, C. W. Hung, and Y. C. Song. "Design an Auto-Recharging System for Mobile Robots." Applied Mechanics and Materials 190-191 (July 2012): 666–72. http://dx.doi.org/10.4028/www.scientific.net/amm.190-191.666.
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The article develops an auto-charging system for mobile robots, and programs a new docking processing to enhance successful rate. The system contains a docking station and a mobile robot. The docking station contains a docking structure, a limit switch, a charger, two power detection modules and two wireless RF modules. The mobile robot contains a power detection module (voltage and current), an auto-switch, a wireless RF module, a charging connection structure and a laser range finder. The docking structure is designed with one active degree of freedom and two passive degrees of freedom. The power detection module is controlled by HOLTEK microchip. We calculate the power values using the redundant management method and statistical signal prediction method, and develop an auto-recharging processing using multiple sensors and laser range finder for mobile robots. The processing can enhances the successful rate to guide the mobile robot moving to the docking station. In the experimental results, the power of the mobile robot is under the threshold value. The mobile robot transmits the charging command to the docking station via wireless RF interface, and searches the landmark of the docking station using laser range finder (SICK). The laser range finder guides the mobile robot approach to the docking station. The mobile robot touches the docking station to trig the power detection device. The docking station supplies the power to the mobile robot by charger, and detects the current and voltage values of the charging processing. The charging current of the docking station is under the threshold value. The docking station turns off the charging current, and trigs the mobile robot leaving the docking station via wireless RF interface.
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Hercik, Radim, Radek Byrtus, Rene Jaros, and Jiri Koziorek. "Implementation of Autonomous Mobile Robot in SmartFactory." Applied Sciences 12, no. 17 (September 5, 2022): 8912. http://dx.doi.org/10.3390/app12178912.
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This study deals with the technology of autonomous mobile robots (AMR) and their implementation on the SmartFactory production line at the Technical University of Ostrava. The task of the mobile robot is to cooperate with the production line, take over the manufactured products, and then deliver them. The content also includes a description of the individual steps that were necessary to make the mobile robot operational, such as loading a virtual map of the space, creating a network for communication with the mobile robot, and programming it. The main part of the experiment deals with testing the accuracy of moving the mobile robot to each position and establishing communication between the production line and the mobile robot. A high accuracy is a necessity in this process. The result of the study is the configuration of the autonomous mobile robot. The repetitive precision of the approach of the autonomous mobile robot to a position is ±3 mm.
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Liu, Hongze, Shoubo Wang, and Meihang Qu. "Design and Simulation of Mobile Multi-Robot Machining Platform." Journal of Engineering Research and Reports 26, no. 6 (May 19, 2024): 178–89. http://dx.doi.org/10.9734/jerr/2024/v26i61171.
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Today, with the rapid development of science and technology, there are a lot of repetitive labor in people's production and life, and there are many risks when they explore unknown places. To a large extent, the emergence of mobile robots can solve these problems and replace human beings to complete boring tasks and reduce risks. The mobile robot combines the robot with the omnidirectional mobile platform, which greatly increases the activity range of the robot, but the ability of the mobile single robot is difficult to meet the heavy processing tasks and various processes, and the advantages of multi-robot technology are increasingly apparent. Compared with a single robot, it has the advantages of wider task field, strong fault tolerance, strong robustness, low economic cost and flexible distribution. In this paper, a mobile multi-robot machining platform is designed based on a 6-DOF mobile robot. The mobile robot is composed of an AGV car, a 6-UCU parallel robot and an electric spindle. The three-dimensional model of the mobile multi-robot machining platform established is composed of two isomeric robots, which are symmetrically distributed on the machining platform to lay the foundation for direct coupling. Then the force is added to the mobile multi-robot machining platform in Adams, and the dynamic simulation is carried out to observe the force of each electric cylinder during movement. The modal analysis of the mobile robot was carried out by using ANSYS Workbench software to obtain modal parameters such as natural frequency to verify the rationality of the designed mobile robot.to truly detect the safety hazards. In order to solve these problems, ANSYS (finite element analysis software) is used to analyze the theoretical stress of the 3D structure model, and the theoretical dangerous stress position of the structure is solved. Provide strong data support for the design and development of wind power crane industry in the later stage.
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FALLAHI, KIA, and HENRY LEUNG. "A COOPERATIVE MOBILE ROBOT TASK ASSIGNMENT AND COVERAGE PLANNING BASED ON CHAOS SYNCHRONIZATION." International Journal of Bifurcation and Chaos 20, no. 01 (January 2010): 161–76. http://dx.doi.org/10.1142/s021812741002548x.
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In this paper, we propose a cooperative task assignment and coverage planning for mobile robots based on chaos synchronization. The chaotic mobile robot implies that the robot controller that drives a chaotic motion is characterized by topological transitivity and sensitive dependence on initial conditions. Due to the topological transitivity, the chaotic mobile robot is guaranteed to scan a workspace completely and the robot requires neither a map of the workspace nor a global motion plan. Chen and Lorenz systems are used to generate chaotic motion in this work. Cooperative multirobot systems can operate faster with higher efficiency and better reliability than a single robot system. By synchronizing the chaotic robot controllers, effective cooperation can be achieved. The performance of the cooperative chaotic mobile robots can be attributed to the use of deterministic dynamical systems and extended Kalman filter for chaos synchronization. Computer simulations illustrate the effectiveness of the proposed approach.
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Liu, Xue Peng, and Dong Mei Zhao. "Mobile Robot Movement Analysis and Design." Advanced Materials Research 490-495 (March 2012): 2480–83. http://dx.doi.org/10.4028/www.scientific.net/amr.490-495.2480.
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The mobile robot trajectory curve track and circular track arc analyzed. The stability condition of wheeled mobile robots is discussed. A new robots walk system design is presented. And the walking process is analyzed.
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Mohanraj, A. P., A. Elango, D. Ragavendhiran, P. Vignesh Raja, and K. Ashok. "Design and Movement Analysis of Single Roller Omni Directional Wheeled Robot for Different Assembly Structures." Applied Mechanics and Materials 592-594 (July 2014): 2324–28. http://dx.doi.org/10.4028/www.scientific.net/amm.592-594.2324.
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This paper addresses the movement analysis of square structured and triangular structured Omni directional mobile robots and its combination in the form of octagonal structured mobile robot. The Omni wheel used in this research is having 8 rollers made up of synthetic rubber coated polypropylene rollers. An experiment was setup to analyse the movement of the square, triangular and octagonal structured robot in x-axis, y-axis and rotary motion. This experiment is an attempt of combining square structure and triangular structure robot in a single robot. Omni Directional mobile robot creates another step in the field of mobile robotics.
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Scaglia, Gustavo, Lucía Quintero Montoya, Vicente Mut, and Fernando di Sciascio. "Numerical methods based controller design for mobile robots." Robotica 27, no. 2 (March 2009): 269–79. http://dx.doi.org/10.1017/s0263574708004669.
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SUMMARYThis paper presents the design of four controllers for a mobile robot such that the system may follow a preestablished trajectory. To reach this aim, the kinematic model of a mobile robot is approximated using numerical methods. Then, from such approximation, the control actions to get a minimal tracking error are calculated. Both simulation and experimental results on a PIONEER 2DX mobile robot are presented, showing a good performance of the four proposed mobile robot controllers. Also, an application of the proposed controllers to a leader robot following problem is shown; in it, the relative position between robots is obtained through a laser.
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Mohammed, Mohammed, Mahmood Abdulrazzaq .., Ruqayah R. Al .., and Salah A. Aliesawi. "Intelligent Enhanced Mobile Robotics Navigation: Integrating Neural Networks with Type-2 Fuzzy Logic for Dynamic Environments." Fusion: Practice and Applications 15, no. 2 (2024): 89–101. http://dx.doi.org/10.54216/fpa.150208.
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Intelligent mobile robots move on uncertain grounds, thus requiring good navigation strategies for things like path tracking and obstacle avoidance. This research uses an Omni-drive mobile robot to autonomously approach given objectives in different situations encountered in static and dynamic environments. The paper compares two distinct controllers – fuzzy logic controller and neural network controller- that lead the mobile robot towards its destination without hitting obstacles. These are responsible for adjusting the linear and angular velocities of a mobile robot which makes adaptive navigation possible during real-time. The experimental results have depicted the adaptability of each controller as well as its efficiency especially when dealing with uncertainties involved with the mobile robot navigation system. By systematically evaluating and contrasting them, this study brings out the best performance between Fuzzy Logic and Neural Network Controllers regarding enhancing the autonomy and robustness of Mobile Robots. This research helps to advance knowledge in autonomous systems for practical applications, which will give rise to more efficient navigational techniques for mobile robots; thus, efficient systems that are autonomous become more reliable today. The results show that these controllers are effective in safely steering the robot from its starting point to a specified destination without hitting obstacles.
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Zhen, Zhang, Cao Qixin, Charles Lo, and Zhang Lei. "A CORBA-based simulation and control framework for mobile robots." Robotica 27, no. 3 (May 2009): 459–68. http://dx.doi.org/10.1017/s026357470800489x.
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SUMMARYThis paper presents a distributed multiple mobile robots framework which allows programming and control of virtual and real mobile robots. The system provides the map building, path planning, robot task planning, simulation, and actual robot control functions in an indoor environment. Users can program the virtual robots in a customized simulation environment and check the performance of execution, i.e., if the simulation result is satisfying, users can download the code to a real robot. The paper focuses on the distributed architecture and key technologies of virtual robots simulation and control of real robots. A method for construction and transfer of a key index value (which stores the robot configuration) is proposed. Using this method, only the robot key configuration index is needed to build the robot in the virtual environment. This results in reduced network load and improved real time performance of the distributed system. Experiments were conducted to compare the performance of the proposed system with the performance of a centralized system. The results show that the distributed system uses less system resources and has better real time performance. What is more, this framework has been applied to Yaskawa's robot “SmartPal.” The simulation and experiment results show that our robotic framework can simulate and control the robot to perform complex tasks.
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Deng, Mingyao. "Robot navigation based on multi-sensor fusion." Journal of Physics: Conference Series 2580, no. 1 (September 1, 2023): 012020. http://dx.doi.org/10.1088/1742-6596/2580/1/012020.
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Abstract Over the past years, with the rapid development of artificial intelligence technology, mobile robots have appeared in more and more fields. Different types of robots play different roles. Due to the complex indoor environment, there are still many technical problems to be solved for robots. Aiming at the shortcomings of single sensor, low mileage accuracy, and poor security in traditional mobile robot navigation systems, we propose a mobile robot autonomous navigation system based on multi-sensor perception. This system integrates mainstream synchronous positioning and mapping algorithms, path planning algorithms, and positioning algorithms, and uses multiple sensors to compensate each other to achieve the automatic navigation function of the mobile robot. In order to verify the reliability of the method, We have carried out multi angle analysis in the simulation environment, and the experimental results show that the proposed navigation system is reliable in operation, high in mileage accuracy, and good in robustness, which broadens the application scenario of mobile robots.
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Kesuma, Putri Repina, Tresna Dewi, RD Kusumanto, Pola Risma, and Yurni Oktarina. "Desain Fuzzy Logic Controller Untuk Pengendali Pergerakan Mobile Manipulator." Journal of Applied Smart Electrical Network and Systems 1, no. 01 (June 30, 2020): 12–18. http://dx.doi.org/10.52158/jasens.v1i01.43.
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Technology is developing more and more to facilitate human life. Technology enables automation in all areas of life, and robots are among the most frequently used machines in automation. Robots can help with human work in all fields, including agriculture. A mobile robot manipulator is a combination of a robot arm and a mobile robot so that this type of robot can combine the capabilities of the two robots. This paper discusses the design of a robot manipulator to be used in agriculture to replace farmers in the harvesting of agricultural products, such as tomatoes. This paper presents a mechanical, electrical design and uses the Fuzzy Logic Controller as artificial intelligence. The feasibility of the proposed method is demonstrated by simulation in Mobotsim.
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Mitani, Atsushi, Yuhei Suzuki, and Yuta Tochigi. "Development of Trident Motif Riden Mobile Robot for Robot-Triathlon Robot Contest." Journal of Robotics and Mechatronics 29, no. 1 (February 20, 2017): 269–72. http://dx.doi.org/10.20965/jrm.2017.p0269.
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[abstFig src='/00290001/25.jpg' width='300' text='Trident motif robot Riden' ] The mobile robot Riden uses the trident motif for in the robot-triathlon contest annually held in Hokkaido, Japan. The robot-triathlon contest involves three tasks: line tracing, a wandering forest, and cone stacking. Robots must complete these tasks as fast as possible with autonomous control. This means that function design usually takes priority over aesthetic appeal. We are the only college of design education team taking part. Our teams have done so by developing robots that take both function and aesthetic appeal into account. Based on 3D modeling technology, design education students use their design and modeling skills to design robots that are both aesthetic and functional. Riden was designed using SolidWorks 3D-CAD software and its parts modeled using a 3D printer.
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Dong, Qin. "Path Planning Algorithm Based on Visual Image Feature Extraction for Mobile Robots." Mobile Information Systems 2022 (July 1, 2022): 1–9. http://dx.doi.org/10.1155/2022/4094472.
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When autonomous mobile robots plan their own movements properly, they first need to perceive the surrounding environment and then make comprehensive decisions based on the surrounding environment information, that is, path planning. Vision can provide abundant and complete environmental information for robots, and it can significantly improve the effect of path planning when it is introduced into the path planning of autonomous robots. In this article, we take the autonomous mobile robot AS-R as the research object and use the multisensors such as a gimbal camera and ultrasonic sensor attached to the robot to study the navigation line information perceived by machine vision, the obstacle information sensed by range sensor, and the fusion of multisensor information to solve the image processing, path recognition, information fusion, decision control, and other related problems of the mobile robot to realize the autonomous mobile robot.
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Necula, Vlad Catalin, Diana Stamate, and Gabriela Bucur. "SPIDER4LEGS MOBILE ROBOT DESIGN CONTROLLED BY THE ESP32 PLATFORM." Romanian Journal of Petroleum & Gas Technology 4 (75), no. 1 (2023): 251–58. http://dx.doi.org/10.51865/jpgt.2023.01.21.
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The grazing robot is a dynamic system, consisting of a platform (the body of the robot) and a number of legs with structures similar to the kinematic chains of manipulator robots. Grazing robots can have a redundant number of legs, therefore they can ensure a static stability even if one or more legs are destroyed [10]. The objective of the work is to design a mobile robot controlled with the Arduino board controlled by an ESP 32 logic processor. The robot proposed in the paper is a spider-type robot with four legs, named SPIDER4LEGS. The components used to make the robot are the following: ESP32 development board, ESP ROOM-32, WiFi and Bluetooth BLE, Dual Core; PCA9685 module, I2C interface, 16 CH, servo motor; 12 Servo motors SG90 180 degrees. A possible field of application of these robots is the internal inspection of pipelines transporting petroleum products [7],[8],[9].
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Suharso, Panji Setyo. "Sistem Pengenalan Telapak Tangan pada Interaksi Manusia Robot sebagai Perintah untuk Mobile Robot." Syntax Literate ; Jurnal Ilmiah Indonesia 8, no. 7 (July 24, 2023): 5304–13. http://dx.doi.org/10.36418/syntax-literate.v8i7.12924.
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Palm recognition system on human-robot interaction as commands for mobile robots is aresearch that aims to develop a system that allows robots to receive commands and instructions non-verbally from humans through palm recognition. Using image recognition and data processing technology, the system aims to create an intuitive interaction between humans and robots, allowing robots to recognize hand gestures and understand commands given. The research includes several stages of development. First, image processing and analysis is carried out to identify and understand the shape and movement of the human palm. Then, the data is linked with the appropriate commands to be communicated to the mobile robot. The training process is carried out to improve the accuracy of the palm recognition system and reduce the likelihood of errors in the interpretation of commands. The results of this study are expected to have a positive impact on the use of mobile robots, especially in complicated or dangerous environments where verbal communication may be limited or impossible. More natural and easy human-robot interaction is expected to improve efficiency and safety in the operation of mobile robots.
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Akai, Naoki, Yasunari Kakigi, Shogo Yoneyama, and Koichi Ozaki. "Development of Autonomous Mobile Robot that Can Navigate in Rainy Situations." Journal of Robotics and Mechatronics 28, no. 4 (August 19, 2016): 441–50. http://dx.doi.org/10.20965/jrm.2016.p0441.
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[abstFig src='/00280004/02.jpg' width='300' text='Navigation under strong rainy condition' ] The Real World Robot Challenge (RWRC), a technical challenge for mobile outdoor robots, has robots automatically navigate a predetermined path over 1 km with the objective of detecting specific persons. RWRC 2015 was conducted in the rain and every robot could not complete the mission. This was because sensors on the robots detected raindrops and the robots then generated unexpected behavior, indicating the need to study the influence of rain on mobile navigation systems – a study clearly not yet sufficient. We begin by describing our robot’s waterproofing function, followed by investigating the influence of rain on the external sensors commonly used in mobile robot navigation and discuss how the robot navigates autonomous in the rain. We conducted navigation experiments in artificial and actual rainy environments and those results showed that the robot navigates stably in the rain.
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Mester, Gyula. "Intelligent wheeled mobile robot navigation." Jelenkori Társadalmi és Gazdasági Folyamatok 5, no. 1-2 (January 1, 2010): 258–64. http://dx.doi.org/10.14232/jtgf.2010.1-2.258-264.
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The paper deals with the wireless sensor-based remote control of mobile robots motion in an unknown environment with obstacles using the Sun SPOT technology and gives the fuzzy velocity control of a mobile robot motion in an unknown environment with obstacles. When the vehicle is moving towards the target and the sensors detect an obstacle, an avoiding strategy and velocity control are necessary. We proposed the wireless sensor-based remote control of mobile robots motion in an unknown environment with obstacles using the Sun SPOT technology and a fuzzy reactive navigation strategy of collision-free motion and velocity control in an unknown environment with obstacles. The simulation results show the effectiveness and the validity of the obstacle avoidance behavior in an unknown environment. The proposed method have been implemented on the miniature mobile robot Khepera® that is equipped with sensors.
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Sun, Bo, Jingwei Li, and Guanci Yang. "Multi-robot Cooperation Strategy Based on Wireless Sensor Network." International Journal of Online Engineering (iJOE) 14, no. 11 (November 10, 2018): 77. http://dx.doi.org/10.3991/ijoe.v14i11.9514.
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<p class="0abstract"><span lang="EN-US">To realize the design of multi-robot cooperative control based on wireless sensor networks, a large number of local control research experiments are carried out on a specific model of mobile robots. Combined with the kinematic model of mobile robot, the motion characteristics of this kind of mobile robot are grasped. On the basis of realizing the multi-target tracking and positioning of wireless sensor network, a multi mobile robot cooperative control system based on the feedback of wireless sensor network is developed, and the synchronous motion between the master and the robot is maintained through the feedback control of the network. Finally, a cooperative trajectory tracking control algorithm for mobile robot is introduced, and the principle of the controller design is mastered. A multi mobile robot cooperative trajectory tracking LQG controller is designed for mobile robot in wireless sensor network. The simulation results show that the algorithm can reach the cooperative control target.</span></p>