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1
Benmachiche, Abdelmadjid, Bouhadada Tahar, Laskri Mohamed Tayeb, and Zendi Asma. "A dynamic navigation for autonomous mobiles robots." Intelligent Decision Technologies 10, no. 1 (January 21, 2016): 81–91. http://dx.doi.org/10.3233/idt-150239.
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Shinchi, T., M. Tabuse, T. Kitazoe, and A. Todaka. "Khepera robots applied to highway autonomous mobiles." Artificial Life and Robotics 7, no. 3 (September 2003): 118–23. http://dx.doi.org/10.1007/bf02481159.
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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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Ma, Xi Pei, Bing Feng Qian, Song Jie Zhang, and Ye Wang. "Research on Technology and Application of Multi-Sensor Data Fusion for Indoor Service Robots." Applied Mechanics and Materials 651-653 (September 2014): 831–34. http://dx.doi.org/10.4028/www.scientific.net/amm.651-653.831.
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The autonomous navigation process of a mobile service robot is usually in uncertain environment. The information only given by sensors has been unable to meet the demand of the modern mobile robots, so multi-sensor data fusion has been widely used in the field of robots. The platform of this project is the achievement of the important 863 Program national research project-a prototype nursing robot. The aim is to study a mobile service robot’s multi-sensor information fusion, path planning and movement control method. It can provide a basis and practical use’s reference for the study of an indoor robot’s localization.
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Uchiyama, Naoki, Shigenori Sano, and Akihiro Yamamoto. "Sound source tracking considering obstacle avoidance for a mobile robot." Robotica 28, no. 7 (January 18, 2010): 1057–64. http://dx.doi.org/10.1017/s0263574709990919.
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SUMMARYSound source tracking is an important function for autonomous robots, because sound is omni-directional and can be recognized in dark environment. This paper presents a new approach to sound source tracking for mobile robots using auditory sensors. We consider a general type of two-wheeled mobile robot that has wide industrial applications. Because obstacle avoidance is also an indispensable function for autonomous mobile robots, the robot is equipped with distance sensors to detect obstacles in real time. To deal with the robot's nonholonomic constraint and combine information from the auditory and distance sensors, we propose a model reference control approach in which the robot follows a desired trajectory generated by a reference model. The effectiveness of the proposed method is confirmed by experiments in which the robot is expected to approach a sound source while avoiding obstacles.
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Takahashi, Kiyoaki, Takafumi Ono, Tomokazu Takahashi, Masato Suzuki, Yasuhiko Arai, and Seiji Aoyagi. "Performance Evaluation of Robot Localization Using 2D and 3D Point Clouds." Journal of Robotics and Mechatronics 29, no. 5 (October 20, 2017): 928–34. http://dx.doi.org/10.20965/jrm.2017.p0928.
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Autonomous mobile robots need to acquire surrounding environmental information based on which they perform their self-localizations. Current autonomous mobile robots often use point cloud data acquired by laser range finders (LRFs) instead of image data. In the virtual robot autonomous traveling tests we have conducted in this study, we have evaluated the robot’s self-localization performance on Normal Distributions Transform (NDT) scan matching. This was achieved using 2D and 3D point cloud data to assess whether they perform better self-localizations in case of using 3D or 2D point cloud data.
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Donoso-Aguirre, F., J. P. Bustos-Salas, M. Torres-Torriti, and A. Guesalaga. "Mobile robot localization using the Hausdorff distance." Robotica 26, no. 2 (March 2008): 129–41. http://dx.doi.org/10.1017/s0263574707003657.
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SUMMARYThis paper presents a novel method for localization of mobile robots in structured environments. The estimation of the position and orientation of the robot relies on the minimisation of the partial Hausdorff distance between ladar range measurements and a floor plan image of the building. The approach is employed in combination with an extended Kalman filter to obtain accurate estimates of the robot's position, heading and velocity. Good estimates of these variables were obtained during tests performed using a differential drive robot, thus demonstrating that the approach provides an accurate, reliable and computationally feasible alternative for indoor robot localization and autonomous navigation.
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Samadi Gharajeh, Mohammad, and Hossein B. Jond. "Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning." Sensors 21, no. 10 (May 14, 2021): 3433. http://dx.doi.org/10.3390/s21103433.
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Mobile robots are endeavoring toward full autonomy. To that end, wheeled mobile robots have to function under non-holonomic constraints and uncertainty derived by feedback sensors and/or internal dynamics. Speed control is one of the main and challenging objectives in the endeavor for efficient autonomous collision-free navigation. This paper proposes an intelligent technique for speed control of a wheeled mobile robot using a combination of fuzzy logic and supervised machine learning (SML). The technique is appropriate for flexible leader-follower formation control on straight paths where a follower robot maintains a safely varying distance from a leader robot. A fuzzy controller specifies the ultimate distance of the follower to the leader using the measurements obtained from two ultrasonic sensors. An SML algorithm estimates a proper speed for the follower based on the ultimate distance. Simulations demonstrated that the proposed technique appropriately adjusts the follower robot’s speed to maintain a flexible formation with the leader robot.
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Sasaki, Yoko, Saori Masunaga, Simon Thompson, Satoshi Kagami, and Hiroshi Mizoguchi. "Sound Localization and Separation for Mobile Robot Tele-Operation by Tri-Concentric Microphone Array." Journal of Robotics and Mechatronics 19, no. 3 (June 20, 2007): 281–89. http://dx.doi.org/10.20965/jrm.2007.p0281.
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The paper describes a tele-operated mobile robot system which can perform multiple sound source localization and separation using a 32-channel tri-concentric microphone array. Tele-operated mobile robots require two main capabilities: 1) audio/visual presentation of the robot’s environment to the operator, and 2) autonomy for mobility. This paper focuses on the auditory system of a tele-operated mobile robot in order to improve both the presentation of sound sources to the operator and also to facilitate autonomous robot actions. The auditory system is based on a 32-channel distributed microphone array that uses highly efficient directional design for localizing and separating multiple moving sound sources. Experimental results demonstrate the feasibility of inter-person distant communication through the tele-operated robot system.
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Kudriashov, Andrii, Tomasz Buratowski, Jerzy Garus, and Mariusz Giergiel. "3D Environment Exploration with SLAM for Autonomous Mobile Robot Control." WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL 16 (August 2, 2021): 450–56. http://dx.doi.org/10.37394/23203.2021.16.40.
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In the paper a solution for building of 3D map of unknown terrain for the purposes of control of wheeled autonomous mobile robots operating in an isolated and hard-access area is described. The work environment is represented by a three-dimensional occupancy grid map built with SLAM techniques using LIDAR sensor system. Probabilistic methods such as adaptive Monte Carlo localization and extended Kalman filter are used to concurrently build a map of surroundings and a robot’s pose estimation. A robot’s displacement and orientation are obtained from odometry and inertial navigation system. All algorithms and sub-systems have been implemented and verified with Robot Operation System with a framework for exploration tasks in multi-level buildings
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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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De Fazio, Roberto, Dany Mpoi Katamba, Aimè Lay Ekuakille, Miguel Joseph Ferreira, Simon Kidiamboko, Nicola Ivan Giannoccaro, Ramiro Velazquez, and Paolo Visconti. "Sensors-based mobile robot for harsh environments: functionalities, energy consumption analysis and characterization." ACTA IMEKO 10, no. 2 (June 29, 2021): 209. http://dx.doi.org/10.21014/acta_imeko.v10i2.907.
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Mobile robots and rovers play an important role in many industrial applications. Under certain constraints, they are suitable in harsh environments and conditions in which protracted human activity is not safe or permitted. In many circumstances, mechanical aspects and electrical consumption need to be optimized for autonomous and wheeled mobile robots. The paper illustrates the design of a semi-custom wheeled mobile robot with high-efficiency mono- or polycrystalline photovoltaic panel on the roof that supports the lithium ion batteries during particular tasks (e.g. navigating rough terrain, obstacles or steep paths) to extend the robot’s autonomy. An electronic controller was designed, and data acquisition related to power consumption performed using a specific experimental setup. The robot can detect parameters such as temperature, humidity, concentrations of toxic gas species and the presence of flames, making it particularly suitable for contaminated environments or industrial plants. For this aim, the mobile robot was equipped with a wide range of commercial sensors and a Global Positioning System receiver to track its position. In addition, using an HC-06 Bluetooth transceiver, the robot receives commands and instructions, and sends the acquired data to the developed IoTool smartphone application, where they are displayed to be analysed by user.
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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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Paull, Liam, Mae Seto, John J. Leonard, and Howard Li. "Probabilistic cooperative mobile robot area coverage and its application to autonomous seabed mapping." International Journal of Robotics Research 37, no. 1 (November 30, 2017): 21–45. http://dx.doi.org/10.1177/0278364917741969.
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There are many applications that require mobile robots to autonomously cover an entire area with a sensor or end effector. The vast majority of the literature on this subject is focused on addressing path planning for area coverage under the assumption that the robot’s pose is known or that error is bounded. In this work, we remove this assumption and develop a completely probabilistic representation of coverage. We show that coverage is guaranteed as long as the robot pose estimates are consistent, a much milder assumption than zero or bounded error. After formally connecting robot sensor uncertainty with area coverage, we propose an adaptive sliding window filter pose estimator that provides a close approximation to the full maximum a posteriori estimate with a computation cost that is bounded over time. Subsequently, an adaptive planning strategy is presented that automatically exploits conditions of low vehicle uncertainty to more efficiently cover an area. We further extend this approach to the multi-robot case where robots can communicate through a (possibly faulty and low-bandwidth) channel and make relative measurements of one another. In this case, area coverage is achieved more quickly since the uncertainty over the robots’ trajectories is reduced. We apply the framework to the scenario of mapping an area of seabed with an autonomous underwater vehicle. Experimental results support the claim that our method achieves guaranteed complete coverage notwithstanding poor navigational sensors and that resulting path lengths required to cover the entire area are shortest using the proposed cooperative and adaptive approach.
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Habib, Maki K. "Real Time Mapping and Dynamic Navigation for Mobile Robots." International Journal of Advanced Robotic Systems 4, no. 3 (September 1, 2007): 35. http://dx.doi.org/10.5772/5681.
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This paper discusses the importance, the complexity and the challenges of mapping mobile robot's unknown and dynamic environment, besides the role of sensors and the problems inherited in map building. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. The paper presenst the state of the art in map building and localization for mobile robots navigating within unknown environment, and then introduces a solution for the complex problem of autonomous map building and maintenance method with focus on developing an incremental grid based mapping technique that is suitable for real-time obstacle detection and avoidance. In this case, the navigation of mobile robots can be treated as a problem of tracking geometric features that occur naturally in the environment of the robot. The robot maps its environment incrementally using the concept of occupancy grids and the fusion of multiple ultrasonic sensory information while wandering in it and stay away from all obstacles. To ensure real-time operation with limited resources, as well as to promote extensibility, the mapping and obstacle avoidance modules are deployed in parallel and distributed framework. Simulation based experiments has been conducted and illustrated to show the validity of the developed mapping and obstacle avoidance approach.
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López-Lozada, Elizabeth, Elsa Rubio-Espino, J. Humberto Sossa-Azuela, and Victor H. Ponce-Ponce. "Reactive navigation under a fuzzy rules-based scheme and reinforcement learning for mobile robots." PeerJ Computer Science 7 (June 4, 2021): e556. http://dx.doi.org/10.7717/peerj-cs.556.
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Robot navigation allows mobile robots to navigate among obstacles without hitting them and reaching the specified goal point. In addition to preventing collisions, it is also essential for mobile robots to sense and maintain an appropriate battery power level at all times to avoid failures and non-fulfillment with their scheduled tasks. Therefore, selecting the proper time to recharge the batteries is crucial to address the navigation algorithm design for the robot’s prolonged autonomous operation. In this paper, a machine learning algorithm is used to ensure the extended robot autonomy based on a reinforcement learning method combined with a fuzzy inference system. The proposal enables a mobile robot to learn whether to continue through its path toward the destination or modify its course on the fly, if necessary, to proceed toward the battery charging station, based on its current state. The proposal performs a flexible behavior to choose an action that allows a robot to move from a starting to a destination point, guaranteeing battery charge availability. This paper shows the obtained results using an approach with thirty-six states and its reduction with twenty states. The conducted simulations show that the robot requires fewer training epochs to achieve ten consecutive successes in the fifteen proposed scenarios than traditional reinforcement learning methods exhibit. Moreover, in four scenarios, the robot ends up with a battery level above 80%, that value is higher than the obtained results with two deterministic methods.
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Lin, Hung-Hsing, and Ching-Chih Tsai. "Improved global localization of an indoor mobile robot via fuzzy extended information filtering." Robotica 26, no. 2 (March 2008): 241–54. http://dx.doi.org/10.1017/s0263574707003876.
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SUMMARYGlobal localization of mobile robots has been well studied using the extended Kalman filter (EKF) method. This paper presents a fuzzy extended information filtering (FEIF) approach to improving global localization of an indoor autonomous mobile robot with ultrasonic and laser scanning measurements. A real-time FEIF algorithm is proposed to improve accuracy of static global pose estimation via multiple ultrasonic data. By fusing odometric, ultrasonic, and laser scanning data, a real-time FEIF-based pose tracking algorithm is developed to improve accuracy of the robot's continuous poses. Several experimental results are performed to confirm the efficacy of the proposed methods.
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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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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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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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Huo, Jianwen, Manlu Liu, Konstantin A. Neusypin, Haojie Liu, Mingming Guo, and Yufeng Xiao. "Autonomous Search of Radioactive Sources through Mobile Robots." Sensors 20, no. 12 (June 19, 2020): 3461. http://dx.doi.org/10.3390/s20123461.
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The research of robotic autonomous radioactivity detection or radioactive source search plays an important role in the monitoring and disposal of nuclear safety and biological safety. In this paper, a method for autonomously searching for radioactive sources through mobile robots was proposed. In the method, by using a partially observable Markov decision process (POMDP), the search of autonomous unknown radioactive sources was realized according to a series of radiation information measured by mobile robot. First, the factors affecting the accuracy of radiation measurement during the robot’s movement were analyzed. Based on these factors, the behavior set of POMDP was designed. Secondly, the parameters of the radioactive source were estimated in the Bayesian framework. In addition, through the reward strategy, autonomous navigation of the robot to the position of the radiation source was achieved. The search algorithm was simulated and tested, and the TurtleBot robot platform was used to conduct a real search experiment on the radio source Cs-137 with an activity of 37 MBq indoors. The experimental results showed the effectiveness of the method. Additionally, from the experiments, it could been seen that the robot was affected by the linear velocity, angular velocity, positioning accuracy and the number of measurements in the process of autonomous search for the radioactive source. The proposed mobile robot autonomous search method can be applied to the search for lost radioactive sources, as well as for the leakage of substances (nuclear or chemical) in nuclear power plants and chemical plants.
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Taira, Tetsuya, and Nobuyuki Yamasaki. "Functionally Distributed Control Architecture for Autonomous Mobile Robots." Journal of Robotics and Mechatronics 16, no. 2 (April 20, 2004): 217–24. http://dx.doi.org/10.20965/jrm.2004.p0217.
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This paper explains the design and implementation of functionally distributed control architecture that realizes real-time control of autonomous mobile robots. To operate successfully in human society, autonomous mobile robots must achieve both local and global control in real-time. We focus on robots operating in parallel, such as moving while sensing, and propose a functionally distributed control architecture designed as a parallel/distributed computer consisting of many functionally distributed modules. Each module has an exclusive Processing Unit (PU) that processes one function of robot, such as image processing, auditory processing, and wheel control, independently in real-time. The robot can perform global action by cooperating with such modules. We then evaluate the efficiency of the proposed architecture by implementing prototype robots based on this architecture.
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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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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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Eda, Tomoyoshi, Tadahiro Hasegawa, Shingo Nakamura, and Shin’ichi Yuta. "Development of Autonomous Mobile Robot “MML-05” Based on i-Cart Mini for Tsukuba Challenge 2015." Journal of Robotics and Mechatronics 28, no. 4 (August 19, 2016): 461–69. http://dx.doi.org/10.20965/jrm.2016.p0461.
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[abstFig src='/00280004/04.jpg' width='300' text='Autonomous mobile robots entered in the Tsukuba Challenge 2015' ] This paper describes a self-localization method for autonomous mobile robots entered in the Tsukuba Challenge 2015. One of the important issues in autonomous mobile robots is accurately estimating self-localization. An occupancy grid map, created manually before self-localization has typically been utilized to estimate the self-localization of autonomous mobile robots. However, it is difficult to create an accurate map of complex courses. We created an occupancy grid map combining local grid maps built using a leaser range finder (LRF) and wheel odometry. In addition, the self-localization of a mobile robot was calculated by integrating self-localization estimated by a map and matching it to wheel odometry information. The experimental results in the final run of the Tsukuba Challenge 2015 showed that the mobile robot traveled autonomously until the 600 m point of the course, where the occupancy grid map ended.
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Maimon, Oded, and Mark Last. "Information-efficient robotic control." Robotica 12, no. 2 (March 1994): 157–64. http://dx.doi.org/10.1017/s0263574700016738.
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SUMMARYThe work demonstrates a new approach to design of a level of intelligent control of robotic systems. The analytical model results in operational decisions. The structure of these decisions make them readily available to be implemented as an expert system. The approach is applied to a case study of mobile supervisory robots. The model presented here was motivated by manufacturing robotic systems and a type of autonomous robots that collect information at different sites for safety and other control purposes. The robot actions are directly affected by the obta~ned data. At each site the amount of available information (and thus the correctness of the robot decision) can be increased if the robot keeps collecting data at that site for a longer period of t~me. This means a delay in reacting and in reaching next site and accordingly, a decrease in the general amount of robot's information on the whole system.The method of finding an economic amount of information collected by a robot at each site is based on the theory of controlled discrete event stochastic systems developed in our earlier works. This theory combines he basic concepts of discrete event control extended to stochastic systems with some aspects of information economics.
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López, Joaquín, Rafael Sanz, Miguel D. Cacho, and Amador R. Diéguez. "Increasing wireless reliability for autonomous mobile robots." Robotica 31, no. 3 (August 8, 2012): 405–16. http://dx.doi.org/10.1017/s0263574712000422.
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SUMMARYThere is an increasing popularity of mobile robot applications over the Internet. Robots need some kind of wireless communication to receive commands and transmit information to users. This paper describes the problems encountered to keep the mobile robots connected and the solutions adopted. The first problem was related to delays and the very low throughput that occur when the robot roams to a new access point. Most commercial systems currently installed implement proprietary solutions with different behaviors. Here, a simple and device-independent solution for mobile robot applications is proposed. The second problem is the lack of wireless coverage in some areas of buildings. The solutions adopted for these problems are based on coverage maps.
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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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Ravankar, Abhijeet, Ankit Ravankar, Yukinori Kobayashi, Yohei Hoshino, and Chao-Chung Peng. "Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges." Sensors 18, no. 9 (September 19, 2018): 3170. http://dx.doi.org/10.3390/s18093170.
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Robot navigation is an indispensable component of any mobile service robot. Many path planning algorithms generate a path which has many sharp or angular turns. Such paths are not fit for mobile robot as it has to slow down at these sharp turns. These robots could be carrying delicate, dangerous, or precious items and executing these sharp turns may not be feasible kinematically. On the contrary, smooth trajectories are often desired for robot motion and must be generated while considering the static and dynamic obstacles and other constraints like feasible curvature, robot and lane dimensions, and speed. The aim of this paper is to succinctly summarize and review the path smoothing techniques in robot navigation and discuss the challenges and future trends. Both autonomous mobile robots and autonomous vehicles (outdoor robots or self-driving cars) are discussed. The state-of-the-art algorithms are broadly classified into different categories and each approach is introduced briefly with necessary background, merits, and drawbacks. Finally, the paper discusses the current and future challenges in optimal trajectory generation and smoothing research.
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Dirik, Castillo, and Kocamaz. "Gaze-Guided Control of an Autonomous Mobile Robot Using Type-2 Fuzzy Logic." Applied System Innovation 2, no. 2 (April 24, 2019): 14. http://dx.doi.org/10.3390/asi2020014.
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Motion control of mobile robots in a cluttered environment with obstacles is an important problem. It is unsatisfactory to control a robot’s motion using traditional control algorithms in a complex environment in real time. Gaze tracking technology has brought an important perspective to this issue. Gaze guided driving a vehicle based on eye movements supply significant features of nature task to realization. This paper presents an intelligent vision-based gaze guided robot control (GGC) platform that uses a user-computer interface based on gaze tracking enables a user to control the motion of a mobile robot using eyes gaze coordinate as inputs to the system. In this paper, an overhead camera, eyes tracking device, a differential drive mobile robot, vision and interval type-2 fuzzy inference (IT2FIS) tools are utilized. The methodology incorporates two basic behaviors; map generation and go-to-goal behavior. Go-to-goal behavior based on an IT2FIS is more soft and steady progress in data processing with uncertainties to generate better performance. The algorithms are implemented in the indoor environment with the presence of obstacles. Experiments and simulation results indicated that intelligent vision-based gaze guided robot control (GGC) system can be successfully applied and the IT2FIS can successfully make operator intention, modulate speed and direction accordingly.
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Nirmala, Nirmala, Prianggada Indra Tanaya, and Maralo Sinaga. "A Study on Bipedal and Mobile Robot Behavior Through Modeling and Simulation." CommIT (Communication and Information Technology) Journal 9, no. 1 (May 31, 2015): 1. http://dx.doi.org/10.21512/commit.v9i1.1647.
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The purpose of this work is to study and analyze mobile robot behavior. In performing this, a framework is adopted and developed for mobile and bipedal robot. The robots are design, build, and run as proceed from the development of mechanical structure, electronics and control integration, and control software application. The behavior of those robots are difficult to be observed and analyzed qualitatively. To evaluate the design and behavior quality, modeling and simulation of robot structure and its task capability is performed. The stepwise procedure to robot behavior study is explained. Behavior cases study are experimented to bipedal robots, transporter robot and Autonomous Guided Vehicle (AGV) developed at our institution. The experimentation are conducted on those robots by adjusting their dynamic properties and/or surrounding environment. Validation is performed by comparing the simulation result and the real robot execution. The simulation gives a more idealistic behavior execution rather than realistic one. Adjustments are performed to fine tuning simulation's parameters to provide a more realistic performance.
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Oh, Junghyun, Changwan Han, and Seunghwan Lee. "Condition-Invariant Robot Localization Using Global Sequence Alignment of Deep Features." Sensors 21, no. 12 (June 15, 2021): 4103. http://dx.doi.org/10.3390/s21124103.
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Localization is one of the essential process in robotics, as it plays an important role in autonomous navigation, simultaneous localization, and mapping for mobile robots. As robots perform large-scale and long-term operations, identifying the same locations in a changing environment has become an important problem. In this paper, we describe a robust visual localization system under severe appearance changes. First, a robust feature extraction method based on a deep variational autoencoder is described to calculate the similarity between images. Then, a global sequence alignment is proposed to find the actual trajectory of the robot. To align sequences, local fragments are detected from the similarity matrix and connected using a rectangle chaining algorithm considering the robot’s motion constraint. Since the chained fragments provide reliable clues to find the global path, false matches on featureless structures or partial failures during the alignment could be recovered and perform accurate robot localization in changing environments. The presented experimental results demonstrated the benefits of the proposed method, which outperformed existing algorithms in long-term conditions.
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Shioya, Toshiaki, Kazushige Kogure, and Naoya Ohta. "Minimal Autonomous Mover – MG-11 for Tsukuba Challenge –." Journal of Robotics and Mechatronics 26, no. 2 (April 20, 2014): 225–35. http://dx.doi.org/10.20965/jrm.2014.p0225.
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A design policy for autonomous mobile robots favors widely accepted using as many sensors and as much powerful recognition hardware as possible to realize reliable robot operation. If we plan to use developed technology for commercial products, a separate design policy favors a minimum number of sensors and recognition hardware, i.e., the number enough for reliable operation. We named the robot designed under the latter design policy the Minimal Autonomous Mover (MAM) and built a MAM to participate in the Tsukuba Challenge, a competition for among autonomous mobile robots. In this competition, our robot reached the goal and completed the mission as reported in the sections that follow.
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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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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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Zhang, Huan, and Pubudu N. Pathirana. "Optimization-based formation of autonomous mobile robots." Robotica 29, no. 4 (August 5, 2010): 515–25. http://dx.doi.org/10.1017/s0263574710000366.
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SUMMARYThe formation of autonomous mobile robots to an arbitrary geometric pattern in a distributed fashion is a fundamental problem in formation control. This paper presents a new asynchronous, memoryless (oblivious) algorithm to the formation problem via distributed optimization techniques. The optimization minimizes an appropriately defined difference function between the current robot distribution and the target geometric pattern. The optimization processes are performed independently by individual robots in their local coordinate systems. A movement strategy derived from the results of the distributed optimizations guarantees that every movement makes the current robot configuration approaches the target geometric pattern until the final pattern is reached.
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Hosseininejad, Seyedhadi, and Chitra Dadkhah. "Mobile robot path planning in dynamic environment based on cuckoo optimization algorithm." International Journal of Advanced Robotic Systems 16, no. 2 (March 1, 2019): 172988141983957. http://dx.doi.org/10.1177/1729881419839575.
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Nowadays, the usage of autonomous mobile robots that fulfill various activities in enormous number of applications without human’s interference in a dynamic environment are thriving. A dynamic environment is the robot’s environment which is comprised of some static obstacles as well as several movable obstacles that their quantity and location change randomly through the time. Efficient path planning is one the significant necessities of these kind of robots to do their tasks effectively. Mobile robot path planning in a dynamic environment is finding a shortest possible path from an arbitrary starting point toward a desired goal point which needs to be safe (obstacle avoidance) and smooth as well as possible. To achieve this target, simultaneously satisfying a collection of certain constraints including the shortest, smooth, and collision free path is required. Therefore, this issue can be considered as an optimization problem, consequently solved via optimization algorithms. In this article, a new method based on cuckoo optimization algorithm is proposed for solving the mobile robot path planning problem in a dynamic environment. Furthermore, to diminish the computational complexity, the feature vector is also optimized (i.e. reduced in dimension) via a new proposed technique. The simulation results show the performance of proposed algorithm in finding a short, safe, smooth, and collision free path in different environment conditions.
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Xie, Li, Christian Henkel, Karl Stol, and Weiliang Xu. "Power-minimization and energy-reduction autonomous navigation of an omnidirectional Mecanum robot via the dynamic window approach local trajectory planning." International Journal of Advanced Robotic Systems 15, no. 1 (January 1, 2018): 172988141875456. http://dx.doi.org/10.1177/1729881418754563.
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To improve the energy efficiency of the Mecanum wheel, this article extends the dynamic window approach by adding a new energy-related criterion for minimizing the power consumption of autonomous mobile robots. The energy consumption of the Mecanum robot is first modeled by considering major factors. Then, the model is utilized in the extended dynamic window approach–based local trajectory planner to additionally evaluate the omnidirectional velocities of the robot. Based on the new trajectory planning objective that minimizes power consumption, energy-reduction autonomous navigation is proposed via the combinational cost objectives of low power consumption and high speed. Comprehensive experiments are performed in various autonomous navigation task scenarios, to validate the energy consumption model and to show the effectiveness of the proposed technique in minimizing the power consumption and reducing the energy consumption. It is observed that the technique effectively takes advantage of the Mecanum robot’s redundant maneuverability, can cope with any type of path and is able to fulfil online obstacle avoidance.
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Xue, Yang, Jun Tao Yang, Ya Ling Dong, Jia Li Shen, Ru Peng, Ri Bo Huang, and Jie Ding. "A New Approach for Autonomous Robot Obstacle Avoidance Using PSD Infrared Sensor Combined with Digital Compass." Applied Mechanics and Materials 511-512 (February 2014): 101–4. http://dx.doi.org/10.4028/www.scientific.net/amm.511-512.101.
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This paper presents a new approach for obstacle avoidance of small mobile robots, which combine the position sensitive detector (PSD) with digital compass. It is important for an autonomous robot to explore its surroundings in performing the task of localization and navigation for searching. Because of the complexity of the environment, one simple kind of sensors is not sufficient for robot to accomplish these tasks. In this paper, the small mobile robots are enabled to identify barriers and distinguish surroundings by using the angle signal from the digital compass which is generally mounted on the robot. Experimental results indicate that this approach based on digital compass shows great potential in autonomous robot obstacle avoidance.
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Tan, Bin. "Soccer-Assisted Training Robot Based on Image Recognition Omnidirectional Movement." Wireless Communications and Mobile Computing 2021 (August 16, 2021): 1–10. http://dx.doi.org/10.1155/2021/5532210.
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With the continuous emergence and innovation of computer technology, mobile robots are a relatively hot topic in the field of artificial intelligence. It is an important research area of more and more scholars. The core of mobile robots is to be able to realize real-time perception of the surrounding environment and self-positioning and to conduct self-navigation through this information. It is the key to the robot’s autonomous movement and has strategic research significance. Among them, the goal recognition ability of the soccer robot vision system is the basis of robot path planning, motion control, and collaborative task completion. The main recognition task in the vision system is the omnidirectional vision system. Therefore, how to improve the accuracy of target recognition and the light adaptive ability of the robot omnidirectional vision system is the key issue of this paper. Completed the system construction and program debugging of the omnidirectional mobile robot platform, and tested its omnidirectional mobile function, positioning and map construction capabilities in the corridor and indoor environment, global navigation function in the indoor environment, and local obstacle avoidance function. How to use the local visual information of the robot more perfectly to obtain more available information, so that the “eyes” of the robot can be greatly improved by relying on image recognition technology, so that the robot can obtain more accurate environmental information by itself has always been domestic and foreign one of the goals of the joint efforts of scholars. Research shows that the standard error of the experimental group’s shooting and dribbling test scores before and the experimental group’s shooting and dribbling test results after the standard error level is 0.004, which is less than 0.05, which proves the use of soccer-assisted robot-assisted training. On the one hand, we tested the positioning and navigation functions of the omnidirectional mobile robot, and on the other hand, we verified the feasibility of positioning and navigation algorithms and multisensor fusion algorithms.
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Daza, Marcos, Dennis Barrios-Aranibar, José Diaz-Amado, Yudith Cardinale, and João Vilasboas. "An Approach of Social Navigation Based on Proxemics for Crowded Environments of Humans and Robots." Micromachines 12, no. 2 (February 13, 2021): 193. http://dx.doi.org/10.3390/mi12020193.
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Nowadays, mobile robots are playing an important role in different areas of science, industry, academia and even in everyday life. In this sense, their abilities and behaviours become increasingly complex. In particular, in indoor environments, such as hospitals, schools, banks and museums, where the robot coincides with people and other robots, its movement and navigation must be programmed and adapted to robot–robot and human–robot interactions. However, existing approaches are focused either on multi-robot navigation (robot–robot interaction) or social navigation with human presence (human–robot interaction), neglecting the integration of both approaches. Proxemic interaction is recently being used in this domain of research, to improve Human–Robot Interaction (HRI). In this context, we propose an autonomous navigation approach for mobile robots in indoor environments, based on the principles of proxemic theory, integrated with classical navigation algorithms, such as ORCA, Social Momentum, and A*. With this novel approach, the mobile robot adapts its behaviour, by analysing the proximity of people to each other, with respect to it, and with respect to other robots to decide and plan its respective navigation, while showing acceptable social behaviours in presence of humans. We describe our proposed approach and show how proxemics and the classical navigation algorithms are combined to provide an effective navigation, while respecting social human distances. To show the suitability of our approach, we simulate several situations of coexistence of robots and humans, demonstrating an effective social navigation.
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Taira, Tetsuya, and Nobuyuki Yamasaki. "Design and Implementation of the Reconfiguration Mechanism for a Modular Humanoid Robot." Journal of Robotics and Mechatronics 18, no. 3 (June 20, 2006): 286–98. http://dx.doi.org/10.20965/jrm.2006.p0286.
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This paper describes the design and implementation of the reconfiguration mechanism for a modular humanoid robot. To aid researchers in their works and enable users to request various tasks, humanoid robots are expected to require such reconfiguration mechanism. A robot with the proposed reconfiguration mechanism potentially consists of several functional modules such as arms, mobile components, and heads, and can be used as some kinds of humanoid robots or as several autonomous functional robots. We evaluated the efficiency of our proposed reconfiguration mechanism through the experiences using reconfigurable modular humanoid robot prototype R1. Experimental results show that the proposed mechanism achieves expandable and flexible reconfiguration for researchers and users by changing the robot configuration to different types of robots for many purposes. We believe that our humanoid robot with the proposed reconfiguration mechanism will enable user-specific humanoid robots more easily than ever before.
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Rubio, Francisco, Francisco Valero, and Carlos Llopis-Albert. "A review of mobile robots: Concepts, methods, theoretical framework, and applications." International Journal of Advanced Robotic Systems 16, no. 2 (March 1, 2019): 172988141983959. http://dx.doi.org/10.1177/1729881419839596.
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Humanoid robots, unmanned rovers, entertainment pets, drones, and so on are great examples of mobile robots. They can be distinguished from other robots by their ability to move autonomously, with enough intelligence to react and make decisions based on the perception they receive from the environment. Mobile robots must have some source of input data, some way of decoding that input, and a way of taking actions (including its own motion) to respond to a changing world. The need to sense and adapt to an unknown environment requires a powerful cognition system. Nowadays, there are mobile robots that can walk, run, jump, and so on like their biological counterparts. Several fields of robotics have arisen, such as wheeled mobile robots, legged robots, flying robots, robot vision, artificial intelligence, and so on, which involve different technological areas such as mechanics, electronics, and computer science. In this article, the world of mobile robots is explored including the new trends. These new trends are led by artificial intelligence, autonomous driving, network communication, cooperative work, nanorobotics, friendly human–robot interfaces, safe human–robot interaction, and emotion expression and perception. Furthermore, these news trends are applied to different fields such as medicine, health care, sports, ergonomics, industry, distribution of goods, and service robotics. These tendencies will keep going their evolution in the coming years.
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Kambayashi, Yasushi, Hideaki Yajima, Tadashi Shyoji, Ryotaro Oikawa, and Munehiro Takimoto. "Formation Control of Swarm Robots Using Mobile Agents." Vietnam Journal of Computer Science 06, no. 02 (May 2019): 193–222. http://dx.doi.org/10.1142/s2196888819500131.
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In this paper, we propose an algorithm for controlling a fleet of swarm robots that construct three-dimensional forms. The swarm robots coordinate with each other through network communication, and compose formations such as polyhedrons presented as spherical coordinates. Our control algorithm achieves communication through mobile software agents, which introduce control programs to robots that initially have no information about the formation. Mobile software agents are autonomous objects that can migrate from one robot to other robots through a communication network and can deliver control programs as they are needed. We have made our swarm robot system to mimic the behaviors of the leafcutter ants. A leafcutter ant is a typical social insect and uses pheromone for communication. In our robot control system, we have implemented ants and pheromones as mobile software agents. We call the mobile software agents that drive the mobile robots as ant agents, and call the other agents that provide communication as pheromone agents. The ant agents drive the swarm robots to locations identified by the pheromone agents. Each ant agent has only partial information. There is no need for either a central control or an agent that has the entire design of the formation. In order to diffuse the partial information among the neighboring robots, each ant agent generates pheromone agents and dispatches them to the surrounding robots. Dispatched pheromone agent looks for a proper ant agent to influence towards a desired relative location. It is the ant agent that actually drives the robot by following the guidance of the pheromone agent, and the collective actions of ant agents and pheromone agents achieve the composition of the objective formation. We have implemented a simulator based on our algorithm and conducted numerical experiments. The results demonstrate that our mobile robot control system is feasible and efficient in practice in practical situations.
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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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Yuta, Shin'ichi. "Open Experiment of Autonomous Navigation of Mobile Robots in the City: Tsukuba Challenge 2014 and the Results." Journal of Robotics and Mechatronics 27, no. 4 (August 20, 2015): 318–26. http://dx.doi.org/10.20965/jrm.2015.p0318.
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<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270004/01.jpg"" width=""300"" /> Autonomous mobile robot in RWRC 2014</div> The Tsukuba Challenge, an open experiment for autonomous mobile robotics researchers, lets mobile robots travel in a real – and populated – city environment. Following the challenge in 2013, the mobile robots must navigate autonomously to their destination while, as the task of Tsukuba Challenge 2014, looking for and finding specific persons sitting in the environment. Total 48 teams (54 robots) seeking success in this complex challenge. </span>
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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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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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Lisowski, Józef. "Synthesis of a Path-Planning Algorithm for Autonomous Robots Moving in a Game Environment during Collision Avoidance." Electronics 10, no. 6 (March 13, 2021): 675. http://dx.doi.org/10.3390/electronics10060675.
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This paper describes and illustrates the optimization of a safe mobile robot control process in collision situations using the model of a multistep matrix game of many participants in the form of a dual linear programming problem. The synthesis of non-cooperative and cooperative game control software was performed in Matlab/Simulink software to determine the safe path of the robot when passing a greater number of other robots and obstacles. The operation of the game motion control algorithm of a mobile robot is illustrated by computer simulations made in the Matlab/Simulink program of two real previously recorded navigation situations while passing dozens of other autonomous mobile robots.
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Gavigan, Patrick, and Babak Esfandiari. "Agent in a Box: A Framework for Autonomous Mobile Robots with Beliefs, Desires, and Intentions." Electronics 10, no. 17 (September 2, 2021): 2136. http://dx.doi.org/10.3390/electronics10172136.
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This paper provides the Agent in a Box for developing autonomous mobile robots using Belief-Desire-Intention (BDI) agents. This framework provides the means of connecting the agent reasoning system to the environment, using the Robot Operating System (ROS), in a way that is flexible to a variety of application domains which use different sensors and actuators. It also provides the needed customisation to the agent’s reasoner for ensuring that the agent’s behaviours are properly prioritised. Behaviours which are common to all mobile robots, such as for navigation and resource management, are provided. This allows developers for specific application domains to focus on domain-specific code. Agents implemented using this approach are rational, mission capable, safety conscious, fuel autonomous, and understandable. This method was used for demonstrating the capability of BDI agents to control robots for a variety of application domains. These included simple grid environments, a simulated autonomous car, and a prototype mail delivery robot. From these case studies, the approach was demonstrated as capable of controlling the robots in the application domains. It also reduced the development burden needed for applying the approach to a specific robot.