Mobile Robot Motion Research Articles

SLAM estimation method for uncertain model noise parameters

It is difficult to accurately obtain the statistical parameters of mobile robots motion parameters for its mobility. And it is also the same in observation system because of the environmental variability, which would cause the SLAM system noise statistical parameters uncertainty, and decrease the filtering performance. A SLAM adaptive filtering algorithm with noise statistical characteristics estimation is proposed, when the noise statistical parameters are constant but unknown, three additional maximum posteriori estimators are constructed, and adaptive CKF SLAM algorithm are designed. Compared with the standard CKF SLAM algorithm, the results show that under the uncertainty noise parameters, if the noise variance is Gaussian white noise distribution, the designed adaptive CKF SLAM with three maximum posterior can well estimate the state, track noise variance, and handle the problem of nonlinear systems. The simulation results verify the effectiveness of the proposed SLAM estimation method with the uncertainty of the model noise parameters.

MOBİL ROBOTLARIN BİNA İÇİ KOŞULLARDA ULAŞMA ZAMANI KULLANILARAK KABLOSUZ LOKALİZASYONU

This work focuses on wireless localization of a mobile robot operating inside a building using the time of arrival technique. The basic idea is to perform measurements of range (or distance) between the robot and reference points located at specific points inside the building by means of time of arrival measurements and using these measurements to estimate the location of the robot. The contributions of this work can be summarized as follows. First, the performance of two localization algorithms (namely least-squares and weighted least-squares) are compared in the presence of ranging errors that fluctuate as a result of mobile robot movement with respect to the reference points. Second, an error estimation method is proposed, the goal of which is to reduce the error in the range measurements prior to their use with localization algorithms. The performance of the aforementioned localization algorithms, working in conjunction with this error estimation method, are analysed. The results clearly indicate that the performance of both algorithms can be improved by approximately 5-17% depending on system scenarios. Keywords: Mobile robot, time of arrival, wireless localization

Development of Autonomous Anthropomorphic Wheeled Mobile Robotic Platform

This article presents the intelligent autonomous anthropomorphic wheeled mobile robotic platform motion control in unstructured environments. The fuzzy control of a wheeled autonomous anthropomorphic mobile robotic platform motion in unstructured environments with obstacles is proposed. Outputs of the fuzzy controller are the angular speed difference between the left and right wheels of the autonomous anthropomorphic robotic platform and the robot velocity. The simulation results show the effectiveness and the validity of the obstacle avoidance behaviour in the unstructured environment and velocity control of autonomous anthropomorphic mobile robotic platform motion of the proposed fuzzy control strategy. Wireless sensor-based remote control of autonomous anthropomorphic mobile robotic platform motion in unstructured environments is proposed.

A Study of Mobile Robot Control using EEG Emotiv Epoch Sensor

The study was using an EEG Emotiv Epoc+ sensor to recognize brain activity for controlling a mobile robot's movement. The study used Emotiv Control Panel software for EEG command identification. The commands will be interfaced inside Mind Your OSCs software and processing software which processed inside an Arduino Controller. The output of the Arduino is a movement command (ie. forward, backward, turn left, and turn right). The training methods of the system composed of three sets of thinking mode. First, thinking with doing facial expressions. Second, thinking with visual help. Third, thinking mentally without any help. In the first set, there are two configurations thinking with facial expression help as command of the mobile robot. Final results of the system are the second facial expressions configuration as the best facial expressions method with success rate 88.33 %. The second facial expression configuration has overall response time 1.60175 s faster than the first facial expressions configuration. In these two methods have dominant signals on the frontal lobe. The second facial expressions method have overall respond time 6.12 and 9.53 s faster than thinking with visual, and thinking without help respectively.

Embedded System for Motion Control of an Omnidirectional Mobile Robot

In this paper, an embedded system for motion control of omnidirectional mobile robots is presented. An omnidirectional mobile robot is a type of holonomic robots. It can move simultaneously and independently in translation and rotation. The RoboCup small-size league, a robotic soccer competition, is chosen as the research platform in this paper. The first part of this research is to design and implement an embedded system that can communicate with a remote server using a wireless link, and execute received commands. Second, a fuzzy-tuned proportional–integral (PI) path planner and a related low-level controller are proposed to attain optimal input for driving a linear discrete dynamic model of the omnidirectional mobile robot. To fit the planning requirements and avoid slippage, velocity, and acceleration filters are also employed. In particular, low-level optimal controllers, such as a linear quadratic regulator (LQR) for multiple-input-multiple-output acceleration and deceleration of velocity are investigated, where an LQR controller is running on the robot with feedback from motor encoders or sensors. Simultaneously, a fuzzy adaptive PI is used as a high-level controller for position monitoring, where an appropriate vision system is used as a source of position feedback. A key contribution presented in this research is an improvement in the combined fuzzy-PI LQR controller over a traditional PI controller. Moreover, the efficiency of the proposed approach and PI controller are also discussed. Simulation and experimental evaluations are conducted with and without external disturbance. An optimal result to decrease the variances between the target trajectory and the actual output is delivered by the onboard regulator controller in this paper. The modeling and experimental results confirm the claim that utilizing the new approach in trajectory-planning controllers results in more precise motion of four-wheeled omnidirectional mobile robots.

Simulation of autonomous mobile robot using fuzzy logic

One of the most important issues in the world of robot is the development of a smart system to improve the movement of autonomous mobile robots and non-collision within the place in which it moves, which requires machine learning and development of operational capabilities in the ability to visualize, data processing and decision-making.
 The aim of this research is to simulate using the fuzzy logic in the matlab program of the robot movement to avoid the obstacle and reach the required place Beside the wall. Real world is strongly characterized by uncertainty. Fuzzy logic has proven to be a conventional tool for handling such uncertainties.

Модель нечеткого регулятора для управления движением мобильного робота

Модель нечеткого регулятора для управления движением мобильного робота

Augmented Reality in Industry 4.0

Since the origins of Augmented Reality (AR), industry has always been one of its prominent application domains. The recent advances in both portable and wearable AR devices and the new challenges introduced by the fourth industrial revolution (renowned as industry 4.0) further enlarge the applicability of AR to improve the productiveness and to enhance the user experience. This paper provides an overview on the most important applications of AR regarding the industry domain. Key among the issues raised in this paper are the various applications of AR that enhance the user's ability to understand the movement of mobile robot, the movements of a robot arm and the forces applied by a robot. It is recommended that, in view of the rising need for both users and data privacy, technologies which compose basis for Industry 4.0 will need to change their own way of working to embrace data privacy.

Highly passable propulsive device for UGVs on rugged terrain

One of the priority functional tasks of both industrial and mobile robotics is to perform operations for moving payloads in space. Typically, researchers pay attention to control the movement of the robot on different soils. It is necessary to underline the specificity of the movements of mobile robots, the main functional purpose of which is the movement of different objects. Unlike other robot applications there is the fact that transported cargo may have different mass-dimensional characteristics. The payload should be comparable to the mass of the mobile robot. This article addresses the issue of passability on rough terrain for a mobile robot performing the transport task and proposed a technical solution in the field of mechanics of propulsion to improve propelling of the traction wheel of the mobile robot with the ground.

A Novel Gesture Control Scheme of Mobile Robots Based on ROS

Gesture control is one form of human-computer interaction, which captures the gesture image through the camera and parses it into corresponding instructions to control the movement of mobile robots. As an intuitive, convenient and flexible interaction method, gesture control can be used as an assisted control way of warehousing and logistics robots, intelligent wheelchairs and so on. In this paper, a mobile robot gesture-controlling scheme was designed and implemented using MATLAB and Robot Operating System (ROS). Firstly, a hand gesture image was captured using a RGBD camera and then was preprocessed using MATLAB. Then, the gesture contour was extracted through morphological processing and the gesture was recognized based on pixels’ changing. Finally, a MATLAB-ROS interface was developed to convert the recognized gestures into corresponding commands to control the basic movements(forward, backward, turn left, turn right and stop, etc.) of a mobile robot. A TurtleBot2-a mobile robot using ROS was used to test this scheme. The results show that the scheme this paper put forwarded can recognize five commonly used static gestures and can control five basic movements of TurtleBot2 successfully and the recognition and controlling accuracy can attain over 90%.

Mathematical Modelling of Mobile Robot Motion with Propulsion Device of Discrete Interacting with the Support Surface

The problem of development the control method of mobile robot with different types of propulsion devices of discrete interacting with the support surface have been considered. For each of the considered propulsion devices have been developed mathematical model. Design scheme of such robot have been described. The areas of application of each propulsion devices have been substantiated.

A Navigation of an Indoor Autonomous Mobile Robot Based on Fuzzy Logic Method

With the continuous movement of mobile robots in the actual environment, it will encounter some obstacles inevitably. In order to make it better to overcome the uncertainty of the environment and solve the problem which the environment has no prior information, this paper does research on the indoor autonomous mobile robot navigation based on fuzzy logic method. Whether the environment has obstacles or not, this paper uses fuzzy logic for autonomous navigation, but also uses infrared sensors to avoid obstacles as far as possible. As the result, it not only improves the adaptability of the mobile robot for the dynamic environment, but also deals with all kinds of emergencies well, and it also has good robustness. Finally, the validity and feasibility of the method are proved by simulation.

LOCALIZATION AND MOTION CONTROL IMPLEMENTATION FOR AN AGRICULTURAL MOBILE ROBOT

In robot navigation experiment, a localization and motion control system is required to secure the agricultural robot motion in the environment. However, the high cost of localization system and complex structure of motion controller has limited the low cost agricultural mobile robot development. In this paper, a low-cost localization system and simple motion control system is presented. The localization system has been implemented using a dead reckoning method by accessing an incremental encoder’s reading. A simple cascaded motion control system based on proportional feedback kinematics controller and PI based controller was used to control the mobile robot motion. The performances of different turning methods: U turn and a π turn, were compared for lane changing, based on completion time, controller’s error and distance travelled. Simulation test of robot motion was conducted using a Simulink3d animation in MATLAB software. An experimental test in a real greenhouse environment was conducted to verify the simulation performance in motion control and localization system. The experimental and simulation results have shown that a U turn has the best turning performance with 69.1 % better efficiency in experimental mode and it is recommended to be applied in agricultural field.

Traversability-Based RRT*for Planetary Rover Path Planning in Rough Terrain with LIDAR Point Cloud Data

Sampling-based search algorithms such as Rapidly-Exploring Random Trees (RRT) have been utilized for mobile robot path planning and motion planning in high dimensional continuous spaces. This paper presents a path planning method for a planetary exploration rover in rough terrain. The proposed method exploits the framework of a sampling-based search, the optimal RRT (RRT*) algorithm. The terrain geometry used for planning is composed of point cloud data close to continuous space captured by a light detection and ranging (LIDAR) sensor. During the path planning phase, the proposed RRT*algorithm directly samples a point (node) from the LIDAR point cloud data. The path planner then considers the rough terrain traversability of the rover during the tree expansion process of RRT*. This process improves conventional RRT*in that the generated path is safe and feasible for the rover in rough terrain. In this paper, simulation study on the proposed path planning algorithm in various real terrain data confirms its usefulness.

Development of Hands‐Free Remote Operation System for a Mobile Robot Using EOG and EMG

SUMMARYIn this research, a hands‐free remote operation system for a mobile robot using electrooculogram (EOG) and electromyogram (EMG) is developed. The EOG and EMG signals are acquired from one set of electrodes on temples and these are separated by bandpass filter. Four control commands of mobile robot motion generated by processed EOG and EMG signals are transmitted to the mobile robot via wireless communication. Experimental results show the effectiveness of the proposed remote operation system.

Trajectory control for a robot motion in presense of moving obstacles

The paper deals with the trajectory control synthesis of a mobile robot movement in a nonstationary external environment, in particular, in the presence of external mobile objects in the robot working space, by differential geometry methods and stabilization methods for invariant manifolds in the space of control object outputs. For control algorithm development, the relative dynamics of the control object and the external mobile object is considered and the methods of differential-geometric transformation of the initial model to the task-oriented coordinates are formulated. The latter formulates the initial problem in terms of longitudinal motion, orthogonal and angular deviations, and the proportional differential control algorithms are created with direct compensation of nonlinearities. The main results are presented by the task-oriented model of spatial motion and corresponding nonlinear control algorithms. To illustrate the efficiency of the proposed method, the rigid body motion modeling along a linear trajectory in the presence of an external mobile object moving through a desired linear trajectory crossing the working space is given as an example. In the example, the plant traverses an external moving object along a circular path and returns to the original desired trajectory.

A new approach to smooth global path planning of mobile robots with kinematic constraints

This paper is concerned with the planning problem of smooth global path for mobile robots with kinematic constraints. A new approach is proposed that is based on a modified particle swarm optimization (MPSO) combined with the η3-splines. Some preliminaries on η3-splines are first introduced to interpolate an arbitrary sequence of points with assigned kinematic parameters associated with the motion and control of mobile robots. Then, the MPSO algorithm with adaptive random fluctuations (ARFs) is proposed to deal with the frequently encountered local convergence issue in the planning of the global smooth path. In the MPSO algorithm, the evolutionary state is classified averagely at each iteration according to the evaluated evolutionary factor, where the velocity updating dynamics switches among various modes according to the evolutionary state and the ARFs are enforced on the global/local best particles in each mode of the current iteration. The proposed MPSO is verified to outperform five other well-known PSO algorithms via comprehensive simulation experiments on a collection of benchmark functions. Finally, the new approach by combining the MPSO algorithm with the η3-splines is exploited to handle a double-layer smooth global path planning problem with several kinematic constraints.

Hybridizing Invasive Weed Optimization with Firefly Algorithm for Multi-Robot Motion Planning

Path planning can be described as a NP-complete problem having various practical applications, as no polynomial time algorithm is capable of solving the problem available now. Autonomous mobile robot motion planning is one of these applications. In recent years, many researchers have developed algorithms inspired from the biological behaviour of different creatures. These techniques prove to be more efficient and robust. In this work, we have hybridized an evolutionary population-based algorithm invasive weed optimization technique which is derived from the invasive behaviour of weeds along with a swarm optimization algorithm, called firefly algorithm. Firefly optimization has been embedded into the existing invasive weed optimization to improve the position of the current weed population in the colony. The aim of hybridization is to avoid premature convergence in the large problem space and to maintain good balance between exploration and exploitation. The proposed hybridization IWFO maintains the efficient balance between exploration and exploitation because of adopting spatial dispersion property of IWO algorithm and movement property of the firefly, to explore new feasible region and exploits the new population of the weed colony. We have applied this hybrid algorithm for the motion planning of multi-robot in static environment. Computer simulation results prove the hybrid algorithm outperforms the traditional IWO Algorithm and firefly algorithm and overcomes the deficiencies of the individual algorithms.

Vacuum Control in the Surface Attaching Devices of the Mobile Robots during their Movement under the Aerodynamic Attachment Force

During the movement of the horizon mobile robots over different complex ferromagnetic and non-ferromagnetic surfaces, like walls, ceilings or slopes of various angles, their contacts with the surfaces can be realized by the attaching devices, which ensure an aerodynamic attachment force due to creation of vacuum. In industrial robotics such devices are designed for grasping objects with manipulators on the assembly lines. In the mobile robotics such devices are suitable for creation of an attachment force for the robots. The control system provides an aerodynamic attachment force due to control of the pressure level inside the vacuum area. This ensures adaptation for the mobile robots moving over the surfaces with different quality parameters. This paper describes creation of vacuum with a centrifugal pump and a turbine. It also presents an attachment device based on a centrifugal pump or a turbine, which can create an aerodynamic attachment force for movement of a mobile robot over the sloped surfaces. The air pressure inside the turbine depends on the shape of the blades, the air density and the circumferential speed of the blades. The air pressure created by the centrifugal pump or the turbine is proportional to the blades' rotary speed squared. The dependence of the air pressure on the air flow is obtained. This ensures calculation of the attachment force for the control system of a mobile robot. Simultaneous solving of the equations presented in this paper for the air pressure and the air flow provides an opportunity to obtain the operating modes for different types of the vacuum devices based on a centrifugal pump or a turbine. A possibility of the aerodynamic attachment force control by varying of the gap between the mobile robot and the surface is analyzed. Various parameters of air, such as density, average velocity and flow rate, are discussed. Creation of vacuum inside the vacuum area is considered. The experimental results concerning the pressure control, the attachment force and vacuum creation are presented.

Simulation and Analysis of the Movement of a Group of Mobile Robots in ROS

The paper presents a simulation of a group movement of mobile robots in absence of obstacles in ROS and a kinematics model of the mobile robots used in the simulation. Three types of motion behavior of the mobile robots in a group were considered. First, the authors achieved a synchronization of the mobile robots in a group using the centralized method, which requires a control center, and the decentralized method, in which the mobile robots in a group communicate with each other. Second, the authors simulated movement of four mobile robots in Zhukov forms, when each robot was controlled according to the relative position of the two neighboring robots. Different trajectories of the mobile robots were obtained depending on the selected control parameters. The authors analyzed the relation between the control parameters and the resulting trajectories. Finally, the authors simulated movement of a group of the mobile robots in a convoy type of formation. Three different control algorithms were considered. The authors analyzed and compared the trajectories of the mobile robots moving in the convoy type of formation using three different control algorithms. The advantages and disadvantages of the three control algorithms were presented. The authors discussed a range of problems, which could be encountered when conducting physical experiments, for example, communication between the robots, the process of localization of the mobile robots in a group, and the impact of a sensor noise.