Navigation Of Nonholonomic Mobile Robot Research Articles

High-Efficiency Navigation of Nonholonomic Mobile Robots Based on Improved Hybrid A* Algorithm

With the development of automation technologies, autonomous robots are increasingly used in many important applications. However, precise self-navigation and accurate path planning remain a significant challenge, particularly for the robots operating in complex circumstances such as city centers. In this paper, a nonholonomically constrained robot with high-precision navigation and path planning capability was designed based on the Robot Operating System (ROS), and an improved hybrid A* algorithm was developed to increase the processing efficiency and accuracy of the global path planning and navigation of the robot. The performance and effectiveness of the algorithm were evaluated by using randomly constructed maps in MATLAB and validated in a practical circumstance. Local path planning and obstacle avoidance were carried out based on the model predictive control (MPC) theory. Compared with the conventional A* + DWA (dynamic window approach) method, the average searching time was reduced by 12.62~24.5%, and the average search length was reduced by 9.25~9.5%. In practical navigating tests, the average search time was reduced by 18~24%, and the average search length was reduced by 10.3~12%, while the overall path was smoother. The results demonstrate that the improved algorithm can enable precise and efficient navigation and path planning of the robot in complex circumstances.

Adaptive Fuzzy Velocity Field Control for Navigation of Nonholonomic Mobile Robots

This paper presents a novel contour tracking scheme based on a well-posed kinematic representation of differential-driven nonholonomic mobile robots. Firstly, a fuzzy aggregation of spatial sets in cluttered environments allows designing a velocity field to encode the desired velocity vector pointing to the target (the contour). Thus, the resultant smooth trajectory avoids obstacles by combining spatially distributed velocity fields that enable the robot navigation. Finally, the universal approximation property of fuzzy systems facilitates the design of an adaptive PI-like controller, whose closed-loop stability leads to the precise tracking of the velocity field. The results of the performed numerical simulations illustrate the reliability of the proposed scheme.

Artificial Fuzzy-PID Gain Scheduling Algorithm Design for Motion Control in Differential Drive Mobile Robotic Platforms.

Mobile robots are promising devices which are dedicated to human comfort in all areas. However, the control algorithm of the wheels of mobile robot is entirely challenging due to the nonlinearity. Recently, the classical PID (proportional-integral-derivative) controllers are frequently used in robotics for their high accuracy and the smooth determination of their parameters. A robust approach called fuzzy control which is based on the conversion of linguistic inference sets in a suitable control value is a widely used method in industrial system control in our days. A new challenging method to solve the problem of intelligent navigation of nonholonomic mobile robot is suggested. In this work, the presented methodology is based on three hybrid fuzzy logic PID controllers which are adapted to guarantee target achievement and trajectory tracking. A fuzzy-PID control algorithm is designed with 2 inputs and 3 outputs. By the information given by the system response, error and error derivate can be used to extract and adopt the PID controller parameters: proportional, integral, and derivative gains. Besides, a tuning value A is introduced to improve the resulted response in terms of speeding up and reducing error, overshoot, and oscillation, as well as reducing ISE and IAE values. A modelization of a differential drive mobile robot is presented. The developed algorithm is tested and implemented to this mobile robot model via Simulink/MATLAB.

Multivariable Event-Triggered Generalized Super-Twisting Controller for Safe Navigation of Nonholonomic Mobile Robot

This article presents a multivariable event-triggered generalized super-twisting sliding-mode algorithm for a nonholonomic mobile-robot safe navigation in unknown indoor environment. For robot safe navigation, vision-based variable gain composite guidance law is proposed to generate desired angular velocity. The guidance strategy uses the centroid of the depth map of the obstacles obtained from RGB-depth sensor. The propose controller follows the path generated by the guidance law. Stability analysis of the controller is done to show the fast convergence as compared to the existing controllers. To show the robustness of the controller in comparison to the existing super-twisting algorithm, a sensitivity analysis is carried out. Furthermore, for minimizing the controller effort, an event-triggered condition for the proposed controller is obtained using Lyapunov stability theory. Comparative simulation study is carried out to show the fast convergence and robustness of the proposed controller. Experiments are done for robot safe navigation in presence of disturbance.

Navigation of non-holonomic mobile robot using neuro-fuzzy logic with integrated safe boundary algorithm

In the present work, autonomous mobile robot (AMR) system is intended with basic behaviour, one is obstacle avoidance and the other is target seeking in various environments. The AMR is navigated using fuzzy logic, neural network and adaptive neuro-fuzzy inference system (ANFIS) controller with safe boundary algorithm. In this method of target seeking behaviour, the obstacle avoidance at every instant improves the performance of robot in navigation approach. The inputs to the controller are the signals from various sensors fixed at front face, left and right face of the AMR. The output signal from controller regulates the angular velocity of both front power wheels of the AMR. The shortest path is identified using fuzzy, neural network and ANFIS techniques with integrated safe boundary algorithm and the predicted results are validated with experimentation. The experimental result has proven that ANFIS with safe boundary algorithm yields better performance in navigation, in particular with curved/irregular obstacles.

Vision based Topological Navigation of Nonholonomic Mobile Robots

Autonomous mobile robots has been an active research recently. Especially, laser range finder (LRF) based navigation has rapidly improved. On the other hand, in spite of intensive studies on vision based navigation using cameras, they are not successful in real world. In this paper, we develop a vision based navigation method using topological approach to reduce prior information and enhance scalability of the map. Topological map has advantage in scalability because it contains only information about impressive places (i.e. intersection) and their linkage with roads. The robot is navigated using two primal techniques: vision based road following and impressive place recognition.

Local path planning for mobile robots based on intermediate objectives

SUMMARYThis paper presents a path planning algorithm for autonomous navigation of non-holonomic mobile robots in complex environments. The irregular contour of obstacles is represented by segments. The goal of the robot is to move towards a known target while avoiding obstacles. The velocity constraints, robot kinematic model and non-holonomic constraint are considered in the problem. The optimal path planning problem is formulated as a constrained receding horizon planning problem and the trajectory is obtained by solving an optimal control problem with constraints. Local minima are avoided by choosing intermediate objectives based on the real-time environment.

Performance-based reactive navigation for non-holonomic mobile robots

SUMMARYThis paper presents an architecture for the navigation of an autonomous mobile robot evolving in environments with obstacles. Instead of addressing the motion planning and control problems in different contexts, these issues are described in connected modules with performance requirement considerations. The path planning problem is formulated as a constrained receding horizon planning problem and is solved in real time with an efficient computational method that combines non-linear control theory, B-spline basis function and non-linear programming. An integral sliding mode controller is used for trajectory tracking. The closed-loop stability of the tracking errors is guaranteed in spite of unknown disturbances. It is also shown that this strategy is particularly useful if integral sliding mode control is combined with other methods to further robustify against perturbations. The effectiveness, perfect performance of obstacle avoidance, real time and high robustness properties are demonstrated by experimental results.

Real‐time deadlock‐free navigation for multiple mobile robots

AbstractThis paper proposes a practicable navigation method for multiple mobile robots in a realistic environment. In the past, many navigation methods have been developed. However, they were often limited to a single robot and sometimes assumed robots with special mobility such as holonomic ones. From the viewpoint of practical applications it is indispensable that the number of robots is arbitrary and a general shape and mobility for them is allowed.In this study, deadlock‐free navigation for nonholonomic mobile robots in a practical environment is given. In the proposed scheme, states of the environment and robots are fed back in real time, and global path planning is cyclically executed. This enables an adaptation to a changing environment and reliable, deadlock‐free navigation for multiple robots. The real‐time online path planning is performed by an efficient A* search in Configuration Spaces representing the robots and environment.The proposed method is tested in several simulations which represent typical complicated navigation situations. As a result, the effectiveness of the method is verified. © 2008 Wiley Periodicals, Inc. Electr Eng Jpn, 163(3): 27– 36, 2008; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.20714

Simultaneously firing sonar ring based high-speed navigation for non-holonomic mobile robots in unstructured environment

To achieve high-speed navigation in narrow, cluttered, dynamic, unstructured environments, a sensing system using a sonar ring for a mobile robot capable of rapid detection and avoidance of obstacles has been developed and a prototype of the sensing system with 24 sonar sensors is fabricated. A composite method of firing all ultrasonic sensors simultaneously with the scanning rate up to 66 Hz of panoramic detection and Dynamic Window Approach (DWA) is presented. The experimental results show that a rapid navigation of the mobile robot in the unstructured environment becomes possible.

Image Feature based Navigation of Nonholonomic Mobile Robots with Active Camera

This paper proposes an image feature based navigation method for active camera mounted mobile robots that are affected by nonholonomic constraint. Visual servo is applied to tracking control of the active camera to track targets in the center of image plane. Moreover, posture of nonholonomic mobile robots from targets is controlled by image features of targets that are related to relative distance and angle between robots and targets. It is confirmed that the proposed method can navigate a mobile robot in front of a target with a proper orientation through simulations and experiments.

複数台移動ロボットのためのデッドロックフリーナビゲーション法

This paper proposes a practicable navigation method for multiple mobile robots in a realistic environment. In the past, many navigation methods have been developed. However, they were often limited to a single robot and sometimes assumed robots with special mobility such as holonomic ones. From the viewpoint of practical applications it is indispensable that the number of robots is arbitrary and a general shape and mobility for them is allowed. In this study, deadlock-free navigation for nonholonomic mobile robots in a practical environment is given. In the proposed scheme, states of the environment and robots are fed back in real time, and global path planning is cyclically executed. This enables an adaptation to a changing environment and reliable, deadlock-free navigation for multiple robots. The real-time online path planning is performed by an efficient A* search in Configuration Spaces representing the robots and environment. The proposed method is tested in several simulations which represent typical complicated navigation situations. As a result, the effectiveness of the method is verified. © 2008 Wiley Periodicals, Inc. Electr Eng Jpn, 163(3): 27– 36, 2008; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.20714

Reactive Path Deformation for Nonholonomic Mobile Robots

This paper presents a novel and generic approach of path optimization for nonholonomic systems. The approach is applied to the problem of reactive navigation for nonholonomic mobile robots in highly cluttered environments. This is a collision-free initial path being given for a robot, and obstacles detected while following this path can make it in collision. The current path is iteratively deformed in order to get away from obstacles and satisfy the nonholonomic constraints. The core idea of the approach is to perturb the input functions of the system along the current path in order to modify this path, making an optimization criterion decrease.