Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 12

Mobile Robots Related Publications

12 An Improved Dynamic Window Approach with Environment Awareness for Local Obstacle Avoidance of Mobile Robots

Authors: Baoshan Wei, Shuai Han, Xing Zhang

Abstract:

Local obstacle avoidance is critical for mobile robot navigation. It is a challenging task to ensure path optimality and safety in cluttered environments. We proposed an Environment Aware Dynamic Window Approach in this paper to cope with the issue. The method integrates environment characterization into Dynamic Window Approach (DWA). Two strategies are proposed in order to achieve the integration. The local goal strategy guides the robot to move through openings before approaching the final goal, which solves the local minima problem in DWA. The adaptive control strategy endows the robot to adjust its state according to the environment, which addresses path safety compared with DWA. Besides, the evaluation shows that the path generated from the proposed algorithm is safer and smoother compared with state-of-the-art algorithms.

Keywords: Adaptive Control, Mobile Robots, dynamic window approach, environment aware, local obstacle avoidance

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11 Steering Velocity Bounded Mobile Robots in Environments with Partially Known Obstacles

Authors: Reza Hossseynie, Amir Jafari

Abstract:

This paper presents a method for steering velocity bounded mobile robots in environments with partially known stationary obstacles. The exact location of obstacles is unknown and only a probability distribution associated with the location of the obstacles is known. Kinematic model of a 2-wheeled differential drive robot is used as the model of mobile robot. The presented control strategy uses the Artificial Potential Field (APF) method for devising a desired direction of movement for the robot at each instant of time while the Constrained Directions Control (CDC) uses the generated direction to produce the control signals required for steering the robot. The location of each obstacle is considered to be the mean value of the 2D probability distribution and similarly, the magnitude of the electric charge in the APF is set as the trace of covariance matrix of the location probability distribution. The method not only captures the challenges of planning the path (i.e. probabilistic nature of the location of unknown obstacles), but it also addresses the output saturation which is considered to be an important issue from the control perspective. Moreover, velocity of the robot can be controlled during the steering. For example, the velocity of robot can be reduced in close vicinity of obstacles and target to ensure safety. Finally, the control strategy is simulated for different scenarios to show how the method can be put into practice.

Keywords: Mobile Robots, obstacle avoidance, steering, Artificial potential field, constrained directions control

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10 Development of a Wall Climbing Robotic Ground Penetrating Radar System for Inspection of Vertical Concrete Structures

Authors: Md Omar Faruq Howlader, Tariq Pervez Sattar, Sandra Dudley

Abstract:

This paper describes the design process of a 200 MHz Ground Penetrating Radar (GPR) and a battery powered concrete vertical concrete surface climbing mobile robot. The key design feature is a miniaturized 200 MHz dipole antenna using additional radiating arms and procedure records a reduction of 40% in length compared to a conventional antenna. The antenna set is mounted in front of the robot using a servo mechanism for folding and unfolding purposes. The robot’s adhesion mechanism to climb the reinforced concrete wall is based on neodymium permanent magnets arranged in a unique combination to concentrate and maximize the magnetic flux to provide sufficient adhesion force for GPR installation. The experiments demonstrated the robot’s capability of climbing reinforced concrete wall carrying the attached prototype GPR system and perform floor-to-wall transition and vice versa. The developed GPR’s performance is validated by its capability of detecting and localizing an aluminium sheet and a reinforcement bar (rebar) of 12 mm diameter buried under a test rig built of wood to mimic the concrete structure environment. The present robotic GPR system proves the concept of feasibility of undertaking inspection procedure on large concrete structures in hazardous environments that may not be accessible to human inspectors.

Keywords: Mobile Robots, climbing robot, dipole antenna, ground penetrating radar (GPR), robotic GPR

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9 Underneath Vehicle Inspection Using Fuzzy Logic, Subsumption and OpenCV Library

Authors: Hazim Abdulsada

Abstract:

The inspection of underneath vehicle system has been given significant attention by governments after the threat of terrorism become more prevalent. New technologies such as mobile robots and computer vision are led to have more secure environment. This paper proposed that a mobile robot like Aria robot can be used to search and inspect the bombs under parking a lot vehicle. This robot is using fuzzy logic and subsumption algorithms to control the robot that movies underneath the vehicle. An OpenCV library and laser Hokuyo are added to Aria robot to complete the experiment for under vehicle inspection. This experiment was conducted at the indoor environment to demonstrate the efficiency of our methods to search objects and control the robot movements under vehicle. We got excellent results not only by controlling the robot movement but also inspecting object by the robot camera at same time. This success allowed us to know the requirement to construct a new cost effective robot with more functionality.

Keywords: Fuzzy Logic, Mobile Robots, Opencv, subsumption, under vehicle inspection

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8 Localization of Mobile Robots with Omnidirectional Cameras

Authors: Tatsuya Kato, Masanobu Nagata, Hidetoshi Nakashima, Kazunori Matsuo

Abstract:

Localization of mobile robots are important tasks for developing autonomous mobile robots. This paper proposes a method to estimate positions of a mobile robot using a omnidirectional camera on the robot. Landmarks for points of references are set up on a field where the robot works. The omnidirectional camera which can obtain 360 [deg] around images takes photographs of these landmarks. The positions of the robots are estimated from directions of these landmarks that are extracted from the images by image processing. This method can obtain the robot positions without accumulative position errors. Accuracy of the estimated robot positions by the proposed method are evaluated through some experiments. The results show that it can obtain the positions with small standard deviations. Therefore the method has possibilities of more accurate localization by tuning of appropriate offset parameters.

Keywords: Mobile Robots, Localization, omnidirectional camera

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7 Deadline Missing Prediction for Mobile Robots through the Use of Historical Data

Authors: Edwaldo R. B. Monteiro, Patricia D. M. Plentz, Edson R. De Pieri

Abstract:

Mobile robotics is gaining an increasingly important role in modern society. Several potentially dangerous or laborious tasks for human are assigned to mobile robots, which are increasingly capable. Many of these tasks need to be performed within a specified period, i.e, meet a deadline. Missing the deadline can result in financial and/or material losses. Mechanisms for predicting the missing of deadlines are fundamental because corrective actions can be taken to avoid or minimize the losses resulting from missing the deadline. In this work we propose a simple but reliable deadline missing prediction mechanism for mobile robots through the use of historical data and we use the Pioneer 3-DX robot for experiments and simulations, one of the most popular robots in academia.

Keywords: Mobile Robots, deadline missing, historical data, prediction mechanism

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6 Novel Mobile Climbing Robot Agent for Offshore Platforms

Authors: Omid Mirmotahari, Akbar F. Moghaddam, Magnus Lange, Mats Høvin

Abstract:

To improve HSE standards, oil and gas industries are interested in using remotely controlled and autonomous robots instead of human workers on offshore platforms. In addition to earlier reason this strategy would increase potential revenue, efficient usage of work experts and even would allow operations in more remote areas. This article is the presentation of a custom climbing robot, called Walloid, designed for offshore platform topside automation. This 4 arms climbing robot with grippers is an ongoing project at University of Oslo.

Keywords: Automation, monitoring, Mobile Robots, Inspection, Climbing Robots, Offshore Platforms, Offshore Robotics

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5 Development of Roller-Based Interior Wall Painting Robot

Authors: Ahmed A. Ramadan, Ahmed A. Abo-Ismail, Mohamed T. Sorour, Mohamed A. Abdellatif

Abstract:

This paper describes the development of an autonomous robot for painting the interior walls of buildings. The robot consists of a painting arm with an end effector roller that scans the walls vertically and a mobile platform to give horizontal feed to paint the whole area of the wall. The painting arm has a planar twolink mechanism with two joints. Joints are driven from a stepping motor through a ball screw-nut mechanism. Four ultrasonic sensors are attached to the mobile platform and used to maintain a certain distance from the facing wall and to avoid collision with side walls. When settled on adjusted distance from the wall, the controller starts the painting process autonomously. Simplicity, relatively low weight and short painting time were considered in our design. Different modules constituting the robot have been separately tested then integrated. Experiments have shown successfulness of the robot in its intended tasks.

Keywords: Mobile Robots, Service Robots, Construction Robots, Automated roller painting, two link planar manipulator

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4 Biologically Inspired Controller for the Autonomous Navigation of a Mobile Robot in an Evasion Task

Authors: Dejanira Araiza-Illan, Tony J. Dodd

Abstract:

A novel biologically inspired controller for the autonomous navigation of a mobile robot in an evasion task is proposed. The controller takes advantage of the environment by calculating a measure of danger and subsequently choosing the parameters of a reinforcement learning based decision process. Two different reinforcement learning algorithms were used: Qlearning and Sarsa (λ). Simulations show that selecting dynamic parameters reduce the time while executing the decision making process, so the robot can obtain a policy to succeed in an escaping task in a realistic time.

Keywords: Mobile Robots, Reinforcement Learning, autonomous navigation

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3 A Fuzzy Logic Based Navigation of a Mobile Robot

Authors: Nouri Masmoudi, Anis Fatmi, Amur Al Yahmadi, Lazhar Khriji

Abstract:

One of the long standing challenging aspect in mobile robotics is the ability to navigate autonomously, avoiding modeled and unmodeled obstacles especially in crowded and unpredictably changing environment. A successful way of structuring the navigation task in order to deal with the problem is within behavior based navigation approaches. In this study, Issues of individual behavior design and action coordination of the behaviors will be addressed using fuzzy logic. A layered approach is employed in this work in which a supervision layer based on the context makes a decision as to which behavior(s) to process (activate) rather than processing all behavior(s) and then blending the appropriate ones, as a result time and computational resources are saved.

Keywords: Fuzzy Logic, Mobile Robots, Behavior based navigation, context based coordination

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2 Self-protection Method for Flying Robots to Avoid Collision

Authors: Guosheng Wu, Luning Wang, Changyuan Fan, Xi Zhu

Abstract:

This paper provides a new approach to solve the motion planning problems of flying robots in uncertain 3D dynamic environments. The robots controlled by this method can adaptively choose the fast way to avoid collision without information about the shapes and trajectories of obstacles. Based on sphere coordinates the new method accomplishes collision avoidance of flying robots without any other auxiliary positioning systems. The Self-protection System gives robots self-protection abilities to work in uncertain 3D dynamic environments. Simulations illustrate the validity of the proposed method.

Keywords: Mobile Robots, Collision Avoidance, Motion-planning, Sphere coordinates, Self-protection

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1 Navigation of Multiple Mobile Robots using Rule-based-Neuro-Fuzzy Technique

Authors: Saroj Kumar Pradhan, Dayal Ramakrushna Parhi, Anup Kumar Panda

Abstract:

This paper deals with motion planning of multiple mobile robots. Mobile robots working together to achieve several objectives have many advantages over single robot system. However, the planning and coordination between the mobile robots is extremely difficult. In the present investigation rule-based and rulebased- neuro-fuzzy techniques are analyzed for multiple mobile robots navigation in an unknown or partially known environment. The final aims of the robots are to reach some pre-defined goals. Based upon a reference motion, direction; distances between the robots and obstacles; and distances between the robots and targets; different types of rules are taken heuristically and refined later to find the steering angle. The control system combines a repelling influence related to the distance between robots and nearby obstacles and with an attracting influence between the robots and targets. Then a hybrid rule-based-neuro-fuzzy technique is analysed to find the steering angle of the robots. Simulation results show that the proposed rulebased- neuro-fuzzy technique can improve navigation performance in complex and unknown environments compared to this simple rulebased technique.

Keywords: Navigation, Mobile Robots, neuro-fuzzy, rule-based, obstacle avoidance, Target seeking

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