A New Approach Based in Potential Fields with Obstacles Avoidance for Mobile Robots

2016 ◽  
Author(s):  
Tadeu Abreu Cerqueira ◽  
Tito L.M. Santos ◽  
Andre G.S. Conceicao
Keyword(s):  
Mobile Robots ◽  
Potential Fields ◽  
New Approach

Hybrid Methodology for Path Planning and Computational Vision Applied to Autonomous Mission: A New Approach

Robotica ◽  
2019 ◽  
Vol 38 (6) ◽  
pp. 1000-1018
Author(s):  
Fabrício O. Coelho ◽  
Milena F. Pinto ◽  
João Pedro C. Souza ◽  
André L. M. Marcato
Keyword(s):  
Experimental Design ◽  
Path Planning ◽  
Mobile Robots ◽  
Daily Life ◽  
The Elderly ◽  
Potential Fields ◽  
New Approach ◽  
Artificial Potential Fields ◽  
Extensive Evaluation ◽  
Hybrid Methodology

SUMMARYIn recent years, mobile robots have become increasingly frequent in daily life applications, such as cleaning, surveillance, support for the elderly and people with disabilities, as well as hazardous activities. However, a big challenge arises when the robotic system must perform a fully autonomous mission. The main problems of autonomous missions include path planning, localisation, and mapping. Thus, this research proposes a hybrid methodology for mobile robots on an autonomous mission involving an offline approach that uses the Direct-DRRT* algorithm and the artificial potential fields algorithm as the online planner. The experimental design covers three scenarios with an increasing degree of accuracy in respect of the real world. Additionally, an extensive evaluation of the proposed methodology is reported.

A New Approach for Autonomous Robot Obstacle Avoidance Using PSD Infrared Sensor Combined with Digital Compass

2014 ◽  
Vol 511-512 ◽  
pp. 101-104 ◽  
Author(s):  
Yang Xue ◽  
Jun Tao Yang ◽  
Ya Ling Dong ◽  
Jia Li Shen ◽  
Ru Peng ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Obstacle Avoidance ◽  
Autonomous Robot ◽  
Experimental Results ◽  
Position Sensitive Detector ◽  
Infrared Sensor ◽  
Sensitive Detector ◽  
New Approach ◽  
Position Sensitive

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.

Mechanical Design of Robotic In Vivo Wheeled Mobility

2006 ◽  
Vol 129 (10) ◽  
pp. 1037-1045 ◽  
Author(s):  
Mark E. Rentschler ◽  
Shane M. Farritor ◽  
Karl D. Iagnemma
Keyword(s):  
Finite Element ◽  
Mobile Robots ◽  
Mechanical Design ◽  
Element Analysis ◽  
New Approach ◽  
Helical Wheel ◽  
Test Platform ◽  
Wheeled Mobility ◽  
Task Assistance

A new approach to laparoscopic surgery involves placing a robot completely within the patient. These in vivo robots are then able to provide visual feedback and task assistance that would otherwise require additional incisions. Wheeled in vivo robots can provide a mobile platform for cameras, graspers, and other sensory devices that assist in laparoscopy. Development of wheeled in vivo mobile robots was achieved through a design process that included modeling, finite element analysis (FEA), bench top testing, and animal tests. Laboratory testing using a wheel test platform identified a helical wheel design as the best candidate. Finite element simulations were then used to better understand how changing the helical wheel geometric parameters affected drawbar force. Several prototype mobile robots were then developed based on these results. The drawbar forces of these robots were measured in the laboratory to confirm the FEA results. Finally, these robots were successfully tested during animal surgeries.

Issues of Motion Control of Mobile Robots Based on the Potential Guidance Method

2019 ◽  
Vol 20 (11) ◽  
pp. 677-685
Author(s):  
A. B. Filimonov ◽  
N. B. Filimonov
Keyword(s):  
Mobile Robots ◽  
Motion Control ◽  
A Priori ◽  
Target Position ◽  
Potential Fields ◽  
Modified Method ◽  
Working Space ◽  
Local Navigation ◽  
Virtual Forces ◽  
Priori Information

One of the topical areas of research in modern robotics is the problem of local navigation of mobile robots (MR), which ensures the movement of the robot to the target with the bypass of obstacles in the process of movement. The navigation process includes the following steps: mapping the environment, localization of the robot and planning the route leading to the goal. Among the popular methods of local navigation of robots is the method of artificial potential fields (PF). The essence of the PF method is to implement the movement of the MR in the field of "information forces" using the forces of "attraction" to the target position and the forces of "repulsion" from obstacles.This article addresses the issues of local navigation and motion control of the MR based on the method of PF.When using traditional attracting potential forces, the structure of virtual forces near the obstacle depends on the distance of the MR from the target, and the robot movement will slow down at the end of the route, which will inevitably lead to an unjustified tightening of the total time of moving the robot to the target position. To eliminate this undesirable effect, the authors propose to use attracting potential fields of special type.The authors propose new methods of PF allowing to solve the key problems for the control of MR — "traps" (potential pits) and bypass obstacles: the method of two maps of potential fields and the method of "fairway" on the map of potential fields. The methods of "beetle" for solving the problem of bypass obstacles in the condition of the absence of a priori information about the working space of MR are discussed. A modified method of "beetle" having a number of advantages in comparison with classical methods is proposed. 

Manoeuvring highly redundant manipulators

Robotica ◽  
1997 ◽  
Vol 15 (4) ◽  
pp. 435-447 ◽  
Author(s):  
E. Sahin Conkur ◽  
Rob Buckingham
Keyword(s):  
Collision Avoidance ◽  
Potential Fields ◽  
Redundant Manipulators ◽  
Path Finding ◽  
Soft Contact ◽  
New Approach ◽  
Digital Computation ◽  
Redundant Robots ◽  
Measurement Scheme ◽  
Environment Measurement

A task based approach to the issue of redundant robots starts from the premise that there are obstacles that cannot be removed from the working area and which therefore must be avoided. This statement produces the requirement for a device with a certain degree of mobility, and stresses the need to ensure that the aim is twofold: reach the goal and avoid obstacles. But avoiding obstacles is not the same objective as keeping as far away from an obstacle as possible; the primary goal is still to reach the target. In fact humans use soft contact to reach targets that are at the periphery of their reach. This soft distributed contact has the effect of smoothing the surface of the object and hence there is an element of only being interested in obstacle detail at the appropriate scale to achieve the task. This paper describes a new approach to collision avoidance based on using a global path finding algorithm, in this case using Laplacian potential fields, in conjunction with a simple local geometrically based algorithm for avoiding obstacles and maximising the use of manoeuvring space in a manner which is not limited by digital computation resolution issues. This extra technique is in some ways analogous to the human soft contact approach. Three examples are presented to illustrate the robustness of the algorithm. In order to be able to compare results with other techniques, an environment measurement scheme is defined which gives an indication of the difficulty of the trajectory being followed.

scholarly journals Control of mobile robot formations using A-star algorithm and artificial potential fields

2021 ◽  
Vol 12 (2) ◽  
pp. 57-67
Author(s):  
Nelson Luis Manuel ◽  
Nihat İnanç ◽  
Mustafa Yasin Erten
Keyword(s):  
Stability Analysis ◽  
Mobile Robots ◽  
Programming Language ◽  
Lyapunov Theory ◽  
Potential Fields ◽  
Least Cost Path ◽  
Artificial Potential Fields ◽  
Or Groups ◽  
Linearized Model ◽  
Matlab Programming

Formations or groups of robots become essential in cases where a single robot is insufficient to satisfy a given task. With an increasingly automated world, studies on various topics related to robotics have been carried out in both the industrial and academic arenas. In this paper, the control of the formation of differential mobile robots based on the leader-follower approach is presented. The leader's movement is based on the least cost path obtained by the A-star algorithm, thus ensuring a safe and shortest possible route for the leader. Follower robots track the leader's position in real time. Based on this information and the desired distance and angle values, the leader robot is followed. To ensure that the followers do not collide with each other and with the obstacles in the environment, a controller based on Artificial Potential Fields is designed. Stability analysis using Lyapunov theory is performed on the linearized model of the system. To verify the implemented technique, a simulator was designed using the MATLAB programming language. Seven experiments are conducted under different conditions to show the performance of the approach. The distance and orientation errors are less than 0.1 meters and 0.1 radians, respectively. Overall, mobile robots are able to reach the goal position, maintaining the desired formation, in finite time.

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