DEVELOPMENT OF LEADER AND FOLLOWER STRATEGY FOR SWARM ROBOT APPLICATIONS

2015 ◽  
Vol 77 (28) ◽  
Author(s):  
Humairah Mansor ◽  
Abdul Hamid Adom ◽  
Norasmadi Abdul Rahim
Keyword(s):  
Wireless Communication ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Communication Strategy ◽  
Robot System ◽  
Testing Environment ◽  
Odour Source ◽  
Wide Range ◽  
Robust System ◽  
Swarm Robot

Swarming robots basically consist of a group of several simple robots that interact and collaborate with each other to achieve shared goals. A single robot system is not suitable to be used as an agent for the navigation usually covers a wide range of area. Therefore, a group of simple robots is introduced. A group of robots can perform their tasks together in a more efficient way compared to a single robot; hence develop a more robust system. In order to interact, a wireless communication strategy is implemented to enable the group of mobile robots to perform their tasks. This project implements the swarming algorithm by supplementing the ability of mobile robot platforms with autonomy and odour detection. The work focused on the localization of chemical odour source in the testing environment and the leader and follower swarm formation through wireless communication. To enable the mobile robots to communicate with each other and able to perform leader and follower designation once the target has been found, the RSSI value of X-Bee module is used.

SAVIC: A SIMULATION, VISUALIZATION AND INTERACTIVE CONTROL ENVIRONMENT FOR MOBILE ROBOTS

1993 ◽  
Vol 07 (01) ◽  
pp. 123-144 ◽  
Author(s):  
CHUXIN CHEN ◽  
MOHAN M. TRIVEDI
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Virtual World ◽  
Control Environment ◽  
Robot System ◽  
Interactive Control ◽  
Dynamic Motion ◽  
Unique System ◽  
Software Modules ◽  
And Control

A Simulation, Animation, Visualization and Interactive Control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, (4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a real robotic system. This research is focused on enhancing the overall productivity of an integrated human-robot system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.

Application of Mobile Robot System for Cell Production

2013 ◽  
Vol 300-301 ◽  
pp. 566-571
Author(s):  
Keishi Matsuda ◽  
Hidenori Ishihara
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Knowledge Sharing ◽  
Cost Reduction ◽  
Robot System ◽  
Cell Production ◽  
Multiple Robot ◽  
The Cost ◽  
Sophisticated Algorithm

In this paper, we have discussed on the performance of the knowledge sharing for the multiple robot system which is equipped with the advanced telecommunication devices. This has enabled the mobile robots to perform advanced communication. We propose the utilization of the knowledge sharing robot system at manufacturing scenes, and demonstrate the performance by a simplified simulation. Applying this knowledge sharing system, which helps to improve the balance of the line, the improvement of the productivity and quality was observed. Consequently, the cost reduction and improvement of the efficiency shall be expected by introducing more sophisticated algorithm of knowledge sharing and distribution.

scholarly journals Rapid Development of a Mobile Robot for the Nakanoshima Challenge Using a Robot for Intelligent Environments

2020 ◽  
Vol 32 (6) ◽  
pp. 1211-1218
Author(s):  
Tomohiro Umetani ◽  
◽  
Yuya Kondo ◽  
Takuma Tokuda
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Rapid Development ◽  
Field Tests ◽  
Intelligent Environments ◽  
Mobile Platforms ◽  
Robot System ◽  
Location Data ◽  
Localization And Mapping ◽  
Outdoor Environments

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.

Fast, Accurate Sonar-Ring System

2004 ◽  
Vol 16 (1) ◽  
pp. 44-53
Author(s):  
Teruko Yata ◽  
◽  
Akihisa Ohya ◽  
Jun’ichi Iijima ◽  
Shin’ichi Yuta
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
System Design ◽  
Ring System ◽  
Experimental Results ◽  
Single Measurement ◽  
Robot System ◽  
Distance Information ◽  
Design And Implementation ◽  
Robot System Design

Mobile robots often require distance to objects surrounding them for navigation tasks. The sonar ring is widely used to measure distance because it is easy to use and provides distance information all around the robot. Although accurate in range, a sonar ring has difficulty determining bearings to surrounding objects. Conventional sonar rings are slow in covering a full 360 degrees due to sequential driving of transducers for avoiding interference. In this paper, we propose a new sonar-ring sensor system for a mobile robot that can accurately measure bearing angles to objects in a single measurement. The proposed system simultaneously transmits and receives ultrasound in all directions and measures time-of-flight (TOF) differences, achieving fast, accurate measurement of points reflected around a robot. System design and implementation of the proposed sonar ring are also described and the effectiveness of the proposed system shown by experimental results.

Parking Control of Mixed Conventional/Braking Actuation Mobile Robots Using Fuzzy Logic Control

2016 ◽  
Author(s):  
Walelign M. Nikshi ◽  
Mark D. Bedillion ◽  
Randy C. Hoover
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Fuzzy Logic Controller ◽  
Initial Conditions ◽  
Robot System ◽  
Logic Control ◽  
The Common ◽  
Actuation Systems ◽  
Robot Platform

In this paper a new mobile robot system, the mixed conventional/braking actuation mobile robot (MAMR), is introduced. Various actuation systems exist for mobile robots such as differential drive with motor-driven wheels, legged mechanisms, and others. The common characteristics of all those actuation systems is the use of conventional motors to move each degree of freedom. Robots with such actuation systems are generally complex, heavy, and expensive. This paper uses brakes in combination with conventional actuators to tackle those drawbacks. In this study, some of the conventional actuators are replaced by brakes resulting a new mobile robot platform. Two states of brakes (i.e. ON/OFF) which are obtained by assuming Coulomb friction at the brake are considered. This paper discusses the dynamics and parking control of such a robot using a fuzzy logic controller. Several Matlab/Simulink simulations with different initial conditions are done to show the effectiveness of the proposed controller.

scholarly journals The Mobile Robot Control in Obstacle Avoidance Using Fuzzy Logic Controller

2020 ◽  
Vol 5 (3) ◽  
pp. 334-351
Author(s):  
M. Khairudin ◽  
R. Refalda ◽  
S. Yatmono ◽  
H. S. Pramono ◽  
A. K. Triatmaja ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Obstacle Avoidance ◽  
Experimental Work ◽  
Fuzzy Logic Controller ◽  
Input Voltage ◽  
Robot System ◽  
Dc Motors ◽  
Robot Systems

A very challenging problem in mobile robot systems is mostly in obstacle avoidance strategies. This study aims to describe how the obstacle avoidance system on mobile robots works. This system is designed automatically using fuzzy logic control (FLC) developed using Matlab to help the mobile robots to avoid a head-on collision. The FLC designs were simulated on the mobile robot system. The simulation was conducted by comparing FLC performance to the proportional integral derivative (PID) controller. The simulation results indicate that FLC works better with lower settling time performance. To validate the results, FLC was used in a mobile robot system. It shows that FLC can control the velocity by braking or accelerating according to the sensor input installed in front of the mobile robot. The FLC control system functions as ultrasonic sensor input or a distance sensor. The input voltage was simulated with the potentiometer, whereas the output was shown by the velocity of DC motor. This study employed the simulation work in Simulink and Matlab, while the experimental work used laboratory scale of mobile robots. The results show that the velocity control of DC motors with FLC produces accurate data, so the robot could avoid the existing obstacles. The findings indicate that the simulation and the experimental work of FLC for mobile robot in obstacle avoidance are very close.

scholarly journals Time-Optimal Velocity Tracking Control for Consensus Formation of Multiple Nonholonomic Mobile Robots

Sensors ◽  
2021 ◽  
Vol 21 (23) ◽  
pp. 7997
Author(s):  
Hamidreza Fahham ◽  
Abolfazl Zaraki ◽  
Gareth Tucker ◽  
Mark W. Spong
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Switched System ◽  
Wheeled Mobile Robot ◽  
Consensus Algorithm ◽  
Consensus Formation ◽  
Robot System ◽  
Optimal Velocity ◽  
Time Optimal ◽  
Velocity Tracking

The problem of velocity tracking is considered essential in the consensus of multi-wheeled mobile robot systems to minimise the total operating time and enhance the system’s energy efficiency. This study presents a novel switched-system approach, consisting of bang-bang control and consensus formation algorithms, to address the problem of time-optimal velocity tracking of multiple wheeled mobile robots with nonholonomic constraints. This effort aims to achieve the desired velocity formation in the least time for any initial velocity conditions in a multiple mobile robot system. The main findings of this study are as follows: (i) by deriving the equation of motion along the specified path, the motor’s extremal conditions for a time-optimal trajectory are introduced; (ii) utilising a general consensus formation algorithm, the desired velocity formation is achieved; (iii) applying the Pontryagin Maximum Principle, the new switching formation matrix of weights is obtained. Using this new switching matrix of weights guarantees that at least one of the system’s motors, of either the followers or the leader, reaches its maximum or minimum value by using extremals, which enables the multi-robot system to reach the velocity formation in the least time. The proposed approach is verified in a theoretical analysis along with the numerical simulation process. The simulation results demonstrated that using the proposed switched system, the time-optimal consensus algorithm behaved very well in the networks with different numbers of robots and different topology conditions. The required time for the consensus formation is dramatically reduced, which is very promising. The findings of this work could be extended to and beneficial for any multi-wheeled mobile robot system.

Pivot Turning Measurement of Relative Position and Posture for Moving Robots System Using Stereo-Camera

2012 ◽  
Vol 523-524 ◽  
pp. 895-900 ◽  
Author(s):  
Tohru Sasaki ◽  
Takayuki Ushimaru ◽  
Takahiro Yamatani ◽  
Yusuke Ikemoto ◽  
Haruki Obara
Keyword(s):  
Mobile Robot ◽  
Relative Position ◽  
Measurement Range ◽  
Robot System ◽  
Stereo Camera ◽  
Wide Range ◽  
Novel Method

The stereo-camera method is used to measure the positions of robots. In taking the measurements it is important to precisely measure the distance between cameras and the relative posture of the cameras. Therefore, we developed a novel method for measuring a mobile robot's relative position and posture by photographing robots’ pivot turns. A mobile robot system was equipped with a camera and an identification marker that made it possible to measure position and posture with the stereo-camera method when the viewpoint changed freely. One robot photographs the pivot turns of another. As the latter turns, an identification marker on it is used to trace the movement onto an image. The turning robot’s position and posture is determined by the length and angle of the trace. This procedure makes it possible for each of the two robots to obtain their relative position and posture, making the measurement of the stereo-camera method precise. Measuring with a fixed stereo camera is impossible when there are obstacles in the environment and the object being measured moves over a wide range. However, this robot system was able to use the stereo-camera method to expand the measurement range.

scholarly journals Sensors-based mobile robot for harsh environments: functionalities, energy consumption analysis and characterization

ACTA IMEKO ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 209
Author(s):  
Roberto De Fazio ◽  
Dany Mpoi Katamba ◽  
Aimè Lay Ekuakille ◽  
Miguel Joseph Ferreira ◽  
Simon Kidiamboko ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
High Efficiency ◽  
Lithium Ion ◽  
Smartphone Application ◽  
Industrial Applications ◽  
Harsh Environments ◽  
Wheeled Mobile Robots ◽  
Photovoltaic Panel ◽  
Wide Range

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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