Practical Education Curriculum for Autonomous Mobile Robot (Project Learning Program for School Based on Subsumption Architecture)

2011 ◽  
Vol 23 (5) ◽  
pp. 684-700 ◽  
Author(s):  
Yoshihiko Kawazoe ◽  
◽  
Masaki Mitsuoka ◽  
Sho Masada
Keyword(s):  
Mobile Robot ◽  
Real World ◽  
Strong Nonlinearity ◽  
Autonomous Mobile Robot ◽  
Learning Program ◽  
Subsumption Architecture ◽  
The Real ◽  
Emotional Appeal ◽  
School Based ◽  
Autonomous Machine

There are presently no robots around us in our society if we define a robot as an autonomous machine working in the arena of offices, homes, disaster sites, etc., not in factories. Mechatronics, dynamics, and robotics involving humans are a world of strong nonlinearity. This paper investigates the approach to the emergence of the target behavior of an autonomous mobile robot by learning with Subsumption Architecture (SA) to break through the problems of the conventional robotics with the SMPA (Sense-Model-Plan-Act) framework in the real world. It has showed the way things are learned in the real world with SA and has been developed into a practical curriculum for education as an introduction to robotics that has an intellectual and emotional appeal.

Development of Autonomous Mobile Robot that Can Navigate in Rainy Situations

2016 ◽  
Vol 28 (4) ◽  
pp. 441-450 ◽  
Author(s):  
Naoki Akai ◽  
◽  
Yasunari Kakigi ◽  
Shogo Yoneyama ◽  
Koichi Ozaki ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Real World ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Navigation Systems ◽  
Autonomous Mobile Robot ◽  
Technical Challenge ◽  
The Real ◽  
Mobile Navigation ◽  
Unexpected Behavior

[abstFig src='/00280004/02.jpg' width='300' text='Navigation under strong rainy condition' ] The Real World Robot Challenge (RWRC), a technical challenge for mobile outdoor robots, has robots automatically navigate a predetermined path over 1 km with the objective of detecting specific persons. RWRC 2015 was conducted in the rain and every robot could not complete the mission. This was because sensors on the robots detected raindrops and the robots then generated unexpected behavior, indicating the need to study the influence of rain on mobile navigation systems – a study clearly not yet sufficient. We begin by describing our robot’s waterproofing function, followed by investigating the influence of rain on the external sensors commonly used in mobile robot navigation and discuss how the robot navigates autonomous in the rain. We conducted navigation experiments in artificial and actual rainy environments and those results showed that the robot navigates stably in the rain.

Student Education Utilizing the Development of Autonomous Mobile Robot for Robot Competition

2017 ◽  
Vol 29 (6) ◽  
pp. 1025-1036 ◽  
Author(s):  
Satoshi Muramatsu ◽  
Daisuke Chugo ◽  
Sho Yokota ◽  
Hiroshi Hashimoto ◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Real World ◽  
Autonomous Mobile Robot ◽  
Research Activity ◽  
The Real ◽  
Student Education ◽  
Academic Conference ◽  
Research Outcome ◽  
Short Span ◽  
World Information

The purpose of our education approach is the giving the knowledge and the experience for the research activity to the freshman student who assigned the Lab. We think that “the interaction between the robot and the real world information which is observed by sensor” is important for the student education for student’s research in the Lab. Here, the interaction means how perform the robot based on the real world information which is observed by sensors. The development of the mobile robot which work in Robot competition (Tsukuba Challenge) requires “the interaction between the mobile robot and real world.” For this reason, we think that this activity (participating in the Tsukuba Challenge anf development of the mobile robot) is effective for the student education, and we educate the student by utilizing the development of the mobile robot for Tsukuba Challenge. Although our approach performed in short span, we achieve the good result. For example, the students achieves the research outcome by utilizing the learned skill, and submitted the paper to the academic conference. We verified that our education approach is effective for improvement the student education and motivation.

Development of Autonomous Mobile Robot Using Articulated Steering Vehicle and Lateral Guiding Method

2015 ◽  
Vol 27 (4) ◽  
pp. 337-345 ◽  
Author(s):  
Shinya Ohkawa ◽  
◽  
Yoshihiro Takita ◽  
Hisashi Date ◽  
Kazuhiro Kobayashi
Keyword(s):  
Experimental Data ◽  
Mobile Robot ◽  
Real World ◽  
Autonomous Mobile Robot ◽  
Steering Angle ◽  
The Real ◽  
Articulated Vehicle ◽  
Robotic Vehicle ◽  
Relationship Of ◽  
Geometrical Relationship

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270004/03.jpg"" width=""300"" /> Autonomous robot “AR Chair”</div> This paper is discusses an autonomous mobile robot entered in the Real World Robotics Challenges 2014 (RWRC) in Tsukuba. Our project was to develop a wheelchair able to navigate stairs autonomously. Step 1 develops a center articulated vehicle, called the AR Chair, which has 4 wheels and a controller including LIDARs. The center articulated vehicle has a stiff structure and travels with the front and rear wheels on the same path, so there is no inner wheels difference. The robotic vehicle carries users weighing up to 100 kg. The autonomous controller is the same as the Smart Dump 7 combined with the RWRC 2013 to achieve the challenge, excluding the geometrical relationship of the steering angle and communication command for motor drivers to the AR Chair. The advantage of the robot is shown by experimental data from the RWRC 2014’s final run. </span>

Optimal path planning of mobile robot using the hybrid cuckoo–bat algorithm in assorted environment

2019 ◽  
Vol 7 (1) ◽  
pp. 35-52 ◽  
Author(s):  
Balamurali Gunji ◽  
Deepak B.B.V.L. ◽  
Saraswathi M.B.L. ◽  
Umamaheswara Rao Mogili
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Real World ◽  
Hybrid Algorithm ◽  
Optimal Path ◽  
Bat Algorithm ◽  
Cuckoo Search ◽  
Content Type ◽  
The Real ◽  
World Environment

Purpose The purpose of this paper is to obtain an optimal mobile robot path planning by the hybrid algorithm, which is developed by two nature inspired meta-heuristic algorithms, namely, cuckoo-search and bat algorithm (BA) in an unknown or partially known environment. The cuckoo-search algorithm is based on the parasitic behavior of the cuckoo, and the BA is based on the echolocation behavior of the bats. Design/methodology/approach The developed algorithm starts by sensing the obstacles in the environment using ultrasonic sensor. If there are any obstacles in the path, the authors apply the developed algorithm to find the optimal path otherwise reach the target point directly through diagonal distance. Findings The developed algorithm is implemented in MATLAB for the simulation to test the efficiency of the algorithm for different environments. The same path is considered to implement the experiment in the real-world environment. The ARDUINO microcontroller along with the ultrasonic sensor is considered to obtain the path length and time of travel of the robot to reach the goal point. Originality/value In this paper, a new hybrid algorithm has been developed to find the optimal path of the mobile robot using cuckoo search and BAs. The developed algorithm is tested with the real-world environment using the mobile robot.

scholarly journals E-BOT PLATAFORMA ROBÓTICA DE APOYO EN LA ENSEÑANZA DE ALGORITMOS Y PROGRAMACIÓN

2021 ◽  
Vol 8 (16) ◽  
pp. 65-76
Author(s):  
JEFFERSON GÚTIERREZ ◽  
◽  
NICOLAS CALDERON ◽  
JOSE FRANCO
Keyword(s):  
Mobile Robot ◽  
Real World ◽  
Correct Operation ◽  
Support Tool ◽  
The Real ◽  
Design And Construction

This article presents the design and construction of a mobile robot (E-BOT) both in the hardware and in the software part, which works as a support tool for teaching processes and allows to consolidate learning in related topics. a Programming having as its scope repetitive structures, this through a series of previously constructed learning elements. E-BOT has a series of actuators (Led, oled, servomotor, motors) and sensors (ultrasound and reflective light) which are controlled by means of Arduino that allow an easy interaction of EBOT with the real world. Additionally, the construction of a verification software is carried out that allows us to validate the correct operation of all the modules built.

Genetic evolution of the subsumption architecture which controls an autonomous mobile robot

1997 ◽  
pp. 67-69
Author(s):  
Ryoichi Odagiri ◽  
Taku Naito ◽  
Yutaka Matsunaga ◽  
Tatsuya Asai ◽  
Kazuyuki Murase
Keyword(s):  
Mobile Robot ◽  
Autonomous Mobile Robot ◽  
Genetic Evolution ◽  
Subsumption Architecture

Development of Autonomous Mobile Robot for Obstacle Avoidance

1993 ◽  
Vol 5 (5) ◽  
pp. 481-486 ◽  
Author(s):  
Masafumi Uchida ◽  
◽  
Syuichi Yokoyama ◽  
Hideto Ide ◽  
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Potential Method ◽  
Working Environment ◽  
Planning Problem ◽  
Autonomous Mobile Robot ◽  
The Real

The potential method is superior for solving the problem of motion planning; however, it must address the problem of the real-time generation of potential field. Obstacle avoidance is a motion planning problem. In a previous study, we investigated the real-time generation of potential field. Based on parallel processing with element group, we proposed the system by Sensory Point Moving (SPM) method. As a result of computer simulation, it was confirmed that the SPM method is effective for generating an obstacle avoidance path in 2-D and a more complex working environment like a 3-D one. In this paper, we discuss the development of autonomous mobile robot for obstacle avoidance based on the SPM method.

Self-diagnosis System of an Autonomous Mobile Robot Using Sensory Information

2000 ◽  
Vol 12 (2) ◽  
pp. 72-77 ◽  
Author(s):  
Shinnosuke Okina ◽  
◽  
Kuniaki Kawabata ◽  
Teruo Fujii ◽  
Yasuharu Kunii ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Intelligent Systems ◽  
Sensory Information ◽  
Point Of View ◽  
Magnetic Sensors ◽  
Autonomous Mobile Robot ◽  
Diagnosis System ◽  
The Real ◽  
Multiple Sensors ◽  
Sensing System

In this paper, we describe a basic sensing system for self-diagnosing an autonomous mobile robot. In recent years, many researches on intelligent robots and systems have been done. But, when such robots and systems work in the real environment, it is important for those robots and systems to have the ability to recognize their own conditions for detecting faults. On the point of view, we should consider pay more attention to diagnose in such intelligent systems. Therefore we try to construct an internal sensing system as a self-diagnosis system on a real robot. Especially, in this paper, we discuss about motor system of an autonomous omnidirectional mobile robot, which was developed in RIKEN. The self-diagnosis system consists of multiple sensors, which are voltage, current, encoder, and magnetic sensors. We show some diagnosing experimental results using the real system. From the results, we could collect basic data for fault detection of the system.

Autonomous Mobile Robot Searching for Persons with Specific Clothing on Urban Walkway

2017 ◽  
Vol 29 (4) ◽  
pp. 649-659 ◽  
Author(s):  
Ryohsuke Mitsudome ◽  
◽  
Hisashi Date ◽  
Azumi Suzuki ◽  
Takashi Tsubouchi ◽  
...  
Keyword(s):  
Object Recognition ◽  
Mobile Robot ◽  
Real Time ◽  
Real World ◽  
Laser Scanner ◽  
High Accuracy ◽  
Autonomous Mobile Robot ◽  
World Environment

In order for a robot to provide service in a real world environment, it has to navigate safely and recognize the surroundings. We have participated in Tsukuba Challenge to develop a robot with robust navigation and accurate object recognition capabilities. To achieve navigation, we have introduced the ROS packages, and the robot was able to navigate without major collisions throughout the challenge. For object recognition, we used both a laser scanner and camera to recognize a person in specific clothing, in real time and with high accuracy. In this paper, we evaluate the accuracy of recognition and discuss how it can be improved.

Sign in / Sign up

Export Citation Format

Share Document