scholarly journals Marker-Based Method for Recognition of Camera Position for Mobile Robots

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1077
Author(s):  
Dong-Gi Gwak ◽  
Kyon-Mo Yang ◽  
Min-Ro Park ◽  
Jehun Hahm ◽  
Jaewan Koo ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Wheeled Mobile Robots ◽  
Robot System ◽  
The Third ◽  
The Core ◽  
Reference Marker ◽  
Internal Parameters ◽  
Camera Position ◽  
Marker Size

Position recognition is one of the core technologies for driving a robot because of differences in environment and rapidly changing situations. This study proposes a strategy for estimating the position of a camera mounted on a mobile robot. The proposed strategy comprises three methods. The first is to directly acquire information (e.g., identification (ID), marker size and marker type) to recognize the position of the camera relative to the marker. The advantage of this marker system is that a combination of markers of different sizes or having different information may be used without having to update the internal parameters of the robot system even if the user frequently changes or adds to the marker’s identification information. In the second, two novel markers are proposed to consider the real environment in which real robots are applied: a nested marker and a hierarchical marker. These markers are proposed to improve the ability of the camera to recognize markers while the camera is moving on the mobile robot. The nested marker is effective for robots like drones, which land and take off vertically with respect to the ground. The hierarchical marker is suitable for robots that move horizontally with respect to the ground such as wheeled mobile robots. The third method is the calculation of the position of an added or moved marker based on a reference marker. This method automatically updates the positions of markers after considering the change in the driving area of the mobile robot. Finally, the proposed methods were validated through experiments.

HOLONOMIC AND OMNIDIRECTIONAL LOCOMOTION SYSTEMS FOR WHEELED MOBILE ROBOTS: A REVIEW

2015 ◽  
Vol 77 (28) ◽  
Author(s):  
M. Juhairi Aziz Safar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Degrees Of Freedom ◽  
Wheeled Mobile Robot ◽  
Arbitrary Direction ◽  
Current Position ◽  
Wheeled Mobile Robots ◽  
Future Improvement ◽  
Position And Orientation ◽  
Three Degrees Of Freedom

Holonomic and omnidirectional locomotion systems are best known for their capability to maneuver at any arbitrary direction regardless of their current position and orientation with a three degrees of freedom mobility. This paper summarizes the advancement of holonomic and omnidirectional locomotion systems for wheeled mobile robot applications and discuss the issues and challenges for future improvement.

scholarly journals Modelling of Dynamics of a Wheeled Mobile Robot with Mecanum Wheels with the use of Lagrange Equations of the Second Kind

2017 ◽  
Vol 22 (1) ◽  
pp. 81-99 ◽  
Author(s):  
Z. Hendzel ◽  
Ł. Rykała
Keyword(s):  
Mathematical Model ◽  
Kinetic Energy ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Equations Of Motion ◽  
Wheeled Mobile Robot ◽  
Dynamic Equations ◽  
Lagrange Equations ◽  
Wheeled Mobile Robots ◽  
New Type

Abstract The work presents the dynamic equations of motion of a wheeled mobile robot with mecanum wheels derived with the use of Lagrange equations of the second kind. Mecanum wheels are a new type of wheels used in wheeled mobile robots and they consist of freely rotating rollers attached to the circumference of the wheels. In order to derive dynamic equations of motion of a wheeled mobile robot, the kinetic energy of the system is determined, as well as the generalised forces affecting the system. The resulting mathematical model of a wheeled mobile robot was generated with the use of Maple V software. The results of a solution of inverse and forward problems of dynamics of the discussed object are also published.

Wheeled Mobile Robot Tracking Control without Velocity Measurement

2013 ◽  
Vol 373-375 ◽  
pp. 231-237 ◽  
Author(s):  
Qiang Wang ◽  
Guang Tong ◽  
Xin Xing
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Velocity Measurement ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Design Parameters ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Robot Tracking ◽  
Control Scheme

In this paper, a new robust trajectory tracking control scheme for wheeled mobile robots without velocity measurement is proposed. In the proposed controller, the velocity observer is used to estimate the velocity of wheeled mobile robot. The dynamics of wheeled mobile robot is considered to develop the controller. The proposed controller has the following features: i) The proposed controller has good robustness performance; ii) It is easy to improve tracking performance by setting only one design parameters.

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.

Uncalibrated Vision-Based Control of Two-Wheeled Mobile Robots

2001 ◽  
Author(s):  
Jenelle Armstrong Piepmeier ◽  
Peter A. Morgan
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Newton Method ◽  
Camera Calibration ◽  
Visual Feedback ◽  
Robot Kinematics ◽  
Moving Target ◽  
Controllable System ◽  
Wheeled Mobile Robots ◽  
Quasi Newton

Abstract An quasi-Newton method with Jacobian estimation is used to control a mobile robot utilizing visual feedback. The method is uncalibrated, requiring no camera calibration or known robot kinematics. Given a proper task configuration, the robot can be controlled such that it follows a moving target. This paper investigates the appropriate task configurations that result in a controllable system.

Calibration of omnidirectional wheeled mobile robots: method and experiments

Robotica ◽  
2013 ◽  
Vol 31 (6) ◽  
pp. 969-980 ◽  
Author(s):  
Yaser Maddahi ◽  
Ali Maddahi ◽  
Nariman Sepehri
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Systematic Errors ◽  
Wheeled Mobile Robot ◽  
Wheeled Mobile Robots ◽  
Omnidirectional Mobile Robot ◽  
Position Errors ◽  
Positioning Errors ◽  
Surface Irregularities ◽  
Omnidirectional Wheels

SUMMARYOdometry errors, which occur during wheeled mobile robot movement, are inevitable as they originate from hard-to-avoid imperfections such as unequal wheels diameters, joints misalignment, backlash, slippage in encoder pulses, and much more. This paper extends the method, developed previously by the authors for calibration of differential mobile robots, to reduce positioning errors for the class of mobile robots having omnidirectional wheels. The method is built upon the easy to construct kinematic formulation of omnidirectional wheels, and is capable of compensating both systematic and non-systematic errors. The effectiveness of the method is experimentally investigated on a prototype three-wheeled omnidirectional mobile robot. The validations include tracking unseen trajectories, self-rotation, as well as travelling over surface irregularities. Results show that the method is very effective in improving position errors by at least 68%. Since the method is simple to implement and has no assumption on the sources of errors, it should be considered seriously as a tool for calibrating omnidirectional mobile having any number of wheels.

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.

scholarly journals Wheeled mobile robot design with robustness properties

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401774525 ◽  
Author(s):  
Yung Yue Chen ◽  
Yung Hsiang Chen ◽  
Chiung Yau Huang
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Control Design ◽  
Wheeled Mobile Robot ◽  
Tracking Problem ◽  
Wheeled Mobile Robots ◽  
Modeling Uncertainties ◽  
Nonlinear Robust

A trajectory tracking design for wheeled mobile robots is presented in this article. The design objective is to develop one nonlinear robust control law for the trajectory tracking problem of wheeled mobile robots in the presence of modeling uncertainties. The main contribution of this investigation is as follows. Under the effects of modeling uncertainties, an effective control design which can quickly converge tracking errors between the controlled wheeled mobile robot and the desired trajectory is derived mathematically. Generally, it is difficult to develop a nonlinear robust control design for the trajectory tracking problem of wheeled mobile robots due to the complexity and nonlinearity of the wheeled mobile robots’ dynamics. Fortunately, based on a series analysis for the tracking error dynamics of the controlled wheeled mobile robot, one promising solution is obtained. For verifying the trajectory tracking performance of this proposed method, two scenarios are utilized in the simulations and the practical tests.

Calibration of wheeled mobile robots with differential drive mechanisms: an experimental approach

Robotica ◽  
2012 ◽  
Vol 30 (6) ◽  
pp. 1029-1039 ◽  
Author(s):  
Y. Maddahi ◽  
N. Sepehri ◽  
A. Maddahi ◽  
M. Abdolmohammadi
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Experimental Approach ◽  
Systematic Errors ◽  
New Method ◽  
University Of Michigan ◽  
Wheeled Mobile Robots ◽  
Differential Drive ◽  
Error Corrections ◽  
Straight Line

SUMMARYExact knowledge of the position and proper calibration of robots that move by wheels form an important foundation in mobile robot applications. In this context, a variety of sensory systems and techniques have been developed for accurate positioning of differential drive mobile robots. This paper, first, provides a brief overview of mobile robots positioning techniques and then, presents a new benchmark method capable of calibrating mobile robots with differential drive mechanisms to correct systematic errors. The proposed method is compared with the commonly used University of Michigan Benchmark (UMBmark) odometry method. Two sets of comparisons are conducted on six prototyped robots with differential drives. The first set of tests establishes the workability and accuracy that can be achieved with the new method and compares them with the ones obtained from the UMBmark technique. The second experiment compares the performance of a mobile robot, calibrated with either the UMBmark or the new method, for an unseen path. It is demonstrated that the proposed method of calibration is simple to implement, and leads to accuracy comparable to the UMBmark method. Specifically, while the error corrections in both methods are within ±5% of each other, the proposed method requires single straight line motion for calibration, which is believed to be simpler and less timely to implement than the square path motion required by the UMBmark technique. The method should therefore be considered seriously as a new tool when calibrating differential drive mobile robots.

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