scholarly journals Shortest Path Homography-Based Visual Control for Differential Drive Robots

10.5772/5007 ◽  
2007 ◽  
Author(s):  
G. Lopez-Nicolas ◽  
C. Sagues ◽  
J.J. Guerrero
Keyword(s):  
Shortest Path ◽  
Visual Control ◽  
Differential Drive

scholarly journals Maze Maneuvering and Colored Object Tracking for Differential Drive Mobile Robot

2019 ◽  
Vol 15 (1) ◽  
pp. 47-52
Author(s):  
Ammar Aldair ◽  
Auday Al-Mayyahi
Keyword(s):  
Mobile Robot ◽  
Object Tracking ◽  
Shortest Path ◽  
Mobile Robotics ◽  
Vision Sensor ◽  
Infrared Sensors ◽  
Differential Drive ◽  
Object Based ◽  
Color Detection ◽  
Simulation Results

In maze maneuvering, it is needed for a mobile robot to feasibly plan the shortest path from its initial posture to the desired destination in a given environment. To achieve that, the mobile robot is combined with multiple distance sensors to assist the navigation while avoiding obstructing obstacles and following the shortest path toward the target. Additionally, a vision sensor is used to detect and track colored objects. A new algorithm is proposed based on different type of utilized sensors to aid the maneuvering of differential drive mobile robot in an unknown environment. In the proposed algorithm, the robot has the ability to traverse surrounding hindrances and seek for a particular object based on its color. Six infrared sensors are used to detect any located obstacles and one color detection sensor is used to locate the colored object. The Mobile Robotics Simulation Toolbox in Matlab is used to test the proposed algorithm. Three different scenarios are studied to prove the efficiency of the proposed algorithm. The simulation results demonstrate that the mobile robot has successfully accomplished the tracking and locating of a colored object without collision with hurdles.

Embedded System for Front Differential Drive of Rotational and Translational Vehicle Position Control

2017 ◽  
Vol 10 (4) ◽  
pp. 325
Author(s):  
Angie Julieth Valencia Castañeda ◽  
Mauricio Felipe Mauledoux Monroy ◽  
Oscar Fernando Avilés Sánchez ◽  
Paola Andrea Niño Suarez ◽  
Edgar Alfredo Portilla Flores
Keyword(s):  
Embedded System ◽  
Position Control ◽  
Differential Drive ◽  
Vehicle Position

The Map-Based Shortest Route Selection by Using Ant Colony Optimization Algorithm

2018 ◽  
Vol 1 (1) ◽  
pp. 15
Author(s):  
Achmad Fanany Onnilita Gaffar ◽  
Agusma Wajiansyah ◽  
Supriadi Supriadi
Keyword(s):  
Ant Colony Optimization ◽  
Shortest Path ◽  
Optimization Algorithm ◽  
Optimization Problems ◽  
Google Earth ◽  
Ant Colony ◽  
Food Sources ◽  
Shortest Route ◽  
Study Results ◽  
Destination Point

The shortest path problem is one of the optimization problems where the optimization value is a distance. In general, solving the problem of the shortest route search can be done using two methods, namely conventional methods and heuristic methods. The Ant Colony Optimization (ACO) is the one of the optimization algorithm based on heuristic method. ACO is adopted from the behavior of ant colonies which naturally able to find the shortest route on the way from the nest to the food sources. In this study, ACO is used to determine the shortest route from Bumi Senyiur Hotel (origin point) to East Kalimantan Governor's Office (destination point). The selection of the origin and destination points is based on a large number of possible major roads connecting the two points. The data source used is the base map of Samarinda City which is cropped on certain coordinates by using Google Earth app which covers the origin and destination points selected. The data pre-processing is performed on the base map image of the acquisition results to obtain its numerical data. ACO is implemented on the data to obtain the shortest path from the origin and destination point that has been determined. From the study results obtained that the number of ants that have been used has an effect on the increase of possible solutions to optimal. The number of tours effect on the number of pheromones that are left on each edge passed ant. With the global pheromone update on each tour then there is a possibility that the path that has passed the ant will run out of pheromone at the end of the tour. This causes the possibility of inconsistent results when using the number of ants smaller than the number of tours.

Transscleral Extraction of an Intraocular Foreign Body From the Posterior Segment of the Eye Without Pars Plana Vitrectomy

2020 ◽  
Vol 76 (1) ◽  
pp. 14-23
Author(s):  
Štěpán Rusňák ◽  
Lenka Hecová
Keyword(s):  
Foreign Body ◽  
Pars Plana Vitrectomy ◽  
Young Patients ◽  
Vitreous Body ◽  
Visual Control ◽  
Intraocular Foreign Body ◽  
Survey Study ◽  
Surgical Method ◽  
Eye Trauma ◽  
Pars Plana

Purpose: Penetrating eye trauma with an intraocular foreign body is very frequent, especially in men in their productive age. Pars plana vitrectomy would be the standard surgical method at our department. However, in indicated cases (metallic intraocular bodies in the posterior eye segment in young patients with well transparent ocular media without detached ZSM and without any evident vitreoretinal traction) transscleral extraction of the intraocular foreign body is performed using the exo magnet, eventually endo magnet with a minimal PPV without PVD induction under the visual control of endo-illumination. Materials and Methods: Between June 2003 and June 2018, 66 eyes of 66 patients diagnosed with a penetrating eye trauma caused by an intraocular foreign body located in the posterior eye segment were treated. In 18 eyes (27,3 %) with a metallic foreign body in vitreous (body) or in retina, no PPV or a minimal PPV without PVD was used as a surgical method. In the remaining 48 eyes (72,7 %), a standard 20G, respectively 23G PPV method were used together with PVD induction and the foreign body extraction via endo or exo magnet. Conclusions: As demonstrated by our survey/study, in the cases of a thoroughly considered indication an experimented vitreoretinal surgeon can perform a safe NCT transscleral extraction from the posterior eye segment via exo magnet, eventually endo magnet under the visual control of a contact display system with a minimal PPV. Thereby, the surgeon can enhance the patient´s chance to preserve their own lens and its accommodative abilities as well as reduce the risk of further surgical interventions of the afflicted eye.

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