scholarly journals Corrigendum to Determination of an Optimal Return-Path on Road Attributes for Mobile Robot Recharging

10.5772/55068 ◽  
2012 ◽  
Vol 9 (5) ◽  
pp. 185
Author(s):  
Fei Liu ◽  
Shan Liang ◽  
Xiaodong Xian
Keyword(s):  
Mobile Robot ◽  
Return Path

scholarly journals Determination of An Optimal Return-Path on Road Attributes for Mobile Robot Recharging

10.5772/50901 ◽  
2011 ◽  
Vol 8 (5) ◽  
pp. 58 ◽  
Author(s):  
Fei Liu ◽  
Shan Liang ◽  
Xiaodong Xian
Keyword(s):  
Surface Roughness ◽  
Mobile Robot ◽  
Optimal Path ◽  
Idle Time ◽  
The Road ◽  
Optimal Path Planning ◽  
Road Grade ◽  
Return Path ◽  
The Cost

Optimal path-planning for mobile robot recharging is a very vital requirement in real applications. This paper proposes a strategy of determining an optimal return-path in consideration of road attributes which include length, surface roughness, road grade and the setting of speed-control hump. The road in the environment is partitioned into multiple segments, and for each one, a model of cost that the robot will pay for is established under the constraints of the attributes. The cost consists of energy consumption and the influence of vibration on mobile robot that is induced by motion. The return-path is constituted by multiple segments and its cost is defined to be the sum of the cost of each segment. The idle time, deduced from the cost, is firstly used as the decision factor for determining the optimal return-path. Finally, the simulation is given and the results prove the effectiveness and superiority of the strategy.

Experimental investigation for better relative localization of a mobile robot using Taguchi method

Robotica ◽  
2014 ◽  
Vol 33 (7) ◽  
pp. 1415-1423
Author(s):  
T. Mathavaraj Ravikumar ◽  
R. Saravanan
Keyword(s):  
Mathematical Model ◽  
Taguchi Method ◽  
Mobile Robot ◽  
Mobile Robotics ◽  
Kinematic Parameters ◽  
Absolute Position ◽  
Relative Localization ◽  
Wheeled Robot ◽  
Position And Orientation

SUMMARYThe positioning of a wheeled robot is an imperative manipulation problem in mobile robotics. Odometry is a familiar method for determining the relative position of a mobile robot. It comprises the detection of a set of kinematic parameters that permit reconstructing the robot's absolute position and orientation starting from the wheels' encoder measurements. This paper deals with the determination of better relative localization of a mobile robot by means of odometry by considering the influence of parameters namely total weight, speed, diameter of wheel, and width of wheel. Experiments have been conducted based on L9 orthogonal array suggested in Taguchi method to obtain the optimum condition. A mathematical model has also been developed for the mobile robot with the help of MINITAB software.

Localization using infrared beacons

Robotica ◽  
2000 ◽  
Vol 18 (2) ◽  
pp. 153-161 ◽  
Author(s):  
Eric Brassart ◽  
Claude Pegard ◽  
Mustapha Mouaddib
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Processing Time ◽  
Ccd Camera ◽  
Localization System ◽  
Triangulation Method ◽  
Time Calibration ◽  
Improve Accuracy ◽  
Position And Orientation

In this paper, we deal with a localization system allowing one to determine the position and orientation of a mobile robot. This system uses active beacons distributed at the ceiling of the navigation area. These beacons can transmit a coded infrared signal which allows the robots to identify the sender. A CCD camera associated to an infrared receiver allows one to compute the position with a triangulation method which needs reduced processing time. Calibration and correcting distortion stages are performed to improve accuracy in the determination of the position. Dynamic localisation is established for most actual mobile robots used in indoor areas.

Exploration of a Mobile Robot Based on Sonar Probability Mapping

1996 ◽  
Vol 118 (1) ◽  
pp. 150-157
Author(s):  
Byung-Kwon Min ◽  
Dong Woo Cho ◽  
Sang-Jo Lee ◽  
Young-Pil Park
Keyword(s):  
Probability Theory ◽  
Mobile Robot ◽  
Dimensional Space ◽  
Bayesian Probability ◽  
Autonomous Mobile Robot ◽  
Two Dimensional ◽  
Probability Map ◽  
Work Area

This paper suggests a new exploration strategy of an autonomous mobile robot in an unknown environment. Determination of a temporary goal based on a representation of work area named exploration quadtree is proposed. The exploration quadtree provides the information on quality of the regions concerned in a robot’s workspace. Using this quadtree the robot easily finds the next temporary goal that makes exploration more efficient. The quadtree is made up from a sonar probability map that is constructed by sonar range sensing and Bayesian probability theory. We then propose a method that plans a path between the determined temporary goals based on a probability map. The developed methods were implemented on a real mobile robot, AMROYS-II, which was built in our laboratory, and shown to be useful enough in a real environment that can be projected onto a two-dimensional space.

Servocontrol of a Mobile Robot by Using Genetic Algorithms

1999 ◽  
Vol 11 (2) ◽  
pp. 140-147
Author(s):  
Jun Tang ◽  
◽  
Keigo Watanabe ◽  
Katsutoshi Kuribayashi ◽  
Keyword(s):  
Genetic Algorithms ◽  
Mobile Robot ◽  
Riccati Equation ◽  
Positive Definite ◽  
Positive Definite Matrices ◽  
Robot Simulation ◽  
Complex Control ◽  
Control Processes

One problem that not yet solved in optimum servocontroller design is determination of positive definite matrices Q and R for the Riccati equation, although such servocontrollers have been applied in many complex control processes. We propose a way to tune weighting matrices by applying genetic algorithms (GAs) to type 1 and 2 optimum linear servocontrollers for a mobile robot. Simulation verified the controller's effectiveness.

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