Search results for "Mobile Robot"
showing 10 items of 71 documents
A spiking network for body size learning inspired by the fruit fly
2013
The concept of peripersonal space is an interesting research topics for psychologists, neurobiologists and for robotic applications. A living being can learn the representation of its own body to take the correct behavioral decision when interacting with the world. To transfer these important learning mechanisms on bio-robots, simple and efficient solutions can be found in the insect world. In this paper a neural-based model for body-size learning is proposed taking into account the results obtained in experiments with fruit flies. Simulations and experimental results on a roving platform are reported and compared with the biological counterpart.
On the advantages of combining differential algorithms and log-polar vision for detection of self-motion from a mobile robot
2001
Abstract This paper describes the design and implementation on programmable hardware (FPGAs) of an algorithm for the detection of self-mobile objects as seen from a mobile robot. In this context, ‘self-mobile’ refers to those objects that change in the image plane due to their own movement, and not to the movement of the camera on board of the mobile robot. The method consists on adapting the original algorithm from Chen and Nandhakumar [A simple scheme for motion boundary detection, in: Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 1994] by using foveal images obtained with a special camera whose optical axis points towards the direction of advance. It i…
FastSLAM 2.0: Least-Squares Approach
2006
In this paper, we present a set of robust and efficient algorithms with O(N) cost for the following situations: object detection with a laser ranger; mobile robot pose estimation and a FastSLAM improved implementation. Objected detection is mainly based on a novel multiple line fitting method, related with walls at the environment. This method assumes that walls at the environment constitute a regular constrained angles. A line-based pose estimation method is also proposed, based on Least-Squares (LS). This method performs the matching of detected lines and estimated map lines and it can provide the global pose estimation under assumption of known Data-Association. FastSLAM 1.0 has been imp…
Mechatronic Design of a Four-Wheel drive mobile robot and differential steering
2021
This paper presents, the development of an autonomous mobile robot with a four-wheel drive and differential locomotion. The mobile robot was developed in the Machines and Industrial Equipment Department from the Engineering Faculty of Sibiu. The main purpose of developing this type of mobile platform was the ability to transport different types of cargo either in industrial spaces or on rough terrain. Another important objective was that this platform could be driven in confined or tight spaces where a high degree of manoeuvrability is necessary. The great advantage of this type of mobile platform is the ability to navigate through narrow spaces due to the type of locomotion implemented. Th…
A Rough-Terrain Casting Robot for the ESA Lunar Robotics Challenge
2009
This paper describes the design and implementation of DAVID, a lunar vehicle developed for the European Space Agency (ESA) Lunar Robotics Challenge, presenting severe terrain negotiation and sample acquisition challenges. We discuss in some detail two of the main innovative aspects of our entry to the challenge, i.e. the locomotion system and the sample acquisition system. Motivated by the challenge specifications, a range of different locomotion systems were considered, among which we chose a simple, rugged and effective wheeled system. We provide an account of the choice of five different types of wheels, which were designed, analyzed and experimentally tested in conditions similar to the…
Pose classification using support vector machines
2000
In this work a software architecture is presented for the automatic recognition of human arm poses. Our research has been carried on in the robotics framework. A mobile robot that has to find its path to the goal in a partially structured environment can be trained by a human operator to follow particular routes in order to perform its task quickly. The system is able to recognize and classify some different poses of the operator's arms as direction commands like "turn-left", "turn-right", "go-straight", and so on. A binary image of the operator silhouette is obtained from the gray-level input. Next, a slice centered on the silhouette itself is processed in order to compute the eigenvalues …
A distributed architecture for autonomous navigation of robots
2002
The paper shows a distributed architecture for autonomous robot navigation. The architecture is based on three modules that are implemented on separate and interacting agents: the target recognizer, the obsta90cle evaluator and the planner. An adaptive genetic algorithm has been studied to identify mechanisms for reaching the target and for manipulating the 2-directions of the robot; the distributed architecture has been embedded in the DAISY (Distributed Architecture for Intelligent System). Experiments have been carried out using a LEGO intelligent brick.
Design of a modular locomotion system for autonomous mobile robots
2021
Autonomous mobile robots are becoming more popular today and are successfully integrated into many civil and industrial projects. In the industrial sectors flexibility and modularity have an important role, so the production can be diversified and achieved with low costs. This paper presents the conceptual and functional design of a modular locomotion system for an autonomous mobile platform that can be configured according to the needs of the industrial environment it serves. The architecture of the locomotion system is based on a spring suspension system and three types of wheels: conventional wheels, omnidirectional wheels and mechanum wheels. The calculations for the chosen suspension s…
A BCI Teleoperated Museum Robotic Guide
2009
Brain Computer Interface is a system that offers also a support to the patients with neuromuscular diseases as Amyotrophic Lateral Sclerosis. In this paper are presented some works with the aim to integrate brain computer interfaces and mobile robots. The two aim of this project are: (i) to test an improved BCI experience through the help of a physical robot, so that brain signals are stronger stimulate. (ii) to use a remote robot controlled by a highly paralyzed patient via a BCI through a friendly Graphic User. Some preliminary experiments are presented in this paper about one of the possible application: a robotic museum guide (PeopleBot and Pioneer3 robot), that can transmit remote visu…
A vision agent for mobile robot navigation in time-variable environments
2002
We present an architecture for mobile robot navigation based on Bayesian networks. The architecture allows a robot to plan the correct path inside an environment with dynamic obstacles. Interactions between the robot and the environment are based on a powerful vision agent. The results of simulations, showing the effectiveness of the approach, are described.