Search results for "Mobile Robot"
showing 10 items of 71 documents
Zigler-Nicols PID Tuning Method for Position Control of a Mobile Robot
2016
This paper presents the implementation and the tuning of PID controller for a mobile platform with differential steering. It presents a mobile platform built in the Department of Industrial Machinery & Equipment, of the Engineering Faculty of Sibiu for an European contest. In a first phase, a brief introduction to PID controller is made, followed by a description of the various robot's components and traction principles underlying locomotion of mobile platforms. At the end the paper contains several principles of tuning the PID controller for the mobile robot.
Assistive robotic walker parameter identification for estimation of human thrust without force sensors
2017
In this paper we propose a parameter identification procedure for the wheel-motor dynamic of a robotic walker, i.e. a commercial trolley for elderly people endowed with cognitive, sensing and guidance capabilities. The objective of the wheel-motor dynamic model is to generate a suitable time reference to be used in an estimation algorithm. The ultimate goal of the estimation algorithm is to retrieve the thrust, i.e. torque and force, that the older adult user of the robotic walker applies to the platform. These quantities are of paramount importance in order to adopt intelligent and comfortable walker guidance algorithms. The novelty of this approach is the avoidance of additional costly se…
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…
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…
Indoor Scene Understanding using Non-Conventional Cameras
2020
Humans understand environments effortlessly, under a wide variety of conditions, by the virtue of visual perception. Computer vision for similar visual understanding is highly desirable, so that machines can perform complex tasks by interacting with the real world, to assist or entertain humans. In this regard, we are particularly interested in indoor environments, where humans spend nearly all their lifetime.This thesis specifically addresses the problems that arise during the quest of the hierarchical visual understanding of indoor scenes.On the side of sensing the wide 3D world, we propose to use non-conventional cameras, namely 360º imaging and 3D sensors. On the side of understanding, …
Neural Petri Control: an application on a mobile robot
2006
In the present work, an innovative nonlinear controller of nonholonomic mechanical systems, characterized by a dynamic not well known model a priori, using a new neural model obtained by the combination of a Petri net with a neural network, is proposed. The performances of the control algorithm are evaluated for tasks of tracking of time trajectories. The study of the stability of the total system to closed loop is based on the Lyapunov theory. Simulation experiments, made taking into consideration a nonholonomic mobile robot, to two wheels, allowed to verify the theoretical results.
A cooperative mobile robot and manipulator system (Co-MRMS) for transport and lay-up of fibre plies in modern composite material manufacture
2021
AbstractComposite materials are widely used in industry due to their light weight and specific performance. Currently, composite manufacturing mainly relies on manual labour and individual skills, especially in transport and lay-up processes, which are time consuming and prone to errors. As part of a preliminary investigation into the feasibility of deploying autonomous robotics for composite manufacturing, this paper presents a case study that investigates a cooperative mobile robot and manipulator system (Co-MRMS) for material transport and composite lay-up, which mainly comprises a mobile robot, a fixed-base manipulator and a machine vision sub-system. In the proposed system, marker-base…
Comprehensive simulation of cooperative robotic system for advanced composite manufacturing : a case study
2021
Composite materials are widely used because of their light weight and high strength properties. They are typically made up of multi-directional layers of high strength fibres, connected by a resin. The manufacturing of composite parts is complex, time-consuming and prone to errors. This work investigates the use of robotics in the field of composite material manufacturing, which has not been well investigated to date (particularly in simulation). Effective autonomous material transportation, accurate localization and limited material deformation during robotic grasping are required for optimum placement and lay-up. In this paper, a simulation of a proposed cooperative robotic system, which …
Fuzzy EKF Control for Wheeled Nonholonomic Vehicles
2006
In this paper a new Fuzzy extended Kalman robust control system for position and orientation tracking of nonholonomic vehicles with two wheels actuated by two independent DC motors is presented. The problem of robustness and localization are solved simultaneously. About the robustness, some perturbations coming from the outside environment and depending on the contact between the wheels and the ground, involve violations of the nonholonomic constraints. The fuzzy controller of this work is able to obtain a dynamic term of robustness with respect to the perturbations above. However, by using encoders only, the measures of actual position and orientation of the vehicle are with Gaussian noise…
Identification of Distributed Systems with Logical Interaction Structure
2012
This paper focuses on the structure identification problem for a class of networked systems, where the interaction among components or agents is described through logical maps. In particular, agents are heterogeneous cooperating systems, i.e. they may have different individual dynamics and different interaction rules depending on input events. While we assume that the individual agents' dynamics are known, each agent has partial knowledge of the logical map encoding the interaction of another agent with its neighbors. Based on the so-called algebraic normal form for binary functions, we present a technique by which the network structure described by a logical function can be dynamically est…