Search results for "Mobile Robot"
showing 10 items of 71 documents
LQG Control Design for Balancing an Inverted Pendulum Mobile Robot
2011
Author's version of an article published in the journal: Intelligent Control and Automation. Also available from the publisher at: http://dx.doi.org/10.4236/ica.2011.22019 The objective of this paper is to design linear quadratic controllers for a system with an inverted pendulum on a mobile robot. To this goal, it has to be determined which control strategy delivers better performance with respect to pendulum’s angle and the robot’s position. The inverted pendulum represents a challenging control problem, since it continually moves toward an uncontrolled state. Simulation study has been done in MATLAB Simulink environment shows that both LQR and LQG are capable to control this system succe…
Deep Reinforcement Learning with Omnidirectional Images: application to UAV Navigation in Forests
2022
Deep Reinforcement Learning (DRL) is highly efficient for solving complex tasks such as drone obstacle avoidance using cameras. However, these methods are often limited by the camera perception capabilities. In this paper, we demonstrate that point-goal navigation performances can be improved by using cameras with a wider Field-Of-View (FOV). To this end, we present a DRL solution based on equirectangular images and demonstrates its relevance, especially compared to its perspective version. Several visual modalities are compared: ground truth depth, RGB, and depth directly estimated from these 360°R GB images using Deep Learning methods. Next, we propose a spherical adaptation to take into …
A Comparative Analysis of Multiple Biasing Techniques for $Q_{biased}$ Softmax Regression Algorithm
2021
Over the past many years the popularity of robotic workers has seen a tremendous surge. Several tasks which were previously considered insurmountable are able to be performed by robots efficiently, with much ease. This is mainly due to the advances made in the field of control systems and artificial intelligence in recent years. Lately, we have seen Reinforcement Learning (RL) capture the spotlight, in the field of robotics. Instead of explicitly specifying the solution of a particular task, RL enables the robot (agent) to explore its environment and through trial and error choose the appropriate response. In this paper, a comparative analysis of biasing techniques for the Q-biased softmax …
Position Control of a Mobile Robot through PID Controller
2019
Abstract In this paper, the implementation and tuning steps of the PID controllers were proposed for the position control of a mobile robot with differential steering. The purpose of this robot was the participation in a European amateur robotics contest, the mobile robot being developed in the Engineering Faculty of Sibiu, Department of Industrial Machines and Equipment. After a brief introduction of the mobile entertainment robot, followed by description of the robot’s different components and traction principles, several principles of tuning the PID controller for the mobile robot are presented. The paper ends with some general conclusions based upon the results obtained from studying th…
Wireless communication based on Raspberry pi and Codesys for mobile robots using IoT technology
2021
The industrial environment is going through exponential changes, due to the diversity of technological solutions that appear more and more frequently and the increase of productivity at increasing capacities. Due to this fact in the industrial area the number of devices, processing systems, collaborative robots, mobile robots and industrial equipment is increasing more and more. Consequently, there is a need for communication and connectivity of entities, common physical or virtual functioning and decision making, all of which are fundamental to the transition to the new concept of Industry 4.0. This study presents how wireless communication can be achieved in a mobile robotic platform that…
UAV-Assisted Data Collection in Wireless Sensor Networks: A Comprehensive Survey
2021
Wireless sensor networks (WSNs) are usually deployed to different areas of interest to sense phenomena, process sensed data, and take actions accordingly. The networks are integrated with many advanced technologies to be able to fulfill their tasks that is becoming more and more complicated. These networks tend to connect to multimedia networks and to process huge data over long distances. Due to the limited resources of static sensor nodes, WSNs need to cooperate with mobile robots such as unmanned ground vehicles (UGVs), or unmanned aerial vehicles (UAVs) in their developments. The mobile devices show their maneuverability, computational and energy-storage abilities to support WSNs in mul…
Decentralized classification in societies of autonomous and heterogenous robots
2011
This paper addresses the classification problem for a set of autonomous robots that interact with each other. The objective is to classify agents that “behave” in “different way”, due to their own physical dynamics or to the interaction protocol they are obeying to, as belonging to different “species”. This paper describes a technique that allows a decentralized classification system to be built in a systematic way, once the hybrid models describing the behavior of the different species are given. This technique is based on a decentralized identification mechanism, by which every agent classifies its neighbors using only local information. By endowing every agent with such a local classifie…
Robomaths: Robotics to Learn Matematics in a Architecture Degree
2020
The abstract part of mathematics is a difficult matter included in many subjects in university degrees. Specifically, in architecture degrees students lack interest in this topic if they don’t experience its immediate application. In addition, technological skills are required at every educational level and the students of these degrees are usually more interested in art than in technology. With the aim of encouraging architecture students' interest in mathematics and technology, a methodology is presented here that includes the use of robotics in maths lectures. The key idea is to make the abstract part of mathematics understandable by means of robots.
Multi-agent control architecture for RFID cyberphysical robotic systems initial validation of tagged objects detection and identification using Playe…
2016
International audience; The objective of this paper is to describe and validate a multi-agent architecture proposed to control RFID Cyber-Physical Robotic Systems. This environment may contain human operators, robots (mobiles, manipulators, mobile manipulators, etc.), places (workrooms, walls, etc.) and other objects (tables, chairs, etc.). The proposed control architecture is composed of two types of agents dispatched on two levels. We find at the Organization level a Supervisory agent to allow operators to configure, manage and interact with the overall control system. At the Control level, we distinguish the Robots agents, to each robot (mobiles, manipulators or mobile manipulators) is a…
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…