Conference Paper

Mobile manipulator path planning based on artificial potential field: Application on RobuTER/ULM

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... So, robot manipulators are greatly supported from different fields especially in industry as laser cutting of sheets, CNC multi-axes milling machines), medical domain and space and underwater exploration and service robotics [1] to [4]. The robot has to perform specific activities [5] as task planning [6], modeling the environment and multi-sensory fusion [7], path planning [8], localization of the robot inside the environment [6], and path execution and tracking [10]. ...
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This paper deals with sliding mode adaptive control techniques to design a control law for robotic manipulators. The performance and applicability of the proposed method is demonstrated for a two degree of freedom robot. First, a sliding mode adaptive controller is designed to govern the dynamic model of robot, then the performance of the proposed robot is demonstrated through simulation studies. This method deals with adaptive and sliding mode control of robotic manipulators for trajectory tracking.
... No trabalho de [22], os autores aplicaram CPA para gerar um caminho livre de colisões para um manipulador móvel desviar de obstáculos estáticos em um ambiente conhecido. Essa aplicação apresenta novos desafios pois a dificuldade de geração de trajetória aumenta com a quantidade de GDL do manipulador. ...
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The article proposes a study of cardiac arrhythmia detection, because besides the elderly this type of anomaly can occur with adolescents as well. During an arrhythmia the heart may beat very fast, very slow, or with an irregular rhythm. Often the physician may have difficulty detecting which type of arrhythmia, so a system will be proposed to assist in the medical diagnosis to detect arrhythmia in the patient. For this will be a database of ECG signal of several patients, where was applied an ANN (Artificial Neural Network with ELM training) to make the classification. Both standardized and raw data were used during the training stage, as well as several neuron architectures in the hidden layer were tested to have a good accuracy that will be the metric used in the work.
... No trabalho de [22], os autores aplicaram CPA para gerar um caminho livre de colisões para um manipulador móvel desviar de obstáculos estáticos em um ambiente conhecido. Essa aplicação apresenta novos desafios pois a dificuldade de geração de trajetória aumenta com a quantidade de GDL do manipulador. ...
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The use of industrial robots has grown over the years, making production systems increasingly efficient. Within this context, some limitations appear that can delay the productive process causing damages to the production. These limitations are robot stops, for example. Stops can be caused by various factors, such as accidents, collisions of manipulator robots with operators or other equipment. The main contribution of this research is to improve the Artificial Potential Field (APF) using Particle Swarm Optimization (PSO), Genetic Algorithm (GA) and Differential Evolution (DE) by optimizing the APF parameters in collision avoidance. We present as results: the trajectories generated by a planar manipulator robot; the position errors between the final position and the last position of the generated trajectories; and the computational cost of the PSO, GA and DE algorithms to find the parameters of the APF algorithm.
... To safely achieve tasks, the ability of mobile robots to navigate autonomously while avoiding unforeseen obstacles in their workspaces is an important challenge in robotics. To tackle this issue, many approaches have been proposed in the literature; they include: Potential Field (PF) [3] [4], Particle swarm optimization (PSO) [5], Rapidly-exploring Random Tree (RRT) [6], Behavior-based [7], etc. However, research in this area is still emerging, since there are no unified methods which integrate all the facilities and come up with optimized solutions [1]. ...
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This paper describes our ongoing efforts toward the development of an autonomous differentially-driven mobile robot evolving in dynamic unknown environments. For controlling the prototype, a distributed control system is proposed. In order to offer the possibility to easily adapt and implement complex algorithms, this control system consists of two control layers communicating by using RF modules: (i) Planning layer and (ii) Embedded layer. The Planning layer implements a fuzzy-based navigation algorithms allowing safe motion in dynamic environments. This application, implemented on a host PC, generates the right and left velocities that will be transferred to the robot via the remote control. Moreover, the Fuzzy-based Controller receives in real time the feedback from the robot: (i) Incremental encoders data and (ii) Distances from the left, front and right obstacles. The Embedded layer of the robot is implemented on a Master/Slave architecture on three micro-controllers (PIC18F). A PIC18F4550, used as the master, communicates by using the SPI (Serial Port Interface) data transfer protocol with two slaves PIC18F2550 each in charge of controlling a robot motor by using PI control law. Finally, the process of motors identification and PI parameters setting are done experimentally.
... Still in the sub-field of mobile vehicles, the interesting work of (Galceran et al., 2015) brought a car equipped with APF based trajectory generator able to deviate from static and moving obstacles in a real road. Concerning manipulators, APF was successfully used for static obstacle collision avoidance in (Hargas et al., 2015), for preventing contact with moving obstacles in (Guan et al., 2015;Ataka et al., 2016;Badawy, 2014) and also for surgery assistance in dental implants (Yu et al., 2015b;Yu et al., 2015a). ...
... Still in the sub-field of mobile vehicles, the interesting work of (Galceran et al., 2015) brought a car equipped with APF based trajectory generator able to deviate from static and moving obstacles in a real road. Concerning manipulators, APF was successfully used for static obstacle collision avoidance in (Hargas et al., 2015), for preventing contact with moving obstacles in (Guan et al., 2015;Ataka et al., 2016;Badawy, 2014) and also for surgery assistance in dental implants (Yu et al., 2015b;Yu et al., 2015a). ...
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