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Mobile Robotics for Multidisciplinary Study
... The navigation and control field of AMRs has achieved over the years high maturity, both in theory and practice, and a large number of authored and edited books have been published in the international scene. Twenty authored books are listed in Table 1, in which the authors' names, publication years, and gross contents of them are provided [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20]. Ten edited books written by invited or conference authors are [21][22][23][24][25][26][27][28][29][30]. ...
... where J im (x im , y im , z, l f ) = J c (x im , y im , z, l f )J 0 (p) is called the image Jacobian which depends on the distance z of the end effector (or the target point being imaged, in general). The image Jacobian matrix of a unicycle-type WMR with a pinhole on board camera and a target with three feature points in the camera field of view was derived in [115] and has the form (16). A position-based visual controller for path following by nonholonomic robots is described in [116]. ...
The aim of this paper is to provide a global overview of mobile robot control and navigation methodologies developed over the last decades. Mobile robots have been a substantial contributor to the welfare of modern society over the years, including the industrial, service, medical, and socialization sectors. The paper starts with a list of books on autonomous mobile robots and an overview of survey papers that cover a wide range of decision, control and navigation areas. The organization of the material follows the structure of the author’s recent book on mobile robot control. Thus, the following aspects of wheeled mobile robots are considered: kinematic modeling, dynamic modeling, conventional control, affine model-based control, invariant manifold-based control, model reference adaptive control, sliding-mode control, fuzzy and neural control, vision-based control, path and motion planning, localization and mapping, and control and software architectures.
... Therefore, most of them focus on the usage of multirotor construction, whose main advantage is the capability of omnidirectional movement. This class of vehicles belongs to holonomic robots [9,10], in which the controllable degrees of freedom are equal to the total degrees of freedom. Omnidirectional maneuverability makes it easier to achieve a smooth tracking of reference points, maintaining control stability. ...
Precise position tracking plays a key role in formation flights of UAVs (unmanned aerial vehicles) or other applications based on the idea of the leader–following scheme. It decides on the integrity of a formation or increasing the position error when a UAV follows the desired flight path. This is especially difficult in the case of nonholonomic vehicles having limited possibilities of making turns, causing a lack of stability. An asymmetrical artificial potential field (AAPF) is the way to achieve the stability of position tracking by nonholonomic UAVs, but it is only a nonlinear proportional relation to feedback given by a tracking error. Therefore, there can still be a steady-state error or error overshoots. Combining an AAPF with integral and derivative terms can improve the response of control by damping overshoots and minimizing the steady-state error. Such a combination results in a regulator whose properties allow defining it as nonlinear PID. Numerical simulation confirms that integral and derivative terms together with an AAPF create a control loop that can minimize overshoots of the tracking error and the steady-state error and satisfy conditions of asymptotical stability.
... The schematic diagram drawing is important in avoiding the problems and faults before it happing during system operation and facilitate the non-engineers the electronic system connections understanding. The The robot system sensory unit was two ultrasonic sensors (HC SR 04), [23]. when the robot collides with an obstacle, The Ultrasonic transmitter transmits an ultrasonic wave, when this wave gets objected within 30cm it reflects back, this reflected wave is observed by the Ultrasonic receiver module, which sends a signal to the Arduino Uno microcontroller sending a signal to the L298N motor driver sending a pulse to the motors to change its rotation direction by change the polarity of the motors through the H-Bridge switches as shown above. ...
Robotics is a multidisciplinary field and is categorized as one of the toughest courses in the Mechanical Engineering Program (MEP) at Taif University (TU) according to the statistical analysis of the final grades. This multidisciplinary subject in Engineering involves undergraduate students to go through some difficulties in the robotics theory and practice learning process, as undergraduate robotics courses suffer from lack of appropriate textbooks which cover either too fundamental concepts or too advanced topics and neglecting the combination of the theoretical analysis and the real applications. This motivated us to provide a Project-Based Learning (PBL) approach as an effective teaching technique into robotics course by using real robot projects. This approach is extending to cover the robotic theory topics and their application from different disciplines including Mechanical Design, Kinematics, Sensors, Automatic Control, Microcontrollers, Programming languages, and Software Algorithms Development. In this paper, two examples were provided of conducting the PBL approach into Robotics Course and how they were used to support and improve the teaching of all the robotics topics outlined in the course with system design and application until the later phase of construction. It was found that the PBL has served as an effective active-learning tool in improving the Student Outcomes(SOs) and motivating them to further study and research in robotics and that can be useful to help their local community by utilizing the prior courses' outcomes and robot theory to design real-time systems.
... Brooks [12] stated that the world was its own best model and this type of planning was a way of avoiding figuring out what to do next. Such ideologies paved the way for establishing more innovative control approaches such as reactive and hybrid control architectures [13]. ...
This paper addresses the obstacle avoidance
performance of a tele-operated wheeled mobile robot. The robot is
equipped with both a camera and a laser range sensor to acquire
the necessary data from the surrounding. The communication
between the operator and the robot is established by means of a
force-feedback haptic joystick. In order to tackle go-to-goal and
obstacle avoidance tasks, behavior-based control methodology has
been used. The results of the study show that the proposed
cooperative control approach is superior to both fully manual and
fully autonomous behavior-based control in terms of number of
collisions, time consumed to accomplish the tasks and also the
cognitive pressure on the operator.
... low-level motion planning [21], [22], [23] while cooperating as a team or individually in a certain mission. Many controllers in this report belongs to the class of sliding mode controllers [24], [25], [26]. ...
The ability of mobile robots to work as a team in hard and hazardous environments and consequently their widespread use in various industries is a strong incentive for researchers to develop practical algorithm and methods for increasing the performance of mobile robots. The ability of autonomous decision-making for navigation and path planning is the important problem, which has been investigated by researchers to improve the performance of a team of mobile robots in a certain mission. The contribution of this study is classified as follows; In the first stage, we propose a decentralised motion control algorithm for the mobile robots to intercept an intruder entering (k-intercepting) or escaping (e-intercepting) a protected region. In continue, we propose a decentralized navigation strategy (dynamic-intercepting) for a multi-robot team known as predators to intercept the intruders or in the other words, preys, from escaping a siege ring which is created by the predators. A necessary and sufficient condition for the existence of a solution of this problem is obtained. At the second stage, we propose an intelligent game-based decision-making algorithm (IGD) for a fleet of mobile robots to maximize the probability of detection in a bounded region. We prove that the proposed decentralised cooperative and non-cooperative game-based decision-making algorithm enables each robot to make the best decision to choose the shortest path with minimum local information. Third, we propose a leader-follower based collision-free navigation control method for a fleet of mobile robots to traverse an unknown cluttered environment. Fourth, we propose a decentralised navigation algorithm for a team of multi-robot to traverse an area where occupied by multiple obstacles to trap a target. We prove that each individual team 3 member is able to traverse safely in the region, which is cluttered by many obstacles with any shapes to trap the target while using the sensors in some indefinite switching points and not continuously, which leads to saving energy consumption and increasing the battery life of the robots consequently. And finally, we propose a novel navigation strategy for a unicycle mobile robot in a cluttered area with moving obstacles based on virtual field force algorithm. The mathematical proof of the navigation laws and the computer simulations are provided to confirm the validity, robustness, and reliability of the proposed methods. 4
... low-level motion planning [21], [22], [23] while cooperating as a team or individually in a certain mission. Many controllers in this report belongs to the class of sliding mode controllers [24], [25], [26]. ...
In this report, we propose a decentralised motion control algorithm for the mobile robots to intercept an intruder entering (k-intercepting) or escaping (e-intercepting) a protected region. In continuation, we propose a decentralized navigation strategy (dynamic-intercepting) for a multi-robot team known as predators to intercept the intruders or in the other words, preys, from escaping a siege ring which is created by the predators. A necessary and sufficient condition for the existence of a solution of this problem is obtained. Furthermore, we propose an intelligent game-based decision-making algorithm (IGD) for a fleet of mobile robots to maximize the probability of detection in a bounded region. We prove that the proposed decentralised cooperative and non-cooperative game-based decision-making algorithm enables each robot to make the best decision to choose the shortest path with minimum local information. Then we propose a leader-follower based collision-free navigation control method for a fleet of mobile robots to traverse an unknown cluttered environment where is occupied by multiple obstacles to trap a target. We prove that each individual team member is able to traverse safely in the region, which is cluttered by many obstacles with any shapes to trap the target while using the sensors in some indefinite switching points and not continuously, which leads to saving energy consumption and increasing the battery life of the robots consequently. And finally, we propose a novel navigation strategy for a unicycle mobile robot in a cluttered area with moving obstacles based on virtual field force algorithm. The mathematical proof of the navigation laws and the computer simulations are provided to confirm the validity, robustness, and reliability of the proposed methods.
... The author created the course and has taught Mobile Robotics at Rose-Hulman Institute of Technology for the past eleven years [1], [2], [24]. This course is an upper-level 4-credit hour elective course that is also required for the robotics minor. ...
Mobile robotics is inherently a multidisciplinary field due to the interaction of hardware, software, and electronics to create a machine that can sense its environment and then autonomously navigate in the world to achieve some goal or task. Due to its interdisciplinary nature, courses on mobile robotics draw students from various disciplines including computer science, computer, electrical, mechanical, and software engineering. However, teaching mobile robotics to students from multiple disciplines presents some unique challenges. For example, students in such a course may have divergent interests and skillsets. Computer science students may not take a controls course; electrical engineering students may not be familiar with kinematics; mechanical engineering students may not have electronic sensors experience. Therefore, the prerequisite knowledge and skillsets of the students will affect the course topics as well as how they are presented. These challenges also influence what types of assignments are given and how they are assessed. Although it is possible to teach robotics with a simulator, there are some important learning opportunities presented with real world hardware. For example, how to handle sensor error, odometry error, modeling errors, dynamic environments, mismatched motors, memory limitations, knowledge representation, mechanical failure, frame problems, and bandwidth limitations. Popular educational robots such as LEGO® MINDSTORMS® obscure some of these issues, which may not be ideal because there are valuable learning opportunities for students to learn how to resolve or work around these challenges. It would be ideal to have a robot platform with some flexibility such as in the programming language, interface, and programming device in order to address the needs of diverse populations. It would also be desirable to have some flexibility in the robot controller such as in the number of I/O ports, communication ports, ADC, and DAC because this flexibility will enable the expert user to customize the system to suit their unique needs while also not being overwhelming for the novice user. This flexibility also allows students to use what they are most familiar with to reduce the learning curve and enables them to achieve small robotics successes sooner. This solution will take the focus away from the implementation tool and put it on the robotics educational objective. This paper will present a solution to the need for an educational robotics platform that is suitable for divergent skill sets. It will describe the design of an economical plug and play robot to suit the needs of a mobile robotics course for students from multiple disciplines. This robot system can be programmed in JAVA, Python, Lua or C. It can also be programmed with various devices such as smartphones, tablets, or the traditional laptop computer. This mobile robotics course currently uses off the shelf or slightly modified off the shelf robots to teach robotics. The initial results will indicate that it is possible to use this modular platform in its various modes to create some of the basic behaviors required for the laboratory assignments.
The goal of this thesis is to design a modular educational robotics platform to improve the limitation of current educational robotics platforms, such as limited pins, single programming language, and single programming device. This platform uses an SPI bus for modularity and to solve the problem of limited pins on current educational robot platforms. A Raspberry Pi, which runs a 32-bit Embedded Linux System, has been used to build the central control for this educational robotics platform to enable it to use different programming languages and to be programmed by different devices. The modules and libraries for stepper motors and IR sensors have been built for this robot, and the example projects, basic control, obstacle avoidance, and wall following, show that this educational robotics platform can be used as a platform for basic artificial intelligence design. This thesis also shows how to design a custom module, which enables users to design their own modules and put them into their robot projects.
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