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# Mobile Robotics - Science topic

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What's the best method to calculate the distance between a mobile robot's position and the boundary of a fixed obstacle using Matlab?
To calculate the distance between a mobile robot's position and the boundary of a fixed obstacle using MATLAB, you can follow these steps:
1. Define the coordinates of the mobile robot's position and the boundary of the obstacle. Let's assume the robot's position is given by (x_robot, y_robot), and the obstacle boundary is defined by a set of points (x_obstacle, y_obstacle).
2. Calculate the Euclidean distance between the robot's position and each point on the obstacle boundary. The Euclidean distance between two points (x1, y1) and (x2, y2) is given by the formula:distance = sqrt((x2 - x1)^2 + (y2 - y1)^2)
3. Loop through all the points on the obstacle boundary and calculate the distances. Store the distances in an array.
4. Find the minimum distance from the array of distances. This will give you the closest distance between the robot's position and the obstacle boundary.
Here's an example MATLAB code snippet that demonstrates this calculation:
matlabCopy code% Define robot's position x_robot = 1; y_robot = 1; % Define obstacle boundary x_obstacle = [2, 3, 3, 2, 2]; y_obstacle = [2, 2, 3, 3, 2]; % Calculate distances distances = sqrt((x_obstacle - x_robot).^2 + (y_obstacle - y_robot).^2); % Find the minimum distance min_distance = min(distances); % Display the minimum distance disp(['Minimum distance to obstacle boundary: ', num2str(min_distance)]);
In this example, the robot's position is (1, 1), and the obstacle boundary is defined by points (2, 2), (3, 2), (3, 3), (2, 3), and (2, 2). The code calculates the distances from the robot's position to each point on the obstacle boundary and finds the minimum distance. The minimum distance is then displayed as the result.
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The functionalities of other robot may include mapping, perception, and navigation.
1. Utilize a single software system that can accommodate all of the robot's functionalities including localization, navigation, and task execution. This will ensure that all of the robot's systems are integrated into one platform and can communicate with each other in a coherent way.
2. Define protocol standards for communication between the different parts of the robot system. This will enable different components to communicate with each other in a consistent manner.
3. Develop software modules that can handle the specific tasks needed for localized navigation. This will enable the robot to effectively integrate localization with its other functionalities.
4. Test the integration of localization and other robot functionalities in a simulated environment before deploying the robot in the real world. This will help identify any potential issues before the robot is released.
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Any thoughts on how the bayesian filter can help solve the kidnapped indoor robot problem?
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I have placed IMU MPU2950 on an AMR (Autonomous Mobile Robot) with a metallic body. Even though I am using Madgewick Filter to smooth out the data, it is not enough and confuses the localization algorithm in the AMR. Is there any way to dampen the vibrations with physical additions?
Various methods of damping are described in Vibration Control for Optomechanical Systems, by V.M.Ryaboy, World Scientific, 2022, ISBN 9789811237331, Chapter 7.
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I am specially interested in wheeled robots
Hi
I recommend this book it's for wheeled robots.
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I am currently interested in autonomous construction vehicles. Specifically I am looking at the model and Control of crawler loaders. So if you could recommend any books or articles on the topic or have any tips, please post them here.
In general, robotic kinematics is required for defining an end-location, effector's orientation, and motion of all joints, whereas dynamics modeling is required for evaluating and synthesizing the dynamic behavior of the robot.
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Has anyone (in the community of rover path planning and rover motion estimation) used commercial wheeled mobile robots in their research?
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I am working on mobile robots formation control. I have some issues in choosing linear and angular velocities for the leader robot and follower robots. The results are changing for different velocity parameters. I would like to know, How to choose Linear velocity and Angular Velocities for mobile robots in leader-follower-based formation control methods?
Thank you so much for your prompt response to my question. I will try it.
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Please can you help me to program the dynamic obstacle in matlab code and i used the RRT* algorithm for mobile robot path planning
To program path planning with a dynamic obstacles in the environment, you need to have sensor that will always check for the status of the environment to determine the state and speed of the moving obstacle. This can be achieved in simulation by placing the obstacles in a circle of known radius
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Hi, a friend wants to publish an article related to the mobile robot navigation slam algorithm. Could someone please suggest a few journals with low impact factor?
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Dear Researchers,
I am pursuing my masters in Mechatronics (Germany) and currently working as a system validation intern. I am looking for some advice/guidance on possible topics in the field of autonomous driving. I am open to any sub-field but my current experience is in system validation of ADAS/ Autonomous Driving mostly in a Software-in-Loop environment. There is currently not a industry accepted standard for validation of ADAS/AD features so something along these lines would be greatly appreciated
Hello All,
I am searching for topics for master's thesis in the areas of ADAS, IoT.
Could someone please suggest my cutting-edge topics?
in case of any queries please mail me on qutibahhussein862@gmail.com
Best Regards,
Qutibah Hussein
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I'm currently working on a new improvement for the artificial potential field algorithm (APF) for obstacle avoidance, I've got some interesting results in ensuring a local-minimum-free algorithm with a low computation cost; In order to show the effectiveness of my algorithm I have to compare it with other methods, specifically the Harmonic potential functions which are well-known for overcoming the local-minimum problem.
Hence, I need the opinion of researchers who have experience with this method for both theoretical and practical aspects.
I have already checked some of those papers, I'll check the rest, thanks for your recommendation, it will be more suitable if i can find a comparative study
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We would like to validate and test our multi-robot algorithms with some research-platformed mobile robot. Are there recommendations to buy some small mobile robots to test our multi-robot algorithms? The mobile robots are supposed to be inexpensive but they are easy to be configurated with some sensors.
Thanks!
I've used Kobuki platforms for teaching purposes. They are quite precise for their motion, comes with some basic sensor (odometry, gyroscope) and many power outputs (5V, 12V). You can put lidars, Kinects, cameras with no problem.
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I am looking for the benchmarks that can be used to compare obstacle avoidance algorithms? what is the norm that will decide the efficiency of obstacle avoidance algorithms is higher or lower? What types of graphs or trajectory plot will help to decide the performance of the algorithm?
I think its also important to consider "difficult" edge cases such as: - is the robot able to drive parallel to a wall or is he "pushed off" - is the robot able to avoid collisions if he drives dead center at a wall - is the robot able to come to a stop if he is unable to turn.
We have build simulation environments for each of those cases and are able to compare the trajectories of different algorithms
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I'm doing some research in swarm robotics and for testing algorithms and learning about them a swarm simulator will help me.
I would suggest using any one of these:
a) NetLogo is a multi-agent programmable modeling environment and can be found at https://ccl.northwestern.edu/netlogo/
b) You can use ARGoS, a multi-physics robot simulator which can be found at https://www.argos-sim.info/
c) Then there is the robot simulator CoppeliaSim(formerly V-Rep), which is an integrated development environment, is based on a distributed control architecture: each object/model can be individually controlled via an embedded script, a plugin, a ROS or BlueZero node, a remote API client, or a custom solution.
d) If you are looking to simulate kilobots you can use Kilombo. ( https://github.com/JIC-CSB/kilombo )
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Please share your last trends of the combination between legged and underwater mobile robot in terms of leg design and kinematics
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I some papers, the mean square error is considered. In some other, the mse is normalized by dividing the error by the (total sampling instants x the total length of the reference trajectory).
Which solution does represent the factual error?
Dear Samira Eshghi,
The performance of the controller is generally measured using the following parameters such as :
1) Maximum Overshoot
2) Settling Time
3) Rise Time
Additionally, there are other ways to measure performance in literature. This includes integrated absolute error (IAE), the integral of squared-error
(ISE), or the integrated of time-weighted-squared-error (ITSE). These performance measures have their own advantages and disadvantages. For example, the disadvantage of the IAE and ISE criteria is that its minimization can result in a response with relatively small overshoot but a long settling time because the ISE performance criterion weights all errors equally independent of time. Although the ITSE performance criterion can overcome the disadvantage of the ISE criterion, the derivation processes of the analytical formula are complex and time-consuming. The formulas for these performance measures or the performance measure based on overshoot, settling time, rise time and steady-state error can be found in the paper given below.
In discrete domain, ISE refers to Mean Square Error. I am unfamiliar with normalized-mean-square-error .
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working in mobile robots
Yes. I am working in Mobile Robotics
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I am working on the human following robot. the robot extracts a feature of clothes's texture and distinguishes between the people that they stand up in front of the robot. So, the robot needs that it will be robust and fast.
I used Gabor filter but I can't understand how to classify clothes.
Could you help me?
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I am currently investigating means to assess human interaction interest on a mobile robotic platform before approaching said humans.
I already found several sources which mainly focus on movement trajectories and body poses.
Do you know of any other observable features which could be used for this?
Could you point me to relevant literature in this field?
Martin
you can read this research I hope it will be useful for you and good luck
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- path planning robot simulation .
- 3D map environment model / robot workspace.
- mobile robot will autonomously navigate.
Hello Ariff,
This choise it's up to you. There are lots of 3D environments and simulations such as Gazebo, MatterPort, MINOS, CHALET, THOR and Gibson. I have been studying on Gibson Environment based on pybullet. I can recommend it to you.
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I have a mobile robot with 600 W (rated power) and I need to implement a PV system on the robot to be completely solar-powered. I want to reduce the size of panels and get the required power.
The robot dimensions 110cm x 80 cm.
Hi Essam, perhaps the best for your application would be the "CIGS" thin film solar cell. They are not quite as efficient as the silicon wafer type, but they can be made to fit (a substrate material), rather than having to accommodate the somewhat rigid silicon cells and can even be flexible. They are mechanically more robust, but do contain toxic materials. The silicon cells by comparison are however very cheap, efficient, non-toxic, and easily available. So if it is for low-cost small scale use then silicon cells are very hard to beat.
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I am looking for narrowing down the topic for my master theses. Real industrial problems to be solved with innovative technologies are the most interesting topics.
Stefanie Quast Based on my 4 years experience of working in pool fires and building years, I can say mobile robots will be future for fire fighting. They can be constructed of heat resistant materials so that they can go much closer to fire source and spraying the fire extinguishers in a much effective way. Another important advantage they have is speed and they can use IR waves and sensors to carry out fire fighting operations even if there is dense smoke. More research can be done in these directions.
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In your paper Large-scale 3D printing by a team of mobile robots, a "rotor/stator pump" is being used to deliver the mixed cementitious material to the nozzles attached to the robots.
What exactly is the type of mechanism inside the pump? Is it progressive cavity/eccentric screw, diaphragm, or another type of positive displacement pump?
It depends on the type of extrusion aimed at. So far progressive cavity pump has been used successfully for printable mixtures with maximum aggregate size of 4 mm and less. However, for maximum aggregate size greater than 4 mm and up to 16 mm, screw type pump has performed up to the mark. This is still a very interesting area of research due to the thixotropy of the printable mixtures and is evolving quickly.
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I want to develop neuro fuzzy controller for mobile robot. I know how to use anfis toolbox in matlab. I can replace the existing PID-fuzzy controller with anfis controller but it gives same output responce. There are two main issues I faced. 1. anfis only works well for same kind of input it is trained for. For instance, if step input of fuzzy pid was 5, anfis would work well for only step input of 5, not for others. 2. How to improve the performance of anfis controller developed from fuzzy pid. I have studied the anfis matlab help, some books but could not get practical simulation help. . Thanks in anticipation
I suggest you to use this paper method.
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In "Simultaneous Stabilization and Tracking of Nonholonomic Mobile Robots: A Lyapunov-Based Approach", the authors stated that the nonholonomy of mobile robots allows control of the system with less control inputs. A mobile robot is underactuated in nature, and it's often controlled with less number of control inputs than the system's degree of freedom (if dynamic is ignored). How does the nonholonomy of the system helps with that?
Dear Samira Eshghi,
I suggest you to see links and attached files on topic.
Feedback Control of a Nonholonomic Car-like Robot - LAAS
Exponential stabilization of mobile robots with nonholonomic constraints
Control of a Nonholonomic Mobile Robot: Backstepping ... - CiteSeerX
Path planning and control of non-holonomic mobile robots
Best regards
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Dear Friends,
I want to make practical experiments for visual SLAM, and I want a simple method for the ground truth other than using Laser Range Finder of another synchronized camera.
Thanks
Hi Mohamed,
I'm using an HTC Vive tracker for that, but it's limited to the indoor SLAM in the base station space.
Do you have found any robust solution since 2014, thank in advance.
Regards,
Yasser
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we know that path planning for mobile robot is one of the most fundamental and complex problems in robotics. PDEs ( partial differential equations with variable exponents ) have been used in a variety of science areas, such as Mechanics, Calorific, Image processing, Image restoration, Electrorheological ﬂuids and so on. Hence we want some references in these areas!
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I want to extract data from object detection sensor in Matlab 2018 (Mobile Robotics Simulation Toolbox). This data is the display vector array form of dimension (1x3) range; angle and label. I want to use this data for object avoidance controller using fuzzy logic. When I use demux to split this data into three elements, I get error “Simulink cannot propagate the variable-size mode from the output port 1 of 'dynamicModelPID/Object Detector' to the input port 1 of 'dynamicModelPID/Demux'. This input port expects a fixed-size mode. Examine the configuration of 'dynamicModelPID/Demux' for one of the following scenarios: 1) the block does not support variable-size signals; 2) the block supports variable-size signals but needs to be configured for them “
I have tried using different blocks for this purpose but still I get same error. I could not find out proper solution of this problem. Any knows about it
Other possibility is to write a fuction that takes the values of the block during the simulation and used for any other propuse
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Recently, I met a young researcher that insisted on the statement that position control for mobile robotics (ground and aerial) is already solved with many working solutions and that the real research lies in the estimation (pose estimation), specially in UAVs. Do you agree with this statement?
If not, please write bellow the reasons you think that there is for the continuity of mobile robot motion control research. Which areas there are for improvement? What are the technical reasons for continuing researching these solutions?
Partial yes. For outdoor UAV, the accurate estimation of 3D pose is important. Their robust performance is also important under the constraint of embedded processor. Hence, how to design an effective control for an outdoor UAV becomes paramount. For ground mobile robot, different terrain conditions are different for a successful trajectory tracking control. Only motion control without extra sensors (vision, laser, wireless) will be a challenge. Even though, the successful motion control for the mobile robot will improve the further task, e.g., human-robot interaction, cooperative control.
Sincerely,
Chih-Lyang Hwang
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I am currently designing a deformable wheel for a six-wheeled lunar vehicle and I am trying to model the trafficability of this wheel on a lunar surface. To do this I am using Bekker’s Equations.
My question: I found normalized DP (drawbar pull) values of 26 for a wheel with grousers and a value of 0.48 for the same wheel, but without grousers. The value of 26 seems very high based on results I have found in other papers online so I am skeptical of my results and need help confirming that the assumptions and calculations I made make sense. I have attached a .pdf that walks you through what I did and assumptions I made. Along with this I highlighted areas where I am uncertain as they may be possible areas of error.
Thanks again for your time and any advice relating to this will be very helpful since this is my first time working with Bekker's equations and wheel-soil interactions in general.
Note: the soil characteristics I used were the recommend ones found in the Lunar hand guide
I am starting to think that the equation I used for Soil Thrust with grousers is unit dependent for in,lbf. With that being said, I converted my cm and N values to in and lbf and tried it again. This gave me a normalized DP value of 1.46 which seem to be more in the realm of reason.
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Hi everyone
I want to implement fuzzy logic control (Fuzzy PID) system in Matlab for tracking control of differential drive mobile robot. I will combine Fuzzy logic with Neural network in future .Does anyone know any simulator for this purpose? I have seen SimIam simulator by Georgia tech university USA, but I could not find its documentation, help or any tutorial. I need help, if anyone has experience with this simulator (SimIam) or any other simulator that can be used with Matlab in Windows system (not ROS)?
A Mobile robot Simulator compatible with Python (scikit-fuzzy) is also okay.
The way I understand is that you need feedback information from sensors on the robot to monitor its performance. If so focus on data acquisition toolbox, real time workshop or you can interface through USB port and an arduino acting as interface between Matlab and robot.
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I'm doing a paper on mobile robots for my school, it's a litterature review on the existing technologies, some history and future perspective, and I need some articles to read, I was hoping to get some help finding good ones,
Read my stuff -- a lot of innovations and inventions in mobile drones. May help you out to obtain an up to date view on the latest advances in small drones.
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Mathematical model
Dear Khalil,
I suggest you to see links and attached files in topic.
- Path following for an omnidirectional mobile robot based on model ...
Best regards
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Given a Fractional Order PID controller designed for trajectory control of mobile robot. The question is How to implement it using one of the arduino platforms knowing that when approximating the fractional integrator and derivative using discrete transform it gives infinite orders of terms in the Z-domain.
Dear Ibraheem,
As an alternative to Fractional PID controller, for nonlinear systems, I would recommend to implement the Neural Network-Based Self-Tuning PID Control (please find attached a link for the paper describing the Underwater Vehicles application). Using one of the Arduino platforms, I would suggest to use 3 neurons for the hidden layer.
Regards,
Alfonso Gómez
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We have many different algorithms for map building and localizing a mobile robot in 2D space. In case of 3D space (open) to fly ariel vehicle, we use GPS to know the location longitude, latitude, altitude, etc. However, GPS is not suitable for the closed environment. Sometimes environment with many building or cloudy atmosphere is not suitable for using GPS. How can we localize (know the X, Y, Z coordinates) for Ariel vehicle in a closed environment?
I suggest you to see links and attached files in topics.
Interlacing Self-Localization, Moving Object Tracking and Mapping ...📷
Feature-Based Object Recognition and Localization in 3D-Space ...📷
Robotic Vision: Technologies for Machine Learning and Vision ...📷
Object Detection, Tracking and Recognition for Multiple Smart Cameras📷
Best regards
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Currently, My PH.D. Student and I using a differential Drive Mobile Robot to control it using Active Disturbance Rejection Control, We used two PMDC motors for the two wheels. But, the problem is that when we went to the data sheets to get the parameters of the PMDC motor, we did not find anything related to these parameters, like resistance, inductance, and inertia. Anybody can help us to measure these parameters experimentally. or lead us to a specific type of PMDC motor with its data sheetd that are readible.
Hello Ibraheem,
Our freind Saif has already provided example datasheet of PMDC motors that are available from reputed commercial manufacturers. So it is better for you to look for motors from good makes or ask your supplier to provide motor datasheet.
Most specifications are already provided in the datasheet and some motors also come with CAD data which you might want to simulate before implementation.
Best wishes!
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Need to know different algoritms used for localizing mobile robot and which one is the best among them.
Dear Nafis Ahmed,
I suggest you to see Links and attached files in different method of localization mobile robots.
Mobile Robot Localization and Map Building: A Multisensor Fusion ...
Evolutionary Image Analysis and Signal Processing
Line based robot localization using a rotary sonar - ResearchGate
Which problems/situations are still unsolved or difficult ... - ResearchGate
CONSTRAINT-BASED MOBILE ROBOT LOCALIZATION *
Algorithms for indoor mobile robot self-localization through laser range ...
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Hi colleagues,
I have been working with estimating the flight altitude of Aerial robots using 3D planar SLAM from the point cloud data of an RGB-D camera. I extract the 3D horizontal planar surfaces and map them in order to localize the aerial robot in its flight altitude.
I am starting a project where I would like to achieve also the x and y-axis localization of the aerial robots. As the RGB-D sensors are noisy, extracting the vertical planes for localizing in x and y-axis, using 3D planar SLAM techniques becomes a difficult problem.
I am looking for ideas where I can combine a 3D planar SLAM algorithm with a visual SLAM algorithm in order to achieve a robust localization in unstructured and unknown environments. I would appreciate any papers or suggestion regarding this topic.
Thanks.
Hi,
You can use the Depth information to estimate the attitude (z), and some motion detection algorithms (with image processing) to estimate the vertical location (x, y). If you intend indoor applications, you can avoid inference signals and thus reduce noise and its effects. However, for outdoor applications, I suggest using multisensor data fusion (Kalman filter for example) to have a more accurate estimation.
For indoor autonomous 2D navigation using RGB-D camera, see:
Good luck,
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To be used for localization?
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I want to control the movement of humanoid robots. will be possible if I use some control methods such as PD over Gyroscope, and by applying control methods over Gyroscope I control the movement of humanoid robots?
You can use the gyroscope only to measure the current state of each joint, but i not understand what you referred exactly.
There are some methods for controlling stability when the robot walks as a Zero Moment Point (ZMP), and you can use the Gyroscope + Accelerometer to measure the deflection angle and correct it using the inverse kinematic approach.

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Hello, I am in need of a 3 DOF two wheeled mobile robot dynamic model which involve the position, velocity, and the heading angle of the robot. It could be like two wheeled inverted pendulum. Please suggest some material.
I have done some research on double inverted pendulum and the papers might be of interest from a control definition view.
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Am working on the design of industrial robot grippers using force sensor.
Thanks, I made a mistake in the question. it was suppose to be classification of robot gripper tasks
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Build a mathmatical model for multi-robot path planning and opti control problem.
Hi Chun, you have to divide the problem into two research questions. The first is the model of the robot and the second is the path planning. If you are considering mobile robot, you have to derive the nonholonomic constrains of the mobile robot based on its kinematic structure. Then you will design controller for a MIMO system to achieve tracking of each mobile robot. Second, you can use the potential field approach to assign attractive field to the reference positions and repulsive fields to the obstacles along the way points. If you do not have obstacles, then the multiple robots will also provide repulsive field to avoid collisions.
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Hello,
Which control strategy is best suitable for flight control applications in UAV(Fixed Wing/Quad-rotor etc.)? Adaptive Backstepping, MRAC, L1 Adaptive Control?
Yes, it all depends of what you need. If high performance is not what you are looking for, then try the simplest, even PID.
Otherwise, I am "a bit" Inclined in some direction, so try to getr some idea of what is now called Simpl,e Adaptive Control (SAC). For your specific application, try to get a hold of
I. Barkana: "Classical and Simple Adaptive Control Design for a Non-Minimum Phase Autopilot," AIAA Journal of Guidance, Control and Dynamics, Vol. 28, No. 4, pp. 631-638, 2005.
The object is exactly UAV  and the paper compares SAC with three otner alternatives, used in previous publications: PID, Classical, and Fuzzy controllers.
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Humans are naturally quite good at controlling systems provided it can give input to the actuators via an interface (joystick etc.). In the humanoid community, motion primitives are obtained by logging human examples. Do you know any non humanoid research in which human input is logged to create motion primitives of the system it is controlling at that time?
Dear Hugo,
I suggest to you a links and attached files in topics.
The Artificial Intelligence Revolution: Part 2 - Wait But Why
-2015 : what do you think about machines that think? - Edge.org
-what scientific concept would improve everybody's toolkit? - Edge.org
-"If you can read this sentence, I can prove God exists"
Best regards
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I'm looking for INSs that can be used in underground environments. Basically, I'm interested in obtaining accurate positions x, y and attitude (roll, pitch and yaw) on which I will apply some filtering filtering algorithms (such as EKF). Clearly, using GPS units won't work underground. I have tried this MEMS IMU for testing http://www.phidgets.com/products.php?product_id=1056_0, but it's not accurate enough for my purpose. Do you guys know any company that provides what i'm looking for?
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In my system, I have starting and end position of a robot. I need to find angle if robot needs to rotate and velocity of a robot. Can I get solution using kalman filter that what will be Transition matrix, x(k-1), b(k), u(k).
There is a lot of publications on obstacle avoidance both from the sensor side and from the methodological side:
Classical articles are
Artificial force fields:                                                                                   _____________________
1. Real-Time Obstacle Avoidance for Manipulators and Mobile Robots(Oussama Khatib), 1986
2. Potential Field Methods and Their Inherent Limitations for Mobile Robot Navigation   (Koren, Borenstein) 1991
Velocity potential fields:                                                                        _____________________
3.Real-Time Obstacle Avoidance Using Harmonic Potential Functions                (Kim, Khosla), 1992
4. Obstacle Avoidance Using Flow Field Divergence (Nelson et al),  1989
Fuzzy Logic:                                                                                                   _____________________
5. Fuzzy logic techniques for mobile robot obstacle avoidance (Patrick Reignier), 1994
6. Control of a redundant manipulator using fuzzy rules (Palm), 1994
7.Fuzzy logic based collision avoidance for a mobile robot (Tunstel), 1994
Market.Based control:                                                                           _____________________
8. Multi-Robot Navigation Using Market-Based Optimization (Palm et al), 2016
Velocity obstacles:                                                                              _____________________
9. Motion Planning inDynamic Environments using Velocity Obstacles (Fiorini, Shiller), 1998
and many more.
Maybe an intelligent mix of heuristic and analytical methods  leads to a successful obstacle avoidance.
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While doing a research I came across a diagram under the title " the tree of control methods" it depicts all major branches of control theory methods classic advanced , linear and non-linear.
The problem I just can't remember in which book I have found that , does anyone know about such diagram or at least suggest to me another similar list ?
Salam Salah Eddine,
Regarding the term 'tree control methods it seems to me this is covered in the book whose title and author are:
Visual Aspects of Computer Aided Control Systems Design
By Christopher A. Ganz
I do not know if this is the right place! up to you, Good luck.
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In my research, my topic is localization based on 4-Mecanum Wheels AGV
so, i try to reserch reducing slippage between ground surface and 4 wheels
but i couldn't find papers enough about such topic on google scholar
so, could you introduce related papers, researches, projects?
somebody help me to find that.
thanks for every one,
particularly, Soumic Sarkar so much.
reference link : http://research.vuse.vanderbilt.edu/rasl/publications/ is good for my research
thk all commenter
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I am simulating Nonlinear MPC for nonholonomic mobile robot. I have to create references trajectory for it as: line-shape, circular shape, and 8-shape... With model of mobile robot: input as u=(v,w) with v-velocity, w-angular velocity. output as X=[x,y,theta]. To calculate cost funtion = (x-x_ref)^2+(y-y_ref)^2+(theta-theta_ref)^2+lamda*u1^2+lamda*u2^2.  If you have the sample code on matlab/simulink, you will share for me.
Thank you very much.
Best regards,
Tuyen
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Dear all,
I am looking for the oldest publication describing the sense-plan-act paradigm known from robotics. The earliest paper I managed to find so far was Brooks' "A Robust Layered Control System For A Mobile Robot" from 1986. Yet, Brooks mentions sense-plan-act as the "traditional decomposition of a mobile robot control system into functional modules". So, we assume that there are older publications addressing the paradigm.
Any help is highly appreciated!
Best regards,
Torben Stolte
@ARTICLE{1087032,
author={R. Brooks},
journal={IEEE Journal on Robotics and Automation},
title={A robust layered control system for a mobile robot},
year={1986},
doi={10.1109/JRA.1986.1087032},
}
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orientation and position control through matlab.
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you can search for more projects on that website
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please see attachment file for more details.
Dear Ali,
Empirically, they adopted the square network for trot gait.
Seiichi MIYAKOSHI
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It should cover the mobile robot navigation or neural network and fuzzy system fields, if possible? This is my first article and I'm looking for a journal with low impact factor and with a quick review process. The journal should cover mobile robot navigation, Neural network and fuzzy logic fields.
Dear Friends,
I have just finished my little research on IEEE Transactions and Journals Impact Factors, Review Speed, and Open Access fee. I hope this would help anyone that preparing to submit a journal article to IEEE.
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We are seeking to understand the needs of caregivers who are providing support for their elderly loved ones.  We seek to improve the quality of life of the caregiver by supporting their efforts to care for their loved ones.  Our solution set is based on a fully autonomous and empathetic robotic platform. Any studies, pilots, experts and or anecdotal experiences/oppinions would be helpful in shaping our development.  Thank you!
If this is a question about the requirements, it depends on the applications or the target population.
Some examples:
- you could imagine a companion robot for people with depression. It may interact with these people to avoid boredom.
- For elderly population, a mobile robot can be designed to help with some care.
Now, you can nail down your requirements based on the end-user application.
I hope this happens....
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In the paper I am not able to find a reference to their code, which isn't really a problem since the dissertation "UNSUPERVISED LEARNING AND REVERSE OPTICAL FLOW IN MOBILE ROBOTICS" p.68 is referring to the reader to the code for the same exact algorithm at the address http://cs.stanford.edu/group/lagr/road_following/
Problem is that the link "only" includes 3 videos demoing the final algorithm. I'm interested in seeing and understanding the code but there's literally just 3 links to these videos.
I hope some of you can help me find the code or point me in the right direction. So far I've managed to calculate the optical flow properly and I am now looking in to finding the starting horizontal position for the template matching.
I hope it is OK to ask this question here, thank you.
I suggest asking Sebastian Thrun. It may be that the code itself is proprietary, but it doesn't hurt to ask.
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I am not so familiar about the "stabilization about a posture" but I can guess from the title that it does not involve time nor position constraints, but you have to maintain your posture. For a rigid body, this would mean to stabilize the system to go to a certain attitude/orientation. Maybe others can elaborate on this.
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Hello guys, I seek for an instrumentation book which focuses on mobile robot test design and measurment systems.
I've studied principles in instrumentation since I was undergraduate student. I am trying to design TestBeds mostly used loadcells. till know I've design and manufacture two of them and face many problems. I seek for design patterns and recommendations and how to use configuration of sensors and what are most important concerns.
You know when you rigid a mobile robot you make it to stand and some dynamics are changed so we seek for that?
I hope I can clear and eluminate what I think
Hi ,
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I'm looking for a robot chassis with wheels, motors and a battery: mid-size (~70cm x 70cm), drives through grass, sufficiently fast (~5km/h) and can carry a payload of about 5kg. I'm thinking of building an autonomous robot, putting a laptop on it, connecting some usb cameras and a gps device.
Is there a kit I could buy that ticks all of these boxes and is still somewhat unexpensive? The stuff I find is either way overpriced (contains a lot of stuff I don't need) or is too small and uncapable.
Another option is building it yourself, but I don't have the experience or mechanical training. I have about 5 months to build this robot because I'm hoping it will compete in a robotics competition.
You can find many types of robot chassis with wheels in Robotshop online store.
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Doing dynamic model of RRRR robot manipulator, using Lagrange equation:
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Any Suggestions
There are several repeating expressions. You just need to spot them on by yourself.
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Is potential field or navigation potential function suitable for obstacle avoidance for optimal path planning of mobile robot using optimal control approach.
Feel free to take a look at this paper:
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I´m trying to build a cheap mobile robot, capable of doing SLAM. I have a raspberry pi with a raspicam and want to find out algorithms to extract depth from monocular cues and try to implement as much as I can in opengl es since the SBC is not very strong. I know there are solutions out there (like structure from motion and make3d) but wanted to know if anyone has already try something like this…
LSD-SLAM, implementation for ROS can be found here:
also vslam should work:
On a raspberry you may get problems with the ROS visualisation tools.
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i develop a manual gain pid controller for mobile robot but i want the kp,ki,kd gain should control by its own and it interact with environment factor and give stable navigational motion, how i designn this in simulink ?
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If you want to avoid obstacles without path planning (which is usually complicated) you can define virtual spring-dampers between robot and environment. By doing this robot don't get close to obstacles and go through destination.
you can check these papers on virtual spring damper applications, or the other article about gain switching.
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How can you apply suitable optimal path while you applying temporal logic motion planning on any mobile robot i.e. Nao. ?
logic temporal follow is i think some path control being done through their dynamics analysis and their DOF. is being first study and then go for controller design .
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I'm working with autonomous UAV (quadcopters). Does anyone have any tips for setting CRIUS AIO with MegaPirate for use with QGroundControl? In systems such as the Mission Planner, there are no major problems, but the QGroundControl initial setup is a bit confusing.
You can get the similar or apropriate answer by searching the keyword in the GOOGLE SCHOLAR page. Usually you will get the first paper similar to your keyword.
From my experience, this way will help you a lot. If you still have a problem, do not hasitate to let me know.
Kind regards, Dr ZOL BAHRI - Universiti Malaysia Perlis, MALAYSIA
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Considering that a robot with an Ackerman steering, the front wheels are oriented to a different angle, I was wondering what is the best approach for estimating the robot's pose. Differential rotation you calculate the robot's position by measuring the amount of ticks for each wheel but does the same apply for Ackerman?
You can get the similar or apropriate answer by searching the keyword in the GOOGLE SCHOLAR page. Usually you will get the first paper similar to your keyword.
If you still have a problem, do not hasitate to let me know.
Kind regards, Prof Dr ZOL BAHRI
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As per path control, I design simulink function block for unicycle mobile robot, but the gain control of pid for desired position gives some unbalanced movement of robot. Can anyone suggest how I can control the movement so accurately for unicycle mobile robot.
Hi,
You can control the unicycle using PID controllers. I suggest you check out the material of the Coursera course called Control of Mobile Robots. you will find a nice explanation and examples.
But, if you need better performance you will want to use a nonlinear controller. The link bellow has a MATLAB/Simulink system for you to simulate controller for the unicycle. It includes the kinematic and the dynamic model of the robot, and some examples of nonlinear controllers. You can use the same model to test your own controllers.
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Let's consider the situation that convoy consists of only two vehicles, leader and follower. Leader is driven by operator, follower can detect relative position of the leader (e.g. camera based - slow and noisy). Can you recommend a good paper on this issue?