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An hybridization of global-local methods for autonomous mobile robot navigation in partially-known environments

Samia Sahloul, Donia BEN HALIMA Abid, Chokri REKIK
2021 Journal of Robotics and Control (JRC)  
This paper deals with the navigation problem of an autonomous non-holonomic mobile robot in partially-known environment.  ...  Also, the fuzzy logic and fuzzy wall-following controllers are used to accomplish the reactive navigation mission (path tracking and obstacle avoidance) for a comparative purpose.  ...  The kinematic model of the non-holonomic mobile robot represents a nonlinear system. Therefore, there are a problem in the design of a switching function.  ... 
doi:10.18196/jrc.2483 fatcat:pkr4cj2eyrdljcdpklly6ljxhy

Feedback Equivalence and Control of Mobile Robots Through a Scalable FPGA Architecture [chapter]

G.P. Moustris, K.M. Deliparaschos, S.G. Tzafestas
2011 Recent Advances in Mobile Robotics  
In this chapter we analyse a SoC implementation for the non-holonomic robot path tracking task using a fuzzy logic controller, along with a non-linear feedback-equivalence transformation which reduces  ...  These three problems present challenges and difficulties exacerbated by the fact that the robot models are highly non-linear and non-holonomic (although robots that lift the non-holonomic rolling constraint  ... 
doi:10.5772/26793 fatcat:gfh7tifnavd4jadjiggm5d2z44

Fuzzy logic path tracking control for autonomous non-holonomic mobile robots: Design of System on a Chip

S.G. Tzafestas, K.M. Deliparaschos, G.P. Moustris
2010 Robotics and Autonomous Systems  
This paper presents a System on Chip (SoC) for the path following task of autonomous non-holonomic mobile robots.  ...  The fuzzy controller supports a fuzzy path tracking algorithm introduced by the authors.  ...  Conclusion This paper presents a novel SoC, that successfully utilizes and interfaces the parametric DFLC core with the Microblaze core, for the path following task of autonomous non-holonomic mobile robots  ... 
doi:10.1016/j.robot.2010.03.014 fatcat:dulzswau7rcqlhyulpuojqhmh4

CIS-RAM 2019 Front Matter

2019 2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)  
This year we have received about 150 initial submissions, out of which 125 manuscripts are accepted for oral presentation after a thorough peer reviewing process.  ...  Lastly, we thank the efforts of the organizing committee, student helpers and anyone who contributed one way or another, for making IEEE CIS-RAM 2019 a success!  ...  Ang Jr 11:45 Design of a Control Platform for Mobile Robot with SSVEP-BCI System Yang Liu, Xinyang Li and Chenguang Yang 12:00 Development of an In-pipe Mobile Robot for Inspecting Clefts of Pipes  ... 
doi:10.1109/cis-ram47153.2019.9095827 fatcat:f2tvaddmhra77fnnyxywhepg4q

Table of contents

2010 ICCAS 2010  
Wook Kang, Woo Song Lee and Jong Baem Won SA08-5 An Intelligent control of Non-holonomic Mobile Robot Based on Fuzzy Perception 2111 Sung Hyun Han, Byoung Kyun Shim, Jun Hong Kim, In Man Park and Min  ...  with a Planar Object 1879 Daesik Kim, Seongsoo Lee, Hyunwoo Kim and Sukhan Lee FEP-31 Optimal path planning with Holonomic mobile robot using localization vision sensor 1883 DongSeok Lee, KilSoo  ... 
doi:10.1109/iccas.2010.5669694 fatcat:43uj6owxh5c63gr2mn5shli5ja

Thorough Review Analysis of Safe Control of Autonomous Vehicles: Path Planning and Navigation Techniques

Sara Abdallaoui, El-Hassane Aglzim, Ahmed Chaibet, Ali Kribèche
2022 Energies  
Mobile robot path planning has passed through multiple phases of development and took up several challenges.  ...  Up to now and with the new technology in hands, it becomes less complicated to conduct path planning for mobile robots and avoid both static and dynamic obstacles, so that collision-free navigation is  ...  safe path for the mobile robot.  ... 
doi:10.3390/en15041358 fatcat:7uz4lf47rvakrde5eawe4feu6m

Vision-based trajectory tracking for mobile robots using Mirage pose estimation method

Semih Dinc, Farbod Fahimi, Ramazan Aygun
2016 IET Computer Vision  
Unmanned vehicles are autonomous robotic systems that are fully or partially controlled by an operator remotely from a station.  ...  The results show that the proposed method is a feasible alternative for vision-based Euclidean trajectory tracking with high accuracy and low complexity.  ...  [12] proposed an image-based control method for non-holonomic mobile robots. Their algorithm was established based on epipolar geometry calculations using current and desired camera views.  ... 
doi:10.1049/iet-cvi.2015.0153 fatcat:iqe4a3hcqzegrnia7czub3763i

Review and performance evaluation of path tracking controllers of autonomous vehicles

Mohammad Rokonuzzaman, Navid Mohajer, Saeid Nahavandi, Shady Mohamed
2021 IET Intelligent Transport Systems  
The AVs are assumed to have limited controllability due to nonholonomic constraints, such as car-like vehicles and differential drive mobile robots.  ...  Path Tracking Controller (PTC) of AVs is one of the high potential subsystems that can be further improved in order to achieve more accurate, robust and comfortable tracking performance.  ...  drive mobile robots.  ... 
doi:10.1049/itr2.12051 fatcat:no7xfbgq5fayli5ezllhbjaw6q

Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer

Ghulam E. Mustafa Abro, Zain Anwar Ali, Saiful A. Zulkifli, Vijanth Sagayan Asirvadam, Adnan Maqsood
2021 Mathematical Problems in Engineering  
, a state feedback controller is proposed consisting of a position estimator and disturbance observer design.  ...  The simulation work for the proposed algorithm is performed using MATLAB and Simulink software and compared with the conventional sliding mode control (SMC) and fuzzy-based SMC control designs.  ...  Qiao, “Pigeon-inspired optimization: a new input fuzzy logic controller tuning for steering control of swarm intelligence optimizer for air robot path planning,” autonomous underwater  ... 
doi:10.1155/2021/8791620 fatcat:idntnkzminb4jmwafbppgv44ni

Perceptual Navigation for Semi-Autonomous Wheelchair Operations [chapter]

H. Uchiyama, W. D., M. A., J. Tarver, R. Eunice
2008 Service Robot Applications  
It is common to employ an array of sensors in order to obtain a wide coverage area around a mobile robot (specifically for omni-directional robots).  ...  More complicated functionalities, such as fuzzy logic inference operators or artificial neural networks, can also be implemented.  ... 
doi:10.5772/6065 fatcat:ovt5h552o5ay5hlefabwsctgm4

Active vision in robotic systems: A survey of recent developments

Shengyong Chen, Youfu Li, Ngai Ming Kwok
2011 The international journal of robotics research  
Planning for robot vision is a complex problem for an active system due to its sensing uncertainty and environmental uncertainty.  ...  With increasing demand for robotic automation, research in this area has received much attention.  ...  Murrieta-Cid et al. defined this problem and considered to maintain surveillance of a moving target by a non-holonomic mobile observer (Murrieta-Cid et al. 2005) .  ... 
doi:10.1177/0278364911410755 fatcat:pdpxmt4a5nhdvdojcsassxox6i

2021 Index IEEE Robotics and Automation Letters Vol. 6

2021 IEEE Robotics and Automation Letters  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  ., +, LRA Oct. 2021 6353-6360 Efficient Trajectory Planning for Multiple Non-Holonomic Mobile Robots via Prioritized Trajectory Optimization.  ...  ., +, LRA July 2021 4891-4898 Reactive Navigation in Crowds for Non-Holonomic Robots With Convex Bounding Shape.  ... 
doi:10.1109/lra.2021.3119726 fatcat:lsnerdofvveqhlv7xx7gati2xu

Autonomous SoC for fuzzy robot path tracking

Kyriakos M. Deliparaschos, George P. Moustris, Spyros G. Tzafestas
2007 2007 European Control Conference (ECC)   unpublished
for Fuzzy Robot Path Tracking Kyriakos M.  ...  curvature κ Path Tracking cos sin x y v ► Non-holonomic: rolling without slipping ► Rigidity: robot dimensions remain fixed ► Input bounds: robot cannot turn while stopped (bounded κ)  ...  Conclusions ► A novel SoC for the path following task of autonomous non-holonomic mobile robots was presented. ► The latency of the control is very small although it is bounded by the response of the controlled  ... 
doi:10.23919/ecc.2007.7068806 fatcat:of3tz3okrfcsjd6sqlbkjzjw7e

Sun-Synchronous Robotic Exploration: Technical Description and Field Experimentation

David Wettergreen, Paul Tompkins, Chris Urmson, Michael Wagner, William Whittaker
2005 The international journal of robotics research  
We conducted experiments in the Canadian high arctic using a solar-powered rover to prove the concept of Sun-synchronous exploration.  ...  Using knowledge of orbital mechanics, local terrain, and locomotion power, the rover Hyperion planned Sun-synchronous routes to visit designated sites while obtaining the necessary solar power for continuous  ...  Bernardine Dias, Stewart Moorehead, Ben Shamah, Reid Simmons, Sanjiv Singh, Tony Stentz, James Teza, Vandi Verma, and David Wilkinson for their contribu-tion to this work.  ... 
doi:10.1177/0278364904046632 fatcat:jyfffvkzgbbjfmegefpsyflrau

A multirange architecture for collision-free off-road robot navigation

Pierre Sermanet, Raia Hadsell, Marco Scoffier, Matt Grimes, Jan Ben, Ayse Erkan, Chris Crudele, Urs Miller, Yann LeCun
2009 Journal of Field Robotics  
Instead of using a dynamical model of the robot for short-range planning, the system uses a large lookup table of physically-possible trajectory segments recorded on the robot in a wide variety of driving  ...  We present a multi-layered mapping, planning, and command execution system developed and tested on the LAGR mobile robot.  ...  Mapping with label uncertainty in mobile robotics has been addressed by several approaches from Bayesian techniques (Elfes, 1991) to fuzzy logic (Oriolo et al., 1997) .  ... 
doi:10.1002/rob.20270 fatcat:whztx6qearde7fyukx4hslx644
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