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A neuroplasticity-inspired neural circuit for acoustic navigation with obstacle avoidance that learns smooth motion paths

Danish Shaikh, Poramate Manoonpong
2018 Neural computing & applications (Print)  
Here, we extend our earlier architecture, by adding a path-smoothing behaviour, to generate smooth motion paths for a simulated mobile robot.  ...  Acoustic spatial navigation for mobile robots is relevant in the absence of reliable visual information about the target that must be localised.  ...  This could potentially allow for dynamic smoothness, where the wheel velocities of the mobile robot remain constant or vary smoothly while generating smooth bends around obstacles-a significant and desirable  ... 
doi:10.1007/s00521-018-3845-y fatcat:dkpeqyy2lngunmlaypxkajumki

Moving Target Interception Considering Dynamic Environment [article]

Chendi Qu, Jianping He, Jialun Li, Chongrong Fang, Yilin Mo
2022 arXiv   pre-print
In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment.  ...  The algorithm then generates an interception trajectory with path and speed decoupling. We use Hybrid A* search to plan a path and optimize it via gradient decent method.  ...  The algorithm generates a feasible, effective and obstacle-avoidance trajectory for the interception. • We use gradient descent method to optimize the interception path for the wheeled mobile robot which  ... 
arXiv:2205.07772v1 fatcat:kfscouqufbgx7jmm5yh3qfjqmm

Determining navigability of terrain using point cloud data

Stephanie Cockrell, Gregory Lee, Wyatt Newman
2013 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)  
This paper presents an algorithm to identify features of the navigation surface in front of a wheeled robot.  ...  Recent advances in mobile robotics have brought about the development of smart wheelchairs to assist disabled people, allowing them to be more independent.  ...  In summary, the algorithm presented here allows the robot to identify and avoid nontraversable terrain and provide useful information for later use in path planning. VI.  ... 
doi:10.1109/icorr.2013.6650496 pmid:24187311 dblp:conf/icorr/CockrellLN13 fatcat:qcw3jomnknfqxbuhi57qypi5by

Design and Implementation of a Multi-sensor Mobile Platform [chapter]

Ayssam Elkady, Tarek Sobh
2009 Novel Algorithms and Techniques in Telecommunications and Networking  
Path planning for mobile robots is one of the key issues in robotics research that helps a mobile robot find a collision-free path from the beginning to the target position in the presence of obstacles  ...  The VFH algorithm allows continuous and fast motion of the mobile robot without stopping for obstacles.  ... 
doi:10.1007/978-90-481-3662-9_63 dblp:conf/cisse/ElkadyS08 fatcat:k3rhtw4i3nccvi22n7hkaxrsxa


Dr. Eyad I. Abbas, Dr. Sundus D. Hasan, Rawaa Jawad
2020 International Journal of Engineering Applied Sciences and Technology  
Path finding reduce the wear and capital investment of mobile robot. Several methodologies have been proposed and reported in the literature for the path planning of mobile robot.  ...  The purpose of this paper is to review the modeling, optimization criteria and solution algorithms for the path planning of mobile robot.  ...  For the global path planning, all the information of the environment is known to the robot before starting.  ... 
doi:10.33564/ijeast.2020.v05i04.013 fatcat:6ayyqxh5enbrplfunh5vkx2vva

Vision Sensor-Based Driving Algorithm for Indoor Automatic Guided Vehicles

Nguyen Van Quan, Hyuk-Min Eum, Jeisung Lee, Chang-Ho Hyun
2013 International Journal of Fuzzy Logic and Intelligent Systems  
The algorithm was validated in an experiment using a two-wheeled mobile robot.  ...  We propose five movement patterns for AGVs to guarantee smooth performance during path tracking: starting, moving straight, pre-turning, left/right turning, and stopping.  ...  This information is used for AGV path tracking control.  ... 
doi:10.5391/ijfis.2013.13.2.140 fatcat:t4i6qfpeqbecvmpnvt34taphtq

A Deformable Configuration Planning Framework for a Parallel Wheel-Legged Robot Equipped with Lidar

Fei Guo, Shoukun Wang, Binkai Yue, Junzheng Wang
2020 Sensors  
configuration for wheeled robots.  ...  Compared with legged and wheeled machines, it can be applied for more challenging mobile robotic exercises using the enhanced environment adapting performance.  ...  The robot CENTAURO [5] which are equipped with steerable wheels on legs' ending allows for executing steps, omnidirectional steering, and dominating a large variety of mobile manipulation missions, demonstrating  ... 
doi:10.3390/s20195614 pmid:33019529 fatcat:suqpwyvhpjf53lq744l5mo36aa

Performance comparison of novel WNN approach with RBFNN in navigation of autonomous mobile robotic agent

Saradindu Ghosh, Kumar Panigrahi, Dayal Parhi
2016 Serbian Journal of Electrical Engineering  
This paper addresses the performance comparison of Radial Basis Function Neural Network (RBFNN) with novel Wavelet Neural Network (WNN) of designing intelligent controllers for path planning of mobile  ...  robot in an unknown environment.  ...  a four-wheeled non-holonomic differential driven mobile robot where two wheels on each side are mounted on one common shaft of robot chassis.  ... 
doi:10.2298/sjee1602239g fatcat:z5kyk2gx55ab3iawfhwzimg6cy

Online Mapping-Based Navigation System for Wheeled Mobile Robot in Road Following and Roundabout [chapter]

Mohammed A. H. Ali, Musa Mailah
2018 Applications of Mobile Robots [Working Title]  
A road mapping and feature extraction for mobile robot navigation in road roundabout and road following environments is presented in this chapter.  ...  Results show the capability of the wheeled mobile robot to effectively recognize the road environments, build a local mapping, and find the path in both road following and roundabout.  ...  It passes through the following steps: smoothing the image by blurring the operation in order to prepare for removing the noise; finding the gradients of the edges, where the large magnitude gradients  ... 
doi:10.5772/intechopen.79412 fatcat:vq6jnat6ofcpnbdmkklxxobeaq

Intelligent neuro-controller for navigation of mobile robot

Mukesh Kumar Singh, Dayal R. Parhi
2009 Proceedings of the International Conference on Advances in Computing, Communication and Control - ICAC3 '09  
This paper analyzes the kinematical modeling of mobile robots as well as the design of control systems for the autonomous motion of the robot.  ...  A four layer neural networks is used to design and develop the neurocontroller to solve the path and time optimization problem of mobile robots which deals the with cognitive tasks such as learning, adaptation  ...  The control laws are designed to produce suitable left and right wheel velocities for driving the mobile robot to follow required path trajectories.  ... 
doi:10.1145/1523103.1523129 fatcat:dihdxro3fbb7fjlm5pc6mhtcva

Navigating Mobile Robot in Finite Environment using Potential Field Merging

Adel Djellal, Rabah Lakel, Randa Chergui
2015 International Journal of Control and Automation  
The proposed techniques are based on extracting path by merging information from two potential maps: security potential, pulling back robot from obstacles, and slope potential attracting robot to target  ...  In this work, a navigation technique based on Potential Field has been used to plan an optimal-safe path to pilot a mobile robot in known environment.  ...  Mobile Robot Model Definition The mobile robot is a mobile robot actuated by two independent wheels and optionally having a number of free wheels ensuring its stability.  ... 
doi:10.14257/ijca.2015.8.3.24 fatcat:amrt4kljbjg4xpzidssasd5ykm

Application of Deep Reinforcement Learning for Tracking Control of 3WD Omnidirectional Mobile Robot

Atif Mehmood, Inam ul Hasan Shaikh, Ahsan Ali
2021 Information Technology and Control  
This paper proposesthe compelling technique of deep deterministic policy gradient for solving the complex continuous actionspace of 3-wheeled omnidirectional mobile robots.  ...  Three-wheeled Omnidirectional mobile robots tracking isa difficult task because of the orientation of the wheels which makes it rotate around its own axis rather tofollow the trajectory.  ...  Mobile Robot er a 3-wheel omnidirectional mobile robot on a solid surface.  ... 
doi:10.5755/j01.itc.50.3.25979 fatcat:saeyuel2xbhhvpwku432jqng5u

A Real-Time Hydrodynamic-Based Obstacle Avoidance System for Non-holonomic Mobile Robots with Curvature Constraints

Pei-Li Kuo, Chung-Hsun Wang, Han-Jung Chou, Jing-Sin Liu
2018 Applied Sciences  
In addition to comparative simulations, a proof of concept experiment implemented on a two-wheel driving mobile robot with range sensors validates the practical usefulness of the integrated system that  ...  , and predictable paths for obstacle avoidance.  ...  The Mobile Robot with Range Sensors Wheeled Mobile Robot System We implemented our real-time hydrodynamics-based obstacle avoidance algorithm on Dr. robot X80, a wireless two-wheeled drive mobile robot  ... 
doi:10.3390/app8112144 fatcat:x4lhleuskrftvogfnhhs6nqqoq

Collision Avoidance for a Car-like Mobile Robots using Deep Reinforcement Learning

Kiwon Yeom, Department of Human Intelligence and Robot Engineering, Sangmyung University, South Korea
2021 International Journal of Emerging Technology and Advanced Engineering  
In addition, dynamic path planning of unknown environment has always been a challenge for mobile robots.  ...  The motion planning of the mobile robots should be considered in aspect of effectiveness of the navigation, and collision-free motion is essential for mobile robots.  ...  The generated path for mobile robots should be as smooth as possible to meet the dynamics of the mobile robot as well.  ... 
doi:10.46338/ijetae1121_03 fatcat:6o6rkiuhsba65ov4pjnjx2c6ia

Path Planning for Autonomous Driving of Mobile Robots using Deep Neural Network based Model Predictive Control

Kiwon Yeom, Department of Human Intelligence and Robot Engineering, Sangmyung University, South Korea
2021 International Journal of Emerging Technology and Advanced Engineering  
This paper verifies that the proposed DNN MPC based controller can track the desired path with high precision for the car-like mobile robot.  ...  Keywords—Path planning, autonomous driving, mobile robot, deep neural network, model predictive control.  ...  The generated path for mobile robots must be smooth and applicable to satisfy the characteristics of the mobile robot dynamics.  ... 
doi:10.46338/ijetae1121_04 fatcat:u5l26ncdujd2xjzoljx7v7rajy
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