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Recently we can see significant increase in consumer demand for autonomous mobile robots that are used for a wide range of functional tasks in a not completely determined environment. The actual task that we consider is solution problem of development of an effective situational planning subsystem for the behaviour of autonomous mobile robots. The purpose of writing this article is a brief coverage...
Various approaches of vision based techniques has been implemented for mobile robot guidance in corn field. The aim of robot control is to keep the robot stay on interrow center line. This paper presents a new method of vision-based mobile robot guidance between rows of medium size corn plants when the field of view is not parallel to ground level and view of corn rows is incomplete. Instead of plant...
This paper is focused on the development of a novel design of omnidirectional all-terrain mobile robot. The locomotion is achieved by screw propulsion and can handle a wider variety of terrain than ordinary robot using a logical combination of the angular speeds of each screw. A kinematic model of the proposed robot is analyzed and CAD models were designed. A comparative study with mecanum wheel based...
Visual servoing is a proven technique for the feedback control and guidance of robotic systems. Magnitude and clarity of the information collected from the surroundings to formulate the decision control affect the convergence of such strategies. This paper presents a supervisory control in visual servoing guaranteeing successful servoing, utilising the interaction of two cameras. The control is switched...
We present a novel method for robotic mower's lawn obstacle avoidance as well as motion control, which is based on the Gabor texture classification and drivable region search methods. In our approach, a camera is applied to obtain real-time image streams of lawn scenes, Gabor filters are then applied for extracting robust texture features. Based on the compressed features, a SVM model is trained and...
This paper proposes and analyzes two different control techniques to remove the effect of lumped uncertainties and disturbances for trajectory tracking by robotic manipulator. These techniques are a) Adaptive backstepping sliding mode control and b) Nonlinear disturbance observer based backstepping sliding mode control. Adaptive backstepping sliding mode control estimates the system uncertainties...
Robots based on vision guidance are very important to the future of vehicle navigation. They have the ability to navigate through a predetermined track and avoid obstacles. They operate remotely with a central computer tracking and guiding them. This allows for communication between robots. This can be used to implement traffic based navigation. Where routes can be recalculated depending on traffic...
This work proposes a method for continuous navigation and path planning to avoid obstacles for both indoor and outdoor application. The navigating robot creates 2D map of the traversed area. To avoid collision with obstacles, the robot uses range measurement sensors. The Robot autonomously moves around the unexplored environment safely, detects obstacles through radar vision, collects data, transmits...
The precise positions of feature points in the image space are crucial for tracking systems of welding robots. And hence the quality of feature detection directly affects the accuracy of the motion of the welding robots. Moreover, a low computational cost is also needed in a real-time tracking system. This paper presents a method which effectively detects the features of the V-groove weld seam based...
The growth of hydroponic vegetables cultivated in a greenhouse is influenced by the photosynthesis process. Sunlight, an important factor to grow crops with high productivity, is blocked by the plastic sheetings of the greenhouse roof and their cleanliness. A layer of dust can build up and needs to be removed. In the traditional method, cleaners have to climb onto the high-level roof and use brushes...
This paper presents a new technology for designing, simulation, implementation and validation of a driverless vehicle system with the use of the Arduino microcontroller, ultrasonic sensors and stepper motors are integrated to Lyapunov based control scheme. The goal is specifically to develop a driverless vehicle system which is able to move from an initial to target location in an obstacle free environment...
Disturbance rejection is an important technique in bilateral teleoperation that can ensure the stability of the system from unwanted inputs. One of the major disturbance for the system is the external vibration from both sides. This paper aims to apply the concept of one degree-of-freedom inertia-spring-damper system for vibration suppression in the bilateral control system. For vibration control,...
This paper proposes a gain scheduling (GS) controller synthesis for active magnetic bearing (AMB) systems. The AMB can be represented as a linear parameter-varying (LPV) system depending on rotor angular velocity. The GS controller for the LPV system is designed based on parameter-dependent Lyapunov function. The purpose of this study is to stabilize rotor attitude of AMB that is influenced by gyro...
This paper put forward a optimal scheduling method of the wood flexible manufacturing system based on OOTCPN and GASA. The algorithm can adjust the manufacturing units rapidly according to the change of the production order, and reconstruct the production line aiming at optimizing the multi-objective function (the shortest manufacturing cycle and the reconfigurable fee). The triggered sequence set...
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