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Path planning is an important part in Mobile robot researches. For the characteristics of mobile environment, it builds two kind of environment models including obstacle environment and barrier free environment. On the basis of the model, TSP model is a traditional template for path planning with kinds of intelligence algorithm. This paper introduces an improved colony algorithm and it performs well...
An intelligent system named Laboratory Mobile Robot Transportation System (LMRTS) has been developed for the mobile robotic transportation in laboratory automation. In this paper, a new approach is presented to predict and manage the on-board battery voltages of the mobile robots for optimizing the LMRTS system. The LMRTS can select and optimize the best mobile robotic candidate for a transportation...
This paper presents an efficient backtracking strategy for frontier-based exploration in Sensor-based Random Tree (SRT). An existing backtracking of Frontier-Based SRT (FB-SRT) exploration is to just move back to the previous position which a robot already passed by. But in some cases, the robot generates a long detour to move to the position that has frontier areas. The proposed algorithm aims to...
This article presented a localization algorithm of indoor mobile robot based on landmark. In order to navigate swiftly, one kind of landmark is designed, which is apt to recognize, convenient to extend. Because of noise error, the position of mobile robot calculated by single landmark is imprecise, so a method for localization of mobile robots was proposed by multiple landmarks. A mobile robot measures...
In this paper, we propose a view planning method that plans view points for efficient 3D map building by a mobile robot equipped with two LRFs (laser range finders). The robot searches for effective view points by predicting new measurement domains in the next view points, and then measures distances to obstacles around the robot with LRFs. The 3D map is generated by integrating range information...
This paper focuses on the development of a test platform for the capture of non-cooperative targets by an autonomous robotic manipulator. The paper describes the platform and subsystems involved in the capture operation with an emphasis on the vision system and controller. The vision system employs a custom algorithm, detecting the target, determining the quality of the lock and predicting the motion...
How to describe and measure unmanned aerial vehicle (UAV) autonomy is of primary importance in the field of autonomous control of UAVs. One of the most challenging obstacles lies in the reasonable description framework of UAV autonomy. In this paper, the existing typical classification models of autonomous control levels are presented and compared firstly. With the construction of task-level model...
In the movement of multiple robots, the robot formation is one of the important attributes of colony activities. It has an important significance to recognize robot formations for evaluating the spot situation and making decisions. A new algorithm is proposed in this paper for recognition of robot linear formations. On the basis of pre-processing, (that is, each robot is segmented from the spot and...
With two auxiliary lines drawn on the racket pad, the intersections of the auxiliary lines and the pad edge are selected as feature points. A simple pose measurement method is designed based on the feature points. A high efficient image-processing algorithm and a feature points extracting method are proposed according to the characteristics of the pad and the auxiliary lines. The racket pose in the...
A new approach called dynamic programming field for modeling the robot environments is presented and it's beneficial to the path planning. The dynamic programming field, which is approximated by Neuro-Dynamic Programming, records environmental information through a neural network and can be used to compute the approximate optimal cost between any two points. Based on the dynamic programming field,...
The objective of this research is to develop the jump shot and offensive/or defensive decision-making system for the billiard robot by using Extension theory. The purpose is to let billiard robot posses the imitation ability of how human beings make the jump shot and offensive/or defensive decision-making in the nine ball pool games. The billiard robot will make the straight shot if there is no block...
To analyze the characteristic of an onboard pan-tilt control system to enable an unmanned aerial vehicle (UAV) to Track a ground target, and to verify the stability of the tracking controller and to test the performance of the controller, an experiment platform for pan-tilt control of a small scale autonomous helicopter is designed and then implemented. The system consists of four components including...
Biomimetic robots have recently received increasing attention, as people try to learn from nature in which exist amazing and uniquely evolved mechanisms shown by very species. Fleas, as such one example, are best jumper of all known animals in the world, considering their body size. It can jump about 150 to 200 times its own body length. This paper reports on modeling and simulation of a jumping biomimetic...
This video presents the Autonomous City Explorer (ACE) project. Its goal was to create a robot capable of navigating unknown urban environments without the use of GPS data or prior map knowledge. The robot had to find its way solely by interacting with pedestrians and building a topological representation of its surroundings. This video outlines the necessary ingredients for successful low-level navigation...
Suddenly fall of unexpected disasters cause serious damage and casualties to our society. In order to minimize damage, search and rescue tasks should be carried out immediately after the disasters. This paper introduces an entropy based search model to RoboCup rescue agent simulation system which enables our search agents to find victims as early as possible. Key point of this proposed model lies...
By taking inspiration from the hydraulic system of spiders, we have conceived a novel hydraulic flexible joint suitable to be miniaturized and embedded in robotic platforms. The hydraulic flexible join has a modular design-joints can be positioned in series to obtain highly redundant configurations. In this paper, the design of the hydraulic joint is proposed and its performance is discussed.
The human eyes cannot easily focus on two separate targets at the same time. However the two eyeballs can rotate in opposite directions when the target approaches or leaves. The two eyes have their own cooperative movements called conjugate and vergence eye movements. Since the classifications of eye movement patterns in physiology are based on the phenomena of eyeball rotations, it is difficult to...
We demonstrate a testbed and algorithms for collaborative human and automated (or mixed-initiative) decision making within the context of outdoor search and rescue. Hydra is a networked simulation tool that allows n human and k automated agents operating under different assumptions to share control over m unmanned aerial vehicles (UAVs) with cameras, with the goal of locating a hidden subject thetas...
Industrial robots are widely used to paint final products in many industries, such as automotive and furniture etc. Robot path planning based on the CAD models of parts for spray painting is critical for product quality, process cycle time and material waste etc. Currently automated robot path planning has always caused a bottleneck for the spray painting processes because typical manual teaching...
The problem of grasping novel objects in a fully automatic way has gained increasing importance. In this work we consider the problem of grasping novel objects with the help of a laser range scanner. This includes autonomous object detection and grasp motion planning. The used system consists of a fixed working station equipped with a laser range scanner, a seven degrees of freedom manipulator and...
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