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In this study, extracting a path plan has been aimed by using vision based and potential field methods together for a static obstacle hosted environment. Path extracting operations have been executed on image frame taken from real environment with eye-out-device configuration. An obstacle free path plan is uncovered between robot and target with adaptive potential field method by considering position...
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...
UAVs are used in several remote applications. While performing a mission, electro-mechanical faults can occur which requires the UAVs to land quickly and safely. Landing in emergency conditions is a time critical problem, where, the UAV needs to find a landing site and plan a path to the selected site that satisfies some safety criterion in a given time. In this paper, we use terrain information from...
Equally distributed covering of working space is essential in some mobile robot applications, such as presentation robotics or security robot patrol. This paper explores a method for such covering based on rapidly exploring random trees (RRT) algorithm. RRTs can cover the working space close to completeness while uncovered areas are quickly reduced. The algorithm can be modified to emphasize certain...
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,...
This paper investigates the search probability and camera footprint of region coverage for UAVs. Two kinds of search probability by using the UAV camera are proposed. Moreover, the relationship between the UAV altitude and the camera footprint is also studied in this paper. Some formulars concerned with the UAV camera footprint are developed in two cases: flat flying and roll motion, and yaw motion...
A reliable and efficient multi-robot coordination strategy is proposed to accomplish area exploration task in unknown environment. This approach is an improved one based on social potential field (SPF) model and market-based (MD) approach to coordinate the movement of multiple robots. Unlike traditional SPF, our model is a non-continuous one in time. In this approach, non-continuous SPF and market-driven...
In this paper we present a layered architecture for multirobot motion coordination. The purpose is to control and coordinate autonomous mobile robot with generic shapes and kinematics in a priori known environment. It is a centralized framework, where a leader robot (or a supervisor) plans the motion of all the robots and makes them moving synchronously. The architecture is layered, self-similar and...
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...
In this paper, we propose a simultaneous optimization method for task assignment and routing problems for multiple AGVs by decomposition of Petri Nets. In the proposed method, the Petri Net is decomposed into several subnets for task subproblems and AGV subproblems. Each subproblem is solved by Dijkstrapsilas algorithm. The solution of subproblem for each subnet is repeated until a feasible solution...
Recently, a coordinated hybrid agent (CHA) framework was proposed for the control of multi-agent systems (MASs). In the past few years, it has been applied to both homogeneous and heterogeneous multi-agent systems. In previous studies, the coordination among agents were implemented based on the designerpsilas knowledge of the system. For large complex systems, it would be desirable if we can plan...
Finding and moving to a target is a key element toward enhancing functionality and autonomy of mobile robots in a variety of applications. For the purpose, the location sensing radio frequency identification (RFID) system has been proposed by the authors. Real time tracking of the target transponder became available by employing the dual-directional antenna. However, since the system depended on the...
Steerable needles composed of a highly flexible material and with a bevel tip offer greater mobility compared to rigid needles for minimally invasive medical procedures. In this paper, we apply sampling-based motion planning technique to explore motion planning for the steerable bevel-tip needle in 3D environments with obstacles. Based on the Rapidly-exploring Random Trees (RRTs) method, we develop...
Building on recent work in sensor-actuator networks and distributed manipulation, we consider the use of pure actuator networks for localization-free robotic navigation. We show how an actuator network can be used to guide an unobserved robot to a desired location in space and introduce an algorithm to calculate optimal actuation patterns for such a network. Sets of actuators are sequentially activated...
To incorporate robots into society, they must be able to perform complex tasks while interacting with the world around them in a safe and dependable manner. The recent DARPA 2007 Urban Challenge made a step towards that goal by testing how well robotic vehicles can interact in an urban environment while dealing with static and dynamic obstacles and other cars. This paper uses the Urban challenge to...
This paper presents a force control assisted path generation system that can significantly reduce the time, effort and expertise requirements for programming complex paths in a typical industrial environment. The basic idea is to let the user first teach a few approximate positions along the desired path using a force control lead through method, and then the robot executes a force feedback contour...
In this paper we propose modified Banker's algorithm for routing and scheduling in multi-AGV systems. A mission path, determined by string algebra is executed in a way that some unsafe states are allowed in order to achieve better utilization of vehicles. Moreover, a method for splitting a mission path is proposed so that number of resources (arcs) needed for mission execution is gradually reduced...
A method for the trajectory planning of coordinated groups of UUVs, developed in authors' previous work is extended. The key points within the design patterns that must be used to implement the method in code are stressed. Rotors, vectorized quantities which introduce directionality, and thereby cause divergence from local minima, are introduced into the virtual potential algorithm. This development...
This document describes the proposal of an internal and external communication architecture implemented in order to develop cooperative tasks among robotic units. The key of this communication system are the client-server links designed with Player/Stage for periodical control tasks and with sockets for non periodical ones. Each mobile unit acts as a node, connected through an Ethernet-Converter device,...
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