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This paper presents a path planning system that would enable a robot to navigate through an oil palm plantation. The system is comprised of a distance estimation algorithm, which can accurately identify the location of a detected oil palm tree, an obstacle detection method that accurately detects obstacles and a path planning algorithm which can plan the shortest collision-free path for the robot...
In view of the shortcomings of the previous genetic algorithm in solving the problem of path planning of robot, this paper has improved it on the basis of the traditional genetic algorithm. The environment model is built by the grids and the fixed length serial number coding is used to encode. The random search method and the ascending order method are combined to generate the initial population....
In recent years, service robots have advanced toward having to the ability to move autonomously in an environment in which they co-exist with humans. Thus, the robots must engage in obstacle avoidance to arrive at their goal point. In our previous research, we developed the artificial potential based method that the robot to plans an effective path simulating pedestrian characteristics by gently changing...
500kV substation on duty gradually tends to be unmanned with the development of smart grids, the mobile robot that used in substation equipment inspection emerge as the times require. Substation inspection robot system, which is described in this paper, can replace a fixed video monitoring, complete video remote transmission of information, equipment control, accident treatment and coordinated transport...
This paper is devoted to a quantitative study of the sensitivity of cell decomposition path planning to various key criteria dealing with optimality and computational complexity. More specifically, the work analyzes the influence of various types of cell decomposition approaches (e.g. trapezoidal, rectangular) and cost functions used during the trajectory search phase (e.g. L1, L2 norms) in the performance...
With the rapid development of e-commerce, warehousing and logistics industry has entered a period of rapid development. New logistics demand is not different from traditional commodity transport, with the features of small batches, variety, high speed and low cost. Flexible warehousing technology based on small mobile handing robots is rising rapidly. The article proposes a flexible warehouse space...
This work presents a study to determine the improvement of the simultaneous position estimations of several Mobile Robots (MRs) adding the relative distances between them, regarding independent position estimations for each MR. To evaluate the performance of the proposal, it is supposed that the localization scenario is composed of an Ultrasonic Local Positioning System (ULPS) and two MRs with odometry...
In this paper, the service robot named “BlackBot” as receptionist robot is descried, that is a small three-wheeled mobile platform with a differential drive, which was controlled by a mini PC. The BalckBot could sense its surroundings with the aid of various electronic sensors while mechanical actuators were used to move it around. Robot's behavior was determined by the program, which was loaded to...
A method of developing a cooperative control system for a group of mobile robots (MR) based on an onboard, universal, information-control system (ICS) is considered in this paper. For implementation of this cooperative control system it is suggested to enter an additional component which provides for the interaction of the MR during their movement into the ICS of each MR. The strategy of leader-followers...
The article focuses on modifications made on an existing gripper mounted on a teleoperated manipulator arm of the military mobile robotic system TAROS. The reason of these modifications was to allow handling of objects with a large range of weight and strength, which requires fully and precisely adjustable gripping force with feedback. The implemented solution uses a strain gauge applied to a selected...
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...
In this paper, we propose a technique for UGV robot's localization using map data of an UAV(Unmanned Aerial Vehicle) with RGB-D camera. UGV has a large loading capacity and a long battery life, but it has limited movement. On the other hand, UAV is free to move but has a small loading capacity and a short battery life. In case of UAV SLAM(Simultaneous Localization And Mapping), location recognition...
This paper presents the design of a mobile robot which could follow a track and shoots a ball to the target set at the distance in a relay race. The design of the motor control circuit, speedometer, sensors and embedded control system are detailed respectively. Then the control strategy based on light tracking and recognition of barcode is designed, which can follow a line successfully and fire a...
No-one likes being confined to a hospital bed. Children particularly can feel lonely, bored or frightened in these conditions. Hours feel like days, and they may not be able to fully comprehend why they are there. Among kids hospitalized because of distinct diseases, children with cancer have incomparable status and needs. They experience physical and mental problems caused by cancer and medications...
In this paper a new Autonomous Mobile Robot Vending Machine concept is developed for food and beverages distribution in beaches. The concept was developed and submitted to end users appraisal, in order to capture their perceptions and preferences, and the resulting knowledge guides future developments towards the real implementation of the robot. This methodology, which uses multivariate statistics,...
The article presents a way of visualizing point clouds created by 3D scanning in a coal mine. The first part focuses on the choice of individual algorithms for point cloud pre-processing (using the library PCL — Point Cloud Library), namely voxelization, outlier removing and smoothing. Then it is described the main rendering algorithm of the software — the chosen way of point rendering and some more...
This paper presents three different designs of mobile robot traveling simulator, targeting at a mobile robot equipped with three optical mice at the bottom. In the mobile robot traveling simulator, a traveling surface sample is made to rotate relative to stationary optical mice, enabling precise and repetitive traveling experiments at a minimal cost in space and time. For a given velocity of a mobile...
With the development of cooperative robotic applications, variable kinds of communication method between robots are applied. The quality of communication has directly affect to the movement of each mobile robot in system. This paper proposes an approach to control the communication between 3 mobile robots by using wireless communication. In this paper, we focus on three main parts. In the first part,...
Robotics sector have achieved enormous founds in recent years due to its high demands in factories to carry out high-precision jobs like riveting and welding. They are also often applied in special situations that would be hazardous for humans such as disposing toxic wastes or defusing bombs. Mobile robots alone however have gained much focus from researches relating optimization of their motion path...
In recent years, it becomes more common for humans to use teleoperated robot systems. Mobile robot is effective as the teleoperated robot due to its large working area. The conventional mobile robots are generally controlled based on position and velocity control system, and they are not able to transmit tactile information. Introduction of force feedback is an effective solution, but it increases...
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