2,543 research outputs found
Minimum-Energy Exploration and Coverage for Robotic Systems
This dissertation is concerned with the question of autonomously and efficiently exploring three-dimensional environments. Hence, three robotics problems are studied in this work: the motion planning problem, the coverage problem and the exploration problem. The work provides a better understanding of motion and exploration problems with regard to their mathematical formulation and computational complexity, and proposes solutions in the form of algorithms capable of being implemented on a wide range of robotic systems.Because robots generally operate on a limited power source, the primary focus is on minimizing energy while moving or navigating in the environment. Many approaches address motion planning in the literature, however few attempt to provide a motion that aims at reducing the amount of energy expended during that process. We present a new approach, we call integral-squared torque approximation, that can be integrated with existing motion planners to find low-energy and collision-free paths in the robot\u27s configuration space.The robotics coverage problem has many real-world applications such as removing landmines or surveilling an area. We prove that this problem is inherently difficult to solve in its general case, and we provide an approach that is shown to be probabilistically complete, and that aims at minimizing a cost function (such as energy.) The remainder of the dissertation focuses on minimum-energy exploration, and offers a novel formulation for the problem. The formulation can be directly applied to compare exploration algorithms. In addition, an approach that aims at reducing energy during the exploration process is presented, and is shown through simulation to perform better than existing algorithms
Progressive Learning for Physics-informed Neural Motion Planning
Motion planning (MP) is one of the core robotics problems requiring fast
methods for finding a collision-free robot motion path connecting the given
start and goal states. Neural motion planners (NMPs) demonstrate fast
computational speed in finding path solutions but require a huge amount of
expert trajectories for learning, thus adding a significant training
computational load. In contrast, recent advancements have also led to a
physics-informed NMP approach that directly solves the Eikonal equation for
motion planning and does not require expert demonstrations for learning.
However, experiments show that the physics-informed NMP approach performs
poorly in complex environments and lacks scalability in multiple scenarios and
high-dimensional real robot settings. To overcome these limitations, this paper
presents a novel and tractable Eikonal equation formulation and introduces a
new progressive learning strategy to train neural networks without expert data
in complex, cluttered, multiple high-dimensional robot motion planning
scenarios. The results demonstrate that our method outperforms state-of-the-art
traditional MP, data-driven NMP, and physics-informed NMP methods by a
significant margin in terms of computational planning speed, path quality, and
success rates. We also show that our approach scales to multiple complex,
cluttered scenarios and the real robot set up in a narrow passage environment.
The proposed method's videos and code implementations are available at
https://github.com/ruiqini/P-NTFields.Comment: Accepted to Robotics: Science and Systems (RSS) 202
Self-Collision Avoidance Control of Dual-Arm Multi-Link Robot Using Neural Network Approach
The problem of mutual collisions of manipulators of a dual-arm multi-link robot (so-called self-collisions) arises during the performance of a cooperative technological operation. Self-collisions can lead to non-fulfillment of the technological operation or even to the failure of the manipulators. In this regard, it is necessary to develop a method for online detection and avoidance of self-collisions of manipulators. The article presents a method for detecting and avoiding self-collisions of multi-link manipulators using an artificial neural network by the example of the dual-arm robot SAR-401. A comparative analysis is carried out and the architecture of an artificial neural network for self-collisions avoidance control of dual-arm robot manipulators is proposed. The novelty of the proposed approach lies in the fact that it is an alternative to the generally accepted methods of detecting self-collisions based on the numerical solution of inverse kinematics problems for manipulators in the form of nonlinear optimization problems. Experimental results performed based on MATLAB model, the simulator of the robot SAR-401 and on the real robot itself confirmed the applicability and effectiveness of the proposed approach. It is shown that the detection of possible self-collisions using the proposed method based on an artificial neural network is performed approximately 10 times faster than approaches based on the numerical solution of the inverse kinematics problem while maintaining the specified accuracy
Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation
A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed are: (1) capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) investigation and simulation of various control methods including manual force/torque and active compliances control; (5) evaluation and implementation of three obstacle avoidance methods; (6) video simulation and edge detection; and (7) software simulation validation
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