478 research outputs found
Design and Development of Intelligent Navigation Control Systems for Autonomous Robots that Uses Neural Networks and Fuzzy Logic Techniques and Fpga For Its Implementation
This research compares the behavior of three robot navigation controllers namely: PID, Artificial Neural Networks (ANN), and Fuzzy Logic (FL), that are used to control the same autonomous mobile robot platform navigating a real unknown indoor environment that contains simple geometric-shaped static objects to reach a goal in an unspecified location. In particular, the study presents and compares the design, simulation, hardware implementation, and testing of these controllers. The first controller is a traditional linear PID controller, and the other two are intelligent non-linear controllers, one using Artificial Neural Networks and the other using Fuzzy Logic Techniques. Each controller is simulated first in MATLAB® using the Simulink Toolbox. Later the controllers are implemented using Quartus ll® software and finally the hardware design of each controller is implemented and downloaded to a Field-Programmable Gate Array (FPGA) card which is mounted onto the mobile robot platform. The response of each controller was tested in the same physical testing environment using a maze that the robot should navigate avoiding obstacles and reaching the desired goal. To evaluate the controllers\u27 behavior each trial run is graded with a standardized rubric based on the controllers\u27 ability to react to situations presented within the trial run. The results of both the MATLAB® simulation and FPGA implementation show the two intelligent controllers, ANN and FL, outperformed the PID controller. The ANN controller was marginally superior to the FL controller in overall navigation and intelligence
Cellular Automata Applications in Shortest Path Problem
Cellular Automata (CAs) are computational models that can capture the
essential features of systems in which global behavior emerges from the
collective effect of simple components, which interact locally. During the last
decades, CAs have been extensively used for mimicking several natural processes
and systems to find fine solutions in many complex hard to solve computer
science and engineering problems. Among them, the shortest path problem is one
of the most pronounced and highly studied problems that scientists have been
trying to tackle by using a plethora of methodologies and even unconventional
approaches. The proposed solutions are mainly justified by their ability to
provide a correct solution in a better time complexity than the renowned
Dijkstra's algorithm. Although there is a wide variety regarding the
algorithmic complexity of the algorithms suggested, spanning from simplistic
graph traversal algorithms to complex nature inspired and bio-mimicking
algorithms, in this chapter we focus on the successful application of CAs to
shortest path problem as found in various diverse disciplines like computer
science, swarm robotics, computer networks, decision science and biomimicking
of biological organisms' behaviour. In particular, an introduction on the first
CA-based algorithm tackling the shortest path problem is provided in detail.
After the short presentation of shortest path algorithms arriving from the
relaxization of the CAs principles, the application of the CA-based shortest
path definition on the coordinated motion of swarm robotics is also introduced.
Moreover, the CA based application of shortest path finding in computer
networks is presented in brief. Finally, a CA that models exactly the behavior
of a biological organism, namely the Physarum's behavior, finding the
minimum-length path between two points in a labyrinth is given.Comment: To appear in the book: Adamatzky, A (Ed.) Shortest path solvers. From
software to wetware. Springer, 201
Aerial Vehicles
This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space
Design of Interactive Service Robots applying methods of Systems Engineering and Decision Making
Interaktive Service Roboter werden heute bereits in einigen
Anwendungsszenarien eingesetzt, in denen sie beispielsweise Menschen durch
Gebäude geleiten oder bei häuslichen Aufgaben unterstützen. Dennoch gibt es
bislang kein System, das den erwarteten Marktdurchbruch geschafft hat. Die
hohe Komplexität solcher Systeme und vielfältige Anforderungen durch
Benutzer und Betreiber erschweren die Entwicklung von erfolgreichen Service
Robotern.
In dieser Arbeit wurden zwei interaktive Service Roboter entwickelt, die
das Potential haben, die beschriebenen Hinderungsgründe für einen breiten
Einsatz zu überwinden. Das erste Robotersystem wurde als Shopping Roboter
für Baumärkte entwickelt, in denen es Kunden zu gesuchten Produkten führt.
Das zweite System dient als interaktiver Pflegeroboter älteren Menschen in
häuslicher Umgebung bei der Bewältigung täglicher Aufgaben. Diese Arbeit
beschreibt die Realisierung der Embedded Systems beider Robotersysteme und
umfasst insbesondere die Entwicklung der Low-Level System Architekturen,
Energie Management Systeme, Kommunikationssysteme, Sensorsysteme, sowie
ausgewählte Aspekte der mechanischen Umsetzung. Die Entwicklung einer
Vielzahl von Steuerungsmodulen, notwendig für die Realisierung interaktiver
Service Roboter, wird beschrieben.
Die vorliegende Arbeit verwendet und erweitert Methoden des Systems
Engineerings, um die hohe Systemkomplexität von interaktiven Service
Robotern sowie die vielfältigen Anforderungen an deren späteren Einsatz
beherrschen zu können. Der Entwicklungsprozess der beiden Roboter basiert
auf dem V-Model, welches einen strukturierten Entwurfsablauf unter
Berücksichtigung aller Systemanforderungen erlaubt. Es zwingt ferner zur
frühzeitigen Spezifikation von Prüfabläufen, was die Qualität und
Zuverlässigkeit der Entwicklungsergebnisse verbessert. Für die
Unterstützung von Entscheidungen im Entwicklungsprozess schlägt diese
Arbeit eine Kombination aus dem V-Model und dem Analytic Hierarchy Process
(AHP) vor. Der AHP hilft bei der Auswahl verfügbarer technischer
Alternativen unter Berücksichtigung von Prioritäten im Entwicklungsprozess.
Diese Arbeit spezifiziert sieben Kriterien, die Service Roboter
charakterisieren: Anpassbarkeit, Laufzeit, Benutzbarkeit, Robustheit,
Sicherheit, Features und Kosten. Die Prioritäten dieser Kriterien im
Entwicklungsprozess werden für jeden Roboter individuell bestimmt. Der AHP
ermittelt die beste Lösung basierend auf diesen gewichteten Kriterien und
den bewerteten technischen Alternativen. Die Einbindung des AHP in den
V-Model Prozess wurde am Entwurf des Shopping Roboter entwickelt und
geprüft. Die Allgemeingültigkeit dieser Methode wurde während der
Entwicklung des Pflegeroboters verifiziert.Interactive service robots have already been developed and operate as
example installations taking over guidance tasks or serving as home
assistants. However, none of these systems have become an off-the-shelf
product or have achieved the predicted breakthrough so far. The challenges
of the design of such systems are, on the one hand, the combination of
cutting edge technologies to a complex product; on the other hand, the
consideration of requirements important for the later marketing during the
design process.
In the framework of this dissertation, two interactive service robot
systems are developed that have the potential to overcome current market
entry barriers. These robots are designed to operate in two different
environments: one robot guides walked-in users in large home improvement
stores to requested product locations and interacts with the customer to
provide product information; the other robot assists elderly people to stay
longer in their homes and takes over home-care tasks. This work describes
the realization of the embedded systems of both robots. In particular, the
design of low-level system architectures, energy management systems,
communication systems, sensor systems, and selected aspects of mechanical
implementations are carried out in this work. Multiple embedded system
modules are developed for the control of the robots' functionalities; the
development processes as well as the composition and evaluation of these
modules are presented in this work.
To cope with the complexity and the various factors that are important for
the design of the robots, this thesis applies and further develops system
engineering methods. The development process is based on the V-Model system
design method. The V-Model helps to structure the design process under
consideration of all system requirements. It involves evaluation procedures
at all design levels, and thus increases the quality and reliability of the
development outputs. To support design decisions, this thesis proposes to
combine the V-Model with the Analytic Hierarchy Process (AHP) method. The
AHP helps to evaluate technical alternatives for design decisions according
to overall criteria, a system has to fulfill. This thesis defines seven
criteria that characterize a service robot: Adaptability, Operation Time,
Usability, Robustness, Safeness, Features, and Costs. These criteria are
weighted for each individual robot application. The AHP evaluates technical
design alternatives based on the weighted criteria to reveal the best
technical solution. The integration of the AHP into the V-Model development
is tested and improved during the design process of the shopping robot
system. The generality of this combined systematic design approach is
validated during the design of the home-care robot system
A Survey on Passing-through Control of Multi-Robot Systems in Cluttered Environments
This survey presents a comprehensive review of various methods and algorithms
related to passing-through control of multi-robot systems in cluttered
environments. Numerous studies have investigated this area, and we identify
several avenues for enhancing existing methods. This survey describes some
models of robots and commonly considered control objectives, followed by an
in-depth analysis of four types of algorithms that can be employed for
passing-through control: leader-follower formation control, multi-robot
trajectory planning, control-based methods, and virtual tube planning and
control. Furthermore, we conduct a comparative analysis of these techniques and
provide some subjective and general evaluations.Comment: 18 pages, 19 figure
Recommended from our members
Evolved transistor array robot controllers
For the first time a field programmable transistor array (FPTA) was used to evolve robot control circuits directly in analog hardware. Controllers were successfully incrementally evolved for a physical robot engaged in a series of visually guided behaviours, including finding a target in a complex environment where the goal was hidden from most locations. Circuits for recognising spoken commands were also evolved and these were used in conjunction with the controllers to enable voice control of the robot, triggering behavioural switching. Poor quality visual sensors were deliberately used to test the ability of evolved analog circuits to deal with noisy uncertain data in realtime. Visual features were coevolved with the controllers to automatically achieve dimensionality reduction and feature extraction and selection in an integrated way. An efficient new method was developed for simulating the robot in its visual environment. This allowed controllers to be evaluated in a simulation connected to the FPTA. The controllers then transferred seamlessly to the real world. The circuit replication issue was also addressed in experiments where circuits were evolved to be able to function correctly in multiple areas of the FPTA. A methodology was developed to
analyse the evolved circuits which provided insights into their operation. Comparative experiments demonstrated the superior evolvability of the transistor array medium
A Consolidated Review of Path Planning and Optimization Techniques: Technical Perspectives and Future Directions
In this paper, a review on the three most important communication techniques (ground, aerial, and underwater vehicles) has been presented that throws light on trajectory planning, its optimization, and various issues in a summarized way. This kind of extensive research is not often seen in the literature, so an effort has been made for readers interested in path planning to fill the gap. Moreover, optimization techniques suitable for implementing ground, aerial, and underwater vehicles are also a part of this review. This paper covers the numerical, bio-inspired techniques and their hybridization with each other for each of the dimensions mentioned. The paper provides a consolidated platform, where plenty of available research on-ground autonomous vehicle and their trajectory optimization with the extension for aerial and underwater vehicles are documented
Mobile Robot Navigation in Static and Dynamic Environments using Various Soft Computing Techniques
The applications of the autonomous mobile robot in many fields such as industry, space, defence and transportation, and other social sectors are growing day by day. The mobile robot performs many tasks such as rescue operation, patrolling, disaster relief, planetary exploration, and material handling, etc. Therefore, an intelligent mobile robot is required that could travel autonomously in various static and dynamic environments. The present research focuses on the design and implementation of the intelligent navigation algorithms, which is capable of navigating a mobile robot autonomously in static as well as dynamic environments. Navigation and obstacle avoidance are one of the most important tasks for any mobile robots. The primary objective of this research work is to improve the navigation accuracy and efficiency of the mobile robot using various soft computing techniques. In this research work, Hybrid Fuzzy (H-Fuzzy) architecture, Cascade Neuro-Fuzzy (CN-Fuzzy) architecture, Fuzzy-Simulated Annealing (Fuzzy-SA) algorithm, Wind Driven Optimization (WDO) algorithm, and Fuzzy-Wind Driven Optimization (Fuzzy-WDO) algorithm have been designed and implemented to solve the navigation problems of a mobile robot in different static and dynamic environments. The performances of these proposed techniques are demonstrated through computer simulations using MATLAB software and implemented in real time by using experimental mobile robots. Furthermore, the performances of Wind Driven Optimization algorithm and Fuzzy-Wind Driven Optimization algorithm are found to be most efficient (in terms of path length and navigation time) as compared to rest of the techniques, which verifies the effectiveness and efficiency of these newly built techniques for mobile robot navigation. The results obtained from the proposed techniques are compared with other developed techniques such as Fuzzy Logics, Genetic algorithm (GA), Neural Network, and Particle Swarm Optimization (PSO) algorithm, etc. to prove the authenticity of the proposed developed techniques
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