10,976 research outputs found
A Dynamic Localized Adjustable Force Field Method for Real-time Assistive Non-holonomic Mobile Robotics
Providing an assistive navigation system that augments
rather than usurps user control of a powered wheelchair
represents a significant technical challenge. This paper
evaluates an assistive collision avoidance method for a
powered wheelchair that allows the user to navigate safely
whilst maintaining their overall governance of the platform
motion. The paper shows that by shaping, switching and
adjusting localized potential fields we are able to negotiate
different obstacles by generating a more intuitively natural
trajectory, one that does not deviate significantly from the
operator in the loop desired-trajectory. It can also be seen
that this method does not suffer from the local minima
problem, or narrow corridor and proximity oscillation,
which are common problems that occur when using
potential fields. Furthermore this localized method enables
the robotic platform to pass very close to obstacles, such as
when negotiating a narrow passage or doorway
Fast multipole networks
Two prerequisites for robotic multiagent systems are mobility and
communication. Fast multipole networks (FMNs) enable both ends within a unified
framework. FMNs can be organized very efficiently in a distributed way from
local information and are ideally suited for motion planning using artificial
potentials. We compare FMNs to conventional communication topologies, and find
that FMNs offer competitive communication performance (including higher network
efficiency per edge at marginal energy cost) in addition to advantages for
mobility
Intelligent Robotics Navigation System: Problems, Methods, and Algorithm
This paper set out to supplement new studies with a brief and comprehensible review of the advanced development in the area of the navigation system, starting from a single robot, multi-robot, and swarm robots from a particular perspective by taking insights from these biological systems. The inspiration is taken from nature by observing the human and the social animal that is believed to be very beneficial for this purpose. The intelligent navigation system is developed based on an individual characteristic or a social animal biological structure. The discussion of this paper will focus on how simple agent’s structure utilizes flexible and potential outcomes in order to navigate in a productive and unorganized surrounding. The combination of the navigation system and biologically inspired approach has attracted considerable attention, which makes it an important research area in the intelligent robotic system. Overall, this paper explores the implementation, which is resulted from the simulation performed by the embodiment of robots operating in real environments
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