• Title, Summary, Keyword: Mobile robots

Search Result 846, Processing Time 0.052 seconds

A Study on Operational Concept of Military Guard and Surveillance Robots (군 경계 및 감시로봇 운용개념 연구)

  • Seo, Dong-Cheul;Lee, Woo-Chan;Hwang, Chun-Sik
    • Journal of the Korea Institute of Military Science and Technology
    • /
    • v.11 no.1
    • /
    • pp.5-14
    • /
    • 2008
  • In this paper, we propose operational concepts and technology requirements for guard and surveillance robots in military field. After surveying on current trend of guard robots, we present an operational scenario and technology requirements. To begin with, we discriminate the use of fixed type guard robots(fixed robots) and mobile guard and surveillance robots(mobile robots). Fixed robots are used for substituting daily guard by human soldier. In contrast, mobile robots are used for compensating shadow area where not to be covered by fixed type robots. To be specific, mobile robots adopt communication relays to extend operational range and sensor networks to collecting information. In addition, we present technology requirements composed of wireless communication system, platform, sensor nodes, unmanned driving technology, power supply system and IFF etc. In conclusion, in order to maximize co-operational functionality, fixed robots and mobile robots should be tightly related.

Navigation Strategy of Mobile Robots based on Fuzzy Neural Network with Hierarchical Structure (계층적 구조를 가진 Fuzzy Neural Network를 이용한 이동로보트의 주행법)

  • 최정원;한교경;박만식;이석규
    • Proceedings of the Korean Institute of Intelligent Systems Conference
    • /
    • /
    • pp.269-273
    • /
    • 2000
  • This paper proposes a algorithm for several mobile robots navigation. There are three parts in this algorithm. First part generates robots turning angle and moving distance for goal approaching, sencond part generates robots avoiding angle and avoiding distance for static obstacles or other robots and third part adjust between robots moving distance and avoiding distance. Most simulation results of this algorithm are very effective for several mobile robots traveling in unknown field.

  • PDF

Formation of Mobile Robots with Inaccurate Sensor Information

  • Kim, Gunhee;Lee, Doo-Yong;Lee, Kyungno
    • Transactions on Control, Automation and Systems Engineering
    • /
    • v.3 no.4
    • /
    • pp.203-209
    • /
    • 2001
  • This paper develops a control method for some generic formation tasks of multiple mobile robots with inaccurate sensor information. Inaccurate sensor information means that all the robots have only local sensors that cannot accurately measure absolute distances and directions of objects. That is, all the sensors have limitation on the range, and uncertainty in the values. Therefore, more robust and reliable control logic is proposed and implemented. The logic is developed considering generic situations and increasing the number of robots participating in the formation. Petri nets are used for modeling and design of the control logic, which can visualize the control models and make it easy to check the states of each robot. Physically homogeneous mobile robots are designed and built to evaluate the developed logic. Each robot is equipped with eighteen infrared sensors and a UHF transceiver module. The experiment results are analyzed quantitatively by using the data of the relative distances and angles between the robots. And the trajectories of the robots during the formation are also evaluated. The developed control approach is demonstrated with experiments to be successful and efficient for the formation of autonomous mobile robots.

  • PDF

Development of Location Estimation and Navigation System of Mobile Robots Using USN and LEGO Mindstorms NXT (USN과 LEGO Mindstorms NXT를 이용한 이동로봇의 위치 인식과 주행 시스템 개발)

  • Park, Jong-Jin;Chun, Chang-Hi
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.16 no.3
    • /
    • pp.215-221
    • /
    • 2010
  • This paper introduces development of location estimation and navigation system of mobile robots using USN and LEGO Mindstorms NXT. Developed system includes location estimation, location and navigation information display and navigation control parts. It used ZigBee based USN which was built with CC2431 chip to locate blind node and implemented fuzzy model to improve ability of calculation of distances from reference nodes and location of mobile robots. This paper proposed combination method of location estimation using USN and encoder which is built in motors of mobile robots. Experimental results showed proposed method is superior to the method which used USN only in location estimation and navigating robots. Developed system can locate current position of mobile robots and monitor information from sensor nodes like temperature, humidity and send control signal to mobile robot to move.

Reasonable Hardware Design Methods for 2-Wheeled Mobile Robots : Based on Segway Type Mobile Robots (2륜 이동로봇의 합리적인 하드웨어 설계 노하우 : 세그웨이를 중심으로)

  • Joh, Jung-Woo;Park, Gwi-Tae
    • Proceedings of the IEEK Conference
    • /
    • /
    • pp.109-111
    • /
    • 2009
  • In this paper, we discuss how to design 2-wheeled mobile robot hard wares as reasonable and practical as possible. A segway type mobile robot consists of 2 wheels only, placed in parallel rather than horizon. 2-wheeled mobile robots make you overcome high cost and time consuming maintenance procedures of the robot by reducing the number of robot hardwares. The most challenging thing in a 2-wheeled mobile robot that has many more valid virtues than the traditional mobile robots is to make it balance itself whenever it stands still or goes forward. But balancing itself is not an easy matter and there are many researches and experiments on this issue. When researchers test theories on 2-wheeled mobile robots to improve its self balancing performance, they should consider how to design hard wares of that mobile robot. No matter how great those new theories are, if a testbed for those theories is not suitable, performance output would be poor and meaningless. In this point of view, to design a proper 2-wheeled mobile robot as a testbed is a very important issue with development of new theories. So we define 4 guide lines to design segway type mobile robots reasonably; about motor, battery, and MCU selection and shock-proof design with robust motor setting.

  • PDF

Cooperative control of tightly-coupled multiple mobile robots (엄격히 상호 간섭하는 이동 로봇의 협동 제어)

  • 이승환;이연정
    • 제어로봇시스템학회:학술대회논문집
    • /
    • /
    • pp.556-559
    • /
    • 1997
  • In this paper, we propose a cooperative multi-robot control algorithm. Specifically, the cooperative task is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce the master-slave concept for two mobile robots, which have the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. In case that the robots can't move further, the role of the robot is interchanged. The effectiveness of this decentralized algorithm is proved by computer simulations.

  • PDF

Mobility-Aware Ad Hoc Routing Protocols for Networking Mobile Robot Teams

  • Das, Saumitra M.;Hu, Y. Charlie;Lee, C.S. George;Lu, Yung-Hsiang
    • Journal of Communications and Networks
    • /
    • v.9 no.3
    • /
    • pp.296-311
    • /
    • 2007
  • Mobile multi-robot teams are useful in many critical applications such as search and rescue. Explicit communication among robots in such mobile multi-robot teams is useful for the coordination of such teams as well as exchanging data. Since many applications for mobile robots involve scenarios in which communication infrastructure may be damaged or unavailable, mobile robot teams frequently need to communicate with each other via ad hoc networking. In such scenarios, low-overhead and energy-efficient routing protocols for delivering messages among robots are a key requirement. Two important primitives for communication are essential for enabling a wide variety of mobile robot applications. First, unicast communication (between two robots) needs to be provided to enable coordination and data exchange. Second, in many applications, group communication is required for flexible control, organization, and management of the mobile robots. Multicast provides a bandwidth-efficient communication method between a source and a group of robots. In this paper, we first propose and evaluate two unicast routing protocols tailored for use in ad hoc networks formed by mobile multi-robot teams: Mobile robot distance vector (MRDV) and mobile robot source routing (MRSR). Both protocols exploit the unique mobility characteristics of mobile robot networks to perform efficient routing. Our simulation study show that both MRDV and MRSR incur lower overhead while operating in mobile robot networks when compared to traditional mobile ad hoc network routing protocols such as DSR and AODV. We then propose and evaluate an efficient multicast protocol mobile robot mesh multicast (MRMM) for deployment in mobile robot networks. MRMM exploits the fact that mobile robots know what velocity they are instructed to move at and for what distance in building a long lifetime sparse mesh for group communication that is more efficient. Our results show that MRMM provides an efficient group communication mechanism that can potentially be used in many mobile robot application scenarios.

Development of Potential-Function Based Motion Control Algorithm for Collision Avoidance Between Multiple Mobile Robots (포텐셜함수(Potential Function)를 이용한 자율주행로봇들간의 충돌예방을 위한 주행제어 알고리즘의 개발)

  • 이병룡
    • Journal of the Korean Society for Precision Engineering
    • /
    • v.15 no.6
    • /
    • pp.107-115
    • /
    • 1998
  • A path planning using potential field method is very useful for the real-time navigation of mobile robots. However, the method needs high modeling cost to calculate the potential field because of complex preprocessing, and mobile robots may get stuck into local minima. In this paper, An efficient path planning algorithm for multiple mobile robots, based on the potential field method, was proposed. In the algorithm. the concepts of subgoals and obstacle priority were introduced. The subgoals can be used to escape local minima, or to design and change the paths of mobile robots in the work space. In obstacle priority, all the objects (obstacles and mobile robots) in the work space have their own priorities, and the object having lower priority should avoid the objects having higher priority than it has. In this paper, first, potential based path planning method was introduced, next an efficient collision-avoidance algorithm for multiple mobile robots, moving in the obstacle environment, was proposed by using subgoals and obstacle priority. Finally, the developed algorithm was demonstrated graphically to show the usefulness of the algorithm.

  • PDF

Inverse Optimal Design of Formation/Velocity Consensus Protocol for Mobile Robots Based on LQ Inverse Optimal Second-order Consensus (LQ-역최적 2차 일치제어에 기반한 이동로봇에 대한 대형·속도일치 프로토콜의 역최적 설계)

  • Lee, Jae Young;Choi, Yoon Ho
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.21 no.5
    • /
    • pp.434-441
    • /
    • 2015
  • In this paper, we propose an inverse optimal distributed protocol for the formation and velocity consensus of nonholonomic mobile robots. The communication among mobile robots is described by a simple undirected graph, and the mobile robots' kinematics are considered. The group of mobile robots driven by the proposed protocols asymptotically achieves the desired formation and group velocity in an inverse optimal fashion. The design of the protocols is based on dynamic feedback linearization and the proposed linear quadratic (LQ) inverse optimal second-order consensus protocol. A numerical simulation is given to verify the effectiveness of the proposed scheme.

Location Estimation and Navigation of Mobile Robots using Wireless Sensor Network and Ultrasonic Sensors (무선 센서 네트워크와 초음파 센서를 이용한 이동로봇의 위치 인식과 주행)

  • Chun, Chang-Hee;Park, Jong-Jin
    • The Transactions of The Korean Institute of Electrical Engineers
    • /
    • v.59 no.9
    • /
    • pp.1692-1698
    • /
    • 2010
  • In this paper we use wireless sensor network and ultrasonic sensors to estimate local position of mobile robots, and to navigate it. Ultra sonic sensor is simple and accurate so it is good to use in local estimation and navigation of mobile robots. But to obtain accurate distance of two sensors they need to face each others as possible as they can. To solve this problem we rotate ultra sonic sensor which is attached to robot in 360 degrees and obtain accurate distance. We can estimate precise position of mobile robot by triangulation using obtained distance information. A mobile robot navigates using embedded encoder and compensates its coordinates by ultrasonic sensors. Results of Experiments show proposed method obtains accurate distance between sensors and coordinates of position of robot. And mobile robots can navigate designated path well.