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Author:
Publisher:
ISBN:
Category : Dissertations, Academic
Languages : en
Pages : 0
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Book Description
Currently, robots are used to carry out dangerous tasks such as bomb detonations, spray painting, disaster management, and so on. To ensure sufficient robot navigation, various path-planning methods are available in the literature. These methods enable robots to create a collision-free path in their working environments. Such environments can be either static (laboratory) or dynamic (realistic). The available path planning methods differ with respect to latency, applicability, computational load, power consumption rates, and reliability. The ever-increasing applications of mobile robots require computable and efficient methods. However, most path planning methods are theoretical, not always reliable, and require huge computational resources, hence are not suitable for all real-time applications. This paper is aimed at studying and comparing some of the available and important path planning methods for autonomous mobile robots in terms of characteristics of path planning, such as graph-based methods, sample-based methods, and potential field methods. The paper compares path planning characteristics on a uniform performance index, by designing a comparison criterion. The performances of these methods are studied based on the designed framework, including running time, path solution, path length, and repeatability, Recommendations towards a feasible solution concerning the robot-working environment and the available resources are provided.
Author:
Publisher:
ISBN:
Category : Dissertations, Academic
Languages : en
Pages : 0
Get Book Here
Book Description
Currently, robots are used to carry out dangerous tasks such as bomb detonations, spray painting, disaster management, and so on. To ensure sufficient robot navigation, various path-planning methods are available in the literature. These methods enable robots to create a collision-free path in their working environments. Such environments can be either static (laboratory) or dynamic (realistic). The available path planning methods differ with respect to latency, applicability, computational load, power consumption rates, and reliability. The ever-increasing applications of mobile robots require computable and efficient methods. However, most path planning methods are theoretical, not always reliable, and require huge computational resources, hence are not suitable for all real-time applications. This paper is aimed at studying and comparing some of the available and important path planning methods for autonomous mobile robots in terms of characteristics of path planning, such as graph-based methods, sample-based methods, and potential field methods. The paper compares path planning characteristics on a uniform performance index, by designing a comparison criterion. The performances of these methods are studied based on the designed framework, including running time, path solution, path length, and repeatability, Recommendations towards a feasible solution concerning the robot-working environment and the available resources are provided.
Author: Howie Choset
Publisher: MIT Press
ISBN: 9780262033275
Category : Technology & Engineering
Languages : en
Pages : 642
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Book Description
A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.
Author: Praveen Kalla
Publisher: Praveen Kalla
ISBN: 9781805458432
Category :
Languages : en
Pages : 0
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Book Description
The Fourth Industrial Revolution raises on the digitalisation presenting stateof-art ways in which embedded technology is seen everywhere, including the human body. This industrial revolution is distinct by several emerging technology innovations in almost all the fields, including Nanotechnology, the Internet of Things, Driverless Cars, Robotics, Artificial Intelligence, Biotechnology, 3D Printing, Quantum Computing, Electric Vehicles, Machine Learning, Data Sciences, Fuel Cells etc. Industry 4.0 is designated by a mix of hybrid technologies that is erasing the lines between the digital, biological and physical spheres. In the Fourth Industrial Revolution, robots are more and more capable of monitoring their interior structures for remote troubleshooting and predictive maintenance. Roboticists are concerned with developing artificial mechanical devices capable of moving by themselves, which must be modelled, planned, detected, activated, controlled and these movement behaviours can be influenced by 'programming'. If a robot safely moves in an unstructured environment and performs assigned tasks independently, it can be termed "Intelligent". Flawless navigation is a subspace of robot navigation in a territory, which is known as path planning. The optimal navigation aims to choose the impeccable trajectory between the starting state and the desired endpoint of the robot. The mobile robot path planning problem has intrigued and has received much attention throughout the history of Robotics. The fundamental path planning problem is finding a robot's accident-free path among static obstacles and dynamic barriers. In its simplest form, robotic path planning is purely a geometric issue, computing the accident-free path between the starting and end locations, given the geometry of the robot and the obstacles in its path.
Author: Cristian Mahulea
Publisher: John Wiley & Sons
ISBN: 1119486327
Category : Technology & Engineering
Languages : en
Pages : 240
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Book Description
Offers an integrated presentation for path planning and motion control of cooperative mobile robots using discrete-event system principles Generating feasible paths or routes between a given starting position and a goal or target position—while avoiding obstacles—is a common issue for all mobile robots. This book formulates the problem of path planning of cooperative mobile robots by using the paradigm of discrete-event systems. It presents everything readers need to know about discrete event system models—mainly Finite State Automata (FSA) and Petri Nets (PN)—and methods for centralized path planning and control of teams of identical mobile robots. Path Planning of Cooperative Mobile Robots Using Discrete Event Models begins with a brief definition of the Path Planning and Motion Control problems and their state of the art. It then presents different types of discrete models such as FSA and PNs. The RMTool MATLAB toolbox is described thereafter, for readers who will need it to provide numerical experiments in the last section. The book also discusses cell decomposition approaches and shows how the divided environment can be translated into an FSA by assigning to each cell a discrete state, while the adjacent relation together with the robot's dynamics implies the discrete transitions. Highlighting the benefits of Boolean Logic, Linear Temporal Logic, cell decomposition, Finite State Automata modeling, and Petri Nets, this book also: Synthesizes automatic strategies based on Discrete Event Systems (DES) for path planning and motion control and offers software implementations for the involved algorithms Provides a tutorial for motion planning introductory courses or related simulation-based projects using a MATLAB package called RMTool (Robot Motion Toolbox) Includes simulations for problems solved by methodologies presented in the book Path Planning of Cooperative Mobile Robots Using Discrete Event Models is an ideal book for undergraduate and graduate students and college and university professors in the areas of robotics, artificial intelligence, systems modeling, and autonomous control.
Author: Paul A. Quillen
Publisher:
ISBN:
Category : Autonomous robots
Languages : en
Pages : 179
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Book Description
The purpose of this research is to investigate methods and technology for enhancing autonomous capabilities for mobile robots. The measures of autonomy which are specifically covered in this dissertation pertain to a mobile robot's ability to make decisions and act, in other words guidance and control. This dissertation puts forth a framework using optimal path planning and nonlinear guidance techniques to address these matters. The path plans are synthesized using a numerical navigation function algorithm that will form its potential contour levels based on the minimum control effort of the system. Additionally, extensions of the path planning algorithm in the presence of uncertainty using modified versions of the RRT* and D* algorithms are studied. Then, an improved nonlinear model predictive control (NMPC) approach is employed to generate high-level guidance commands for the mobile robot to track a trajectory fitted along the path plan leading to the goal. A back stepping-like nonlinear guidance law is also implemented for comparison with the NMPC formulation. Furthermore, a cooperative control policy, making use of a combination of artificial potential functions (APF) and the numerical navigation function, is devised to guide multiple mobile robots in cooperative aggregation and social foraging tasks. The results of this research are verified in simulation and validated experimentally using the mobile robot testing platforms in the Aerospace Systems Laboratory at The University of Texas at Arlington.
Author: Lana Jalal
Publisher: LAP Lambert Academic Publishing
ISBN: 9783659478390
Category :
Languages : en
Pages : 116
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Book Description
In this book, Modified Genetic Algorithm (MGA) and Modified Particle Swarm Optimization (MPSO) are developed to increase the capability of these optimization algorithms for a global path planning. Despite the fact that (GA) has rapid search and high search quality, infeasible paths and high computational cost problems are exist associated with this algorithm. To address these problems, the MGA is presented. Improvements presented in MPSO are mainly trying to address the problem of premature convergence associated with the original PSO. In the MPSO an error factor is modelled to ensure that the PSO converges. A modified procedure is carrying out in the MPSO to solve the infeasible path problem. According to the simulation results using Matlab version R2012 (m-file), both algorithms (MGA and MPSO) are tested in different environments and the results are compared with previous researches. The results demonstrate that these two algorithms have a great potential to solve mobile robot path planning with satisfactory results in terms of minimizing distance and execution time.
Author: Muhammad Zeeshan Malik
Publisher: LAP Lambert Academic Publishing
ISBN: 9783659585081
Category :
Languages : en
Pages : 116
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Book Description
A comparative analysis of three most commonly used path planning algorithms, i.e. A* Algorithm, Genetic Algorithm and Ant Colony Optimization, is presented in this book. The algorithm simulations are compared based upon their performance in terms of Path length, Execution time and Error norm. The simulation results are validated with the support of experimental results, obtained using a mobile robot built especially for this purpose. This analysis, supported by the simulation and experimental results, helps in the selection of the best path planning algorithms for various applications.
Author: Zainah Md Zain
Publisher: Springer Nature
ISBN: 9811552819
Category : Technology & Engineering
Languages : en
Pages : 1239
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Book Description
This book includes research papers from the 11th National Technical Symposium on Unmanned System Technology. Covering a number of topics, including intelligent robotics, novel sensor technology, control algorithms, acoustics signal processing, imaging techniques, biomimetic robots, green energy sources, and underwater communication backbones and protocols, it will appeal to researchers developing marine technology solutions and policy-makers interested in technologies to facilitate the exploration of coastal and oceanic regions.
Author: Roland Siegwart
Publisher: MIT Press
ISBN: 0262295091
Category : Computers
Languages : en
Pages : 473
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Book Description
The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.
Author: Wenxing Fu
Publisher: Springer Nature
ISBN: 981990479X
Category : Technology & Engineering
Languages : en
Pages : 3985
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Book Description
This book includes original, peer-reviewed research papers from the ICAUS 2022, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2022 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.
