The mobile robot is applied widely and investigated deeply in industrial fields, meanwhile, mobile robot autonomous path planning and navigation algorithm is a hot research topic. In this paper, firstly mobile robot is introduced, the general path planning and navigation algorithms of the mobile robot are reviewed, then a fuzzy logic with filter smoothing is proposed based on the data from the laser scan sensor and GPS module, which is useful for mobile robot to find the best path to the destination automatically according to the position and size of the gaps between the obstacles in the dynamic environment, finally our designed mobile robot and corresponding Android APP are introduced, the path planning and navigation algorithms are tested on this mobile robot, the testing result shows that this algorithm is globally optimized, quickly responded, battery power and hardware cost saved compared with other algorithms, it is suitable for the mobile robot that is running on the embedded system and it can satisfy our design requirement.
Attitude Estimation And Compensation In Odometric Localization of Mobile Robo...Waqas Tariq
The paper introduces the attitude estimation and compensation in odometric localization of a differential drive indoor mobile robot. A mobile robot navigates through an inclined indoor environment, wherein localization using only wheel encoder is erroneous. The robot uses inertial sensors such as gyroscope, accelerometer and magnetometer to calculate its attitude and acquires a three degree of rotational data. It is observed that the attitude update using gyroscopes alone are prone to diverge and hence error needs to be eliminated. The advantage of MEMS sensors is less-cost while complementary filter algorithm is low complexity in implementation. The performance of the proposed complementary filter algorithm for attitude estimation and compensation in odometric localization are shown by experiment and analysis of results.
Wall follower autonomous robot development applying fuzzy incremental controllerrajabco
This paper presents the design of an autonomous robot as a basic development of an intelligent wheeled mobile robot for air duct or corridor cleaning. The robot navigation is based on wall following algorithm. The robot is controlled us- ing fuzzy incremental controller (FIC) and embedded in PIC18F4550 microcontroller. FIC guides the robot to move along a wall in a desired direction by maintaining a constant distance to the wall. Two ultrasonic sensors are installed in the left side of the robot to sense the wall distance. The signals from these sensors are fed to FIC that then used to de- termine the speed control of two DC motors. The robot movement is obtained through differentiating the speed of these two motors. The experimental results show that FIC is successfully controlling the robot to follow the wall as a guid- ance line and has good performance compare with PID controller.
IMPLEMENTATION OF LANE TRACKING BY USING IMAGE PROCESSING TECHNIQUES IN DEVEL...ijma
Today, unmanned vehicle technologies are developing in parallel with increasing interest in technological
developments. These developments aim to improve people's quality of life. Transportation, which is a part
of human life, has taken its share from this developing technology. With the development of artificial
intelligence, it is aimed to provide the necessary assistance to the driver in transportation and to provide
ease of driving. This development has been increased with ADAS (Advanced Driver Assistance Systems) in
vehicles, but it is not possible to experience a completely driverless and comfortable road. With all these
demands and conditions, autonomous vehicles have quickly attracted attention. While ADAS is a warning
system, all accident risks that may arise from the driver rather than the warning to the driver in
autonomous vehicles are minimized by the vehicle.
Abstract - Positioning is a fundamental component of human life to make meaningful interpretations of the environment. Without knowledge of position, human beings are like machines and have very limited capabilities to interact with the environment. Even machines in today’s world can be made smarter if positioning information is made available to them. Indoor positioning of pedestrians is the broad area considered in this thesis. A foot mounted pedestrian tracking device has been studied for this purpose. Systems which utilize foot mounted inertial navigation system has been in the literature for more than two decades. However very few real time implementations have been possible. The purpose of this thesis is to benchmark and improve the performance of one such implementation.
Attitude Estimation And Compensation In Odometric Localization of Mobile Robo...Waqas Tariq
The paper introduces the attitude estimation and compensation in odometric localization of a differential drive indoor mobile robot. A mobile robot navigates through an inclined indoor environment, wherein localization using only wheel encoder is erroneous. The robot uses inertial sensors such as gyroscope, accelerometer and magnetometer to calculate its attitude and acquires a three degree of rotational data. It is observed that the attitude update using gyroscopes alone are prone to diverge and hence error needs to be eliminated. The advantage of MEMS sensors is less-cost while complementary filter algorithm is low complexity in implementation. The performance of the proposed complementary filter algorithm for attitude estimation and compensation in odometric localization are shown by experiment and analysis of results.
Wall follower autonomous robot development applying fuzzy incremental controllerrajabco
This paper presents the design of an autonomous robot as a basic development of an intelligent wheeled mobile robot for air duct or corridor cleaning. The robot navigation is based on wall following algorithm. The robot is controlled us- ing fuzzy incremental controller (FIC) and embedded in PIC18F4550 microcontroller. FIC guides the robot to move along a wall in a desired direction by maintaining a constant distance to the wall. Two ultrasonic sensors are installed in the left side of the robot to sense the wall distance. The signals from these sensors are fed to FIC that then used to de- termine the speed control of two DC motors. The robot movement is obtained through differentiating the speed of these two motors. The experimental results show that FIC is successfully controlling the robot to follow the wall as a guid- ance line and has good performance compare with PID controller.
IMPLEMENTATION OF LANE TRACKING BY USING IMAGE PROCESSING TECHNIQUES IN DEVEL...ijma
Today, unmanned vehicle technologies are developing in parallel with increasing interest in technological
developments. These developments aim to improve people's quality of life. Transportation, which is a part
of human life, has taken its share from this developing technology. With the development of artificial
intelligence, it is aimed to provide the necessary assistance to the driver in transportation and to provide
ease of driving. This development has been increased with ADAS (Advanced Driver Assistance Systems) in
vehicles, but it is not possible to experience a completely driverless and comfortable road. With all these
demands and conditions, autonomous vehicles have quickly attracted attention. While ADAS is a warning
system, all accident risks that may arise from the driver rather than the warning to the driver in
autonomous vehicles are minimized by the vehicle.
Abstract - Positioning is a fundamental component of human life to make meaningful interpretations of the environment. Without knowledge of position, human beings are like machines and have very limited capabilities to interact with the environment. Even machines in today’s world can be made smarter if positioning information is made available to them. Indoor positioning of pedestrians is the broad area considered in this thesis. A foot mounted pedestrian tracking device has been studied for this purpose. Systems which utilize foot mounted inertial navigation system has been in the literature for more than two decades. However very few real time implementations have been possible. The purpose of this thesis is to benchmark and improve the performance of one such implementation.
An Experimental Study on a Pedestrian Tracking Deviceoblu.io
The implemented navigational algorithm of an inertial
navigation system (INS), along with the hardware configuration, decides its tracking performance. Besides, operating conditions also influence its tracking performance. The aim of this study is to demonstrate robust performance of a multiple Inertial Measurement Units (IMUs) based foot-mounted INS, The Osmium MIMU22BTP, under varying operating conditions. The device, which performs zero-velocity-update (ZUPT) aided navigation, is subjected to different conditions which could potentially influence gait of its wearer, its hardware configuration etc. The gait-influencing factors chosen for study are shoe type, walking surface, path profile and walking speed. Besides, the tracking performance of the device is also studied for different number of on-board IMUs and the ambient temperature. The tracking performance of MIMU22BTP is reported for all these factors and benchmarked using identified performance metrics. We observe very robust tracking performance of MIMU22BTP. The average relative errors are less than 3 to 4% under all the conditions, with respect to drift, distance and height, indicating a potential for a variety of location based services based on foot mounted inertial sensing and dead reckoning.
Efficient robotic path planning algorithm based on artificial potential field IJECEIAES
Path planning is crucial for a robot to be able to reach a target point safely to accomplish a given mission. In path planning, three essential criteria have to be considered namely path length, computational complexity and completeness. Among established path planning methods are voronoi diagram (VD), cell decomposition (CD), probability roadmap (PRM), visibility graph (VG) and potential field (PF). The above-mentioned methods could not fulfill all three criteria simultaneously which limits their application in optimal and real-time path planning. This paper proposes a path PF-based planning algorithm called dynamic artificial PF (DAPF). The proposed algorithm is capable of eliminating the local minima that frequently occurs in the conventional PF while fulfilling the criterion of path planning. DAPF also integrates path pruning to shorten the planned path. In order to evaluate its performance, DAPF has been simulated and compared with VG in terms of path length and computational complexity. It is found that DAPF is consistent in generating paths with low computation time in obstacle-rich environments compared to VG. The paths produced also are nearly optimal with respect to VG.
Modelling of walking humanoid robot with capability of floor detection and dy...ijfcstjournal
Most humanoid robots have highly complicated structure and design of robots that are very similar to
human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control
of humanoid robots is presented using Colored Petri Nets. For keeping dynamic balance of the robot,
combination of Gyroscope and Accelerometer sensors are used in algorithm. Image processing is used to
identify two fundamental issues: first, detection of target or an object which robot must follow; second,
detecting surface of the ground so that walking robot could maintain its balance just like a human and
shows its best performance. Presented model gives high-level view of humanoid robot's operations.
EFFECTIVE REDIRECTING OF THE MOBILE ROBOT IN A MESSED ENVIRONMENT BASED ON TH...Wireilla
The use of fuzzy logic in redirecting mobile robot is based on two sets of received information. First set is
the instantaneous distance of the robot from the obstacle and second set is the instantaneous information of
the robot's position. For this purpose, the fuzzy rules base consists of forty-two bases, which is extracted
based on the robot's distance from obstacles, and the target position relative to the instantaneous
orientation of the robot. In the structure of fuzzy systems, minimal inference engine are considered. Also,
Extended Kalman filter is used for localization in a noisy environment. Accordingly, the inputs of the fuzzy
systems are determined based on the estimation of the localization process, the information of the obstacles
center and the target position. Also, the linear acceleration and instantaneous orientation of the mobile
robot are determined by the desired fuzzy structures which are applied to its kinematic model.
EFFECTIVE REDIRECTING OF THE MOBILE ROBOT IN A MESSED ENVIRONMENT BASED ON TH...ijfls
The use of fuzzy logic in redirecting mobile robot is based on two sets of received information. First set is the instantaneous distance of the robot from the obstacle and second set is the instantaneous information of the robot's position. For this purpose, the fuzzy rules base consists of forty-two bases, which is extracted based on the robot's distance from obstacles, and the target position relative to the instantaneous orientation of the robot. In the structure of fuzzy systems, minimal inference engine are considered. Also, Extended Kalman filter is used for localization in a noisy environment. Accordingly, the inputs of the fuzzy systems are determined based on the estimation of the localization process, the information of the obstacles center and the target position. Also, the linear acceleration and instantaneous orientation of the mobile robot are determined by the desired fuzzy structures which are applied to its kinematic model.
International Journal of Computational Engineering Research (IJCER)ijceronline
International Journal of Computational Engineering Research(IJCER) is an intentional online Journal in English monthly publishing journal. This Journal publish original research work that contributes significantly to further the scientific knowledge in engineering and Technology.
Robot Pose Estimation: A Vertical Stereo Pair Versus a Horizontal Oneijcsit
In this paper, we study the effect of the layout of multiple cameras placed on top of an autonomous mobile
robot. The idea is to study the effect of camera layout on the accuracy of estimated pose parameters.
Particularly, we compare the performance of a vertical-stereo-pair put on the robot at the axis of rotation
to that of a horizontal-stereo-pair. The motivation behind this comparison is that the robot rotation causes
only a change of orientation to the cameras on the axis of rotation. On the other hand, off-axis cameras
encounter additional translation beside the change of orientation. In this work, we show that for a stereo
pair encountering sequences of large rotations, at least a reference camera should be put on the axis of
rotation. Otherwise, the obtained translations have to be corrected based on the location of the rotation
axis. This finding will help robot designers to develop vision systems that are capable of obtaining accurate
pose for navigation control. An extensive set of simulations and real experiments have been carried out to
investigate the performance of the studied camera layouts encountering different motion patterns. As the
problem at hand is a real-time application, the extended Kalman filter (EKF) is used as a recursive
estimator.
A Multi-robot System Coordination Design and Analysis on Wall Follower Robot ...IJECEIAES
In this research, multi-robot formation can be established according to the environment or workspace. Group of robots will move sequently if there is no space for robots to stand side by side. Leader robot will be on the front of all robots and follow the right wall. On the other hand, robots will move side by side if there is a large space between them. Leader robot will be tracked the wall on its right side and follow on it while every follower moves side by side. The leader robot have to broadcast the information to all robots in the group in radius 9 meters. Nevertheless, every robot should be received information from leader robot to define their movements in the area. The error provided by fuzzy output process which is caused by read data from ultrasound sensor will drive to more time process. More sampling can reduce the error but it will drive more execution time. Furthermore, coordination time will need longer time and delay. Formation will not be establisehed if packet error happened in the communication process because robot will execute wrong command.
Stabilization of Six-Legged Robot on Tilt Surface With 9 DOF IMU Based on Inv...IJRES Journal
Robot is a tool which is developed very fast. There are several types of robots, one of them is six-legged robot. One of the problems of this robot is when the robot walks on the tilt surface. This would result the movement of the robot could be late and the center of gravity is not balanced. In this research, stabilization of six-legged robot walking on tilt surface using nine degree of freedom (DOF) inertial measurement unit (IMU) sensor based on invers kinematic is designed. The IMU sensor comprises a gyroscope, a magnetometer, and three-axis accelerometer. This sensor works as the input of the tilt degree and heading of the robot, therefore they can be processed in fuzzy-pid controller to balance the body of the robot on tilt surface. The results show that the robot will move forward when the x-axis translation inverse changed from its original position, move aside when the y-axis translational modified and move up and down if the translation to the z-axis was changed. From the testing of IMU get the total of RMSE pitch is 1,73%, roll =1,67% and yaw = 1,24%. In controller fuzzy-pid get the good respon is on the value Kp have k1=0,5, k2=1 , k3 = 3 , Ki have k1=0,5 , k2=0,5, k3=0,5 and Kd have k1=0,25 , k2=0,35 dan k3=0,45.
Measuring similarity between mobility models and real world motion trajectoriescsandit
Various mobility models have been proposed to represent the motion behaviour of mobile nodes
in the real world. Selection of the most similar mobility model to a given real world environment
is a challenging issue which has a significant impact on the quality of performance evaluation
of different network protocols. In this paper we propose a methodology for measurement of
similarity between mobility models used in mobile networks simulation and real world mobility
scenarios with different transportation modes. We explain our mobility metrics we have used for
analysis of motion behavior of mobile nodes and a pre-processing method which makes our
trajectories suitable for extraction and calculation of these metrics considering shape of the
road networks and GPS noise. Then we use a feature selection method to find the most
discriminative features which are able to distinguish between trajectories with different
transportation modes using a supervised learning and feature ranking method. Subsequently,
using our selected feature space we perform Fuzzy C-means Clustering to find the degree of
similarity between each of our mobility models and real world trajectories with different
transportation modes. Our methodology can be used to select the most similar mobility model
suitable for simulation of mobile network protocols (such as DTN and MANETs protocols) in a
particular real world area.
A Path Planning Technique For Autonomous Mobile Robot Using Free-Configuratio...CSCJournals
This paper presents the implementation of a novel technique for sensor based path planning of autonomous mobile robots. The proposed method is based on finding free-configuration eigen spaces (FCE) in the robot actuation area. Using the FCE technique to find optimal paths for autonomous mobile robots, the underlying hypothesis is that in the low-dimensional manifolds of laser scanning data, there lies an eigenvector which corresponds to the free-configuration space of the higher order geometric representation of the environment. The vectorial combination of all these eigenvectors at discrete time scan frames manifests a trajectory, whose sum can be treated as a robot path or trajectory. The proposed algorithm was tested on two different test bed data, real data obtained from Navlab SLAMMOT and data obtained from the real-time robotics simulation program Player/Stage. Performance analysis of FCE technique was done with existing four path planning algorithms under certain working parameters, namely computation time needed to find a solution, the distance travelled and the amount of turning required by the autonomous mobile robot. This study will enable readers to identify the suitability of path planning algorithm under the working parameters, which needed to be optimized. All the techniques were tested in the real-time robotic software Player/Stage. Further analysis was done using MATLAB mathematical computation software.
An Experimental Study on a Pedestrian Tracking Deviceoblu.io
The implemented navigational algorithm of an inertial
navigation system (INS), along with the hardware configuration, decides its tracking performance. Besides, operating conditions also influence its tracking performance. The aim of this study is to demonstrate robust performance of a multiple Inertial Measurement Units (IMUs) based foot-mounted INS, The Osmium MIMU22BTP, under varying operating conditions. The device, which performs zero-velocity-update (ZUPT) aided navigation, is subjected to different conditions which could potentially influence gait of its wearer, its hardware configuration etc. The gait-influencing factors chosen for study are shoe type, walking surface, path profile and walking speed. Besides, the tracking performance of the device is also studied for different number of on-board IMUs and the ambient temperature. The tracking performance of MIMU22BTP is reported for all these factors and benchmarked using identified performance metrics. We observe very robust tracking performance of MIMU22BTP. The average relative errors are less than 3 to 4% under all the conditions, with respect to drift, distance and height, indicating a potential for a variety of location based services based on foot mounted inertial sensing and dead reckoning.
Efficient robotic path planning algorithm based on artificial potential field IJECEIAES
Path planning is crucial for a robot to be able to reach a target point safely to accomplish a given mission. In path planning, three essential criteria have to be considered namely path length, computational complexity and completeness. Among established path planning methods are voronoi diagram (VD), cell decomposition (CD), probability roadmap (PRM), visibility graph (VG) and potential field (PF). The above-mentioned methods could not fulfill all three criteria simultaneously which limits their application in optimal and real-time path planning. This paper proposes a path PF-based planning algorithm called dynamic artificial PF (DAPF). The proposed algorithm is capable of eliminating the local minima that frequently occurs in the conventional PF while fulfilling the criterion of path planning. DAPF also integrates path pruning to shorten the planned path. In order to evaluate its performance, DAPF has been simulated and compared with VG in terms of path length and computational complexity. It is found that DAPF is consistent in generating paths with low computation time in obstacle-rich environments compared to VG. The paths produced also are nearly optimal with respect to VG.
Modelling of walking humanoid robot with capability of floor detection and dy...ijfcstjournal
Most humanoid robots have highly complicated structure and design of robots that are very similar to
human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control
of humanoid robots is presented using Colored Petri Nets. For keeping dynamic balance of the robot,
combination of Gyroscope and Accelerometer sensors are used in algorithm. Image processing is used to
identify two fundamental issues: first, detection of target or an object which robot must follow; second,
detecting surface of the ground so that walking robot could maintain its balance just like a human and
shows its best performance. Presented model gives high-level view of humanoid robot's operations.
EFFECTIVE REDIRECTING OF THE MOBILE ROBOT IN A MESSED ENVIRONMENT BASED ON TH...Wireilla
The use of fuzzy logic in redirecting mobile robot is based on two sets of received information. First set is
the instantaneous distance of the robot from the obstacle and second set is the instantaneous information of
the robot's position. For this purpose, the fuzzy rules base consists of forty-two bases, which is extracted
based on the robot's distance from obstacles, and the target position relative to the instantaneous
orientation of the robot. In the structure of fuzzy systems, minimal inference engine are considered. Also,
Extended Kalman filter is used for localization in a noisy environment. Accordingly, the inputs of the fuzzy
systems are determined based on the estimation of the localization process, the information of the obstacles
center and the target position. Also, the linear acceleration and instantaneous orientation of the mobile
robot are determined by the desired fuzzy structures which are applied to its kinematic model.
EFFECTIVE REDIRECTING OF THE MOBILE ROBOT IN A MESSED ENVIRONMENT BASED ON TH...ijfls
The use of fuzzy logic in redirecting mobile robot is based on two sets of received information. First set is the instantaneous distance of the robot from the obstacle and second set is the instantaneous information of the robot's position. For this purpose, the fuzzy rules base consists of forty-two bases, which is extracted based on the robot's distance from obstacles, and the target position relative to the instantaneous orientation of the robot. In the structure of fuzzy systems, minimal inference engine are considered. Also, Extended Kalman filter is used for localization in a noisy environment. Accordingly, the inputs of the fuzzy systems are determined based on the estimation of the localization process, the information of the obstacles center and the target position. Also, the linear acceleration and instantaneous orientation of the mobile robot are determined by the desired fuzzy structures which are applied to its kinematic model.
International Journal of Computational Engineering Research (IJCER)ijceronline
International Journal of Computational Engineering Research(IJCER) is an intentional online Journal in English monthly publishing journal. This Journal publish original research work that contributes significantly to further the scientific knowledge in engineering and Technology.
Robot Pose Estimation: A Vertical Stereo Pair Versus a Horizontal Oneijcsit
In this paper, we study the effect of the layout of multiple cameras placed on top of an autonomous mobile
robot. The idea is to study the effect of camera layout on the accuracy of estimated pose parameters.
Particularly, we compare the performance of a vertical-stereo-pair put on the robot at the axis of rotation
to that of a horizontal-stereo-pair. The motivation behind this comparison is that the robot rotation causes
only a change of orientation to the cameras on the axis of rotation. On the other hand, off-axis cameras
encounter additional translation beside the change of orientation. In this work, we show that for a stereo
pair encountering sequences of large rotations, at least a reference camera should be put on the axis of
rotation. Otherwise, the obtained translations have to be corrected based on the location of the rotation
axis. This finding will help robot designers to develop vision systems that are capable of obtaining accurate
pose for navigation control. An extensive set of simulations and real experiments have been carried out to
investigate the performance of the studied camera layouts encountering different motion patterns. As the
problem at hand is a real-time application, the extended Kalman filter (EKF) is used as a recursive
estimator.
A Multi-robot System Coordination Design and Analysis on Wall Follower Robot ...IJECEIAES
In this research, multi-robot formation can be established according to the environment or workspace. Group of robots will move sequently if there is no space for robots to stand side by side. Leader robot will be on the front of all robots and follow the right wall. On the other hand, robots will move side by side if there is a large space between them. Leader robot will be tracked the wall on its right side and follow on it while every follower moves side by side. The leader robot have to broadcast the information to all robots in the group in radius 9 meters. Nevertheless, every robot should be received information from leader robot to define their movements in the area. The error provided by fuzzy output process which is caused by read data from ultrasound sensor will drive to more time process. More sampling can reduce the error but it will drive more execution time. Furthermore, coordination time will need longer time and delay. Formation will not be establisehed if packet error happened in the communication process because robot will execute wrong command.
Stabilization of Six-Legged Robot on Tilt Surface With 9 DOF IMU Based on Inv...IJRES Journal
Robot is a tool which is developed very fast. There are several types of robots, one of them is six-legged robot. One of the problems of this robot is when the robot walks on the tilt surface. This would result the movement of the robot could be late and the center of gravity is not balanced. In this research, stabilization of six-legged robot walking on tilt surface using nine degree of freedom (DOF) inertial measurement unit (IMU) sensor based on invers kinematic is designed. The IMU sensor comprises a gyroscope, a magnetometer, and three-axis accelerometer. This sensor works as the input of the tilt degree and heading of the robot, therefore they can be processed in fuzzy-pid controller to balance the body of the robot on tilt surface. The results show that the robot will move forward when the x-axis translation inverse changed from its original position, move aside when the y-axis translational modified and move up and down if the translation to the z-axis was changed. From the testing of IMU get the total of RMSE pitch is 1,73%, roll =1,67% and yaw = 1,24%. In controller fuzzy-pid get the good respon is on the value Kp have k1=0,5, k2=1 , k3 = 3 , Ki have k1=0,5 , k2=0,5, k3=0,5 and Kd have k1=0,25 , k2=0,35 dan k3=0,45.
Measuring similarity between mobility models and real world motion trajectoriescsandit
Various mobility models have been proposed to represent the motion behaviour of mobile nodes
in the real world. Selection of the most similar mobility model to a given real world environment
is a challenging issue which has a significant impact on the quality of performance evaluation
of different network protocols. In this paper we propose a methodology for measurement of
similarity between mobility models used in mobile networks simulation and real world mobility
scenarios with different transportation modes. We explain our mobility metrics we have used for
analysis of motion behavior of mobile nodes and a pre-processing method which makes our
trajectories suitable for extraction and calculation of these metrics considering shape of the
road networks and GPS noise. Then we use a feature selection method to find the most
discriminative features which are able to distinguish between trajectories with different
transportation modes using a supervised learning and feature ranking method. Subsequently,
using our selected feature space we perform Fuzzy C-means Clustering to find the degree of
similarity between each of our mobility models and real world trajectories with different
transportation modes. Our methodology can be used to select the most similar mobility model
suitable for simulation of mobile network protocols (such as DTN and MANETs protocols) in a
particular real world area.
A Path Planning Technique For Autonomous Mobile Robot Using Free-Configuratio...CSCJournals
This paper presents the implementation of a novel technique for sensor based path planning of autonomous mobile robots. The proposed method is based on finding free-configuration eigen spaces (FCE) in the robot actuation area. Using the FCE technique to find optimal paths for autonomous mobile robots, the underlying hypothesis is that in the low-dimensional manifolds of laser scanning data, there lies an eigenvector which corresponds to the free-configuration space of the higher order geometric representation of the environment. The vectorial combination of all these eigenvectors at discrete time scan frames manifests a trajectory, whose sum can be treated as a robot path or trajectory. The proposed algorithm was tested on two different test bed data, real data obtained from Navlab SLAMMOT and data obtained from the real-time robotics simulation program Player/Stage. Performance analysis of FCE technique was done with existing four path planning algorithms under certain working parameters, namely computation time needed to find a solution, the distance travelled and the amount of turning required by the autonomous mobile robot. This study will enable readers to identify the suitability of path planning algorithm under the working parameters, which needed to be optimized. All the techniques were tested in the real-time robotic software Player/Stage. Further analysis was done using MATLAB mathematical computation software.
With the development of robotics and artificial intelligence field unceasingly thorough, path planning for avoid
obstacles as an important field of robot calculation has been widespread concern. This paper analyzes the
current development of robot and path planning algorithm for path planning to avoid obstacles in practice. We
tried to find a good way in mobile robot path planning by using ant colony algorithm, and it also provides some
solving methods.
High-Speed Neural Network Controller for Autonomous Robot Navigation using FPGAiosrjce
IOSR Journal of Electronics and Communication Engineering(IOSR-JECE) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of electronics and communication engineering and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in electronics and communication engineering. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Smart element aware gate controller for intelligent wheeled robot navigationIJECEIAES
The directing of a wheeled robot in an unknown moving environment with physical barriers is a difficult proposition. In particular, having an optimal or near-optimal path that avoids obstacles is a major challenge. In this paper, a modified neuro-controller mechanism is proposed for controlling the movement of an indoor mobile robot. The proposed mechanism is based on the design of a modified Elman neural network (MENN) with an effective element aware gate (MEEG) as the neuro-controller. This controller is updated to overcome the rigid and dynamic barriers in the indoor area. The proposed controller is implemented with a mobile robot known as Khepera IV in a practical manner. The practical results demonstrate that the proposed mechanism is very efficient in terms of providing shortest distance to reach the goal with maximum velocity as compared with the MENN. Specifically, the MEEG is better than MENN in minimizing the error rate by 58.33%.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
Design and implementation of path planning algorithm for wheeled mobile robot...eSAT Journals
Abstract Path planning in mobile robots must ensure optimality of the path. The optimality achieved may be in path, time, energy consumed etc. Path planning in robots also depends on the environment in which it operates like, static or dynamic, known or unknown etc. Global path planning using A* algorithm and genetic algorithm is investigated in this paper. A known dynamic environment, in which a control station will compute the shortest path and communicate to the mobile robot and the mobile robot, will traverse through this path to reach the goal. The control station will keep track of the path traversed by the robot. The mobile robot navigates through the shortest path and if the robot detects any obstacle in the destined path, the mobile robot will update the information about the environment and this information together with the current location will be communicated to the control station. Then the control station, with the updated map of the environment and new starting location and destination recalculates the new shortest path, if any, and will communicate to the mobile robot so that it can reach the destination. The technique has been implemented and tested extensively in real-world experiments and simulation runs. The results demonstrate that the technique effectively calculates the shortest path in known dynamic environment and allows the robot to quickly accomplish the mission.
Design and implementation of path planning algorithm for wheeled mobile robot...eSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
RESEARCH ON THE MOBILE ROBOTS INTELLIGENT PATH PLANNING BASED ON ANT COLONY A...cscpconf
With the development of robotics and artificial intelligence field unceasingly thorough, path
planning as an important field of robot calculation has been widespread concern. This paper
analyzes the current development of robot and path planning algorithm and focuses on the
advantages and disadvantages of the traditional intelligent path planning as well as the path
planning. The problem of mobile robot path planning is studied by using ant colony algorithm, and
it also provides some solving methods.
Optimized Robot Path Planning Using Parallel Genetic Algorithm Based on Visib...IJERA Editor
An analysis is made for optimized path planning for mobile robot by using parallel genetic algorithm. The
parallel genetic algorithm (PGA) is applied on the visible midpoint approach to find shortest path for mobile
robot. The hybrid ofthese two algorithms provides a better optimized solution for smooth and shortest path for
mobile robot. In this problem, the visible midpoint approach is used to make the effectiveness for avoiding
local minima. It gives the optimum paths which are always consisting on free trajectories. But the
proposedhybrid parallel genetic algorithm converges very fast to obtain the shortest route from source to
destination due to the sharing of population. The total population is partitioned into a number subgroups to
perform the parallel GA. The master thread is the center of information exchange and making selection with
fitness evaluation.The cell to cell crossover makes the algorithm significantly good. The problem converges
quickly with in a less number of iteration.
Design of Mobile Robot Navigation system using SLAM and Adaptive Tracking Con...iosrjce
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Autonomous Path Planning and Navigation of a Mobile Robot with Multi-Sensors based on Fuzzy Logic in Dynamic Environment
1. Yupei Yan & Yangmin Li
International Journal of Intelligent Systems and Applications in Robotics (IJRA), Volume (7):Issue (1):2016 1
Autonomous Path Planning and Navigation of a Mobile Robot
with Multi-Sensors based on Fuzzy Logic in Dynamic
Environment
Yupei Yan yb47409@umac.mo
Department of Electromechanical Engineering
University of Macau
Macao SAR, 999078, China
Yangmin Li ymli@umac.mo
Department of Electromechanical Engineering
University of Macau
Macao SAR, 999078, China
Abstract
The mobile robot is applied widely and investigated deeply in industrial fields, meanwhile, mobile
robot autonomous path planning and navigation algorithm is a hot research topic. In this paper,
firstly mobile robot is introduced, the general path planning and navigation algorithms of the
mobile robot are reviewed, then a fuzzy logic with filter smoothing is proposed based on the data
from the laser scan sensor and GPS module, which is useful for mobile robot to find the best path
to the destination automatically according to the position and size of the gaps between the
obstacles in the dynamic environment, finally our designed mobile robot and corresponding
Android APP are introduced, the path planning and navigation algorithms are tested on this
mobile robot, the testing result shows that this algorithm is globally optimized, quickly responded,
battery power and hardware cost saved compared with other algorithms, it is suitable for the
mobile robot that is running on the embedded system and it can satisfy our design requirement.
Keywords: Mobile Robot, Path Planning, Navigation, Fuzzy Logic, Embedded System.
1. INTRODUCTION
Nowadays there are extensively and widely applications of the mobile robot in various fields, such
as moving, testing and performing the scientific experiments on the Mars, serving and running as
a servant in a restaurant or house, transporting or moving the heavy goods to the designated
destinations in the warehouse etc.
The mobile robot should be designed to be more sensitive, intelligent and networked as it plays
an important role in more and more crucial occasions, it can judge and learn the operation
according to the multisensory fusion algorithm, meanwhile, it can complete and take place of the
humans’ work with high efficiency through its human-like properties [1].
As an intelligent standard of the mobile robot, path planning and navigation algorithms become
hot and critical research fields for the mobile robot [2], in order to reach the designated
destination while avoiding the obstacles automatically in the dynamic environment, many path
planning and navigation algorithms were proposed and investigated to get the best path to
destination like humans moving in a real dynamic environment, the path planning and navigation
algorithms should be designed according to the following standards: responding quickly, shorter
path distance, less time consumption, optimality, completeness, reasonability, meeting the
constraints.
The early path planning algorithm is to try finding a best path in a static environment that the
2. Yupei Yan & Yangmin Li
International Journal of Intelligent Systems and Applications in Robotics (IJRA), Volume (7):Issue (1):2016 2
locations of the obstacles are fixed, in which A* algorithm is an assessment system of the
resource cost from the initial point to the designated point. Visibility graph algorithm can find the
best path according to the line that linked the top points of all the obstacles. With the rapid
development of path planning algorithms, the path planning algorithm that is suitable for running
in the dynamic environment is put forward, such as the artificial potential field algorithm that can
optimize the path in the partial scope, but it is not effective for the global situation, so the generic
algorithm arises which can optimize the path in the global area, but it needs high standard
hardware to calculate and the hardware cost is increased [3].
Also many navigation algorithms of the mobile robot are proposed along with the development of
the mobile robot, such as the generic algorithm which can collect the information of the
surrounding environment and judge the next step operation. Neural network technology can
accumulate the knowledge of the environment through the training of the self-organizing neural
network. The behavior algorithm will divide the navigation function into many little function
modules which have their own navigational judgments. The above algorithms are usually running
on a computer to make sure the enough processing efficiency and fast responding [4]-[5].
Because the computer is power consumption, expensive, big and heavy for the mobile robot, so
most of the mobile robot is running on an embedded system platform to save battery power and
cost, as well as easy to carry and move, therefore, in order to design a better path planning and
navigation algorithm that is hardware cost reduced, battery power saved, responding quickly and
globally optimized for the mobile robot, the fuzzy algorithm is proposed because of quickly
responding and less calculation, it is suitable for the mobile robot that is running on the platform
of embedded system in a dynamic environment.
According to the above analysis, we design and manufacture a mobile robot with the platform of
“ARM” CPU and embedded Linux system, running path planning and navigation algorithms with
fuzzy logic and filter smoothing processing. Android APP and video monitoring with internet
browser function are added in the system. This mobile robot is tested and the testing result of
path planning and navigation algorithm can meet the design requirement.
2. PATH PLANNING AND NAVIGATION
2.1 Multi-Sensor Data
The laser sensor is used to measure the angle, distance, signal quality, synchronized bit of each
obstacle within 6 meters, it is produced by Rplidar company of China, the data of obstacles is
output from laser sensor per round as Figure 1 shows.
FIGURE 1: Laser Sensor Scanning Data Graphic.
The Figure 2 shows the corresponding simulated environment, in which the measured line OC is
the longest distance, the line AB is the gap between the two obstacles.
It is necessary to get the accurate position of the mobile robot to see whether it has reached the
3. Yupei Yan & Yangmin Li
International Journal of Intelligent Systems and Applications in Robotics (IJRA), Volume (7):Issue (1):2016 3
destination, so the GPS sensor is needed to output the real-time longitude and latitude, which is
helpful for the mobile robot to reach destination after comparing with the designated longitude
and latitude. The mobile robot should also detect its moving direction which helps the mobile
robot to correct its moving direction in order to get closer to the destination [6].
FIGURE 2: Simulated environment according to the laser sensor scanning data.
In order to make sure that the position and direction judgement are accurate, the flight control
module is added in the system which integrates the GPS sensor, gyroscope, accelerometer,
magnetometer and electronic compass sensors together, it is “HT-Hawk” module which is
produced by “HengTuo” company, the integrated GPS sensor is the new version UBLOX GPS
module NEO-M8N, the outputted longitude and latitude can reach the accuracy of 0.9 meters.
2.2 Path Planning
The mobile robot’s width is about 580mm and the length is about 800mm, this is a constraint
condition to process the laser sensor data, so it is necessary to draw the graphic of the obstacles
and gaps surrounded for further analysis.
FIGURE 3: Laser Sensor Scanning with Gaps.
The laser sensor will process it as a gap if the measured distance is larger than 6 meters, in
Figure 3, the gap size AB can be calculated by law of cosines:
2 2
2 cos 1AB OA OB OA OB (1)
For the scanning data in the gap of AB, such as the K point, they are
0) Kdistance(O , 0)( OKlitysignal_qua (2)
4. Yupei Yan & Yangmin Li
International Journal of Intelligent Systems and Applications in Robotics (IJRA), Volume (7):Issue (1):2016 4
The distance data on the obstacles are all positive values, such as the distance data of points on
line HA, so the points of A, B can be confirmed, the distance OA, OB and the angles between
point A and B can be attained
1 B A
(3)
The other distance and angles can be acquired in the same way, such as distance of OC, OD,
OE, OF, OG, OH, gaps size of CD, EF, GH, angle of 1 , 3 , 4 , it should be noted that the gap
GH across the 0 , the 4 can be calculated by
4 360 -H G
(4)
For the consideration of the mobile robot’s width and the corresponding redundancy, the mobile
robot will choose the gap size which is larger than 600mm to compare each other to find the max
gap size, in Figure 3, the max gap size in one round is EF, so the mobile robot should run to the
direction of gap EF, it is suitable to move to the angle of the middle position of gap EF and it is:
3
( )
2
angle OI angle OE
(5)
It is worth noted that if there is an obstacle in front of the mobile robot, such as the red “Obstacle
M” in Figure 3, the mobile robot can’t move forward and the constraint condition is:
If the laser sensor scanning angle is in 320 ~ 40 , checking:
if mmdistance 1000 , the variable 1rdstop_forwa
else 0rdstop_forwa
It is the same way to process the situation for moving backward of the mobile robot:
When the laser sensor scanning angle is in 160 ~ 200 , checking:
if mmdistance 1000 , the variable back 1stop_ ward
else 0back wardstop_
The )(OIangle in formula (5) is the destination angle, the following Table 1 shows the relationship
between destination angle and corresponding turning direction of the mobile robot, if
1stop_forward or back 1stop_ ward , the mobile robot will turn right as the default direction.
Destination angle Turning
direction
340 ~ 20 while 0rdstop_forwa forward
340 ~ 20 while 1stop_forward right
20 ~ 160 right
160 ~ 200 while 0back wardstop_ backward
160 ~ 200 while back 1stop_ ward right
200 ~ 340 left
TABLE 1: Relationship of destination angle and turning direction.
2.3 Navigation
Based on the above analysis, the largest gap can be located and the mobile robot can turn the
direction to go through the largest gap, but it is meaningless because this only provides the
5. Yupei Yan & Yangmin Li
International Journal of Intelligent Systems and Applications in Robotics (IJRA), Volume (7):Issue (1):2016 5
widest path for mobile robot to move ahead while avoiding the obstacles on the path, in order to
reach the destination to fulfill some works for the mobile robot in the real world, it is necessary to
designate the destination and mobile robot can arrive the destination in dynamic environment, the
destination position can be located through designating the longitude and latitude on the Android
APP, the mobile robot should navigate and plan the path according to the sensors fusion
algorithms [7]-[8].
FIGURE 4: The navigation without rotation of the mobile robot.
As Figure 4 shows, compared the designated and detected longitude and latitude, it can be
confirmed that the destination is on the northeast position of the mobile robot, according to the
above path planning algorithm, the mobile robot will find the max gap in the scope between OC
and OD to judge the max gap direction, if there is no rotation of the mobile robot, the forward
direction of the mobile robot points to 0 which is just the north direction, in this case
0angle OC
(6)
90angle OD
(7)
The mobile robot will find the max gap between 0 to 90 which is towards to the northeast
direction of the mobile robot, in Figure 4, there are two gaps between 0 to 90: d1 and d2,
because d1 is less than the width of the mobile robot and d1 cannot be chosen, d2 satisfy the
condition and the max gap between 0 to 90 is d2, so the mobile robot will turn right to rotate
3 and will move towards to the OB direction.
But in most instances, the mobile robot will rotate to some degrees and the forward direction is
not towards to the north, in Figure 5, the mobile robot rotates 1 and its forward direction is
towards to OA now, because the destination is still on the northeast position of the mobile robot, it
will find the max gap between OC and OD, but the OC is not 0 and OD is not 90 for mobile
robot now, so it is necessary to do some degree transformation in this situation.
6. Yupei Yan & Yangmin Li
International Journal of Intelligent Systems and Applications in Robotics (IJRA), Volume (7):Issue (1):2016 6
0angle OD
2 0
0angle OC
FIGURE 5: The navigation with rotation of the mobile robot.
In order to obtain the max gap between the scope of OC and OD, it is necessary to calculate the
degree of OC and OD in this situation, in Figure 5, the mobile robot has been rotated 1 with
respect to north direction, the reference system will also rotate 1 to meet transformation of
coordinates, so all the degrees will reduce 1 to make the new coordinate effective.
1angle OC
(8)
190angle OD
(9)
2 3 1
(10)
If the destination orientation is not on the northeast position after comparison of the designated
and detected longitude and latitude, such as the mobile robot is on the southeast, southwest and
northwest position of the destination, the angle OC and angle OD are different and they can
be listed in the Table 2.
Destination
orientation
Degree scope of finding max gap
Northeast 1angle OC 190angle OD
Southeast 190angle OC 1180angle OD
Southwest 1180angle OC 1270angle OD
Northwest 1270angle OC 1360angle OD
TABLE 2: Relationship between destination orientation and degree scope.
If there is minus degree, it needs the correction:
If , 1360angle OC (11)
if , 190 360angle OD (12)
if , 2 3 1 360 (13)
In Figure 5, mobile robot scans the gaps between OC and OD and attaches the max gap d2, the
mobile robot should turn left according to Table 1 to go towards to d2, scanning obstacles and
attaining gaps need the help of the laser scan sensor, the comparison of the longitude and
7. Yupei Yan & Yangmin Li
International Journal of Intelligent Systems and Applications in Robotics (IJRA), Volume (7):Issue (1):2016 7
latitude is fulfilled with the help of GPS sensor, detecting the rotation direction of the mobile robot
is completed through the data from gyroscope, accelerometer, magnetometer and electronic
compass sensors [9].
There is another situation that there is no gap satisfying the condition between the OC and OD,
just as d1 and d2 in the Figure 6 shows, both of d1 and d2 are less than 600mm and the mobile
robot can’t go through the space from OC to OD, so the laser scan sensor will find the max gap in
other space to get the satisfied gap, as the Figure 6 shows, OA is the forward direction of the
mobile robot, and the mobile robot finds two satisfied gaps which is d3 and d4, according to the
above path planning algorithm, d4 is the largest gap and it should go to the d4 towards to the OE
direction, but for the navigation, it not only focuses the gap size, more important factor is the gap
direction which is crucial for the mobile robot to get closer to the destination, after transformation
of the coordinate, it finds that the d3 is closer to the destination, so the mobile robot will turn right
according to Table 1 to go through d3 and move towards to the OB direction.
FIGURE 6: The navigation of mobile robot without satisfied gap.
If there is no satisfied gap whose length is more than 600mm in the whole round, the mobile robot
will stay static and not move, until there is a satisfied gap available again and it will move
according to the above algorithm to reach the destination.
2.4 Fuzzy Logic
From above analyses, it is clear that fuzzy logic is suitable to process the path planning and
navigation of the mobile robot, which makes the turning direction of the mobile robot more stable
and reliable [10]-[11].
FIGURE 7: Fuzzy logic for path planning and navigation of the mobile robot
8. Yupei Yan & Yangmin Li
International Journal of Intelligent Systems and Applications in Robotics (IJRA), Volume (7):Issue (1):2016 8
The Figure 7 shows the fuzzy logic for the path planning and navigation of the mobile robot, the
input variables are the measured direction and angle of the scanned gaps, as well as the moving
direction, longitude and latitude of the mobile robot, the membership functions can be listed as
follows.
340200
360340
340360
340
20
20
a
a
a
a
a
dforward (14)
20
20 90
160 90
160
90 160
90 20
0 20 160
right
a
a
a
ad
a or a
(15)
160
160 180
200 180
200
180 200
180 160
0 160 200
backward
a
a
a
ad
a or a
(16)
200
200 270
340 270
340
270 340
270 200
0 200 340
left
a
a
a
ad
a or a
(17)
FIGURE 8: The membership function of fuzzy logic.
The mobile robot rotates according to the turning direction until it reaches the forward or
backward direction, this process repeats continuously for the mobile robot till it moves to the
destination [12]-[13].
The application of fuzzy logic can save the CPU calculation and respond quickly, which is suitable
for the mobile robot that is designed on a platform of the embedded system.
2.5 Filter Smoothing
In the test, the mobile robot changes moving direction very quickly sometimes, about 2 to 3 times
per second, so the mobile robot can’t move stably on the attained path, after the debug
information comes from the serial port, there are some angle noises data inducing the incorrect
turning direction in Table 1, because the laser sensor scanning work is running in one thread, the
time slice task management in the Linux system will induce the time of entering the laser sensor
scanning thread is uncertain, it is possible that the laser sensor only scans a part of the space
and gets the incomplete data when it enters in the thread, so it is necessary to count the turning
direction result per second to make the turning direction data more smoothly [14]-[15].
9. Yupei Yan & Yangmin Li
International Journal of Intelligent Systems and Applications in Robotics (IJRA), Volume (7):Issue (1):2016 9
FIGURE 9: Noise angle and normal angle distribution in each second.
In order to make sure the mobile robot to turn the direction smoothly, the noise angle should be
deleted through the statistics of angles’ number in different turning direction per second, in Figure
9, there are total 7 angles, according to Table 1, the number of angles in right direction scope is 5,
which is more than the number of other directions, so the other 2 angles are the noise angles with
the red circles, the mobile robot will move right in this second, this process continues per second
to make the mobile robot move more stably and accurately.
3. TEST RESULT
In order to test the path planning and navigation more practically in the real dynamic environment,
we have designed a mobile robot running on the embedded platform with “ARM” CPU and
embedded Linux system as Figure 10 shows.
In order to intensify the moving driven power of the mobile robot, the DC motor connects with a
gear motor with the reduction ratio 1:50 to increase the turning torque, the belt connects two
wheels together on each side and there are total 4 wheels on this mobile robot. According to the
testing results, the mobile robot can move properly when there is a man whose weight is 86KG
standing on the mobile robot, so this mobile robot can carry the heavy goods in the real life
applications.
FIGURE 10: The designed mobile robot.
There are three parts of the hardware platform for the mobile robot, the first part is ARM
development board with “S5PV210” CPU which is running the embedded Linux system, it can
realize the function of the camera video display, LCD display, operation on touch screen, laser
scan sensor data collection, data fusion of GPS and other sensors, bluetooth and wifi data
transmission, path planning and navigation algorithm.
10. Yupei Yan & Yangmin Li
International Journal of Intelligent Systems and Applications in Robotics (IJRA), Volume (7):Issue (1):2016 10
The second part is another MCU board that connects to the ARM board through serial port, which
could transmit the motor control command and the feedback speed of motors with the designed
protocol, because there is calling and task schedule delay for the Linux system, this MCU board
is designed to read the 25KHz motor speed feedback pulse accurately.
The third part is the “SCM6716” board to supply the large current and power to drive the motor
running normally, the peak current can reach about 1.8A and this will make sure the mobile robot
can bear and carry the heavy objects in the real life applications.
FIGURE 11: The LCD and touchscreen with camera video display that is running in the embedded Linux
system.
The other hardware contains LCD and touch screen, the 2.0M camera, Serial-bluetooth module,
USB-wifi module, laser scan sensor, GPS sensor, gyroscope, accelerometer, magnetometer and
electronic compass sensors.
The GUI utilizes QT graphic library to show the widgets on the LCD as shown in Figure 11,
through calling the corresponding signal and slot function, the QT API fulfills the LCD and touch
screen programming work in the Linux developing environment.
FIGURE 12: Android APP.
The Android APP is designed to control the mobile robot more easily and freely, it communicates
11. Yupei Yan & Yangmin Li
International Journal of Intelligent Systems and Applications in Robotics (IJRA), Volume (7):Issue (1):2016 11
with the ARM board with Serial-bluetooth module to control the mobile robot running status,
working mode, moving direction and speed, designated longitude and latitude etc.
FIGURE 13: Remote monitoring with internet browser.
The mobile robot should be more networked along with the network technology developing, the
mjpeg-stream is used to transmit the camera video data to the internet browser cross various
platforms with the TCP/IP protocol, it can remotely monitor on the Firefox, browser it is
transplanted in the embedded Linux system of the mobile robot, the testing result shows it can
work properly and it is helpful to know about the status of mobile robot immediately via the
internet browser.
FIGURE 14: Linux programming software logic structure of the mobile robot.
The GUI framework is the Linux programming software entrance, it points to the QT interface
pointer, after transmitting and displaying the camera data to the QT interface, it creates three
threads to finish the work of motor controlling, laser sensor scanning, the path planning and
navigation algorithm, refresh the widget content [16].
12. Yupei Yan & Yangmin Li
International Journal of Intelligent Systems and Applications in Robotics (IJRA), Volume (7):Issue (1):2016 12
FIGURE 15: Matlab simulation for navigation of mobile robot with stratified gap.
Figure 15 shows the Matlab simulation for the navigation of the mobile robot when there is
satisfied gap between two obstacles, the green circle is the mobile robot, the black object is the
obstacles, the red rectangle is the destination, the mobile robot can detect the direction and
distance of the gap between the obstacles through the laser scan data, if there is a gap that is
wider than the width of the mobile robot, it could go through the gap and reach the destination.
FIGURE 16: Matlab simulation for navigation of mobile robot without stratified gap
In the Figure 16, the gap between two obstacles is too narrow and there is no stratified gap
between them, the mobile robot should find other ways to bypass the obstacle as shown in the
Figure 16, this operation continues until there is a satisfied gap detected on the path, and it will go
to the destination finally. Optimal path planning will be investigated via PSO algorithm [17]-[19].
4. CONCLUSION
The testing result shows that the proposed path planning and navigation algorithm based on
fuzzy logic and filter smoothing are effective and real-time responding, compared with other
algorithms, it is simply computed and realized for the mobile robot designed on the platform of the
embedded system that is running in the real dynamic environment.
In the designing process, one of the most challenges is showing the real-time camera video on
the LCD screen, because the video is stream data in Linux system and the data is too big to be
13. Yupei Yan & Yangmin Li
International Journal of Intelligent Systems and Applications in Robotics (IJRA), Volume (7):Issue (1):2016 13
processed immediately. The other challenge is to get rid of the noise data from the laser sensor, it
is difficult to analyze and find the data errors when reading a lot of scanned data in a short time,
but the final testing results show that our designed mobile robot can run normally with the
designed path planning and navigation algorithm.
The advantage of this algorithm is easy to realize, respond quickly, save reacting time, save CPU
calculations, further save power supply comparing with other algorithms, they are especially
important for the embedded system with the limited CPU calculation and battery power, this can
make sure the mobile robot process the sensors fusion data and find the best path to navigate
quickly and accurately, the testing results show that it can meet our design requirements.
5. ACKNOWLEDGEMENT
This work was supported from Macao Science and Technology Development Fund (108/ 2012/A3,
110/2013/A3), Research Committee of University of Macau (MYRG2015-00194-FST).
Lastly Yupei Yan would like to thank to his laboratory’s colleagues Xiao Xiao, Yiru Tang, Gen
Zhang, Zhigang Wu, Song Lu and Ping He etc., they help to construct the mechanical part of the
mobile robot or give many suggestions on how to write and improve the quality of this paper.
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