• Title/Summary/Keyword: multiple mobile robots system

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Stability Analysis of Decentralized PVFC Algorithm for Cooperative Mobile Robotic Systems

  • Suh, Jin-Ho;Lee, Kwon-Soon
    • 제어로봇시스템학회:학술대회논문집
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    • 2004.08a
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    • pp.1909-1914
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    • 2004
  • Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified behaviorally in terms of a velocity field, and the closed-loop was passive with respect to a supply rate given by the environment input. However the PVFC was only applied to a single manipulator, the proposed control law was derived geometrically, and the geometric and robustness properties of the closed-loop system were also analyzed. In this paper, we propose a method to apply a decentralized control algorithm to cooperative 3-wheeled mobile robots whose subsystem is under nonholonomic constraints and which convey a common rigid object in a horizontal plain. Moreover it is shown that multiple robot systems ensure stability and the velocities of augmented systems convergence to a scaled multiple of each desired velocity field for cooperative mobile robot systems.

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Human following of Indoor mobile service robots with a Laser Range Finder (단일레이저거리센서를 탑재한 실내용이동서비스로봇의 사람추종)

  • Yoo, Yoon-Kyu;Kim, Ho-Yeon;Chung, Woo-Jin;Park, Joo-Young
    • The Journal of Korea Robotics Society
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    • v.6 no.1
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    • pp.86-96
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    • 2011
  • The human-following is one of the significant procedure in human-friendly navigation of mobile robots. There are many approaches of human-following technology. Many approaches have adopted various multiple sensors such as vision system and Laser Range Finder (LRF). In this paper, we propose detection and tracking approaches for human legs by the use of a single LRF. We extract four simple attributes of human legs. To define the boundary of extracted attributes mathematically, we used a Support Vector Data Description (SVDD) scheme. We establish an efficient leg-tracking scheme by exploiting a human walking model to achieve robust tracking under occlusions. The proposed approaches were successfully verified through various experiments.

Mobile Robot Localization using Ubiquitous Vision System (시각기반 센서 네트워크를 이용한 이동로봇의 위치 추정)

  • Dao, Nguyen Xuan;Kim, Chi-Ho;You, Bum-Jae
    • Proceedings of the KIEE Conference
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    • 2005.07d
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    • pp.2780-2782
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    • 2005
  • In this paper, we present a mobile robot localization solution by using a Ubiquitous Vision System (UVS). The collective information gathered by multiple cameras that are strategically placed has many advantages. For example, aggregation of information from multiple viewpoints reduces the uncertainty about the robots' positions. We construct UVS as a multi-agent system by regarding each vision sensor as one vision agent (VA). Each VA performs target segmentation by color and motion information as well as visual tracking for multiple objects. Our modified identified contractnet (ICN) protocol is used for communication between VAs to coordinate multitask. This protocol raises scalability and modularity of thesystem because of independent number of VAs and needless calibration. Furthermore, the handover between VAs by using ICN is seamless. Experimental results show the robustness of the solution with respect to a widespread area. The performance in indoor environments shows the feasibility of the proposed solution in real-time.

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Localization of a Mobile Robot Using Multiple Ceiling Lights (여러 개의 조명등을 이용한 이동 로봇의 위치 추정)

  • Han, Yeon-Ju;Park, Tae-Hyoung
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.4
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    • pp.379-384
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    • 2013
  • We propose a new global positioning method for the indoor mobile robots. The multiple indoor lights fixed in ceiling are used as the landmarks of positioning system. The ceiling images are acquired by the fisheye lens camera mounted on the moving robot. The position and orientation of the lights are extracted by binarization and labeling techniques. Also the boundary lines between ceiling and walls are extracted to identify the order of each light. The robot position is then calculated from the extracted position and known position of the lights. The proposed system can increase the accuracy and reduce the computation time comparing with the other positioning methods using natural landmark. Experimental results are presented to show the performance of the method.

Implementation of Hybrid Deliberative/Reactive Control Architecture for Autonomous Navigation of a Mobile Robot in Dynamic Environments (동적 환경에서 이동로봇의 자율주행을 위한 혼합 심의/반응 제어구조의 구현)

  • Nam Hwa-Sung;Song Jae-Bok
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.2
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    • pp.154-160
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    • 2006
  • Instantaneous reaction and intelligence are required for autonomous mobile robots to achieve multiple goals in the unpredictable and dynamic environments. Design of the appropriate control architecture and clear definitions of systems are needed to construct and control these robots. This research proposes the hybrid deliberative/reactive control architecture which consists of three layers and uses the method of software structure design. The highest layer, Deliberative Layer makes the overall run-time schedule for navigation and/or manipulation, and the middle layer, Task Execution Layer carries out various missions. The lowest layer, Reactive Layer enables a robot to react rapidly in the dynamic environment and controls the mechanical devices concurrently. This paper proposes independent system supervisors called Manager to reuse the modules so that the Manager supports common use of the system and multi-processing tasks. It is shown that the mobile robot based on the proposed control scheme can perform the basic navigation and cope with the dynamic obstacles reasonably well.

Object Tracking Algorithm of Swarm Robot System for using Polygon Based Q-Learning and Cascade SVM (다각형 기반의 Q-Learning과 Cascade SVM을 이용한 군집로봇의 목표물 추적 알고리즘)

  • Seo, Sang-Wook;Yang, Hyung-Chang;Sim, Kwee-Bo
    • IEMEK Journal of Embedded Systems and Applications
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    • v.3 no.2
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    • pp.119-125
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    • 2008
  • This paper presents the polygon-based Q-leaning and Cascade Support Vector Machine algorithm for object search with multiple robots. We organized an experimental environment with ten mobile robots, twenty five obstacles, and an object, and then we sent the robots to a hallway, where some obstacles were lying about, to search for a hidden object. In experiment, we used four different control methods: a random search, a fusion model with Distance-based action making (DBAM) and Area-based action making (ABAM) process to determine the next action of the robots, and hexagon-based Q-learning and dodecagon-based Q-learning and Cascade SVM to enhance the fusion model with DBAM and ABAM process.

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Fuzzy-based Path Planning for Multiple Mobile Robots in Unknown Dynamic Environment

  • Zhao, Ran;Lee, Hong-Kyu
    • Journal of Electrical Engineering and Technology
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    • v.12 no.2
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    • pp.918-925
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    • 2017
  • This paper presents a path planning problem for multi-robot system in the environment with dynamic obstacles. In order to guide the robots move along a collision-free path efficiently and reach the goal position quickly, a navigation method based on fuzzy logic controllers has been developed by using proximity sensors. There are two kinds of fuzzy controllers developed in this work, one is used for obstacle avoidance and the other is used for orientation to the target. Both static and dynamic obstacles are included in the environment and the dynamic obstacles are defined with no type of restriction of direction and velocity. Here, the environment is unknown for all the robots and the robots should detect the surrounding information only by the sensors installed on their bodies. The simulation results show that the proposed method has a positive effectiveness for the path planning problem.

Object tracking algorithm of Swarm Robot System for using Polygon based Q-learning and parallel SVM

  • Seo, Snag-Wook;Yang, Hyun-Chang;Sim, Kwee-Bo
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.8 no.3
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    • pp.220-224
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    • 2008
  • This paper presents the polygon-based Q-leaning and Parallel SVM algorithm for object search with multiple robots. We organized an experimental environment with one hundred mobile robots, two hundred obstacles, and ten objects. Then we sent the robots to a hallway, where some obstacles were lying about, to search for a hidden object. In experiment, we used four different control methods: a random search, a fusion model with Distance-based action making (DBAM) and Area-based action making (ABAM) process to determine the next action of the robots, and hexagon-based Q-learning, and dodecagon-based Q-learning and parallel SVM algorithm to enhance the fusion model with Distance-based action making (DBAM) and Area-based action making (ABAM) process. In this paper, the result show that dodecagon-based Q-learning and parallel SVM algorithm is better than the other algorithm to tracking for object.

Appearance Based Object Identification for Mobile Robot Localization in Intelligent Space with Distributed Vision Sensors

  • Jin, TaeSeok;Morioka, Kazuyuki;Hashimoto, Hideki
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.4 no.2
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    • pp.165-171
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    • 2004
  • Robots will be able to coexist with humans and support humans effectively in near future. One of the most important aspects in the development of human-friendly robots is to cooperation between humans and robots. In this paper, we proposed a method for multi-object identification in order to achieve such human-centered system and robot localization in intelligent space. The intelligent space is the space where many intelligent devices, such as computers and sensors, are distributed. The Intelligent Space achieves the human centered services by accelerating the physical and psychological interaction between humans and intelligent devices. As an intelligent device of the Intelligent Space, a color CCD camera module, which includes processing and networking part, has been chosen. The Intelligent Space requires functions of identifying and tracking the multiple objects to realize appropriate services to users under the multi-camera environments. In order to achieve seamless tracking and location estimation many camera modules are distributed. They causes some errors about object identification among different camera modules. This paper describes appearance based object representation for the distributed vision system in Intelligent Space to achieve consistent labeling of all objects. Then, we discuss how to learn the object color appearance model and how to achieve the multi-object tracking under occlusions.

Optimization of Code Combination in Multi-Code Ultrasonic Sensors for Multi-Robot Systems (군집로봇을 위한 다중 코드 초음파센서의 코드조합 최적화)

  • Moon, Woo-Sung;Cho, Bong-Su;Baek, Kwang Ryul
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.7
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    • pp.614-619
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    • 2013
  • In multi-robot systems, ultrasonic sensors are widely used for localization and/or obstacle detection. However, conventional ultrasonic sensors have a drawback, that is, the interference problem among ultrasonic transmitters. There are some previous studies to avoid interferences, such as TDMA (Time Division Multiple Access) and CDMA (Code Division Multiple Access). In multiple autonomous mobile robots systems, the Doppler-effect has to be considered because ultrasonic transceivers are attached to the moving robots. To overcome this problem, we find out the ASK (Amplitude Shift Keying)-CDMA technique is more robust to the Doppler-effect than the BPSK (Binary Phase Shift Keying)-CDMA technique. In this paper, we propose a new code-expression method and a Monte-Carlo based algorithm that optimizes the ultrasonic code combination in the ASK-CDMA ultrasonic system. The experimental results show that the proposed algorithm improves the performance of the ultrasonic multiple accessing capacity in the ASK-CDMA ultrasonic system.