Temat: obstacle - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Efficient non-odometry method for environment mapping and localisation of mobile robots
Autorzy:: Adamowicz, Mateusz
Ambroziak, Leszek
Kondratiuk, Mirosław
Powiązania:: https://bibliotekanauki.pl/articles/1837947.pdf
Data publikacji:: 2021
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:: mobile robot
mapping
navigation
obstacle detection
obstacle avoidance
Opis:: The paper presents the simple algorithm of simultaneous localisation and mapping (SLAM) without odometry information. The proposed algorithm is based only on scanning laser range finder. The theoretical foundations of the proposed method are presented. The most important element of the work is the experimental research. The research underlying the paper encompasses several tests, which were carried out to build the environment map to be navigated by the mobile robot in conjunction with the trajectory planning algorithm and obstacle avoidance.
Źródło:: Acta Mechanica et Automatica; 2021, 15, 1; 24-29
1898-4088
2300-5319
Pojawia się w:: Acta Mechanica et Automatica
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Real-time coordinated trajectory planning and obstacle avoidance for mobile robots
Autorzy:: McNinch, L. C.
Soltan, R. A.
Muske, K. R.
Ashrafiuon, H.
Peyton, J. C.
Powiązania:: https://bibliotekanauki.pl/articles/384978.pdf
Data publikacji:: 2011
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: path planning
obstacle avoidance
ODE
mobile robots
Opis:: A novel method for real-time coordinated trajectory planning and obstacle avoidance of autonomous mobile robot systems is presented. The desired autonomous system trajectories are generated from a set of first order ODEs. The solution to this system of ODEs converges to either a desired target position or a closed orbit de.ned by a limit cycle. Coordinated control is achieved by utilizing the nature of limit cycles where independent, non-crossing paths are automatically generated from different initial positions that smoothly converge to the desired closed orbits. Real-time obstacle avoidance is achieved by specifying a transitional elliptically shaped closed orbit around the nearest obstacle blocking the path. This orbit determines an alternate trajectory that avoids the obstacle. When the obstacle no longer blocks a direct path to the original target trajectory, a transitional trajectory that returns to the original path is defined. The coordination and obstacle avoidance methods are demonstrated experimentally using differential-drive wheeled mobile robots.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 1; 23-29
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Fuzzy logic controller with fuzzylab python library and the robot operating system for autonomous mobile robot navigation
Autorzy:: Avelar, Eduardo
Castillo, Oscar
Soria, José
Powiązania:: https://bibliotekanauki.pl/articles/385156.pdf
Data publikacji:: 2020
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: fuzzy controller
mobile robot navigation
obstacle avoidance
Opis:: The navigation system of a robot requires sensors to perceive its environment to get a representation. Based on this perception and the state of the robot, it needs to take an action to make a desired behavior in the environment. The actions are defined by a system that processes the obtained information. This system can be based on decision rules defined by an expert or obtained by a training or optimization process. Fuzzy logic controllers are based on fuzzy logic on which degrees of truth are used on sy‐ stem variables and has a rule‐base that stores the knowledge about the operation of the system. In this paper a fuzzy logic controller is made with the Python fuzzylab library which is based on the Octave Fuzzy Logic Toolkit, and with the Robot Operating System (ROS) for autonomous navigation of the TurtleBot3 robot on a simulated and a real environment using a LIDAR sensor to get the distance of the objects around the robot.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2020, 14, 1; 48-54
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Motion planning for wheeled mobile robot using potential field method
Planowanie ruchu mobilnego robota kołowego z zastosowaniem sztucznego pola potencjalnego
Autorzy:: Żylski, W.
Powiązania:: https://bibliotekanauki.pl/articles/281931.pdf
Data publikacji:: 2004
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: mobile robots
obstacle avoidance
artificial potential field
Opis:: A potential field method in the real-time approach toward avoidance of obstacles for a mobile robot has been developed. A collision-free path and goal-seeking behaviour are calculated using an artificial potential field method. The proposed reactive nevigation approach is based on the coordination of elementary responses. To avoid convex obstacles, the navigator generates a "reaching the middle of the collision-free space" and goal-seeking behaviours. A control strategy based on artificial potential fields that generates a trajectory to be followed by a mobile robot that represents a reference for the robot at the same time is proposed. The effectiveness of the proposed method is numerically verified by a series of experiments on the emulator of the wheeled mobile robot Pioneer-2DX.
W pracy rozważa się problem generowania bezkolizyjnej trajektorii ruchu mobilnego robota w czasie rzeczywistym z zastosowaniem sztucznego pola potencjalnego. Analizuje się elementarne zachowanie mobilnego robota, takie jak: osiągnij środek wolnej przestrzeni oraz idź do celu. Wygenerowana trajektoria ruchu umożliwiająca omijanie przeszkód wypukłych uwzględnia elementarne zachowania robota. Stanowi ona trajektorię zadaną, która realizuje układ sterowania. Efektywność zaproponowanego rozwiązania została numerycznie zweryfikowana na emulatorze mibilnego robota kołowego Pioneer-2DX.
Źródło:: Journal of Theoretical and Applied Mechanics; 2004, 42, 3; 695-705
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 5.

Tytuł:: Spatial motion of the aircraft manoeuvring to avoid moving obstacle
Autorzy:: Graffstein, J.
Powiązania:: https://bibliotekanauki.pl/articles/279527.pdf
Data publikacji:: 2016
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: anti-collision manoeuvre
obstacle avoidance
flight simulation
Opis:: In the paper, mathematical relationships which are used to describe kinematic variables of the aircraft-obstacles configuration and motion of the aircraft are presented. These define the base for the set of conditions enabling determination of the possibility and threat of collision. The second important aim of such a definition is creation of prerequisites for selection of an appropriate anti-collision manoeuvre, computation of reference signals and inequalities used as limitations on these signals in the automatic flight control process. Theoretical analysis is illustrated by an example of computer simulation of the flight of aircraft. Two anti- -collision manoeuvres are studied in this experiment. The first one, performed in a vertical plane, consists in emergency climbing. The second one, performed in the horizontal plane, is shaped by three turns, each one of small radius, to go around the obstacle and then return to the previously realised flight path.
Źródło:: Journal of Theoretical and Applied Mechanics; 2016, 54, 1; 99-111
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 6.

Tytuł:: Real-time obstacle avoidance using harmonic potential functions
Autorzy:: Szulczyński, P.
Pazderski, D.
Kozłowski, K.
Powiązania:: https://bibliotekanauki.pl/articles/384802.pdf
Data publikacji:: 2011
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: motion planning
obstacle avoidance
mobile robot
harmonic function
Opis:: The paper presents a solution of motion planning and control of mobile robot in a two-dimensional environment with elliptical static obstacle based on hydrodynamics description. Theoretical background refers to solution of Laplace equation using complex algebra. The method of designing complex potential with respect to stationary elliptical obstacle and stationary goal is formally shown. Next, the planning motion problem is extended assuming that the goal is moving. Then results of motion planning is used in order to design closed-loop control algorithms which is based on decoupling technique. Theoretical considerations are supported by numerical simulations illustrating example results of motion planning and control.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 3; 59-66
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 7.

Tytuł:: Neural Based Autonomous Navigation of Wheeled Mobile Robots
Autorzy:: Al-Sagban, M.
Dhaouadi, R.
Powiązania:: https://bibliotekanauki.pl/articles/384293.pdf
Data publikacji:: 2016
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: reactive navigation
obstacle avoidance
autonomous ground robots
recurrent neural networks
Opis:: This paper presents a novel reactive navigation algorithm for wheeled mobile robots under non-holonomic constraints and in unknown environments. Two techniques are proposed: a geometrical based technique and a neural network based technique. The mobile robot travels to a pre-defined goal position safely and efficiently without any prior map of the environment by modulating its steering angle and turning radius. The dimensions and shape of the robot are incorporated to determine the set of all possible collision-free steering angles. The algorithm then selects the best steering angle candidate. In the geometrical navigation technique, a safe turning radius is computed based on an equation derived from the geometry of the problem. On the other hand, the neural-based technique aims to generate an optimized trajectory by using a user-defined objective function which minimizes the traveled distance to the goal position while avoiding obstacles. The experimental results demonstrate that the algorithms are capable of driving the robot safely across a variety of indoor environments.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 2; 64-72
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 8.

Tytuł:: The obstacle vector field (OVF) method for collision-free trajectory planning of free-floating space manipulator
Autorzy:: Rybus, Tomasz
Powiązania:: https://bibliotekanauki.pl/articles/2173652.pdf
Data publikacji:: 2022
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: space robotics
obstacle avoidance
obstacle vector field
free-floating system
on-orbit servicing
robotyka kosmiczna
unikanie przeszkód
pole wektora przeszkód
system swobodnie pływający
serwis orbitalny
Opis:: Manipulators mounted on small satellites will be used to perform on-orbit servicing, removal of space debris, and assembly of large orbital structures. During such operations, the manipulator must avoid collisions with the target object or the elements of the assembled structure. Planning of the manipulator trajectory is one of the major challenges for the proposed missions because the motion of the manipulator influences the position and orientation of the satellite. Thus, the dynamic equations of motion must be used during trajectory planning. Methods developed for fixed-base manipulators working on Earth cannot be directly applied. In this paper, we propose a new obstacle vector field (OVF) method for collision-free trajectory planning of a manipulator mounted on a free-floating satellite. The OVF method is based on a vector field that surrounds the obstacles and generates virtual forces that drive the manipulator around the obstacles. The OVF method is compared with the classical artificial potential field (APF) method and the rapidly exploring random trees (RRT) method. In the presented examples the trajectory planning problem is solved for a planar case in which the satellite is equipped with a 2 DoF manipulator. It is shown that the OVF method is more efficient than the APF method, i.e., it allows us to solve the trajectory planning problem in some of the cases, in which the APF method is unsuccessful. The time required to find the solution with the use of the OVF method is shorter than the time needed by the APF and the RRT method.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2022, 70, 2; art. no. e140691
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 9.

Tytuł:: Energy-efficient walking over irregular terrain: a case of hexapod robot
Autorzy:: Luneckas, Mindaugas
Luneckas, Tomas
Udris, Dainius
Plonis, Darius
Maskeliunas, Rytis
Damasevicius, Robertas
Powiązania:: https://bibliotekanauki.pl/articles/220953.pdf
Data publikacji:: 2019
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: hexapod walking robot
irregular terrain
obstacle avoidance
energy consumption
leg trajectory optimization
Opis:: Adaptive locomotion over difficult or irregular terrain is considered as a superiority feature of walking robots over wheeled or tracked machines. However, safe foot positioning, body posture and stability, correct leg trajectory, and efficient path planning are a necessity for legged robots to overcome a variety of possible terrains and obstacles. Without these properties, any walking machine becomes useless. Energy consumption is one of the major problems for robots with a large number of Degrees of Freedom (DoF). When considering a path plan or movement parameters such as speed, step length or step height, it is important to choose the most suitable variables to sustain long battery life and to reach the objective or complete the task successfully. We change the settings of a hexapod robot leg trajectory for overcoming small terrain irregularities by optimizing consumed energy and leg trajectory during each leg transfer. The trajectory settings are implemented as a part of hexapod robot simulation model and tested through series of experiments with various terrains of differing complexity and obstacles of various sizes. Our results show that the proposed energy-efficient trajectory transformation is an effective method for minimizing energy consumption and improving overall performance of a walking robot.
Źródło:: Metrology and Measurement Systems; 2019, 26, 4; 645-660
0860-8229
Pojawia się w:: Metrology and Measurement Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 10.

Tytuł:: Navigation of autonomous mobile robot using different activation functions of wavelet neural network
Autorzy:: Panigrahi, P. K.
Ghosh, S.
Parhi, D. R.
Powiązania:: https://bibliotekanauki.pl/articles/229613.pdf
Data publikacji:: 2015
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: autonomous mobile robot
activation functions
obstacle avoidance
path planning
wavelet neural network
Opis:: An autonomous mobile robot is a robot which can move and act autonomously without the help of human assistance. Navigation problem of mobile robot in unknown environment is an interesting research area. This is a problem of deducing a path for the robot from its initial position to a given goal position without collision with the obstacles. Different methods such as fuzzy logic, neural networks etc. are used to find collision free path for mobile robot. This paper examines behavior of path planning of mobile robot using three activation functions of wavelet neural network i.e. Mexican Hat, Gaussian and Morlet wavelet functions by MATLAB. The simulation result shows that WNN has faster learning speed with respect to traditional artificial neural network.
Źródło:: Archives of Control Sciences; 2015, 25, 1; 21-34
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 11.

Tytuł:: A learning paradigm for motion control of mobile manipulators
Autorzy:: Abdessemed, F.
Monacelli, E.
Benmahammed, K.
Powiązania:: https://bibliotekanauki.pl/articles/908373.pdf
Data publikacji:: 2006
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: manipulator ruchomy
sieć neuronowa
unikanie przeszkód
mobile manipulator
neural network
backpropagation
obstacle avoidance
Opis:: Motion control of a mobile manipulator is discussed. The objective is to allow the end-effector to track a given trajectory in a fixed world frame. The motion of the platform and that of the manipulator are coordinated by a neural network which is a kind of graph designed from the kinematic model of the system. A learning paradigm is used to produce the required reference variables for each of the mobile platform and the robot manipulator for an overall coordinate behavior. Simulation results are presented to show the effectiveness of the proposed scheme.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2006, 16, 4; 475-484
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 12.

Tytuł:: Computationaly simple obstacle avoidance control law for small unmanned aerial vehicles
Autorzy:: Cieśluk, J.
Gosiewski, Z.
Ambroziak, L.
Romaniuk, S.
Powiązania:: https://bibliotekanauki.pl/articles/386705.pdf
Data publikacji:: 2015
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:: unmanned aerial vehicle
quadrotor control
obstacle avoidance
vision systems
statki powietrzne bezzałogowe
unikanie przeszkód
Opis:: The investigations of the system which allow to avoid obstacles by the unmanned aerial vehicles (UAV) are presented in the paper. The system is designed to enable the full autonomous UAV flight in an unknown environment. As an information source about obstacles digital camera was used. Developed algorithm uses the existing relations between the imaging system and the parameters read from the UAV autopilot. Synthesis of the proposed obstacle avoidance control law was oriented for computational simplicity. Presented algorithm was checked during simulation studies and in-flight tests.
Źródło:: Acta Mechanica et Automatica; 2015, 9, 1; 50-56
1898-4088
2300-5319
Pojawia się w:: Acta Mechanica et Automatica
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 13.

Tytuł:: Multiquery motion planning in uncertain spaces: Incremental adaptive randomized roadmaps
Autorzy:: Khaksar, Weria
Uddin, Md Zia
Torresen, Jim
Powiązania:: https://bibliotekanauki.pl/articles/329773.pdf
Data publikacji:: 2019
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: motion planning
roadmap
sampling based planner
obstacle avoidance
planowanie ruchu
mapa drogowa
unikanie przeszkód
Opis:: Sampling-based motion planning is a powerful tool in solving the motion planning problem for a variety of different robotic platforms. As its application domains grow, more complicated planning problems arise that challenge the functionality of these planners. One of the main challenges in the implementation of a sampling-based planner is its weak performance when reacting to uncertainty in robot motion, obstacles motion, and sensing noise. In this paper, a multi-query sampling-based planner is presented based on the optimal probabilistic roadmaps algorithm that employs a hybrid sample classification and graph adjustment strategy to handle diverse types of planning uncertainty such as sensing noise, unknown static and dynamic obstacles and an inaccurate environment map in a discrete-time system. The proposed method starts by storing the collision-free generated samples in a matrix-grid structure. Using the resulting grid structure makes it computationally cheap to search and find samples in a specific region. As soon as the robot senses an obstacle during the execution of the initial plan, the occupied grid cells are detected, relevant samples are selected, and in-collision vertices are removed within the vision range of the robot. Furthermore, a second layer of nodes connected to the current direct neighbors are checked against collision, which gives the planner more time to react to uncertainty before getting too close to an obstacle. The simulation results for problems with various sources of uncertainty show a significant improvement compared with similar algorithms in terms of the failure rate, the processing time and the minimum distance from obstacles. The planner is also successfully implemented and tested on a TurtleBot in four different scenarios with uncertainty.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2019, 29, 4; 641-654
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 14.

Tytuł:: Automated UAV to Survey and Monitor Ionising Radiation Levels in a Closed Environment
Autorzy:: Anand, R.
Harshith, Kumar M. B.
Raghavan, Anirudh
Maddara, Roopak
Anand, Prajna
Powiązania:: https://bibliotekanauki.pl/articles/2175938.pdf
Data publikacji:: 2022
Wydawca:: Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:: unmanned aerial vehicle
indoor SLAM
sensor data
disaster management robot
path planning
obstacle avoidance
Opis:: Since tragedies caused by nuclear disasters are always a concern, it is essential that nuclear power plants be monitored on a regular basis for any irregularities in ionising radiation levels. Irrespective of leakage proof measures being deployed in the plant, ensuring the safety of these measures is necessary. Given this scenario, the present study proposes the usage of unmanned aerial vehicles (UAVs) to ensure that radiation levels in nuclear plants remain within safe limits. The UAV deployed will map the entire environment following a unique path planning algorithm and monitor the environment with an onboard radiation sensor. If any irregularities are detected, the positional coordinates are flagged, and the A* algorithm is implemented to generate the shortest path between the starting point, and the flagged coordinates, which are considered as the destination coordinates. The UAV is made to traverse the shortest path together with maintaining stability of the system while traversing.
Źródło:: Power Electronics and Drives; 2022, 7, 42; 134--145
2451-0262
2543-4292
Pojawia się w:: Power Electronics and Drives
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 15.

Tytuł:: Planowanie trasy bezzałogowego statku powietrznego podczas lotu nad terenem z przeszkodami
Unmanned aerial vehicle route planning in mountainous terrain with obstacles
Autorzy:: Basmadji, F. L.
Gruszecki, J.
Powiązania:: https://bibliotekanauki.pl/articles/194614.pdf
Data publikacji:: 2017
Wydawca:: Politechnika Rzeszowska im. Ignacego Łukasiewicza. Oficyna Wydawnicza
Tematy:: BSP
bezzałogowy statek powietrzny
planowanie trasy
omijanie przeszkód
UAV
unmanned aerial vehicle
path planning
obstacle avoidance
Opis:: Pomimo znacznych postępów w tematyce zwiększenia autonomiczności bezzałogowych obiektów latającego, pozostaje jeszcze wiele problemów do rozwiązania, jednym z nich to problem autonomicznego planowania trasy. Mimo iż ten problem jest obecnie przedmiotem badań licznych ośrodków badawczych na świecie, nadal jednak nie opracowano uniwersalnego sposobu planowania trasy, gdyż jest to związane nie tylko z właściwościami danego obiektu, ale również z realizowaną misją. W niniejszym artykule omówiono problem planowania trasy dla bezzałogowego statku powietrznego podczas lotu nad terenem z przeszkodami. Opracowany został algorytm do wyznaczania trasy uwzględniający ograniczenia nałożone przez właściwości obiektu latającego, ukształtowanie terenu, strefy zakazane oraz maksymalny dopuszczalny pułap lotu. Ponadto zaproponowano metodę poszukiwania quasi-optymalnej trajektorii w przypadku większej liczby przeszkód. Przeprowadzono szereg badań symulacyjnych weryfikujących poprawność działania opracowanego algorytmu.
Despite significant progress in the field of increasing the autonomy of unmanned aerial vehicles (UAVs), there are still a number of problems which needs to be solved. One of such example is the problem of autonomous path planning. In this paper, the problem of UAV path planning in mountainous terrain with obstacles has been discussed. AUAV path planning algorithm that takes into account limitations imposed by UAVs dynamics, terrain configuration, no-fly zones and the maximum allowable flight altitude has been developed. Furthermore, the method of searching for the quasi-optimal path in the case of multiple obstacles has been proposed. A series of simulation investigations to verify the correctness of developed algorithm have been carried out.
Źródło:: Zeszyty Naukowe Politechniki Rzeszowskiej. Mechanika; 2017, z. 89 [295], 1; 5-17
0209-2689
2300-5211
Pojawia się w:: Zeszyty Naukowe Politechniki Rzeszowskiej. Mechanika
Dostawca treści:: Biblioteka Nauki

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