Special Issue "Trajectory Analysis, Positioning and Control of Mobile Robots"

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Robotics and Automation".

Deadline for manuscript submissions: 20 August 2022 | Viewed by 1679

Special Issue Editors

Dr. J. Ernesto Solanes
E-Mail Website
Guest Editor
Department of Systems Engineering and Automation, Universidad Politécnica de Valencia UPV, 46022 València, Spain
Interests: human–robot interaction; robotics; nonlinear and robust control; computer vision
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Luis Gracia
E-Mail Website
Guest Editor
Instituto IDF, Universitat Politecnica de Valencia, 46022 Valencia, Spain
Interests: robotic systems; system modeling and control; robust control
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

In the last decade, mobile robots have increased their presence in our society. It is becoming increasingly common to read about self-driving cars, robots utilized for quality control or dangerous tasks, and drones used for product delivery. The improvements made in the fields of computer science, electronics, and power technologies, together with advances in artificial intelligence (AI), SLAM, navigation, and control of dynamic systems, are providing mobile robots with greater robustness and new capabilities to adapt themselves to the environment uncertainties.

In addition to the classical problems in mobile robotics, their presence alongside humans gives rise to problems derived from the interaction between humans and robotic systems. Today, there is a need to develop new science in the mobile robotics field to overcome the human–mobile robot interaction problem.

The emergence of new human–machine interaction tools based on augmented reality (AR) or virtual reality (VR), together with advances in AI, SLAM, navigation, and control, opens new possibilities to be analyzed in the field of mobile robotics.

The aim of this Special Issue on “Trajectory Analysis, Positioning and Control of Mobile Robots” is to provide an overview of this wide field. It should be of interest to the artificial intelligence, robotics, control, augmented, and virtual reality communities. Therefore, this Special Issue welcomes the submission of technical, experimental, and methodological papers related to artificial intelligence, navigation, SLAM, control theory, and human–robot interaction applied to mobile robotics.

Dr. J. Ernesto Solanes
Prof. Dr. Luis Gracia
Guest Editors

Manuscript Submission Information

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Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Applied Sciences is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2300 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • mobile robots
  • trajectory planning
  • obstacle avoidance
  • navigation
  • SLAM
  • artificial intelligence
  • neural networks
  • deep learning
  • robot control
  • augmented reality
  • virtual reality
  • human–robot interaction

Published Papers (2 papers)

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Research

Article
Systematic Odometry Error Evaluation and Correction in a Human-Sized Three-Wheeled Omnidirectional Mobile Robot Using Flower-Shaped Calibration Trajectories
Appl. Sci. 2022, 12(5), 2606; https://doi.org/10.3390/app12052606 - 02 Mar 2022
Viewed by 574
Abstract
Odometry is a simple and practical method that provides a periodic real-time estimation of the relative displacement of a mobile robot based on the measurement of the angular rotational speed of its wheels. The main disadvantage of odometry is its unbounded accumulation of [...] Read more.
Odometry is a simple and practical method that provides a periodic real-time estimation of the relative displacement of a mobile robot based on the measurement of the angular rotational speed of its wheels. The main disadvantage of odometry is its unbounded accumulation of errors, a factor that reduces the accuracy of the estimation of the absolute position and orientation of a mobile robot. This paper proposes a general procedure to evaluate and correct the systematic odometry errors of a human-sized three-wheeled omnidirectional mobile robot designed as a versatile personal assistant tool. The correction procedure is based on the definition of 36 individual calibration trajectories which together depict a flower-shaped figure, on the measurement of the odometry and ground truth trajectory of each calibration trajectory, and on the application of several strategies to iteratively adjust the effective value of the kinematic parameters of the mobile robot in order to match the estimated final position from these two trajectories. The results have shown an average improvement of 82.14% in the estimation of the final position and orientation of the mobile robot. Therefore, these results can be used for odometry calibration during the manufacturing of human-sized three-wheeled omnidirectional mobile robots. Full article
(This article belongs to the Special Issue Trajectory Analysis, Positioning and Control of Mobile Robots)
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Article
An Orthogonal Wheel Odometer for Positioning in a Relative Coordinate System on a Floating Ground
Appl. Sci. 2021, 11(23), 11340; https://doi.org/10.3390/app112311340 - 30 Nov 2021
Cited by 1 | Viewed by 390
Abstract
This paper introduces a planar positioning sensing system based on orthogonal wheels and encoders for some surfaces that may float (such as ship decks). The positioning sensing system can obtain the desired position and angle information on any such ground that floats. In [...] Read more.
This paper introduces a planar positioning sensing system based on orthogonal wheels and encoders for some surfaces that may float (such as ship decks). The positioning sensing system can obtain the desired position and angle information on any such ground that floats. In view of the current method of using the IMU gyroscope for positioning, the odometer data on these floating grounds are not consistent with the real-time data in the world coordinate system. The system takes advantage of the characteristic of the orthogonal wheel, using four vertical omnidirectional wheels and encoders to position on the floating ground. We design a new structure and obtain the position and angle information of a mobile robot by solving the encoder installed on four sets of omnidirectional wheels. Each orthogonal wheel is provided with a sliding mechanism. This is a good solution to the problem of irregular motion of the system facing the floating grounds. In the experiment, it is found that under the condition that the parameters of the four omnidirectional wheels are obtained by the encoder, the influence of the angle change of the robot in the world coordinate system caused by the flotation of the ground can be ignored, and the position and pose of the robot on the fluctuating ground can be well obtained. Regardless of straight or curved motion, the error can reach the centimeter level. In the mobile floating platform experiment, the maximum error of irregular movement process is 2.43 (±0.075) cm and the RMSE is 1.51 cm. Full article
(This article belongs to the Special Issue Trajectory Analysis, Positioning and Control of Mobile Robots)
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