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Electronics
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Perception and Control in Mobile Robots
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Perception and Control in Mobile Robots

A special issue of Electronics (ISSN 2079-9292). This special issue belongs to the section "Computer Science & Engineering".

Deadline for manuscript submissions: closed (16 July 2024) | Viewed by 3464

Special Issue Editor

Dr. Weihua Li

E-Mail Website
Guest Editor
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
Interests: mobile robots; telerobotics; motion control; path planning; robot dynamics; human-robot interaction

Special Issue Information

Dear Colleagues,

In recent years, with the development of artificial intelligence, mobile robots have been able to replace humans to complete more complex tasks in challenging fields, such as autonomous vehicles and planet exploration, by adopting advanced perception and control technologies. In these tasks, the efficiency, safety, and intelligence of mobile robots have advanced significantly. Although mobile robots have been widely employed in the industrial field, harsh environments, complex tasks, and unknown external disturbances still pose challenges to the intelligent operation of mobile robots. Therefore, it is vital that mobile robots with higher performance are developed by improving their perception and control technologies in order to meet various application needs, including in industry, healthcare, disaster rescue, and planet exploration.

This Special Issue of Electronics, entitled “Perception and Control of Mobile Robots”, is devoted to providing a high-quality platform for sharing new findings in this area. This Special Issue seeks authors who wish to present novel technologies and their latest achievements in the perception and control of mobile robots in light of the aforementioned challenges.

In this Special Issue, original research articles and reviews are welcome. Research areas may include (but are not limited to) the following:

- Wheeled mobile robots;

- Legged mobile robots;

- Aerial robots;

- Driver-less vehicles;

- Mobile manipulators;

- Teleoperation of mobile robots;

- Human–robot interaction;

- Robot control system;

- Environment perception;

- Object detection;

- SLAM;

- Path and motion planning;

- Collision avoidance;

- Reinforcement learning.

I look forward to receiving your contributions.

Dr. Weihua Li
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

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. Electronics 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 2400 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
  • motion planning
  • motion control
  • SLAM
  • object detection

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Published Papers (2 papers)

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Research

14 pages, 3204 KiB  
Article
Modeling and Analysis of Stable Contact States in the Anthropomorphic Robotic Hand with Soft Materials and Rigid Structures
by Yongyao Li, Yufei Liu, Qingzhan Li, Yi Zeng, Chengxin Yin, Zeyuan Sun, Dongdong Zheng, Yu Du, Ming Cong and Lei Jiang
Electronics 2024, 13(7), 1319; https://doi.org/10.3390/electronics13071319 - 1 Apr 2024
Viewed by 1451
Abstract
Conducting contact state analysis enhances the stability of object grasping by an anthropomorphic robotic hand. The incorporation of soft materials grants the anthropomorphic robotic hand a compliant nature during interactions with objects, which, in turn, poses challenges for accurate contact state analysis. According [...] Read more.
Conducting contact state analysis enhances the stability of object grasping by an anthropomorphic robotic hand. The incorporation of soft materials grants the anthropomorphic robotic hand a compliant nature during interactions with objects, which, in turn, poses challenges for accurate contact state analysis. According to the characteristic of the anthropomorphic robotic hand’s compliant contact, a kinetostatic modeling method based on the pseudo-rigid-body model is proposed. It can realize the mapping between contact force and driving torque. On this basis, the stable contact states of the anthropomorphic robotic hand under the envelope grasping mode are further analyzed, which are used to reasonably plan the contact position of the anthropomorphic robotic hand before grasping an object. Experimental results validate the efficacy of the proposed approach during grasping and ensure stable contact in the initial grasping stage. It significantly contributes to enhancing the reliability of the anthropomorphic robotic hand’s ability to securely grasp objects. Full article
(This article belongs to the Special Issue Perception and Control in Mobile Robots)
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33 pages, 16458 KiB  
Article
A Hierarchical Trajectory Planning Algorithm for Automated Guided Vehicles in Construction Sites
by Yu Bai, Pengpeng Li, Zhipeng Cui, Peng Yang and Weihua Li
Electronics 2024, 13(6), 1080; https://doi.org/10.3390/electronics13061080 - 14 Mar 2024
Cited by 1 | Viewed by 1462
Abstract
Herein, to address the challenges faced by Automatic Guided Vehicles (AGVs) in construction site environments, including heavy vehicle loads, extensive road search areas, and randomly distributed obstacles, this paper presents a hierarchical trajectory planning algorithm that combines coarse planning and precise planning. In [...] Read more.
Herein, to address the challenges faced by Automatic Guided Vehicles (AGVs) in construction site environments, including heavy vehicle loads, extensive road search areas, and randomly distributed obstacles, this paper presents a hierarchical trajectory planning algorithm that combines coarse planning and precise planning. In the first-level coarse planning, lateral and longitudinal sampling is performed based on road environment constraints. A multi-criteria cost function is designed, taking into account factors such as deviation from the road centerline, shortest path cost, and obstacle collision safety cost. An efficient dynamic programming algorithm is used to obtain the optimal path. Considering nonholonomic constraints of vehicles, eliminating inflection points using improved B-Spline path fitting, and a quadratic programming algorithm is proposed to enhance path smoothness, completing the coarse planning algorithm. In the second-level precise planning, the coarse planning path is used as a reference line, and small-range sampling is conducted based on AGV motion constraints, including lateral displacement and longitudinal velocity. Lateral and longitudinal polynomials are constructed. To address the impact of randomly appearing obstacles on vehicle stability and safety, an evaluation function is designed, considering factors such as jerk and acceleration. The optimal trajectory is determined through collision detection, ensuring both safe obstacle avoidance and AGV smoothness. Experimental results demonstrate the effectiveness of this method in solving the path planning challenges faced by AGVs in construction site environments characterized by heavy vehicle loads, extensive road search areas, and randomly distributed obstacles. Full article
(This article belongs to the Special Issue Perception and Control in Mobile Robots)
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