83 Results Found

In recent years, the use of electric Autonomous Wheeled Mobile Robots (AWMRs) has dramatically increased in transport of the production chain. Generally, AWMRs must operate for several hours on a single battery charge. Since the energy density of the...

The main contribution of this paper is the modeling and control for a complex autonomous system (CAS). It is equipped with a visual sensor to operate precision positioning in a technology executed on a laboratory mechatronics line. The technology all...

This paper proposes the implementation of an assisting technology to a processing/reprocessing mechatronics line (P/RML), comprising the following: two autonomous robotic systems (ARSs), two robotic manipulators (RMs) and three visual servoing system...

An end-to-end approach to autonomous navigation that is based on deep reinforcement learning (DRL) with a survival penalty function is proposed in this paper. Two actor–critic (AC) frameworks, namely, deep deterministic policy gradient (DDPG) a...

The intensive advances in robotics have deeply facilitated the accomplishment of tedious and repetitive tasks in our daily lives. If robots are now well established in the manufacturing industry, thanks to the knowledge of the environment, this is st...

Autonomous mobile vehicles need advanced systems to determine their exact position in a certain coordinate system. For this purpose, the GPS and the vision system are the most often used. These systems have some disadvantages, for example, the GPS si...

Reducing costs and time spent in experiments in the early development stages of vehicular technology such as off-road and agricultural semi-autonomous robots could help progress in this research area. In particular, evaluating path tracking strategie...

This paper proposes a design methodology for a six-wheeled rover that adapt to different stairs and maintain its stability based on the robot’s parameters, the kinematics constraints, the maximum height, and the minimum length of the step requi...

A navigation algorithm providing motion planning for two-wheeled mobile robots is proposed in this paper. The motion planning integrates path planning, velocity planning and controller design. Bidirectional rapidly-exploring random trees algorithms (...

The primary challenge is to design feedback controls that enable robots to autonomously reach predetermined destinations while avoiding collisions with obstacles and other robots. Various control algorithms, such as the control barrier function-based...

Axial Flux Permanent Magnet Synchronous Motor (AFPMSM) offers high power density in structures with short axial lengths and large radial dimensions, making it attractive for applications that require thin structures, such as in-wheel motors. This stu...

Autonomous navigation is one of the key tasks in the development of control systems for real autonomous mobile objects. This paper presents the developed technology for accurately determining the position of a mobile robot in an autonomous operating...

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to si...

The recent advancementsin autonomous driving technology have led to an increased utilization of mobile robots across various industries. Notably, four-wheel steering robots have gained significant attention due to their robustness and agile maneuveri...

This paper presents the design of a four omni-wheeled mobile robot consisting of four omni wheels, with each wheel connecting to a separate DC motor. Additionally, the presence of a telescopic leg with a linear RC servo actuator enables the robot to...

A slip-aware localization framework is proposed for mobile robots experiencing wheel slip in dynamic environments. The framework fuses infrastructure-aided visual tracking data (via fisheye lenses) and proprioceptive sensory data from a skid-steer mo...

Wheeled lifting robots have found widespread applications in various industrial and logistical environments. However, traditional robots are far from adequate in terms of visual perception capabilities. Additionally, their remote control methods suff...

Mobile robots are endeavoring toward full autonomy. To that end, wheeled mobile robots have to function under non-holonomic constraints and uncertainty derived by feedback sensors and/or internal dynamics. Speed control is one of the main and challen...

Wheeled mobile robots are widely used for their excellent mobility and high maneuverability. The intelligentization of mobile robots to perform autonomous movement is one of the favorite topics in the robotic field. This paper proposes a new intellig...

The key factor for autonomous navigation is efficient perception of the surroundings, while being able to move safely from an initial to a final point. We deal in this paper with a wheeled mobile robot working in a GPS-denied environment typical for...

With the rapid development of robotics, wheeled mobile robots are widely used in smart factories to perform navigation tasks. In this paper, an optimal trajectory planning method based on an improved dolphin swarm algorithm is proposed to balance loc...

Trajectory tracking control is important in order to realize autonomous driving of mobile robots. From a control standpoint, trajectory tracking can be stated as the problem of stabilizing a tracking error system that describes both position and orie...

This work presents the development and implementation of a distributed navigation system based on object recognition algorithms. The main goal is to introduce advanced algorithms for image processing and artificial intelligence techniques for teachin...

This article proposes a decentralized controller for differential mobile robots, providing autonomous navigation and obstacle avoidance by enforcing a formation toward trajectory tracking. The control system relies on dynamic modeling, which integrat...

To protect the personnel of the intervention units operating in high-risk areas, it is necessary to introduce (autonomous/semi-autonomous) robotic intervention systems. Previous studies have shown that robotic intervention systems should be as versat...

The use of robots in various industries has increased significantly in recent years, with mobile robots playing a central role in automation. Their applications range from service robotics and automated material handling to bomb disposal and planetar...

This paper presents a mapping system that is suitable for small mobile robots. An ad hoc algorithm for mapping based on the Occupancy Grid method has been developed. The algorithm includes some simplifications in order to be used with low-cost hardwa...

Mobile robots have played a vital role in the transportation industries, service robotics, and autonomous vehicles over the past decades. The development of robust tracking controllers has made mobile robots a powerful tool that can replace humans in...

Aiming at the problems of low mapping accuracy, slow path planning efficiency, and high radar frequency requirements in the process of mobile robot mapping and navigation in an indoor environment, this paper proposes a four-wheel drive adaptive robot...

A communication and control architecture of a multifunctional technology for flexible manufacturing on an assembly, disassembly, and repair mechatronics line (A/D/RML), assisted by a complex autonomous system (CAS), is presented in the paper. A/D/RML...

A typical orchard’s mechanical operation consists of three or four stages: lining and digging for plantation, moving the seedling from nurseries to the farm, moving the seedling to the planting hole, and planting the seedling in the hole. Howev...

While the demand for new high-tech technologies is rapidly increasing, difficulties are presented, such as aging and population decline in rural areas. In particular, autonomous mobile robots have been emerging in the agricultural field. Worldwide, h...

Indoor navigation robots, which have been developed using a robot operating system, typically use a direct current motor as a motion actuator. Their control algorithm is generally complex and requires the cooperation of sensors such as wheel encoders...

This research work presents the design and the development of a cost-effective autonomous mobile robot for locating misplaced objects within unstructured indoor environments. The tools integrated into the proposed system for perception and localizati...

A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assist...

Wheeled mobile robots are widely implemented in the field environment where slipping and skidding may often occur. This paper presents a self-adaptive path tracking control framework based on a radial basis function (RBF) neural network to overcome s...

Complex environments pose great challenges for autonomous mobile robot navigation. In this study, we address the problem of autonomous navigation in 3D environments with staircases and slopes. An integrated system for safe mobile robot navigation in...

This scientific paper presents the development and validation process of a dynamic model in Simulink used for decision-making regarding the locomotion and driving type of autonomous omnidirectional mobile platforms. Unlike traditional approaches rely...

Locating an inspection robot is an essential task for inspection missions and spatial data acquisition. Giving a spatial reference to measurements, especially those concerning environmental parameters, e.g., gas concentrations may make them more valu...

Robotic systems for research and development of factory automation are complex and unavailable for broad deployment in robotic laboratory settings. The usual robotic factory automation setup consists of series of sensors, robotic arms and mobile robo...

The COVID-19 pandemic imposes an increasing demand for service robots as a substitute for humans to conduct various types of work in contaminated areas. Such work includes logistics, patient care, and disinfection, which can reduce the risk of human...

The paper demonstrates a following robot with omni-directional wheels, which is able to take action to avoid obstacles. The robot design is based on both fuzzy and extension theory. Fuzzy theory was applied to tune the PMW signal of the motor revolut...

Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surround...

Observing microclimate changes is one of the most popular applications of wireless sensor networks. However, some target environments are often too dangerous or inaccessible to humans or large robots and there are many challenges for deploying and ma...

Lofting is an essential part of construction projects and the high quality of lofting is the basis of efficient construction. However, the most common method of lofting currently which uses the total station in a multi-person cooperative way consumes...

Forest surveying and inspection face significant challenges due to unstructured environments, variable terrain conditions, and the high costs of manual data collection. Although mobile robotics and artificial intelligence offer promising solutions, r...

Self-localisation is a critical concept in the context of autonomous navigation and control of mobile robots. The most prevalent method for localisation is sensor fusion. Nevertheless, there are certain situations where the robots are compelled to lo...

Omni-wheeled mobile robots (Omni WMRs) are commonly used in indoor navigation applications like surveillance, search and rescue, and autonomous transportation. They are always characterized by their versatility, mobility and high payload. This paper...

A digital twin for a multifunctional technology for flexible manufacturing on an assembly, disassembly, and repair mechatronics line (A/D/RML), assisted by a complex autonomous system (CAS), is presented in the paper. The hardware architecture consis...

This paper aims to describe modeling and control in what concerns advanced manufacturing technology running on a flexible assembly, disassembly and repair on a mechatronic line (A/D/RML) assisted by an Autonomous Robotic System (ARS), two robotic man...