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Java simulator for an autonomous mobile robot operating in the presence of sensor faults

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EN
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This paper presents two-dimensional mobile robot simulator written in Java. Robot performs autonomous navigation based on infrared sensors. Sensing range and angle can be adjusted in real-time. Obstacle detection an avoidance algorithm was implemented. In this paper, the wall-following problem for mobile robot in the presence of sensors faults is considered in detail. Time related method of robot orientation relative to the wall is shown. A few experimental tests are reported to discuss the robustness of control algorithm and verify simulations results.
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56--60
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Bibliogr. 16 poz., rys., fot.
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Bibliografia
  • [1] Olivier, M. “Cyberbotics Ltd — WebotsTM: Professional Mobile Robot Simulation.” International Journal of Advanced Robotic Systems 1.1 (2004): 40–43.
  • [2] Jackson, J. “Microsoft robotics studio: A technical introduction.” IEEE Robotics and Automation Magazine 14.4 (2007): 82–87.
  • [3] Gerkey, B., R. Vaughan, A. Howard. “Th e Player/Stage Project Tools for Multi-Robot and Distributed Sensors Systems.” In Proceedings of the 11th International Conference on Advanced Robotics. Coimbra, Portugal, June 2003: 317–323.
  • [4] http://www.mobotsoft.com
  • [5] http://www.urbiforge.com
  • [6] Hugues, L., and N. Bredeche. “Simbad: An autonomous robot simulation package for education and research”. Lecture Notes in Computer Science 4095 (2006): 831–842.
  • [7] Hubbard, P.M. “Collision Detection for Interactive Graphics Applications.” IEEE Transactions on Visualization and Computer Graphics 1 (1995): 218–230.
  • [8] Gilbert, E.G., D.W. Johnson, and S.S. Keerthi. “A Fast Procedure for Computing the Distance between Complex Objects in Th ree-Dimensional Space.” IEEE Journal of Robotics and Automation 4.2 (1988): 193–203.
  • [9] Ong C.J., and E.G. Gilbert. “Fast version of the Gilbert-Johnson-Keerthi distance algorithm: Additional results and comparisons.” IEEE Transactions on Robotics and Automation 17.4 (2001): 531–539.
  • [10] Siegwart R., and I. Nourbakhsh. Introduction to Autonomous Mobile Robots. Cambridge, Massachusetts: MIT Press, 2004.
  • [11] Cuesta F., and A. Ollero. Intelligent Mobile Robot Navigation. Berlin: Springer-Verlag, 2005.
  • [12] Borenstein, J., et al. “Mobile robot positioning — Sensors and techniques.” Journal of Robotic Systems 14.4 (1997): 231–249.
  • [13] Carelli R., and E.O. Freire. “Corridor navigation and wall-following stable control for sonar-based mobile robots.” Robotics and Autonomous Systems 45 (2003): 235--247.
  • [14] Li, T-H.S., S-J. Chang, and W. Tong. “Fuzzy target tracking control of autonomous mobile robots by using infrared sensors.” IEEE Transactions on Fuzzy Systems 12.4 (2004): 491–501.
  • [15] Juang, C., and C-H. Hsu. “Reinforcement ant optimized fuzzy controller for mobile-robot wall-following control.” IEEE Transactions on Industrial Electronics 56.10 (2009): 3931–3940.
  • [16] Noura, H., et al. Fault-tolerant Control Systems: Design and Practical Applications. London: Springer-Verlag, 2009.
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