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Semiautonomy and teleoperation modes of mobile robot IBIS — simulation and implementation

Treść / Zawartość
Identyfikatory
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
The work is concerned on the simulation and implementation of teleoperation and semiautonomy modes of IBIS mobile robot. A description of robot construction, used sensors as well as the algorithm for semiautonomy mode of operations is introduced. Simulation environment and experiment with Matlab/Simulink package with Simulink 3D Animation toolbox is discussed. In addition, an experiment on real target/robot and its results are presented as the scope of work.
Słowa kluczowe
Rocznik
Strony
48--55
Opis fizyczny
Bibliogr. 15 poz., wykr., rys., fot.
Twórcy
autor
  • Przemysłowy Instytut Automatyki i Pomiarów (PIAP), Al. Jerozolimskie 202, 02-486 Warszawa, pbigaj@piap.pl
  • Przemysłowy Instytut Automatyki i Pomiarów (PIAP), Al. Jerozolimskie 202, 02-486 Warszawa, mtrojnacki@piap.pl
autor
  • Politechnika Slaska, Wydział Automatyki, Elektroniki i Informatyki, ul. Akademicka 16, 44-100 Gliwice
Bibliografia
  • [1] Baturone, I., and A.A. Gersnoviez. “A Simple Neuro-Fuzzy Controller for Car-Like Robot Navigation Avoiding Obstacles”. Fuzzy Systems Conference, Proceedings. 2007: 1–6.
  • [2] Borenstein, J., and Y. Koren. “High-speed obstacle avoidance for mobile robots”. IEEE International Symposium on Intelligent Control, Proceedings. 1988: 382–384.
  • [3] Gao, M., and B.E. Shi. “Learning Mobile Robot Control for Obstacle Avoidance Based on Motion Energy Neurons”. Proceedings. 7th Asian Control Conference, Hong Kong, China, August 27–29, 2009: 994–999.
  • [4] Ghorbani, A., S. Shiry, and A. Nodehi. “Using Genetic Algorithm for a Mobile Robot Path Planning”. International Conference on Future Computer and Communication. 2009: 164–166.
  • [5] Jing, Xing-Jian. “Behaviour dynamics based motion planning of mobile robots in uncertain dynamic environments”. Robotics and Autonomous Systems 53 (2005): 99–123.
  • [6] Kyriacou, T., G. Bugmann, and S. Lauria. “Vision-based urban navigation procedures for verbally instructed robots”. Robotics and Autonomous Systems 51 (2005): 69–80.
  • [7] Nguyen, Van-Quyet, et al. “A Study on Obstacle Avoidance of Mobile Robot”. International Conference on Control, Automation and Systems. Proceedings. COEX, Seoul, Korea, Oct. 14–17, 2008: 2384–2389.
  • [8] Selekwa, M.F., et al. “Robot navigation in very cluttered environments by preference-based fuzzy behaviours”. Robotics and Autonomous Systems 56 (2008): 231–246.
  • [9] Trojnacki, M., and P. Szynkarczyk. “Tendencies in the development of mobile ground robots (3). Mobile robots autonomy — current state and advancement perspectives“. Pomiary Automatyka Robotyka 9 (2008): 5–9 (in Polish).
  • [10] Typiak, A. “Unmaned ground vehicles for military purposes”. Pomiary Automatyka Robotyka 2 (2007): appending on CD (8 pages) (in Polish).
  • [11] Ulrich, I. and J. Borenstein. “VFH+: reliable obstacle avoidance for fast mobile robots”. IEEE International Conference on Robotics and Automation, Proceedings 2, 1998: 1572–1577.
  • [12] Wang, M. and J.N.K. Liu. “Fuzzy logic-based real-time robot navigation in unknown environment with dead ends”. Robotics and Autonomous Systems 56 (2008): 625--643.
  • [13] Wołoszczuk, A., M. Andrzejczak, and P. Szynkarczyk. “Architecture of mobile robotics platform planned for intelligent robotic porter system — IRPS project”. Journal of Automation, Mobile Robotics & Intelligent Systems 1, 3 (2007): 59–63.
  • [14] IBIS robot specifi cation — http://www.antiterrorism.eu/ combat_robot.php
  • [15] http://www.youtube.com/user/osmpiap
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-d7477717-9aa0-4317-8658-15e8b1f24181
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