Influence of mobile robot control algorithms on the process of avoiding obstacles

• Autorzy: Wójcicki P. , Powroźnik P. , Żyła K. , Grzegórski S.

Identyfikatory

DOI

10.5604/01.3001.0012.8041

Warianty tytułu

PL

Wpływ algorytmów sterowania robotem mobilnym na proces unikania przeszkód

• Języki publikacji: EN

Abstrakty

EN

This article presents algorithms for controlling a mobile robot. An algorithms are based on artificial neural network and fuzzy logic. Distance was measured with the use of ultrasonic sensor. The equipment applied as well as signal processing algorithms were characterized. Tests were carried out on a mobile wheeled robot. The analysis of the influence of algorithm while avoiding obstacles was made.

PL

W artykule przedstawiono algorytmy sterowania robotem mobilnym. Wykorzystano algorytm oparty o sztuczną sieć neuronową oraz logikę rozmytą. Odległość od przeszkód mierzono za pomocą czujnika ultradźwiękowego. Scharakteryzowano zastosowane urządzenia oraz algorytmy przetwarzania sygnałów. Testy przeprowadzono na mobilnym robocie kołowym. Przeprowadzono analizę wpływu algorytmów sterowania podczas omijania przeszkód.

Słowa kluczowe

EN

mobile robot; algorithm; collision avoidance

PL

robot mobilny; algorytm; unikanie kolizji

• Wydawca: Wydawnictwo Politechniki Lubelskiej
• Czasopismo: Informatyka, Automatyka, Pomiary w Gospodarce i Ochronie Środowiska
• Rocznik: 2018
• Tom: T. 8, nr 4
• Strony: 60--63
• Opis fizyczny: Bibliogr. 16 poz., rys.

Twórcy

autor

Wójcicki P.

• Lublin University of Technology, Institute of Computer Science

autor

Powroźnik P.

• Lublin University of Technology, Institute of Computer Science

autor

Żyła K.

• Lublin University of Technology, Institute of Computer Science

autor

Grzegórski S.

• Lublin University of Technology, Institute of Computer Science

Bibliografia

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• [13] Stączek P.: Digital signal processing in ultrasonic based navigation system for mobile robots. ITM Web Conf. 15, 2017 [doi:10.1051/itmconf/20171505008].
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• [15] Wu T.F., Tsai P.S., Hu N.T., Chen J.Y.: Use of Ultrasonic Sensors to Enable Wheeled Mobile Robots to Avoid Obstacles. Tenth International Conference on Intelligent Information Hiding and Multimedia Signal Processing, 2014, 958–961 [doi: 10.1109/IIH-MSP.2014.240].
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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).