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Simulation and experimental evaluation of the EKF simultaneous localization and mapping algorithm on the wifibot mobile robot

Ayadi N., Derbel N., Morette N., Novales C., Poisson G.

Journal of Artificial Intelligence and Soft Computing Research

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2018

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Vol. 8, No. 2

91--101

EN

In recent years, autonomous navigation for mobile robots has been considered a highly active research field. Within this context, we are interested to apply the Simultaneous Localization And Mapping (SLAM) approach for a wheeled mobile robot. The Extended Kalman Filter has been chosen to perform the SLAM algorithm. In this work, we explicit all steps of the approach. Performances of the developed algorithm have been assessed through simulation in the case of a small scale map. Then, we present several experiments on a real robot that are proceeded in order to exploit a programmed SLAM unit and to generate the navigation map. Based on experimental results, simulation of the SLAM method in the case of a large scale map is then realized. Obtained results are exploited in order to evaluate and compare the algorithm’s consistency and robustness for both cases.

2

New approach for prediction the dc breakdown voltage using fuzzy logic controller

Rouini A., Derbel N., Hafaifa A., Kouzou A.

Diagnostyka

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2018

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Vol. 19, No. 3

55--62

EN

High voltage device design needs predicting the withstanding voltage to assay conditions as pulses, surges and the DC voltage. There is a great designer needed to have reliable design requirements and welldefined simulation procedure for the development of the apparatus. In this paper, Fuzzy Logic (FL) method is used to model breakdown voltage, based on experimental data generated in the laboratory. Different models are proposed with different membership functions for the FL under both DC voltage conditions. The purpose of this article is to investigate the discharge phenomenon for an air gap-point plan at with insulation barrier between themselves. Obtained results are encouraging. Proving that fuzzy logic is a powerful tool that can be used in predicting the properties of the barrier.

3

An Effective Localization Method for Robot Navigation Through Combined Encoders Positioning and Retiming Visual Control

Jallouli M., Amouri L., Derbel N.

Journal of Automation Mobile Robotics and Intelligent Systems

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2009

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Vol. 3, No. 2

15-23

EN

The paper presents an optimal mobile robot localization method through encoders' measurements and absolute localization using webcam data. This technique has been developed and implemented for the motion of the robot from an initial position towards another desired position, taking into account Kinematic constraints. The proposed method is a cheap technique, which deals with the problem of robot initial position as the visual system provides the origin absolute coordinates related to the reference system. First, we have developed an interface, which ensures the real-time localization of the mini robot Khepera II while tracking a virtual moving target. Secondly, we have carried out experimentations of both the relative localization method, which determines the speed values of each driving wheel, and absolute localization using webcam data, which determines the robot start position. Next, a correction of the mobile robot position has been realized by retiming points using webcam measures. The obtained results are compared and discussed through different trajectories.