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An artificial potential field based mobile robot navigation method to prevent from deadlock

Weerakoon T., Ishii K., Nassiraei A. A. F.

Journal of Artificial Intelligence and Soft Computing Research

2015

Vol. 5, No. 3

189--203

Artificial Potential Filed (APF) is the most well-known method that is used in mobile robot path planning, however, the shortcoming is that the local minima. To overcome this issue, we present a deadlock free APF based path planning algorithm for mobile robot navigation. The Proposed-APF (P-APF) algorithm searches the goal point in unknown 2D environments. This method is capable of escaping from deadlock and non-reachability problems of mobile robot navigation. In this method, the effective front-face obstacle information associated with the velocity direction is used to modify the Traditional APF (T-APF) algorithm. This modification solves the deadlock problem that the T-APF algorithm often converges to local minima. The proposed algorithm is explained in details and to show the effectiveness of the proposed approach, the simulation experiments were carried out in the MATLAB environment. Furthermore, the numerical analysis of the proposed approach is given to prove a deadlock free motion of the mobile robot.

Development of antagonistic wire-driven joint employing kinematic transmission mechanism

Sonoda T., Nishida Y., Nassiraei A. A. F., Ishii K.

Journal of Automation Mobile Robotics and Intelligent Systems

2010

Vol. 4, No. 2

62-70

Antagonistic mechanisms attract attentions as joint actuators of linkage mechanisms, which control output torque, joint stiffness and position simultaneously. As the actuators or components of antagonistic driven joints, special devices with nonlinear elasticity property such as pneumatic actuators, nonlinear springs are often utilized to satisfy the requirements of antagonistic mechanisms. However, these devices have difficulties in control caused by complex and nonlinear properties, downsizing of actuator, and response time of articular compliance. In order to solve these problems, we propose a new antagonistic joint mechanism using kinematic transmission mechanism (KTM), which is composed of links and cams with dedicated design. The performance of KTM is evaluated through stiffness and position control simulations and experiments.