Autonomous Navigation Systems for Mobile Robots Base on Omnidirectional Vision System

Kasaei, S. Hamidreza; Kasaei, S. Mohammadreza; Kasaei, Shohreh; Taheri, Mohsen; Ahmadi, Navid; Delshad, M.

doi:10.1142/9789814291279_0009

Cited by 2 publications

(4 citation statements)

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“…This new world model contains information about the objects which may not have been seen by each agent correctly and also enhances approximations of all environmental information. The constructed world model is then sent back to all agents so they will have a better view of the world around them (Mohades Kasaei et al , 2009, 2010c, d Figure 11).…”

Section: World Model Constructionmentioning

confidence: 99%

“…So the task of the trajectory will be to guide the robots through the opponents to reach the destination. The routine used for this purpose is the potential field method (also an alternative new method is in progress which models the robot motion through opponents same as the flowing of a bulk of water through obstacles) (Mohades Kasaei et al , 2010, 2009). In this method different electrical charges are assigned to opponents, goal and the ball.…”

Section: Behaviors Enginementioning

confidence: 99%

“…For this reason it is important to make sure that there is some possible path, although there are ways around this restriction such as returning an error if the potential at the start point is too high. The path is found by moving to the neighboring square with the lowest potential, starting at any point in the space and stopping when the goal is reached (Mohades Kasaei et al , 2009 Figure 15).…”

Section: Behaviors Enginementioning

confidence: 99%

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Design and implementation of a fully autonomous humanoid soccer robot

Kasaei

Kasaei²,

Kasaei³

2012

Industrial Robot: An International Journal

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PurposeThe purpose of this paper is to design and implement a team of kid size humanoid soccer robots conforming to RoboCup Humanoid league.Design/methodology/approachThe project is described in two main parts: hardware and software. The hardware section consists of the mechanical structure and the driver circuit board enabling each robot to walk, fast walk, autonomously get up, kick and dribble when it catches the ball. The software is developed as a robot application which consists of motion controller, autonomous motion robot, self localization based on vision system, AI, trajectory planning and network.FindingsThis year, the authors' developments for the humanoid robot include: the design and construction of our new humanoid robots structure and implementation of a new recurrent hybrid neural network for walking control. The control system consists of two neural network controllers, two standard PD controllers and a robot walking planar. The proposed neural network controller has three layers, which are input, hidden, and output layers.Originality/valueThis paper presents results of research work in the field of autonomous robot‐middle size soccer robot, supported by IAU‐ Isfahan Branch (Khorasgan).

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Section: World Model Constructionmentioning

confidence: 99%

Section: Behaviors Enginementioning

confidence: 99%

Section: Behaviors Enginementioning

confidence: 99%

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Design and implementation of a fully autonomous humanoid soccer robot

Kasaei

Kasaei²,

Kasaei³

2012

Industrial Robot: An International Journal

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“…Since the beginning of mobile robot, the map building was one of the most addressed problems by researchers. Several researchers used omni-directional vision for robot navigation and map building (Mohades Kasaei et al, 2009a). Because of the wide field of view in omni-directional sensors, the robot does not need to look around using moving parts (cameras or mirrors) or turning the moving parts (Taheri et al, 2009b).…”

Section: Omni-directional Vision Systemmentioning

confidence: 99%

Modeling and implementation of a fully autonomous soccer robot based on omni‐directional vision system

Kasaei

et al. 2010

Industrial Robot: An International Journal

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About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -The purpose of this paper is to design and implement a team of middle size soccer robots to conform RoboCup middle-size league. Design/methodology/approach -First, according to the rules of RoboCup, a middle size soccer robot was designed. The proposed autonomous soccer robot consists of the mechanical platform, motion control module, omni-directional vision module, front vision module, image processing and recognition module, investigated target object positioning and real coordinate reconstruction, robot path planning, competition strategies, and obstacle avoidance. This soccer robot equips the laptop computer system and interface circuits to make decisions. Findings -In fact, the omni-directional vision sensor of the vision system deals with the image processing and positioning for obstacle avoidance and target tracking. The boundary-following algorithm is applied to find the important features of the field. The sensor data fusion method is utilized in the control system parameters, self-localization, and world modeling. A vision-based self-localization, and the conventional odometry systems are fused for robust self-localization. The localization algorithm includes filtering, sharing, and integration of the data for different types of objects recognized in the environment. Originality/value -This paper presents results of research work in the field of autonomous robot-middle size soccer robot supported by IAU-Khorasgan Branch (Isfahan).

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Autonomous Navigation Systems for Mobile Robots Base on Omnidirectional Vision System

Cited by 2 publications

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Design and implementation of a fully autonomous humanoid soccer robot

Design and implementation of a fully autonomous humanoid soccer robot

Modeling and implementation of a fully autonomous soccer robot based on omni‐directional vision system

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