Coordinated Control Of Mobile Robots Based On Artificial Vision

Soria, Carlos; Carelli, Ricardo; Kelly, Rafael; Zannatha, Juan Manuel Ibarra

doi:10.15837/ijccc.2006.2.2288

Cited by 16 publications

(5 citation statements)

References 6 publications

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“…Leader following robot is mobile robot that follows the command of the leader robot. It can be used as an active signal positioning machine to discover and track the leader position [14]. The leader robot works together with all its following robots to move the box.…”

Section: Mobile Robotmentioning

confidence: 99%

Embedded Artificial Neural Network FPGA Controlled Cart

Ahmad¹,

Alhady²,

Oon³

et al. 2019

Adv. sci. technol. eng. syst. j.

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An artificial neural network (ANN) computing system can be significantly influenced by its implementation type. The software implemented ANN can produce high accuracy output with slow computation time performance compared to hardware implemented ANN which runs at a faster computation time but with low accuracy. Normally, software implementation reduces the proficiency and efficiency of the model. Robot performance plays an important role as it needs fast response to process information that is applied with ANN. As a consequence, the proposed research focuses on comparison between hardware and software implementation multilayer perceptron (MLP) for cart follower in Field Programmable Logic Array (FPGA). Both of the software and hardware models produced the same precision where the output distance at angles-10°, 0° and 10° shows same percentage error. Besides that, both of the models have similar root mean square error (RMSE) which are 0.469, 0.479 and 0.267 at-10°, 0° and 10° respectively. The processing time of MLP model implemented in hardware and software are at 1.91μs and 78.06μs respectively. Thus, it can be concluded that hardware implementation is better than software implementation.

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Section: Mobile Robotmentioning

confidence: 99%

Embedded Artificial Neural Network FPGA Controlled Cart

Ahmad¹,

Alhady²,

Oon³

et al. 2019

Adv. sci. technol. eng. syst. j.

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“…In the first, features are extracted from the image of a target, and through the knowledge about its geometry it is possible to determine the posture of the target with respect to the camera (Malis, 2004). In the second, image-base approaches, the servoing is done directly on the image domain without the need of the geometry model of the target (Kapur et al, 2005;Soria et al, 2006).This kind of approaches may reduce computational delays and minimize some errors due to camera calibration. Nevertheless, it is necessary to compute or estimate the feature Jacobian matrix, which represents a difficulty for the control architecture since the process is non-linear and high coupled.…”

Section: State-of-the-artmentioning

confidence: 99%

Head Motion Stabilization During Quadruped Robot Locomotion

Oliveira

Santos

Costa

et al. 2011

International Journal of Natural Computing Research

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In this work, the authors propose a combined approach based on a controller architecture that is able to generate locomotion for a quadruped robot and a global optimization algorithm to generate head movement stabilization. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs) that are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows for explicitly specified parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. The overall idea is to generate head movement opposed to the one induced by locomotion, such that the head remains stabilized. Thus, in order to achieve this desired head movement, it is necessary to appropriately tune the CPG parameters. Three different global optimization algorithms search for this best set of parameters. In order to evaluate the resulting head movement, a fitness function based on the Euclidean norm is investigated. Moreover, a constraint-handling technique based on tournament selection was implemented.

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“…In Bugarin and Aguilar-Bustos 2014) is addressed this problem with the fixed-camera arrangement and with the Image-Based alternative where it is highlighted that their controller is independent of the knowledge of the vision system parameters. In Benhimane et al (2005), Min et al (2009), andSoria et al (2006) the formation control problem is solved using the camera-mounted arrangement with the Position-Based alternative and, in their results, there exist the need of the full or partial knowledge of the vision system parameters. In Das et al (2002), Mariottini et al (2007), and Roberti et al (2011) are proposed controllers under the same conditions as above (mounted-camera and Position-Based alternative) but by means of catadioptric vision systems, basically to expand the field of view.…”

Section: Introductionmentioning

confidence: 99%

Leader-follower scheme for unicycle-type mobile robots with mounted camera

Bugarin

Aguilar-Bustos

Durazo-Acevedo

2022

ICBI

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This paper describes a formation control proposal for unicycle-type mobile robots under the leader-follower scheme with mounted camera. The control objective is determined directly in image space, hence this proposal corresponds with the Image-Based Visual Servoing (IBVS) alternative. Using the Lyapunov stability theory, two controllers are designed: one that depends partially on the parameters of the vision system and another one that is robust to the three-dimensional parameters of the features that are mapped to the image space (the image features). Finally, experiments on a soft real-time platform with satisfactory results are carried out to validate the proposed theory.

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Coordinated Control Of Mobile Robots Based On Artificial Vision

Cited by 16 publications

References 6 publications

Embedded Artificial Neural Network FPGA Controlled Cart

Embedded Artificial Neural Network FPGA Controlled Cart

Head Motion Stabilization During Quadruped Robot Locomotion

Leader-follower scheme for unicycle-type mobile robots with mounted camera

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