Development of the Ground Mobile Robot with Adaptive Agility Systems

Tyugin, Dmitry; Belyakov, V. V.; Kurkin, Andrey; Зезюлин, Д. В.; Filatov, V. I.

doi:10.1016/j.procs.2019.02.054

Cited by 2 publications

(3 citation statements)

References 10 publications

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“…The construction of the mobile robot is based on many studies and models (Baldemir et al 2020, Bhondve et al 2014, Bishop et al 2005, Dissanayake et al 2006, Habibian et al 2021, Kayisli et al 2017, Keçeci 2009, Liu et al 2016, Sucuoğlu et al 2018, Tyugin et al 2019, Zhang et al 2020, the structure should be suitable for the anonymous environment as much as possible. Depending on many previous studies, the autonomous mobile robot relies on suitable motor torques, sufficient to carry the tools used for mobile robot and low speed.…”

Section: Construction Of Autonomous Mobile Rescue Robotmentioning

confidence: 99%

Görsel Geri Beslemeli Otonom Mobil Kurtarma Robotunun Tasarım, Üretim ve Kontrolü

HASAN

Kara

2022

EJOSAT

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The construction of a smart autonomous mobile robot system that can operate in an anonymous environment can be difficult. Building an autonomous mobile robot requires collecting data from sensors and cameras in order to recognize the surrounding environment, get knowledge of existing landmarks, and figure out its position and orientation. Many research studies have been carried out in recent years providing algorithms for achieving autonomous motion of mobile robot systems and object detection. The most common platform utilized for robot motion design is ROS (Robot Operating System) and for object detection YOLO (You Only Look Once) is a common choice. Additionally, the autonomous system needs motion planning in a systematic way to avoid obstacles by using LIDAR or other sensing methods generating the feedback signals required for control of motion around occupied spaces. One of the most effective and versatile feedback systems for mobile robot control can be constructed using visual feedback, which relies on a high-resolution camera that processes the image in real-time and the result is fed back to the control system for decision making. Visual feedback can be employed alone without sensors for feedback control of autonomous mobile robots, and it can be used for multiple tasks like path planning, obstacle avoidance, object detection, object recognition in addition to motion control. In this research, results of design and construction of an autonomous mobile rescue robot for finding victims through video data are presented. It is aimed to find victims via applying video as a data collection and feedback generation tool in the autonomous mobile robot control system. The visual feedback and YOLO v3 are used not only for finding victims but also for motion control. Our autonomous mobile robot is designed to move smoothly to the victim's direction and avoids obstacles by using ROS Global Planner. The robot is tested in multiple scenarios in different locations, various obstacle and victim numbers, and satisfactory results with good performances are obtained.

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Section: Construction Of Autonomous Mobile Rescue Robotmentioning

confidence: 99%

Görsel Geri Beslemeli Otonom Mobil Kurtarma Robotunun Tasarım, Üretim ve Kontrolü

HASAN

Kara

2022

EJOSAT

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“…On the other hand, during off-road driving, the high kinematic flexibility of the driveline, restricts the ability to develop driving force on the wheels, due to changes in the coefficient of traction or the normal forces in the ground contact area [12,13,[19][20][21]. Increasing the driving forces requires limiting wheel slip [12,13,[23][24][25][26][27][28][29]. The reduction in slip can also improve the braking performance and stability of the movement of the vehicle [30][31][32][33][34].…”

Section: Introductionmentioning

confidence: 99%

“…This method allows for modeling complex phenomena using relatively simple mathematical functions [59][60][61][62]. They are characterized by quite high reliability, while the internal operation of the system can be described as a black box in Increasing the driving forces requires limiting wheel slip [12,13,[23][24][25][26][27][28][29]. The reduction in slip can also improve the braking performance and stability of the movement of the vehicle [30][31][32][33][34].…”

Section: Introductionmentioning

confidence: 99%

Research on Terrain Mobility of UGV with Hydrostatic Wheel Drive and Slip Control Systems

Łopatka,

Cieślik,

Krogul

et al. 2023

Energies

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The article explored the potential for enhancing the off-road mobility of unmanned ground vehicles (UGV) equipped with a hydrostatic drive system. The analysis showed that effectively overcoming rough or soft terrain demands a slip limitation. In the UGVs with hydrostatic drives, flow dividers are used for this purpose. Unfortunately, they have certain drawbacks, such as reduced efficiency due to pressure losses. In order to minimize this phenomenon, an external braking system was used as a new slip control system. Therefore, simulation studies were carried out to assess the new slip control system while overcoming terrain obstacles due to the reduction of energy consumption and improving the mobility of the UGV.

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Development of the Ground Mobile Robot with Adaptive Agility Systems

Cited by 2 publications

References 10 publications

Görsel Geri Beslemeli Otonom Mobil Kurtarma Robotunun Tasarım, Üretim ve Kontrolü

Görsel Geri Beslemeli Otonom Mobil Kurtarma Robotunun Tasarım, Üretim ve Kontrolü

Research on Terrain Mobility of UGV with Hydrostatic Wheel Drive and Slip Control Systems

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