Mobile robot navigation using a sensor network

Because of the limited working hours of astronauts in the space station, the in-cabin robot has high value in the technological validation and scientific research. Based on this requirement, we proposed and designed an Astronaut Assisted Robot(AAR) working in the space station. It can float in the space station cabin, fly autonomously, and hold a fixed position and/or posture. In addition, it also possesses environmental awareness capabilities and intelligence. Thus the AAR can assist astronauts to complete some special scientific experiments or technical tests. In this paper, the system architecture and experimental equipment of the AAR are designed firstly depending on the characteristics of space microgravity environment and the requirements of assisting astronauts missions. And then, the motion principles of the AAR are analyzed and the robot's dynamic model is established by using the Newton -Euler algorithm. Since the attitude control of the robot is the basis for its free movement, the PID Neural Network(PIDNN) algorithm, which is a kind of intelligent control algorithm, is used to design the attitude controller of the AAR. Finally, the reasonability of the robot's structural design and the availability of its attitude controllers are verified through the simulation experiments.

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“…It can measure the attitude angles, angular velocities and angular accelerations of the robot in real time [24].…”

Section: Imumentioning

confidence: 99%

Attitude control for astronaut assisted robot in the space station

Liu

Gao

Liu

et al. 2016

Int. J. Control Autom. Syst.

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“…In terms of problem setup, our work is related to research on the use of embedded sensor networks for robot navigation [9][10][11]. In such systems, sensor nodes spread in the environment are used to guide a mobile robot to a target.…”

Section: Related Workmentioning

confidence: 99%

Cooperative Stigmergic Navigation in a Heterogeneous Robotic Swarm

Ducatelle

Gambardella

2010

From Animals to Animats 11

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Abstract. We study self-organized cooperation in a heterogeneous robotic swarm consisting of two sub-swarms. The robots of each sub-swarm play distinct roles based on their different characteristics. We investigate how the swarm as a whole can solve complex tasks through a self-organized process based on local interactions between the sub-swarms. We focus on an indoor navigation task, in which we use a swarm of wheeled robots, called foot-bots, and a swarm of flying robots that can attach to the ceiling, called eye-bots. Foot-bots have to move back and forth between a source and a target location. Eye-bots are deployed in stationary positions against the ceiling, with the goal of guiding foot-bots. We study how the combined system can find efficient paths through a cluttered environment in a distributed way. The key component of our approach is a process of mutual adaptation, in which foot-bots execute instructions given by eye-bots, and eye-bots observe the behavior of foot-bots to adapt the instructions they give. The system is based on pheromone mediated navigation of ant colonies, as eye-bots function as stigmergic markers for foot-bots. Through simulation, we show that the system finds feasible paths in cluttered environments, converges onto the shortest of two paths, and spreads over different paths in case of congestion.

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“…According to Maxim A Batalin [1] stated that the issue in mobile robot navigation systems is classified in two term: local navigation which is only a few centimeters from the mobile robot and global navigation, which means a wider area in which the mobile robot can not observe the final destination of the robot movement's end points .Mobile Robot's movement control system still use infrared as a line sensor and ultrasonic sensors. There is a navigation system that already uses the robot's ability to identify and determine the position of the robot autonomously using GPS technology.…”

Section: Introductionmentioning

confidence: 99%

Developing Design of Mobile Robot Navigation System based on Android

Yatmono¹,

Muhfizaturrahmah²

2017

Proceedings of the International Conference on Technology and Vocational Teachers (ICTVT 2017)

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Abstract-Navigation system of the mobile robot movement is a basic problem of a mobile robot control system. We must be able to establish and control the movement of the mobile robot fit with what we want and can avoid obstacles or barriers that hinder direction of motion of the mobile robot. In this study attempted to develop a mobile robot navigation system using Bluetooth and Android smartphone. Android GUI system was developed using the facilities of online programming through site remotexy.com. Robots were developed based on Arduino UNO, 2 dc motors with L298N driver and HC05 Bluetooth communication system. Results from the trial showed that the GUI navigation system can be work properly control mobile robot movement and the range of a Bluetooth-based control reaches a maximum distance of 10.5 meters.

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Mobile robot navigation using a sensor network

Cited by 202 publications

References 9 publications

Attitude control for astronaut assisted robot in the space station

Attitude control for astronaut assisted robot in the space station

Cooperative Stigmergic Navigation in a Heterogeneous Robotic Swarm

Developing Design of Mobile Robot Navigation System based on Android

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