Multi-sensor fusion for reduced uncertainty in autonomous mobile robot docking and recharging

Luo, Ren C.; Liao, Chao; Lin, Shih Chin

doi:10.1109/iros.2009.5354445

Cited by 14 publications

(10 citation statements)

References 14 publications

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“…Alternatif yang dapat digunakan adalah dengan membangun stasiun pengisian daya pada baterai mobile robot. Dengan adanya stasiun pengisian daya pada baterai robot, maka diperlukan suatu sistem pada robot agar dapat melakukan docking pada tempat pengisian daya dengan posisi yang tepat agar daya yang terisi pada robot menjadi optimal [2].…”

Section: Pendahuluanunclassified

Autonomous Docking System untuk Mobile Robot Berbasis Citra pada Stasiun Pengisian Daya Nirkabel

Susanto¹,

Rivai²,

Tasripan³

2019

JTITS

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Teknologi pada robot mulai dikembangkan untuk dapat bekerja di luar ruangan selama 24 jam penuh. Permasalahan yang muncul adalah robot ini tidak memiliki daya baterai yang cukup agar dapat bekerja selama seharian. Sebagai solusinya, maka dibangun stasiun pengisian daya di beberapa titik untuk mengisi daya pada baterai robot. Teknologi yang digunakan untuk mencari keberadaan stasiun pengisian daya adalah dengan menggunakan GPS. Akan tetapi GPS tidak selalu memberikan titik akurat dari keberadaan stasiun pengisian daya. Pada penilitian ini, metode yang ditawarkan adalah dengan menggunakan kamera untuk mendeteksi dan menuju stasiun pengisian daya dengan asumsi robot telah menggunakan GPS untuk menemukan koordinatnya. Kamera akan mendeteksi objek dalam bentuk dua dimensi, kemudian citra yang ditangkap akan dikonversi ke bentuk channel HSV untuk mengetahui warna dari objek yang dijadikan target. Setelah itu, contour dari objek akan dicari untuk mendapatkan luas dan titik tengah objek. Dua parameter tersebut akan digunakan untuk menjalankan robot dengan motor dc yang akan dikontrol secara proporsional untuk mendapatkan hasil yang lebih presisi. Hasil yang didapat dari uji coba pada mobile robot adalah bahwa titik tengah objek lebih efektif untuk dijadikan set point dengan tingkat keberhasilan yang didapat pada pengujian akhir sebesar 75%.

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Section: Pendahuluanunclassified

Autonomous Docking System untuk Mobile Robot Berbasis Citra pada Stasiun Pengisian Daya Nirkabel

Susanto¹,

Rivai²,

Tasripan³

2019

JTITS

View full text Add to dashboard Cite

show abstract

“…Multi-sensor fusion technology based collision avoidance approximation with ultrasonic and infrared sensors was used in [10], [11]. A novel sensor data methodology for mobile robots in unknown environments was conceived in [12]. In addition to this, fuzzy algorithms were used for the robot's path planning.…”

Section: Related Workmentioning

confidence: 99%

Collision-Free Mobile Robot navigation using Fuzzy Logic Approach

Dirik¹

2018

IJCA

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Autonomous mobile robots' navigation has become a very popular and interesting topic of computer science and robotics in the last decade. Many algorithms have been developed for robot motion control in an unknown (indoor/outdoor) and in various environments (static/dynamic). Fuzzy logic control techniques are an important algorithm developed for robot navigation problems. The aim of this research is to design and develop a fuzzy logic controller that enables the mobile robot to navigate to a target in an unknown environment, using WEBOTS commercial mobile robot simulation and MATLAB software. The algorithm is divided into two stages; In the first stage, the mobile robot was made to go to the goal, and in the second stage, obstacle avoidance was realized. Robot position information (x, y, Ø) was used to move the robot to the target and six sensors data were used during the obstacle avoidance phase. The used mobile robot (E_PUCK) is equipped with 12 IR sensors to measure the distance to the obstacles. The fuzzy control system is composed of six inputs grouped in doubles which are left, front and right distance sensors two outputs which are the mobile robot's left and right wheel speeds. To check the simulation result for proposed methodology, WEBOTS simulator and MATLAB software were used. To modeling the environment in different complexity and design, this simulator was used. The experimental results have shown that the proposed architecture provides an efficient and flexible solution for autonomous mobile robots and the objective of this research has been successfully achieved. This research also indicated that WEBOT and MATLAB are suitable tools that could be used to develop and simulate mobile robot navigation system.

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“…In particular, robots not only save human resources, but also replace humans to perform dangerous tasks. In recent years, autonomous mobile robots are developed rapidly [1][2][3][4][5][6]. In 2004, Yang et al proposed a combined navigation strategy by two interfaces [1].…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, in order to achieve the intelligent robot positioning function, some scholars [3,4] proposed different control laws to deal with the path planning and the autonomous navigation. Besides, many researchers presented the integration of multisensors to reduce uncertainty in autonomous mobile robots [5][6][7]. However, multismart vehicles, which integrated disaster detection, warning system, and autonomous cruise, are rarely explored.…”

Section: Introductionmentioning

confidence: 99%

Integration of Disaster Detection and Warning System for a Smart Vehicle

Wang

Lien

Hsieh

2014

Advances in Mechanical Engineering

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For firefighters and rescuers, the disaster relief works are difficulty performed in the tunnels because of their constricted space. To reduce the losses of accident, the safety of tunnels and factories should be ordinarily kept under surveillance. Hence, a multisensor based smart tracked vehicle is designed for the application of autonomous detection and surveillance in this paper. Besides, multisensors, communication modules, wireless cameras, an electronic compass, and a GPS module are installed in the vehicle. The key feature is the integration of disaster detection and warning systems so that the vehicle can move autonomously. Furthermore, a LabVIEW graphical programming software is applied to design a human machine interface (HMI) and integrate all systems such that the vehicle can be guided by High Speed Downlink Packet Access (HSHPA) based remote control. Moreover, basic stamp microcontrollers are utilized as its control kernel such that the remote monitoring and control system (RMCS) can be constructed successfully.

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Multi-sensor fusion for reduced uncertainty in autonomous mobile robot docking and recharging

Cited by 14 publications

References 14 publications

Autonomous Docking System untuk Mobile Robot Berbasis Citra pada Stasiun Pengisian Daya Nirkabel

Autonomous Docking System untuk Mobile Robot Berbasis Citra pada Stasiun Pengisian Daya Nirkabel

Collision-Free Mobile Robot navigation using Fuzzy Logic Approach

Integration of Disaster Detection and Warning System for a Smart Vehicle

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