Remote Control of an Autonomous Robotic Platform Based on Eye Tracking

Păsărică, Alexandru; Andruseac, Gladiola; Adochiei, Ioana Raluca; Rotariu, Cristian; Costin, Hariton; Adochiei, Felix-Constantin

doi:10.4316/aece.2016.04015

Cited by 13 publications

(3 citation statements)

References 8 publications

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“…Recently, various methodologies have been utilized for mobile robot navigation [1][2][3]. These are, artificial potential fields (APF) [4][5][6], vision-based gaze guided control (GGC) [7][8][9][10][11][12][13][14][15], fuzzy logic control [12,[16][17][18], vector field histogram (VFH) [19,20], rapidly-exploring random trees [21,22], and obstacle avoidance and path planning [23] algorithms. The fuzzy logic controller is one of the efficient techniques, which tends to be used actually for steering control in unpredictable environments [3,24,25].…”

Section: Introductionmentioning

confidence: 99%

“…Combining different types of technology with eye based systems [36][37][38][39][40] integration can be useful for disabled, elderly and patients peoples that especially with neuro-motor disabilities. They can remotely control a moving platform [11,12,41,42] with these technologies in complex daily tasks [14,43]. A wheelchair is a good substitute, for example Reference [44].…”

Section: Introductionmentioning

confidence: 99%

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Gaze-Guided Control of an Autonomous Mobile Robot Using Type-2 Fuzzy Logic

Dirik

Castillo

Kocamaz

2019

ASI

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Motion control of mobile robots in a cluttered environment with obstacles is an important problem. It is unsatisfactory to control a robot’s motion using traditional control algorithms in a complex environment in real time. Gaze tracking technology has brought an important perspective to this issue. Gaze guided driving a vehicle based on eye movements supply significant features of nature task to realization. This paper presents an intelligent vision-based gaze guided robot control (GGC) platform that uses a user-computer interface based on gaze tracking enables a user to control the motion of a mobile robot using eyes gaze coordinate as inputs to the system. In this paper, an overhead camera, eyes tracking device, a differential drive mobile robot, vision and interval type-2 fuzzy inference (IT2FIS) tools are utilized. The methodology incorporates two basic behaviors; map generation and go-to-goal behavior. Go-to-goal behavior based on an IT2FIS is more soft and steady progress in data processing with uncertainties to generate better performance. The algorithms are implemented in the indoor environment with the presence of obstacles. Experiments and simulation results indicated that intelligent vision-based gaze guided robot control (GGC) system can be successfully applied and the IT2FIS can successfully make operator intention, modulate speed and direction accordingly.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Gaze-Guided Control of an Autonomous Mobile Robot Using Type-2 Fuzzy Logic

Dirik

Castillo

Kocamaz

2019

ASI

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“…A genetic algorithm is used to generate an optimal path by means of the information from camera and image processing. Pasarica et al 18 presented using eye tracking technology to control a robotic platform. Several papers also discuss path planning problems of robots for efficient control.…”

Section: Introductionmentioning

confidence: 99%

Sensing pipes of a nuclear power mechanism using low-cost snake robot

Huang

Hung

et al. 2018

Advances in Mechanical Engineering

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Snake robots have come to represent a new subfield of bionic robot research in recent years. A snake robot comprises many modules and performs various movements in arranged connections. The structure of a snake body enables it to move smoothly in narrow spaces or pipes with high stability and reliability. This article studies the application of a snake robot on a large-scale nuclear power facility to sense in pipe components. Therefore, a snake robot must move in pipes in which high radiation is present to explore the surrounding environment and take samples. A simple but effective method of locomotion is developed and executed to confirm feasibility of motion, especially in narrow space. A sampling mechanism with a storage box is designed at the tail of the snake to take and keep the samples well at designated locations. We built a pipe system which has two right-angled turns to simulate the pipes of a large-scale nuclear power facility. A user interface helps operators to manipulate the snake robot.

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