Vision-Based Line Following Robot in Webots

Ma’arif, Alfian; Nuryono, Aninditya Anggari; Iswanto, Iswanto

doi:10.1109/fortei-icee50915.2020.9249943

Cited by 16 publications

(4 citation statements)

References 28 publications

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“…Mobile robots are capable of moving from one site to another while performing complex activities (Siegwart et al., 2011). Software with integrated sensors, such as infrared, ultrasonic, camera, Global Positioning System (GPS), and magnetic sensors, are used to drive mobile robots (Ma'arif et al., 2020). Robots are propelled across space by wheels and direct current (DC) motors (Oltean, 2019).…”

Section: Introductionmentioning

confidence: 99%

Cross‐entropy‐based adaptive fuzzy control for visual tracking of road cracks with unmanned mobile robot

Zhang,

Yang,

Wang

et al. 2023

Computer aided Civil Eng

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Visual tracking of road cracks in unstructured road environment was, is, and remains a crucial and challenging task, which plays a vital role in accurate crack sealing for automated road cracks repair. However, many problems have not been well solved in existing automated road cracks repair, such as the low automation due to partial dependence on manual and the interrupted traffic flow caused by the heavy equipment used. In this article, a cross‐entropy‐based adaptive fuzzy control (CEAFC) method is proposed, which reaches visual tracking with unmanned mobile robot (VT‐UMbot) for road cracks. Specifically, the CEAFC method uses cross‐entropy optimization iteration to tune parameters for the tracking controller, and fuzzy logic is constructed to explore robustness improvement. Moreover, a framework of VT‐UMbot based on a four‐wheel independent differential drive is established, and visual servo and tracking control are integrated into the system. Our experiment shows that the proposed method is extensively evaluated on three road cracks scenarios and achieves state‐of‐the‐art performance with high efficiency.

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Section: Introductionmentioning

confidence: 99%

Cross‐entropy‐based adaptive fuzzy control for visual tracking of road cracks with unmanned mobile robot

Zhang,

Yang,

Wang

et al. 2023

Computer aided Civil Eng

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“…With its popularity and efficiency, the PID (Proportional Integral Derivative) controller has been widely applied to linefollowing AGV studies [1][2][3][4][5]. In addition, control methods such as MSE controller (mean-square error controller) [6], visual controller [7], fuzzy controller [8][9][10][11], neural network [12], rotary controller [13], sliding mode controller [14,15] and adaptive controller [16,17] have also been used for AGV navigation.…”

Section: Introductionmentioning

confidence: 99%

An Efficient Approach for Line-Following Automated Guided Vehicles Based on Fuzzy Inference Mechanism

Bach

2022

Journal of Robotics and Control

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Recently, there has been increasing attention paid to AGV (Automated Guided Vehicle) in factories and warehouses to enhance the level of automation. In order to improve productivity, it is necessary to increase the efficiency of the AGV, including working speed and accuracy. This study presents a fuzzy-PID controller for improving the efficiency of a line-following AGV. A line-following AGV suffers from tracking errors, especially on curved paths, which causes a delay in the lap time. The fuzzy-PID controller in this study mimics the principle of human vehicle control as the situation-aware speed adjustment on curved paths. Consequently, it is possible to reduce the tracking error of AGV and improve its speed. Experimental results show that the Fuzzy-PID controller outperforms the PID controller in both accuracy and speed, especially the lap time of a line-following AGV is enhanced up to 28.6% with the proposed fuzzy-PID controller compared to that with the PID controller only.

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“…In recent years, the self-driving technology has been a great development [27][28][29][30]. Recently, such technology was also utilized in electric wheelchairs.…”

Section: Introductionmentioning

confidence: 99%

Electric Wheelchair Hybrid Operating System Coordinated with Working Range of a Robotic Arm

Yang

Guo

Sakamoto

et al. 2022

Journal of Robotics and Control

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Electric wheelchair-mounted robotic arms can help patients with disabilities to perform their activities in daily living (ADL). Joysticks or keypads are commonly used as the operating interface of Wheelchair-mounted robotic arms. Under different scenarios, some patients with upper limb disabilities such as finger contracture cannot operate such interfaces smoothly. Recently, manual interfaces for different symptoms to operate the wheelchair-mounted robotic arms are being developed. However, the stop the wheelchairs in an appropriate position for the robotic arm grasping task is still not easy. To reduce the individual’s burden in operating wheelchair in narrow spaces and to ensure that the chair always stops within the working range of a robotic arm, we propose here an operating system for an electric wheelchair that can automatically drive itself to within the working range of a robotic arm by capturing the position of an AR marker via a chair-mounted camera. Meanwhile, the system includes an error correction model to correct the wheelchair’s moving error. Finally, we demonstrate the effectiveness of the proposed system by running the wheelchair and simulating the robotic arm through several courses.

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Vision-Based Line Following Robot in Webots

Cited by 16 publications

References 28 publications

Cross‐entropy‐based adaptive fuzzy control for visual tracking of road cracks with unmanned mobile robot

Cross‐entropy‐based adaptive fuzzy control for visual tracking of road cracks with unmanned mobile robot

An Efficient Approach for Line-Following Automated Guided Vehicles Based on Fuzzy Inference Mechanism

Electric Wheelchair Hybrid Operating System Coordinated with Working Range of a Robotic Arm

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