Webots open source robot simulator capabilities for modelling and simulation of ground-based air defence

This research focuses on the performance of the obstacle avoidance feature implemented on a wheeled mobile robot by using Sugeno Fuzzy Inference System (FIS). The test was done using a simulation software Webots and the layout was first draft out using walls, floors, and objects in order to set a boundary and obstacles for the simulation. To test the effectiveness and efficiency in terms of time and distance, the simulation time and trajectory of the Khepera implementing the Sugeno FIS was recorded and compared with the Khepera without implementing the Sugeno FIS. The inputs of the ultrasonic sensors were also recorded in order to analyze whether if the Khepera detects incoming objects or if Khepera follows the rules set in the algorithm.

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“…4). To program the decision-making method to Khepera, the algorithm may be written in the Text Editor Panel of Webots [10] (refer to Fig. 1).…”

Section: Controller Developmentmentioning

confidence: 99%

A Wheeled Mobile Robot Obstacles Avoidance for Navigation Control in a Static and Dynamic Environments

Sariff

Xing

2023

J. Phys.: Conf. Ser.

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“…Advanced simulators: The use of advanced simulators is crucial for A-SLAM due to their realistic modeling, cost efficiency, and support for diverse scenarios. Commer-cially available simulators like AirSim [121], Carla [122], and Webots [123] provide realistic modeling of urban environments for UGV, UAV, and cars. For multirobots, MvSim [124], and for SLAM, the Virtual Reality (VR)-supported simulator proposed in [125], can be used.…”

mentioning

confidence: 99%

Active SLAM: A Review on Last Decade

Ahmed,

Masood,

Fremont

et al. 2023

Sensors

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This article presents a comprehensive review of the Active Simultaneous Localization and Mapping (A-SLAM) research conducted over the past decade. It explores the formulation, applications, and methodologies employed in A-SLAM, particularly in trajectory generation and control-action selection, drawing on concepts from Information Theory (IT) and the Theory of Optimal Experimental Design (TOED). This review includes both qualitative and quantitative analyses of various approaches, deployment scenarios, configurations, path-planning methods, and utility functions within A-SLAM research. Furthermore, this article introduces a novel analysis of Active Collaborative SLAM (AC-SLAM), focusing on collaborative aspects within SLAM systems. It includes a thorough examination of collaborative parameters and approaches, supported by both qualitative and statistical assessments. This study also identifies limitations in the existing literature and suggests potential avenues for future research. This survey serves as a valuable resource for researchers seeking insights into A-SLAM methods and techniques, offering a current overview of A-SLAM formulation.

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Integrating Mechatronics Principles in Modern Air Defence Systems

Starý,

Křivánek

2024

2024 21st International Conference on Mechatronics - Mechatronika (ME)

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Webots open source robot simulator capabilities for modelling and simulation of ground-based air defence

Cited by 3 publications

References 6 publications

A Wheeled Mobile Robot Obstacles Avoidance for Navigation Control in a Static and Dynamic Environments

A Wheeled Mobile Robot Obstacles Avoidance for Navigation Control in a Static and Dynamic Environments

Active SLAM: A Review on Last Decade

Integrating Mechatronics Principles in Modern Air Defence Systems

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