Sensor based terrain guidance of distributed cooperative mobile robots

The construction of a smart autonomous mobile robot system that can operate in an anonymous environment can be difficult. Building an autonomous mobile robot requires collecting data from sensors and cameras in order to recognize the surrounding environment, get knowledge of existing landmarks, and figure out its position and orientation. Many research studies have been carried out in recent years providing algorithms for achieving autonomous motion of mobile robot systems and object detection. The most common platform utilized for robot motion design is ROS (Robot Operating System) and for object detection YOLO (You Only Look Once) is a common choice. Additionally, the autonomous system needs motion planning in a systematic way to avoid obstacles by using LIDAR or other sensing methods generating the feedback signals required for control of motion around occupied spaces. One of the most effective and versatile feedback systems for mobile robot control can be constructed using visual feedback, which relies on a high-resolution camera that processes the image in real-time and the result is fed back to the control system for decision making. Visual feedback can be employed alone without sensors for feedback control of autonomous mobile robots, and it can be used for multiple tasks like path planning, obstacle avoidance, object detection, object recognition in addition to motion control. In this research, results of design and construction of an autonomous mobile rescue robot for finding victims through video data are presented. It is aimed to find victims via applying video as a data collection and feedback generation tool in the autonomous mobile robot control system. The visual feedback and YOLO v3 are used not only for finding victims but also for motion control. Our autonomous mobile robot is designed to move smoothly to the victim's direction and avoids obstacles by using ROS Global Planner. The robot is tested in multiple scenarios in different locations, various obstacle and victim numbers, and satisfactory results with good performances are obtained.

This research evaluated visual and haptic feedback for enhancing operator situational awareness during multitasking drone operations, investigating how task complexity influenced feedback effectiveness. Two virtual reality experiments were conducted: Study 1 assessed three types of visual feedback (Static, Blink, and Shake), while Study 2 compared visual, haptic, and visual-haptic multimodal feedback across varying task complexity levels determined by target density. Participants performed drone operation tasks requiring simultaneous obstacle avoidance and target counting. Results revealed that dynamic visual feedback (Shake) significantly improved primary task accuracy, reduced cognitive load, and was the preferred visual feedback type. Furthermore, haptic and visual-haptic feedback significantly shortened obstacle avoidance reaction times and decreased cognitive workload compared to visual feedback. Task complexity proved to be a critical factor: while visual feedback sufficed for low complexity scenarios, visual-haptic feedback offered distinct advantages in medium and high complexity tasks, providing insights for complexity-responsive drone interface design.

Mobile robot has been a major role to the application in military, industrial and agricultural purposes. Mobile robot should navigate through desire route and avoid the obstacle within the path. Many researcher come with the solution by using the various type of control and instrumentation system. The complexity of mobile robot system can make the system cost intensive and high risk. Proposed is a mobile robot equipped with GPS navigation system and obstacle avoidance system with low cost mobile structure, GPS module and sonar sensor. The combination GPS and Sonar will determine the position and obstacle avoidance for the mobile robot. Mobile robot should navigate according to waypoint that preset to the GPS module and sonar sensor detects the obstacle during mobile robot navigation by triggering the sonar sensor in sequence by using commanded loop daisy chaining application method. Mobile Robot can navigate through desired waypoint and at the same time apply the obstacle avoidance rules

This paper describes a method of producing high resolution maps of an indoor environment with an autonomous mobile robot equipped with sonar range finding sensors. This method is based upon investigating obstacles in the near vicinity of a mobile robot. The mobile robot examines the straight line segments extracted from the sonar range data describing obstacles near the robot. The mobile robot then moves parallel to the straight line sonar segments, in close proximity to the obstacles, continually applying the sonar barrier test. The sonar barrier test exploits the physical constraints of sonar data, and eliminates noisy data. This test determines whether or not a sonar line segment is a true obstacle edge or a false reflection. Low resolution sonar sensors can be used with the described method. The performance of the algorithm is demonstrated using a Denning Corp. Mobile Robot, equipped with a ring of Polaroid Corp. Ultrasonic Rangefinders.

Robot navigation and obstacle avoidance are from the most important problems in mobile robots, especially in unknown environments. The autonomous navigation of mobile robots has attracted a number of researchers over the years. A wide variety of approaches and algorithms have been proposed to tackle this complex problem. There are many successful localization methods that can determine the robot's position relative to a map using sonar, laser and camera data; however, most localization methods fail under common environmental conditions. In this paper we present a novel method for navigation of autonomous mobile robots in several indoor environments that optimize our old navigation approach, using fuzzy Kalman filter based on extracted lines and fusing data from laser scanner sensors. In this approach, the sonar data and laser measurement are combined using the fuzzy Kalman filter. Finally, the simulation results show that the proposed algorithm offers advantages over previous methods and has improved performance.

With the robot gradually stepping into our daily life, more and more attention has been paid to the mobile ability of robot, and obstacle avoidance is a key problem. In this paper, the indoor environment is taken as the application scene, and the visual detection and local dynamic obstacle avoidance are studied respectively. Aiming at the shortcomings of the single external sensor lidar’s incomplete perception of obstacle information, this paper proposes an obstacle avoidance method based on machine vision for mobile obstacle detection under the ROS operating system. The method is improved based on YOLO-v4 in terms of vision, which can meet the real-time requirements of mobile terminal. Combined with dynamic window approach (DWA), the local obstacle avoidance algorithm is improved. In the process of local obstacle avoidance, visual detection information is integrated to increase the ability of local dynamic obstacle avoidance and improve the performance of robot local obstacle avoidance. Finally, the feasibility and validity of the algorithm are verified in the actual environment.

This paper deals with a collision avoidance problem for path-following of multiple holonomic robots. The path-following aims to move the robots along reference paths with assigned velocities. When there are geometric errors between the robots' positions and the reference paths or when the differences between their velocities and assigned velocities are not zero, we expect to reduce these errors. Unfortunately, if the multiple robots try to realize path-following completely, they may collide with one another in areas where the reference paths intersect. In this case, the robots have to avoid collision at the expense of path-following. This paper defines a cost function evaluating the geometric and velocity errors, and proposes a new online collision avoidance method which constrains the cost function. The proposed method minimizes the time-derivative of the cost function in each instance. Moreover, this method prevents the robots from deadlocking by introducing a penalty function for each robot into the cost function. Finally, the effectiveness of our proposed method is demonstrated by simulations for three mobile robots.

A novel collaborative path planning algorithm for 3-wheel omnidirectional Autonomous Mobile Robot

In 2013 the Editor of Journal of Vibration and Control and SAGE became aware of a peer review ring involving assumed and fabricated identities that appeared to centre around Peter Chen at National Pingtung University of Education, Taiwan (NPUE). SAGE and the Editor then began a complex investigation into the case during the rest of 2013 and 2014. Following an unsatisfactory response from Peter Chen, NPUE was notified. NPUE were serious in addressing the Journal and SAGE’s concerns. NPUE confirmed that the institution was investigating Peter Chen. SAGE subsequently uncovered a citation ring involving the above mentioned author and others. We regret that individual authors have compromised the academic record by perverting the peer review process and apologise to readers. On uncovering problems with peer review and citation SAGE immediately put steps in place to avoid similar vulnerability of the Journal to exploitation in the future. More information may be found at www.sagepub.co.uk/JVC_Statement_2014 . The Journal and SAGE understand from NPUE that Peter Chen has resigned his post at NPUE. The following articles are retracted because after thorough investigation evidence points towards them having at least one author or being reviewed by at least one reviewer who has been implicated in the peer review ring and/or citation ring. All authors have had an opportunity to respond to the allegations and proposed actions. OnlineFirst articles (these articles will not be published in an issue) Chen CY, Chen T-H, Chen Y-H, Yu S-E and Chung P-Y (2013) Information technology system modeling an integrated C-TAM-TPB model to the validation of ocean tidal analyses Journal of Vibration and Control Epub ahead of print 7 May 2013. doi: 10.1177/1077546312472924 Chang R-F, Chen CY, Su F-P and Lin H-C (2013) A two-step approach for broadband digital signal processing technique Journal of Vibration and Control Epub ahead of print 26 April 2013. doi: 10.1177/1077546312472925 Chen TH, Chang CJ, Yu SE, Chung PY and Liu C-K (2013) Nonlinear information analysis and system management technique: the influence of design experience and control complexity Journal of Vibration and Control Epub ahead of print 12 April 2013. doi: 10.1177/1077546312473321 Chen CY, Shih BY, Chen YH, Yu SE and Liu YC (2013) The exploration of a 3T flow model using vibrating NXT: II. Model validation Journal of Vibration and Control Epub ahead of print 10 April 2013. doi: 10.1177/1077546312470481 Chen CY, Shih BY, Chen YH, Yu SE and Liu YC (2013) The exploration of 3T flow model using vibrating NXT: I. model formulation Journal of Vibration and Control Epub ahead of print 6 February 2013. doi: 10.1177/1077546312467360 Lin M-L and Chen C-W (2013) Stability analysis of fuzzy-based NN modeling for ecosystems using fuzzy Lyapunov methods Journal of Vibration and Control Epub ahead of print 6 February 2013. doi: 10.1177/1077546312466687 Chen CY, Chen TH, Chen YH and Chiu J (2012) A multi-stage method for deterministic-statistical analysis: a mathematical case and measurement studies Journal of Vibration and Control Epub ahead of print 20 December 2012. doi: 10.1177/1077546312466579 Shih BY, Lin MC and Chen CY (2012) Autonomous navigation system for radiofrequency identification mobile robot e-book reader Journal of Vibration and Control Epub ahead of print 13 December 2012. doi: 10.1177/1077546312466578 Chang RF, Chen CY, Su FP, Lin HC and Lu C-K (2012) Multiphase SUMO robot based on an agile modeling-driven process for a small mobile robot Journal of Vibration and Control Epub ahead of print 13 December 2012. doi: 10.1177/1077546312464993 Shih B-Y, Lin Y-K, Cheng M-H, Chen C-Y and Chiu C-P (2012) The development of an application program interactive game-based information system Journal of Vibration and Control Epub ahead of print 12 December 2012. doi: 10.1177/1077546312464682 Chen C-Y, Chang C-J and Lin C-H (2012) On dynamic access control in web 2.0 and cloud interactive information hub: technologies Journal of Vibration and Control Epub ahead of print 12 December 2012. doi: 10.1177/1077546312464992 Shin BY, Chen CY and Hsu KH (2012) Robot cross platform system using innovative interactive theory and selection algorithms for Android application Journal of Vibration and Control Epub ahead of print 13 November 2012. doi: 10.1177/1077546312463757 Articles published in an issue Chen C-W (2014) Applications of neural-network-based fuzzy logic control to a nonlinear time-delay chaotic system Journal of Vibration and Control 20 (4): 589-605. Epub ahead of print 5 November 2012. doi: 10.1177/1077546312461370 Chen C-W (2014) A review of intelligent algorithm approaches and neural-fuzzy stability criteria for time-delay tension leg platform systems Journal of Vibration and Control 20 (4): 561-575. Epub ahead of print 5 November 2012. doi: 10.1177/1077546312463759 Chen C-Y, Chang C-J and Lin C-H (2014) On dynamic access control in web 2.0 and cloud interactive information hub: trends and theories Journal of Vibration and Control 20 (4): 548-560. Epub ahead of print 5 November 2012. doi: 10.1177/1077546312463762 Lin M-L and Chen C-W (2014) Stability conditions for ecosystem modeling using the fuzzy Lyapunov method Journal of Vibration and Control 20 (2): 290-302. Epub ahead of print 23 October 2012. doi: 10.1177/1077546312451301 Chen C-H, Kuo C-M, Hsieh S-H and Chen C-Y (2014) Highly efficient very-large-scale integration (VLSI) implementation of probabilistic neural network image interpolator Journal of Vibration and Control 20 (2): 218-224. Epub ahead of print 22 October 2012. doi: 10.1177/1077546312458822 Chen C-Y (2014) Wave vibration and simulation in dissipative media described by irregular boundary surfaces: a mathematical formulation Journal of Vibration and Control 20 (2): 191-203. Epub ahead of print 22 October 2012. doi: 10.1177/1077546312464258 Chen C-H, Yao T-K, Dai J-H and Chen C-Y (2014) A pipelined multiprocessor system- on-a-chip (SoC) design methodology for streaming signal processing Journal of Vibration and Control 20 (2): 163-178. Epub ahead of print 16 October 2012. doi: 10.1177/1077546312458821 Lin M-L and Chen C-W (2014) Fuzzy neural modeling for n-degree ecosystems using the linear matrix inequality approach Journal of Vibration and Control 20 (1): 82-93. Epub ahead of print 8 October 2012. doi: 10.1177/1077546312458533 Chen C-H, Wu W-X and Chen C-Y (2013) Ant-inspired collective problem-solving systems Journal of Vibration and Control 19 (16): 2481-2490. Epub ahead of print 18 September 2012. doi: 10.1177/1077546312456231 Chen C-H, Yao T-K, Kuo C-M and Chen C-Y (2013) Evolutionary design of constructive multilayer feedforward neural network Journal of Vibration and Control 19 (16): 2413-2420. Epub ahead of print 12 September 2012. doi: 10.1177/1077546312456726 Chen C-W (2013) Applications of the fuzzy-neural Lyapunov criterion to multiple time-delay systems Journal of Vibration and Control 19 (13): 2054-2067. Epub ahead of print 16 August 2012. doi: 10.1177/1077546312451034 Chung P-Y, Chen Y-H, Walter L and Chen C-Y (2013) Influence and dynamics of a mobile robot control on mechanical components Journal of Vibration and Control 19 (13): 1923-1935. Epub ahead of print 20 July 2012. doi: 10.1177/1077546312452184 Chen C-W (2013) Neural network-based fuzzy logic parallel distributed compensation controller for structural system Journal of Vibration and Control 19 (11): 1709-1727. Epub ahead of print 22 June 2012. doi: 10.1177/1077546312442233 Chen C-W, Yeh K, Yang H-C, Liu KFR and Liu C-C (2013) A critical review of structural system control by the large-scaled neural network linear-deferential-inclusion-based criterion Journal of Vibration and Control 19 (11): 1658-1673. Epub ahead of print 18 June 2012. doi: 10.1177/1077546312443377 Chen C-H, Kuo C-M, Chen C-Y and Dai J-H (2013) The design and synthesis using hierarchical robotic discrete-event modeling Journal of Vibration and Control 19 (11): 1603-1613. Epub ahead of print 27 June 2012. doi: 10.1177/1077546312449645 Chang CJ, Chen CY and Chou I-T (2013) The design of information and communication technologies: telecom MOD strength machines Journal of Vibration and Control 19 (10): 1499-1513. Epub ahead of print 27 June 2012. doi: 10.1177/1077546312449644 Shih B-Y, Chen C-Y, Li K-H, Wu T-Y, Chen G-Y (2013) A novel NXT control method for implementing force sensing and recycling in a training robot Journal of Vibration and Control 19 (10): 1443-1459. Epub ahead of print 1 June 2012. doi: 10.1177/1077546312446361 Chen C-W, Chen P-C and Chiang W-L (2013) Modified intelligent genetic algorithm-based adaptive neural network control for uncertain structural systems Journal of Vibration and Control 19 (9): 1333-1347. Epub ahead of print 31 May 2012. doi: 10.1177/1077546312442232 Chen C-Y, Shih B-Y, Shih C-H and Wang L-H (2013) Enhancing robust and stability control of a humanoid biped robot: system identification approach. Journal of Vibration and Control 19 (8): 1199-1207. Epub ahead of print 26 April 2012. doi: 10.1177/1077546312442947 Chang C-J, Chen C-Y and Huang C-W (2013) Applications for medical recovery using wireless control of a bluetooth ball with a hybrid G-sensor and human-computer interface technology Journal of Vi

Retraction notice

Many bridges in Taiwan have been in use from the period that Taiwan was governed by the Japanese, over 50 years ago, which is the average ultimate usable lifetime of such structures. Three-quarters of the bridges on major highways have been in use for more than 20 years and numerous bridges on country roads have also been in use for more than 20 years. In other words, most of the bridges in Taiwan are aging and may require repair or replacement. Ambient vibration tests are utilized to measure the response of old bridges, which are difficult to equip with accelerometers. The Fourier transform method is traditionally used to gain important information about ambient vibration records. However, the development of information technology over the last 20 years has meant that there are more kinds of signal management technologies, including the wavelet and Hilbert—Huang transform (HHT) methods. In this study we investigate the characteristics of aging bridges by comparison with their structural properties. We analyze their ambient vibration, and discuss the possible influence of the frequency function. Long-term environmental impacts create many structural problems, but with traditional methods examination of bridge health is difficult. Therefore, in our HHT management system, we examine destroyed bridges. The characteristics and behavior of bridges subjected to random loading can be understood by analysis with the random decrement technique and the frequency response function method.

Retraction notice

This paper presents a novel methods for estimating the position and orientation of a mobile robot using only sonar range data in an indoor environment. The mobile robot senses the environment with two sonar sensors as it moves. It utilizes the specular characteristic to recognize an edge and by referring to the location of the edge, the robot localizes itself rapidly. The data obtained by sensors at time t-1 can be used at time t, and are utilized to get the current position of a mobile robot. The presented algorithms are especially suitable for processing the sonar scan data obtained by ultrasonic sensors with wide beam spread. The validity of the proposed methods have been proved by experiments, and their performances are also investigated.

Multiple mobile robots are a practical platform for realizing the concept of distributed manipulation. New approach for manipulating large number of objects using distributive actuators or agent has been suggested. Multiple mobile robots provide the ability to conduct actions simultaneously from various locations and directions. Using two mobile robots and flexible tool such as a piece of string or rope, a large number of objects that are placed at sparse locations can be sorted and grouped by single action. The Voronoi separation algorithm is proposed as a path generation method for preplanning cooperative actions of multiple robots. The sorting task is conducted on-line using fuzzy logic controller with preplanned subgoals. The proposed control framework was verified by an experiment using two autonomous mobile robots with a flexible tool attachment of fixed length.

Wheeled mobile robots (WMRs) have been a focus of research for several decades, particularly concerning navigation strategies in static and dynamic environments. This review article carefully examines the extensive academic efforts spanning several decades addressing navigational complexities in the context of WMR route analysis. Several approaches have been explored by various researchers, with a notable emphasis on the inclusion of stability and intelligent capabilities in WMR controllers attracting the attention of the academic community. This study traces historical and contemporary WMR research, including the establishment of kinetic stability and the construction of intelligent WMR controllers. WMRs have gained prominence in various applications, with precise navigation and efficient control forming the basic prerequisites for their effective performance. The review presents a comprehensive overview of stability analysis and navigation techniques tailored for WMRs. Initially, the exposition covers the basic principles of WMR dynamics and kinematics, explaining the different wheel types and their associated constraints. Subsequently, various stability analysis approaches, such as Lyapunov stability analysis and passivation-based control, are discussed in depth in the context of WMRs. Starting an exploration of navigation techniques, the review highlights important aspects including path planning and obstacle avoidance, localization and mapping, and trajectory tracking. These techniques are carefully examined in both indoor and outdoor settings, revealing their benefits and limitations. Finally, the review ends with a comprehensive discussion of the current challenges and possible routes in the field of WMR. The discourse includes the fusion of advanced sensors and state-of-the-art control algorithms, the cultivation of more robust and reliable navigation strategies, and the continued exploration of novel WMR applications. This article also looks at the progress of mobile robotics during the previous three decades. Motion planning and path analysis techniques that work with single and multiple mobile robots have been discussed extensively. One common theme in this research is the use of soft computing methods to give mobile robot controllers cognitive behaviors, such as artificial neural networks (ANNs), fuzzy logic control (FLC), and genetic algorithms (GAs). Nevertheless, there is still a dearth of applications for mobile robot navigation that leverage nature-inspired algorithms, such as firefly and ant colony algorithms. Remarkably, most studies have focused on kinematics analysis, with a small number also addressing dynamics analysis.