Simulation model of mobile robot movement on complex ground

PurposeThe purpose of this paper is to put forward a rolling assistant robot with two rolling modes, and the multi-mode rolling motion strategy with path planning algorithm, which is suitable to this multi-mode mobile robot, is proposed based on chessboard-shaped grid division (CGD).Design/methodology/approachBased on the kinematic analysis and motion properties of the mobile parallel robot, the motion strategy based on CGD path planning algorithm of a mobile robot with two rolling modes moving to a target position is divided into two parts, which are local self-motion planning and global path planning. In the first part, the mobile parallel robot can move by switching and combining the two rolling modes; and in the second part, the specific algorithm of the global path planning is proposed according to the CGD of the moving ground.FindingsThe assistant robot, which is a novel 4-RSR mobile parallel robot (where R denotes a revolute joint and S denotes a spherical joint) integrating operation and rolling locomotion (Watt linkage rolling mode and 6R linkage rolling mode), can work as a moving spotlight or worktable. A series of simulation and prototype experiment results are presented to verify the CGD path planning strategy of the robot, and the performance of the path planning experiments in simulations and practices shows the validation of the path planning analysis.Originality/valueThe work presented in this paper is a further exploration to apply parallel mechanisms with two rolling modes to the field of assistant rolling robots by proposing the CGD path planning strategy. It is also a new attempt to use the specific path planning algorithm in the field of mobile robots for operating tasks.

The detection of mobile robot performance often requires costly and high-precision trajectory tracking equipment, which is often difficult for testing laboratories to afford. Therefore, it becomes a difficult problem to find the equipment that is cheap and can meet the detection requirements. HTC's Vive Tracker, as an inexpensive virtual reality (VR) accessory, provides good measurement accuracy. In this study, the Vive Tracker is used for the purpose of mobile robot performance detection, mainly focusing on the ability of the device to capture and analyze the mobile robot's movement trajectory. Through the test and analysis of Vive Tracker, it is verified that Vive Tracker can meet the accuracy requirements of mobile robot detection, and can well capture the mobile robot's movement trajectory and be used for mobile robot performance analysis.

This paper presents a new approach to tracking the moving target with mobile robot. The task is difficult since the mobile robot has nonholonomic constraint. Considering the constraint of motion of the mobile robot, it is thought that planning trajectory which the robot can follow is indispensable for wheeled type mobile robot control. Thus, in this research, the new control method for tracking the moving target based on trajectory planning is proposed. The NURBS curve is used for trajectory planning. The continuity to second derivative and convex hull which are the characteristics of the NURBS curve is the best for trajectory planning of the mobile robot. By this method, higher efficient tracking is realized. The validity of the proposed method is confirmed by simulations.

Mobile robots can complete a task in cooperation with a human partner. In this letter, a hybrid shared control method for a mobile robot with omnidirectional wheels is proposed. A human partner utilizes a six degrees of freedom haptic device and electromyography (EMG) signals sensor to control the mobile robot. A hybrid shared control approach based on EMG and artificial potential field is exploited to avoid obstacles according to the repulsive force and attractive force and to enhance the human perception of the remote environment based on force feedback of the mobile platform. This shared control method enables the human partner to tele-control the mobile robot's motion and achieve obstacles avoidance synchronously. Compared with conventional shared control methods, this proposed one provides a force feedback based on muscle activation and drives the human partners to update their control intention with predictability. Experimental results demonstrate the enhanced performance of the mobile robots in comparison with the methods in the literature.

Mobile robot motion control is simplified to a DC motor motion control that may include gear system. The simplest and widespread approach to control the mobile robot motion is the differential drive style, it consists of two in-lines with each a DC motor. Both DC motors are independently powered so the desired movements will rely on how these two DC motors are commanded. Thedevelop design, model and control of Mechatronics mobile robotic system is presented in this paper. The developed robotic system is intended for research purposes as well as for educational process. The model of proposed mobile robot was created and verified using MATLAB-Simulink software.

A configuration wheeled mobile robot which is classified as car-like vehicle with a differential wheels drive is developed. The mobile robot is driven based upon differential wheels drive and rotating steer mechanism. The system configuration of mobile robot platform is designed including the necessary sensors and controller. The kinematic model of the mobile robot is derived and the control configuration is proposed. A wall following control algorithm for the robot is developed using the Lyapunov method. The state variables of the wall following model are the distance error from the position of mobile robot to a desired distance from the wall and the orientation error between the orientation of the mobile robot and the wall. The closed-loop system shows asymptotic stabilization of the origin of variables, which are distance and orientation of the mobile robot with respect to the wall. The control algorithm steers the mobile robot to move along the wall with a predetermined distance and zero orientation to the wall. The effectiveness of designed control algorithm is shown using simulation results.

The paper considers the problem of planning a mobile robot movement in a conflict environment, which is characterized by the presence of areas that impede the robot to complete the tasks. The main results of path planning in the conflict environment are considered. Special attention is paid to the approaches based on the risk functions and probabilistic methods. The conflict areas, which are formed by point sources that create in the general case asymmetric fields of a continuous type, are observed. A probabilistic description of such fields is proposed, examples of which are the probability of detection or defeat of a mobile robot. As a field description, the concept of characteristic probability function of the source is introduced; which allows us to optimize the movement of the robot in the conflict environment. The connection between the characteristic probability function of the source and the risk function, which can be used to formulate and solve simplified optimization problems, is demonstrated. The algorithm for mobile robot path planning that ensures the given probability of passing the conflict environment is being developed. An upper bound for the probability of the given environment passing under fixed boundary conditions is obtained. A procedure for optimizing the robot path in the conflict environment is proposed, which is characterized by higher computational efficiency achieved by avoiding the search for an exact optimal solution to a suboptimal one. A procedure is proposed for optimizing the robot path in the conflict environment, which is characterized by higher computational efficiency achieved by avoiding the search for an exact optimal solution to a suboptimal one. The proposed algorithms are implemented in the form of a software simulator for a group of ground-based robots and are studied by numerical simulation methods.

To solve the problem of low efficiency and unstable results of the path planning algorithm based on topology optimization, a dichotomy-based heat conduction topology optimization mobile robot path planning algorithm is proposed. First, considering the analogy between the heat transferring path under steady state and the mobile robot navigation path, the path planning problem is equivalent to the heat conduction topology optimization problem, and a path planning method based on the heat conduction topology optimization is constructed. Secondly, according to the principle of minimizing the thermal compliance across the analysis domain in each growth step, the optimal growth direction of the cooling channel is determined. Third, define the 8 search directions of the mobile robot's motion, construct the cooling channel material library in the corresponding direction, and the dichotomy can be used to solve the problem quickly. Finally, through simulation and comparison experiments in two environments, the results show that the path planning algorithm based on heat conduction topology optimization has strong real-time performance, stable results, and has advantages in complex environments.

A blind traveler walking through an unfamiliar environment and a mobile robot navigating through a cluttered environment have an important feature in common: both have the kinematic ability to perform the motion, but they are dependent on a sensory system to detect and avoid obstacles. The paper describes the use of a mobile robot obstacle avoidance system as a guidance device for blind and visually impaired people. Just as electronic signals are sent to a mobile robot's motion controllers, auditory signals can guide the blind traveler around obstacles, or alternatively, they can provide an "acoustic image" of the surroundings. The concept has been implemented and tested in a new travel aid for the blind, called the Navbelt. The Navbelt introduces two new concepts to electronic travel aids (ETA's) for the blind: it provides information not only about obstacles along the traveled path, but also assists the user in selecting the preferred travel path. In addition, the level of assistance can be automatically adjusted according to changes in the environment and the user's needs and capabilities. Experimental results conducted with the Navbelt simulator and a portable experimental prototype are presented.

The article is devoted to the motion analysis of a highly maneuverable mobile robot with four omniwheels, taking into account the conditions for the appearance of wheel detachment from the surface, and the occurrence of wheel slipping. Within the motion analysis the task of determination support reactions for a mobile robot is considered. To solve this task, the design of a mobile robot is presented in the form of the frame with rods. To disclosure the static indeterminacy of the considered system the forces method is used. Dependences of support reactions from the position of the center mass are obtained. The feature of the considered system is that the obtained dependencies of the support reactions are nonlinear. Based on the obtained dependences of the support reactions, the influence of the position of the center of mass of a mobile robot with four wheels on the occurrence of detachment and slipping of wheels of a mobile robot was considered. Investigation was carried out within the framework of the dry friction model, according to which module of the friction force proportionally depends on the support reaction acting on the wheel from the side of the motion surface. Simulation was carried out, as a result of which the conditions for the position of the center of mass of a mobile robot were determined, in which wheels of a mobile robot do not detach from the motion surface, and there is no wheel slipping.

This paper discusses the application of the developed mathematical model for controlling the motion of the nonholonomic mobile robot with the differential drive based on the ROBOTIS BIOLOID® STEM KIT for further use in competitive robotics, where young people of different ages can participate, both preschool, school, and college or university students. This model allows the application of optimized parameters of linear and angular velocities to servo drives of robots, which task is to navigate through the colored line (usually the color of white or black) in the minimal time interval using an array of infrared sensors. Additionally, it discusses the planning of movement on different tracks, straight lines, and various polygonal chains or curves, of which the competition track is usually created. Models of both two-wheeled and four-wheeled nonholonomic mobile robots with differential drives, which are used for experiments by students in our lab, are also discussed. Experimental data were obtained on the time intervals of mobile robots on different track sections; the results were compared before and after applying the optimization model.

The proliferation of mobile robots across diverse sectors, including industrial automation, defense, and healthcare, is a direct consequence of recent advancements in robotics. Wheeled mobile robots have emerged as a significant area of investigation, owing to their straightforward design, manageable control systems, and effective locomotion capabilities. To address the inherent constraints of conventional wheel configurations, the kinematics of three-wheeled modular robots featuring active steering control have become a focal point for research. This paper presents a comprehensive analysis and investigation into the motion characteristics of these actively steered, three-wheeled modular robots. We introduce a novel design methodology for the wheel-leg mobile mechanism and refine the mathematical model governing the motion of the three-wheeled modular mobile robot. Moreover, we establish essential parameters for the robot’s motion control strategy, with the objective of providing a theoretical framework and technical support for the robot’s effective and adaptable performance in intricate operational scenarios.

At present, the application of mobile robots is more and more extensive, and the movement of mobile robots cannot be separated from effective navigation, especially path exploration. Aiming at navigation problems, this article proposes a method based on deep reinforcement learning and recurrent neural network, which combines double net and recurrent neural network modules with reinforcement learning ideas. At the same time, this article designed the corresponding parameter function to improve the performance of the model. In order to test the effectiveness of this method, based on the grid map model, this paper trains in a two-dimensional simulation environment, a three-dimensional TurtleBot simulation environment, and a physical robot environment, and obtains relevant data for peer-to-peer analysis. The experimental results show that the proposed algorithm has a good improvement in path finding efficiency and path length.

Mobile robots have received much of attention in the last three decades due to their very high potential of applications such as smart logistics, exploration, and intelligent services. One of important functions of mobile robots is the navigation in which robot must know their location, the maps of environment and perform path planning with obstacle avoidance. In this work, we introduce an improvement of control algorithm for mobile robot using multi-layer sensor fusion toward the target of efficient obstacle avoidance. Based on our method, we used three layers of sensors arranging in three height-different planes of robot’s housing for sensor fusion. A control algorithm, which is extended from the so-called bubble rebound algorithm and uses signal from sensor system, was proposed. Experimental implementation on a mobile robot, named EAI, shows that our algorithm can control the robot to navigate and avoid obstacles much efficiently, in which obstacles in forms of different shapes and height can also be avoided. A high repeatability and stability of the algorithm is obtained.

Mobile robots are robots with mobility capabilities, the ability of mobile robots is generally used for logistics purposes such as transporting goods. Steering mechanism is one of popular research subject from the development of mobile robot. Mobile robot steering mechanisms have been widely developed such as mecanum and omni-wheel steering which have a high maneuverability rate, but have a low traction value. Swerve steering is a steering mechanism that has advantages in terms of high maneuverability with traction values on a good track. This study discusses the design of a swerve steering module for mobile robot steering system. Swerve steering has the characteristic to perform translational movements and rotational movements at one point. Fuzzy logic control is designed for rotational movements performed with angle inputs, with a test of setpoint values from 5°-90° with an interval of every 5°, based on tests found the diferrence angle between actual and setpoint angle varies at value 0°-0.06°, with a first angular rise time of 1537 ms and an interval of rise time increase against an angle increase of 200 ms - 500 ms. Fuzzy logic control also designed for translational movement, carried out by input the distance to travel, based on tests with distance setpoints of 100 cm, 200 cm, 300 cm, 400 cm, and 500 cm, found the accuracy values of the distance traveled are 99.3 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">%</sup> ,99.72 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">%</sup> , 99.86%, 99.93%, 99.972%.