Download Adaptive Navigation Control for Swarms of Autonomous Mobile by Nishimura, Yasuhiro; Lee, Geunho; Chong, Nak Young; Ji, Sang PDF

By Nishimura, Yasuhiro; Lee, Geunho; Chong, Nak Young; Ji, Sang Hoon; Cho, Young-Jo

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Related work An intelligent robot navigation system requires not only a good localization system but also a dexterous technique to navigate in environment. The mobile robot has to be able to determine its own position and orientation while moving in an environment in order for the robot to follow the correct path towards the goal. Most current techniques are based on complex mathematical equations and models of the working environment, however following a predetermined path may not require a complicated solution.

Furthermore, to let a robot navigate in a narrow environment, it may be necessary to provide a smaller domain area of each place. 3 Orientation control When the robot is navigating through the environment, it is important for the robot to know its own moving direction in order to move on the true expected path. By knowing its own moving direction, the robot will be able to correct the direction towards the target destination. In the approach which is proposed in this research study, visual features from the image captured at each step of the robot movement will be fed into the 5 NN data of different directions of the target destination (node).

This chapter analyses the implementation of environments with robots in order to integrate multiple areas of knowledge. These environments applies the dynamic and kinematic model, control algorithms, trajectory planning, mechanisms for mapping and localization, and automation structures with the purpose of organizing the production chain, optimizing processes and reducing execution times. 1 Navigation robots platforms The robots navigation platform uses one ASURO robot with hybrid control architecture AuRA (Mainardi, 2010), where the reactive layer uses motor-schemas based on topological maps for navigation.

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