Path Planning with Modified a Star Algorithm for a Mobile Robot

This article deals with path planning of a mobile robot based on a grid map. Essential assumption for path planning is a mobile robot with functional and reliable reactive navigation and SLAM. Therefore, such issues are not addressed in this article. The main body of the article introduces several modifications (Basic Theta*, Phi*) and improvements (RSR, JPS) of A star algorithm. These modifications are focused primarily on computational time and the path optimality. Individual modifications were evaluated in several scenarios, which varied in the complexity of environment. On the basis of these evaluations, it is possible to choose path planning method suitable for individual scenario. © 2014 The Authors. Published by Elsevier Ltd. Peer-review under responsibility of organizing committee of the Modelling of Mechanical and Mechatronic Systems MMaMS 2014. Keywords: path planning, A* algorithm, Basic Theta*, Phi*, Jump Point Search Nomenclature SLAM Simultaneous Localization and Mapping A* A star RSR Rectangular Symmetry Reduction JPS Jump Point Search

Modelling of Mechanical and Mechatronic Systems MMaMS 2014 Path planning with modified A star algorithm for a mobile robot

Our goal is to understand and build comprehensive agents that function effectively in challenging niches In particular, we identify a class of niches to be occupied by “adaptive intelligent systems (AISs)” In contrast with niches occupied by typical AI agents, AIS niches present situations that vary dynamically along several key dimensions: different combinations of required tasks, different configurations of available resources, contextual conditions ranging from benign to stressful, and different performance criteria We present a small class hierarchy of AIS niches that exhibit these dimensions of variability and describe a particular AIS niche, ICU (intensive care unit) patient monitoring, which we use for illustration throughout the paper To function effectively throughout the range of situations presented by an AIS niche, an agent must be highly adaptive In contrast with the rather stereotypic behavior of typical AI agents, an AIS must adapt several key aspects of its behavior to its dynamic situation: its perceptual strategy, its control mode, its choices of reasoning tasks to perform, its choices of reasoning methods for performing chosen tasks; and its meta-control strategy for global coordination of all its behavior We have designed and implemented an agent architecture that supports all of these different kinds of adaptation by exploiting a single underlying theoretical concept: An agent dynamically constructs explicit control plans to guide its choices among situation-triggered behaviors The architecture has been used to build experimental agents for several AIS niches We illustrate the architecture and its support for adaptation with examples from Guardian, an experimental agent for ICU monitoring

An architecture for adaptive intelligent systems

As manufacturing complexity increases, and as factory yields, equipment reliability and equipment utilization each approach 100%, one must look for alternative improvement programs to help reduce manufacturing costs and assist in managing increasing factory complexity. There are a number of possibilities, such as automating routine decision-making processes involved in manufacturing, resulting in faster or more cost-effective decisions, or capturing and applying manufacturing knowledge to reduce the time necessary to detect, analyze and solve manufacturing problems. Either possibility can result in significant savings in productivity improvement or cost reduction, or in avoidance of significant losses. Such strategic programs are in addition to the current automation programs which help manage factory performance, i.e., physical automation to replace human physical activity, and information automation to replace routine human data gathering or data analyses procedures. >

Intelligent manufacturing systems

Effect of jig constraint position and pitch on welding deformation

The article deal about the development in the field of robotic research. The introduction suggests and summarizes actual development in robotics, which is heavily focused on the service and humanoid field in many applications. Next section of contribution is dealed to the development and is referred to its fundamental properties, which has current industrial robots.

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The View to the Current State of Robotics

The article describes the development and defines the change of approach in the development of today's industrial robotics, provides an overview of the latest trends in the field of industrial robotics. Until now, the industrial robots have been deployed to less demanding work environments to perform "only" handling operations and to synchronize the operations of individual facilities. Now they are undergoing a major innovation process, the bulk of which is focused on increasing their intelligence and multi-functionality.

Trends in Industrial Robotics Development

The article describes the methodological approach to design of welding fixtures for robotic cells based on principles of modularity. In further states the basic preparation components, their functions and possible board types in terms of shape and dimensional characteristics. The proposed methodology was tested for robotic training workstation with robot KUKA for spot welding of car bodies.

https://www.degruyter.com/downloadpdf/j/mecslo.2009.13.issue-3/v10147-010-0044-y/v10147-010-0044-y.xml

Design of the Welding Fixture for the Robotic Stations for Spot Welding Based on the Modular Concept

In project implementation by the Centre for management of technical, environmental and humane risks research for permanent development of production and products in machinery industry, specifically for the activity 3.2. Which deals with automation and robotization of production systems, the main target is increasing degree of automation with focus on intelligent manipulation on 3D basis. This target is being applied by large scale use of robots for various manipulation and technological application. The solution is based on two camera sensors which enable intelligent manipulation on 3D basis. For this purpose a sensor and software for object recognition have been specified. The solution will be applied and verified on KUKA robot for "pick and place" cases.

/pdf/increasing-degree-of-automation-of-production-systems-based-1t4qbuo8c3.pdf

Increasing Degree of Automation of Production Systems Based on Intelligent Manipulation

The paper is focused on the determination of the number of robots for multi robotic cells that can be part of the line, respectively as an individual, for example sub-assemblies welding of car bodies. This paper describes general process steps of the methodology of design of multi robotic systems with a more detailed description of the determination of number of robots in the workplace. Some methodological steps are illustrated by specific examples.

Mikuláš Hajduk

Papers

The View to the Current State of Robotics

Trends in Industrial Robotics Development

Design of the Welding Fixture for the Robotic Stations for Spot Welding Based on the Modular Concept

Increasing Degree of Automation of Production Systems Based on Intelligent Manipulation

Proposal of Multi Robotic Cells for Production Lines