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

This paper describes basic principles of the kinematic structure design for two - leg walking robots. The article deals with the design of walking phases detailed, which is described in sagital and frontal plane so that movement of the centre of gravity was outside the support polygon and also offers the model of walk for the concrete construction of the two - leg walking robot. This article is the result of research activities of our department in humanoid robotics.

Design of Humanoid’s Lower Limb Model for Walking

In 1990’s two robotic competitions were created independently. In both competitions robots compete against each other in disciplines by imitating soccer game. They were formed because of possibilities of testing designed and applied solutions within robotics and artificial intelligence in general.

Multi-agent System Test Domain—Robosoccer

Multirobotic system for testing multi-agent approach in mobile robotics is robosoccer. This article examines the development of robot hardware, embedded algorithms lower levels of robot control and processing of data received from the host computer for category MiroSot.

Robot as a Soccer Player in Multi-Robotic Application

/pdf/design-of-humanoid-s-lower-limbs-model-and-phases-of-walking-3tkugjblxn.pdf

Design of Humanoid's Lower Limbs Model and Phases of Walking

This article presents the possibilities of education of teachers in secondary vocational schools in the field of robotics. It is possible to use the assembly cell with SCARA robot, which is provided with a visual recognition system components. The second option consists of the use of virtual laboratory. Virtual laboratory enabling projects to work with robots, NC machines, conveyors and other types of objects. The solution is a system for recording special marks under which a computer generates the appropriate object.

Mikuláš Hajduk

Papers

Design of Humanoid’s Lower Limb Model for Walking

Multi-agent System Test Domain—Robosoccer

Robot as a Soccer Player in Multi-Robotic Application

Design of Humanoid's Lower Limbs Model and Phases of Walking

Using of Assembly Cell with SCARA Robot to Education of Teachers at Secondary Vocational Schools