Journal ArticleDOI
Wall-following control of an infrared sensors guided wheeled mobile robot
TLDR
A wall-following control approach is proposed for a wheeled mobile robot equipped with group of infrared sensors and the controller is designed with Lyapunov method whose asymptotical stability is guaranteed.Abstract:
Wall-following is an effective and economical approach for a robot to navigate in an environment where physical features like walls exist as natural references for its movements. During the robot's wall-following process where the working space is limited and unstructured, cost effective proximity sensors (sonar or infrared) are more suitable than other expensive sensors (like visions) to feedback the states of the robot and its surroundings to the controller. In this article, a wall-following control approach is proposed for a wheeled mobile robot equipped with group of infrared sensors. The linear and angular positions of the robot with respect to the wall are derived by processing the readings of the sensors. A method to detect the discontinuity of the wall is also presented. The controller is designed with Lyapunov method whose asymptotical stability is guaranteed. The effectiveness of the proposed approach is proved and verified by an initial experimental study.read more
Citations
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Journal ArticleDOI
Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey
TL;DR: Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are reviewed, and particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.
Journal ArticleDOI
The problem of boundary following by a unicycle-like robot with rigidly mounted sensors
TL;DR: A sliding mode control law is proposed that drives the robot at a pre-specified distance from the boundary and maintains this distance afterwards and holds for boundaries with both convexities and concavities.
Journal ArticleDOI
Cooperative Path Following Control of Fixed-wing Unmanned Aerial Vehicles with Collision Avoidance
TL;DR: This paper proposes a hybrid system that combines a path following strategy and a collision avoidance method to ensure collision-free maneuvering of a group of UAVs cooperative flight, and employs a modified vector field histogram method to provide real-time collision avoidance.
Journal ArticleDOI
A Method of Boundary Following by a Wheeled Mobile Robot Based on Sampled Range Information
TL;DR: The proposed control law for navigating a robot along the boundary of an obstacle, using sampled line-of-sight obstacle distance data, is able to show collision avoidance, complete transversal of the obstacle and finite completion time for transversing a finite boundary segment.
Journal ArticleDOI
Smart Robot Wall-Following Control Using a Sonar Behavior-based Fuzzy Controller in Unknown Environments
TL;DR: Experimental results show that the proposed BFC successfully performs the mobile robot wall-following task in a real unknown environment.
References
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Journal ArticleDOI
Control of chained systems application to path following and time-varying point-stabilization of mobile robots
TL;DR: Application to the control of nonholonomic wheeled mobile robots is described by considering the case of a car pulling trailers, and globally stabilizing time-varying feedbacks are derived.
Journal ArticleDOI
Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty
TL;DR: It is demonstrated how adaptive switching supervisory control can be combined with a nonlinear Lyapunov-based tracking control law to solve the problem of global boundedness and convergence of the position tracking error to a neighborhood of the origin that can be made arbitrarily small.
Journal ArticleDOI
Trial by fire [rescue robots]
TL;DR: An overview of the use of robots for USAR is provided, concentrating on what robots were actually used and why, and the roles that the robots played in the response and the impact of the physical environment on the platforms.
Journal ArticleDOI
Fuzzy target tracking control of autonomous mobile robots by using infrared sensors
TL;DR: The theme of this paper is to design a real-time fuzzy target tracking control scheme for autonomous mobile robots by using infrared sensors, which consists of a behavior network and a gate network.
Journal ArticleDOI
Online tuning of fuzzy inference systems using dynamic fuzzy Q-learning
Meng Joo Er,Chang Deng +1 more
TL;DR: A dynamic fuzzy Q-learning method that is capable of tuning fuzzy inference systems (FIS) online and a novel online self-organizing learning algorithm is developed so that structure and parameters identification are accomplished automatically and simultaneously based only on Q- learning.