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Solid State Phenomena 2009年 147-149卷 67-73页

作者： Grono, Andrzej Dąbkowski, Mariusz Niklas, Piotr Redlarski, Grzegorz Gdansk University of Technology Faculty of Electrical and Control Narutowicza St. 11/12 Gdansk80-952 Poland

Robotics is actually one of the most important technologies; which in the last year has been developing very fast. It’s interdisciplinary since combine mechanics, automatic, electric, and computer since. This paper presents generally the problems in navigation which should be solved by all who wants to build such educational and mobile robots [1, 3, 5, and 7]. For this reason the mechanical structure, module of communication, digital sonar and main board of autonomous and mobile robot for laboratory tasks has been described [2, 4]. After that the operation principle was given and some of the realized tests have been shown. A next possibility of development of the robot has been presented. Moreover the way, which satisfies the need of the large computational power on usually small platforms of mobile robots and the most advantageous sorts of the power supply from the point of view of the robot which realizes specify functions has been described. At the end of paper the conclusions has been extracted. Wide laboratory tests of the robot presented in this paper fully confirm all guideliness. In spite of fact that the device is very simple and very cheep, succesfully meet tasks in teaching, and enables students to meet fascinating subject of the mobile robots. Possibility of extension this subject can be continued during realization of other programs.

关键词： Digital Sonar in Robotics Education Mobile Robot navigation algorithms Radio-Modem in Robotics

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Expanded Algorithm for Inertial navigation

Expanded Algorithm for Inertial Navigation

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Computing Conference

作者： Aksonenko, P. M. Avrutov, V. V. Lazarev, Yu F. Henaff, P. Ciarletta, L. Natl Tech Univ Ukraine Igor Sykorsky Kiev Polytech Inst Kiev Ukraine Univ Lorraine INRIA CNR LORIAUMR 7503 F-54506 Nancy France

ISBN: (纸本)9783030011772;9783030011765

Pilot studies over strapdown inertial navigation system (SINS) and overclocking algorithms are introduced in this paper. Usually, the software for an inertial measurement unit (IMU) is being introduced without determinative computational algorithms, mainly causing fatal algorithmic output errors. Furthermore, caused by the noise and instrumental particularities of sensors, there are errors and also other impacts on the inexpensive IMU work. Consequently, these errors have direct influence on accuracy of orientation and navigation of SINS. The outcomes were received in the motionless position. In this paper, the efficiency of one-step overclocking simple algorithm has been examined.

关键词： IMU Space direction Sensors navigation algorithms Strapdown inertial navigation system

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Adaptive and Intelligent navigation of Autonomous Planetary Rovers - A Survey

Adaptive and Intelligent Navigation of Autonomous Planetary ...

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NASA/ESA Conference on Adaptive Hardware and Systems (AHS)

作者： Wong, Cuebong Yang, Erfu Yan, Xiu-Tian Gu, Dongbing Univ Strathclyde Strathclyde Space Inst Dept Design Manufacture & Engn Space Mechatron Syst Technol Lab Glasgow G1 1XJ Lanark Scotland Univ Essex Sch Comp Sci & Elect Engn Wivenhoe Pk Colchester CO4 3SQ Essex England

ISBN: (纸本)9781538634394

The application of robotics and autonomous systems in space has increased dramatically. The ongoing Mars rover mission involving the Curiosity rover, along with the success of its predecessors, is a key milestone that showcases the existing capabilities of robotic technology. Nevertheless, there has still been a heavy reliance on human tele-operators to drive these systems. Reducing the reliance on human experts for navigational tasks on Mars remains a major challenge due to the harsh and complex nature of the Martian terrains. The development of a truly autonomous rover system with the capability to be effectively navigated in such environments requires intelligent and adaptive methods fitting for a system with limited resources. This paper surveys a representative selection of work applicable to autonomous planetary rover navigation, discussing some ongoing challenges and promising future research directions from the perspectives of the authors.

关键词： planetary rovers space robotics machine intelligence navigation algorithms autonomous systems

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Research on indoor robot navigation algorithm based on deep reinforcement learning 2

Research on indoor robot navigation algorithm based on deep ...

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2nd International Conference on Image Processing, Computer Vision and Machine Learning, ICICML 2023

作者： Lei, Yaohua Cheng, Yunli Tan, Xueqin Tan, Yanxian Software Engineering Institute of Guangzhou Guangdong Guangzhou510990 China

ISBN: (纸本)9798350331417

Highly intelligent robot is the trend in the new round of development, and it is also the ultimate goal of robot navigation technology *** ability to learn is an important embodiment of robot *** navigation is the basic function of indoor mobile robots[1]and it is the premise and key technology to realize the autonomy and intelligence of *** the continuous development of robot-related technologies and the continuous expansion of application scope, the tasks faced by robots are more challenging, and the work scenes are increasingly complex and diversified, which puts forward new requirements and challenges for navigation technology. Indoor robot navigation systems need not only to maintain accuracy and stability in fixed scenes, but also to be able to handle dynamic changes in the environment, and to take into account safety and the impact on human comfort in an environment that coexists with *** paper takes the indoor mobile robot platform as the research object[2], introduces the machine learning algorithm based on neural network into the navigation task[3], utilizes the existing research achievements in the field of deep learning to build a robot navigation system based on different learning modes, and endows the robot with intelligent perception ability and navigation strategy learning ability[4],. © 2023 IEEE.

关键词： Imitation learning Indoor robot navigation navigation algorithms reinforcement learning

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Personal navigation using a kinetic model of humangait

Personal navigation using a kinetic model of humangait

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作者： Matthews, Christopher J University of Minnesota

学位级别：master

University of Minnesota M.S. thesis. December ***: Aerospace Engineering and mechanics. Advisor:DemozGebre-Egziabher. 1 computer file (PDF); ix, 74pages.%%%%Personal navigation concerns the tracking of humanbeings via devices carried or worn by individuals and presents aunique set of challenges in regards to navigation system andalgorithm design. Many conventional position ˉxing and deadreckoning approaches tend to perform poorly given the requirementsfor personal navigation, which may consider GNSS-deniedenvironments, a wide, highly dynamic range of motion, and low-costand small form-factor sensor limitations. A novel approach toassisting or augmenting other navigation algorithms by employing akinetic model of human gait is presented in this thesis. Thekinetic model in concert with a single-axis accelerometer is shownhere to comprise a virtual sensor capable of providing step sizeestimates in-situ for straight forward walking. Furthermore, thecombination of the kinetic model and accelerometer yields anavigation solution of comparable or better performance whencompared to a step counting dead reckoning approach. The derivationof this model is discussed, details of the experiments are given,and results are shown

关键词： navigation system navigation algorithms Algorithm design Kinetic model Aerospace Engineering and mechanics

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DPM: Towards Accurate Drone Position Manipulation

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IEEE TRANSACTIONS ON DEPENDABLE AND SECURE COMPUTING 2023年第1期20卷 813-826页

作者： Chen, Wenxin Dong, Yingfei Duan, Zhenhai Univ Hawaii Dept Elect & Comp Engn Honolulu HI 96822 USA Florida State Univ Dept Comp Sci Tallahassee FL 32306 USA

While existing methods can disrupt drone invasions in a protected airspace, none of them is able to accurately guide a drone to a desired location for safe handling. To address this issue, the Drone Position Manipulation (DPM) attack is proposed in this article to explore weaknesses in common navigation algorithms of consumer drones. The main advantage of DPM is that it can accurately redirect an invading drone to a desired location, by carefully crafting the spoofed guidance inputs of the drone to exploit the adjustment of path-following navigation algorithms. Compared with existing methods, this is the first work to achieve such accurate quantitative control. Another main contribution of this work is that it explores three fundamental components (i.e., guidance sensing, state estimation, and navigation control) together to enable the quantitative manipulation of flight paths, different from all existing methods. Furthermore, a formal analysis of the attack range is presented for investigating where a drone can be redirected from its target under given constraints. The evaluation on the Software-in-the-loop (SITL) module of ArduPilot system shows that the proposed attack is able to not only accurately lead a drone to a redirected destination but also make it fairly far away from its target. Lastly, the proposed attack can be applied to many autopiloted systems, because it exploits common weaknesses in these systems.

关键词： Drones Global Positioning System navigation State estimation Sensors Receivers Microprogramming Autonomous vehicle drone security navigation algorithms UAS

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Design and implementation of mobile robot for nodes replacement in wireless sensor networks

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JOURNAL OF INFORMATION SCIENCE AND ENGINEERING 2008年第2期24卷 393-410页

作者： Sheu, Jang-Ping Hsieh, Kun-Ying Cheng, Po-Wen Natl Tsing Hua Univ Dept Comp Sci Hsinchu 300 Taiwan Natl Cent Univ Dept Comp Sci & Informat Engn Chungli 320 Taiwan

Most wireless sensor networks consist of a large number of static, low-power, short-lived, and unreliable sensors. In this paper, we considered sensor networks consisting of both static and mobile nodes. Integrating both types of devices enables new applications, Such as nodes replacement, hole and partition recovery, and autonomous deployment and redeployment. We designed a smart mobile robot and implemented all application of nodes replacement to demonstrate its use, via our nodes replacement algorithm. In this algorithm, the mobile robots can navigate towards low-energy sensor nodes and replace them automatically, with new sensor nodes, having no location information. The navigation algorithm is based on received signal strength between the mobile robot and the communicating node. The experimental results confirm that the mobile robots successfully achieved their assigned tasks.

关键词： mobile robot mobile sensor navigation algorithms sensor networks wireless networks

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Design and Control of a Single Tilt Tri-Rotor Aerial Vehicle

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2016年第1-4期84卷 53-66页

作者： Czyba, Roman Szafranski, Grzegorz Rys, Andrzej Silesian Tech Univ Lab Embedded Control Syst 16 Akad St PL-44100 Gliwice Poland Silesian Tech Univ Fac Automat Control Elect & Comp Sci 16 Akad St PL-44100 Gliwice Poland Silesian Tech Univ 16 Akad St PL-44100 Gliwice Poland

The aim of this paper is to outline a design process of an attitude control system for unmanned rotorcraft. This small-scale unmanned aerial robot's concept is based on three rotors and one single tilt mechanism. Final design is consisted of mechanical construction, measurement system including navigation algorithm, as well as control structure and algorithm implementation at the last stage. It is important to underline that high attention was focused on the measurements filtering, estimation of the angular position, and in particular the practical aspects of the control implementation. Furthermore, a PID algorithm including various modified loop structures was studied. On the whole, it is worth to mention that the design, analysis and the validation tests were undertaken on the experimental aerial platform.

关键词： VTOL Attitude control system navigation algorithms Cascade control system AHRS

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Fuzzy dynamic path planning using genetic algorithms

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ELECTRONICS LETTERS 2000年第4期36卷 374-376页

作者： Juidette, H Youlal, H Fac Sci Dept Phys Rabat Morocco

Fuzzy control concepts are useful in bath global and local path planning tasks for autonomous mobile objects. The search for an optimal decision table to be used as the inference engine in fuzzy-based planning and navigation algorithms is highly important. The authors address the problem using genetic algorithms as a scarch and optimisation tool. The approach fields better planned paths compared to those obtained from random decision tables generated using rules of thumb.

关键词： local path planning optimal decision table fuzzy control Mobile robots optimisation tool inference mechanisms fuzzy dynamic path planning Reasoning and inference in AI inference engine autonomous mobile objects Optimal control Fuzzy control genetic algorithms path planning optimal control navigation algorithms Optimisation techniques navigation mobile robots global path planning

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Event-Based Control Strategy for Mobile Robots in Wireless Environments

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SENSORS 2015年第12期15卷 30076-30092页

作者： Socas, Rafael Dormido, Sebastian Dormido, Raquel Fabregas, Ernesto Univ Nacl Educ Distancia Dept Informat & Automat E-28040 Madrid Spain

In this paper, a new event-based control strategy for mobile robots is presented. It has been designed to work in wireless environments where a centralized controller has to interchange information with the robots over an RF (radio frequency) interface. The event-based architectures have been developed for differential wheeled robots, although they can be applied to other kinds of robots in a simple way. The solution has been checked over classical navigation algorithms, like wall following and obstacle avoidance, using scenarios with a unique or multiple robots. A comparison between the proposed architectures and the classical discrete-time strategy is also carried out. The experimental results shows that the proposed solution has a higher efficiency in communication resource usage than the classical discrete-time strategy with the same accuracy.

关键词： event-based control navigation algorithms mobile robots wireless communication

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