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Subject: search.filters.subject.Mobile robot

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    A multi-terrain spherical amphibious robot for on-land, in-water, and underwater operation
    (2019-01-01)
    Nilas, P.
    ;
    Ngo, T.
    This paper presents an innovative multi-terrain amphibious robot that imitates the amphibian animals' locomotion ability for both onshore and offshore performances. The robot can roll on-land, swim in-water, submerge underwater, and crawl on the sea floor. The robot consists of a spherical body and an outer jacket shell with multiple tiny channels that function similar to the wheel tread while on-land and perform as the paddle when in-water. The proposed robot have superior capability that other conventional robots could not achieve. The robot could travel on multiple terrains such as rolling on soft ground, floating in-water, and maneuvering underwater. This research utilizes the Omni-directional wheel, and the propeller system for locomotion and movement control. The proposed system has been implemented to develop a prototypical multi-terrains amphibious robot, and the initial experimental results also demonstrate the capability of such a robot design.
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    An application of Pareto solution with adapted ACO for searching optimal route of a mobile robot in rough terrain environment
    (2016-01-24)
    Anuntachai, Anuntapat
    ;
    Thammano, Arit
    ;
    Wongwirat, Olarn
    A challenge in searching an optimal route of a mobile robot involves finding the route that has the shortest distance and consumes the least energy. To solve this problem, an ant colony optimization (ACO) algorithm can be used, but only on a flat terrain, since the energy depends directly on the distance. In a rough terrain, the least energy route might not be the shortest distance. Also, the shortest distance route might not be the least energy. This is due to a factor of slope in the route. Although our adapted ACO can be used for searching energy-efficient routes in the rough terrain, it is difficult to achieve the shortest distance simultaneously. This paper proposes a novel method to find an optimal route of a mobile robot in rough terrain environment by using a Pareto solution with adapted ACO. In the proposed method, the adapted ACO is used to search two sets of route, i.e., one contains the least energy and another one contains the shortest distance. Then, the Pareto solution is deployed to find the optimal route in terms of energy and distance by adopting a distance vector for selection. The experiment was performed by simulation to verify the proposed searching method. The experimental results show that the proposed searching method can prescribe the optimal value for choosing the route provided by adapted ACO.
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    An application of ant algorithm for searching energy-efficient route a mobile robot takes using energy as a weighting factor
    (2014-12-10)
    Anuntachai, Anuntapat
    ;
    Wongwirat, Olarn
    ;
    Thammano, Arit
    A problem related to energy consumption of a mobile robot involves finding out what route the robot can take that uses the least energy. An ant colony optimization algorithm (ACO) can solve this problem. However, it is applicable only for route on a flat terrain. This paper proposes an adapted ant colony optimization (adapted ACO) algorithm that is applicable for route on a rough terrain as well. This adaptation introduces a weight that is the energy expended on a route that may have upward slopes, downward slopes, and flat surfaces. Experiments were conducted to test the algorithm. The experimental results show that our adapted ACO did successfully find a route that expended the least energy, though it was not the shortest one. We also found the following interesting facts: an energy-efficient route has more downward slopes than upward ones; the energy expended increases with the steepness of the slopes along a route; and the energy expended is likely to be lower if the robot’s velocity is not constrained to be constant throughout the route.
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    Searching energy-efficient route in rough terrain for mobile robot with ant algorithm
    (2012-12-01)
    Anuntachai, Anuntapat
    ;
    Wongwirat, Olarn
    Recently, the ant algorithm has been widely used to solve the problem for searching optimized route from various different paths. It can be applied for searching an appropriate route that consumes less energy in mobile robot area as well. However, the previous optimized routes resulting from the ant algorithms considered only in flat terrain environment. They did not mention rough terrain environment. For the rough terrain, the optimized results might not be optimized in term of energy, due to slopes contained inside. This paper presents the application of ant algorithms for searching energy-efficient route of mobile robot in the rough terrain environment. The conventional ant colony optimization (ACO) algorithm and the adapted ACO algorithm are used to find the optimized routes in terms of distance and energy for comparison. The experimental results showed that, by using the speed with distance weighting factor, the adapted ACO yielded the optimized distance and energy in the flat terrain. In the rough terrain, the adapted ACO could also provide the energy-efficient routes better than the flat terrain. However, it could not be comparable with the ACO in some case and is required further improvement. © Springer-Verlag Berlin Heidelberg 2012.
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    A position tracking experiment of mobile robot with Inertial Measurement Unit (IMU)
    (2010-01-01)
    Wongwirat, Olarn
    ;
    Chaiyarat, Chutchai
    Currently, a position tracking of mobile robot becomes increasingly important. It can be not only used to track the moving path of mobile robot for searching and identifying its current position, but also to support the operation control of mobile robot remotely. The challenge in position tracking of mobile robot is to find its location related to environment. There are several tracking techniques using x, y coordinate and heading direction to locate the position in global coordinate system. However, these techniques lack the position information in z dimension. This paper proposes the method to track the position of mobile robot by using the Inertial Measurement Unit (IMU) that can provide the x, y and z coordination. The experiments were set in this work to verify the results of IMU signal while tracking the position of mobile robot. The results express some limitation characteristics of low-cost IMU sensor to provide accurate information. Therefore, some methodology is required to improve the accuracy of tracking position as suggested in the future work. ©ICROS.
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    Minimum complex network of chaotic robots
    (2009-01-01)
    Rosyid, Nur Rohman
    ;
    Sooraksa, Pitikhate
    Implementation on chaotic behaviors as guidance movement of mobile robots has been studied. This paper investigates the behaviors of four robots guiding by a chaotic system of weighted minimal network subject to change of weight of interaction among of them. We assume all robots equipped with audio communication devices. The computer simulation employ this audible-inaudible scenario. The behaviors of robots are highly depended on the strongest interaction between of them. The simulation yields satisfactory results helping us understand the behavior of minimum complex networks in robotic application.
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    Application of stereoscopic video based on mobile robot
    (2008-12-01)
    Jinjakam, Chompoonuch
    ;
    Jinjakam, Nuttapong
    ;
    Varakulsiripunth, Ruttikorn
    One important application for mobile robot is the ability to send most real visualization to the viewer. The possible algorithm is the stereoscopic application that consists of data from left and right views. Therefore, the left and right image pairs have to be transmitted simultaneously in order to display 3-dimentional video at the remote site. Moreover, due to the twice data in comparing with a monoscopic video of the same object, this paper propose the compression technique for resource saving. The compression technique is based on the multiresolution wavelet transform using varied disparity-block size for disparity estimation and compensation. © 2008 SICE.