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Design and motion analysis of reconfigurable wheel-legged mobile robot

Defence Technology（防务技术） 2022年第6期18卷 1023-1040页

作者： Shuo Zhang Jian-tao Yao Ying-bin Wang Zi-sheng Liu Yun-dou Xu Yong-sheng Zhao School of Mechanical Engineering Yanshan UniversityHebeiChina

An adaptive wheel-legged shape reconfigurable mobile robot,based on a scissor-like mechanism,is proposed for an obstacle detecting and surmounting robot,moving on complex *** robot can dynamically adjust its own shape,according to the environment,realizing a transformation of wheel shape into leg shape and vice *** wheel-legged mechanism has one degree of freedom,which means that only the relative motion of the inner and outer discs is needed to achieve the transformation of the shape into a wheel or a ***,the force analysis of the conversion process of the wheel-legged mechanism is carried out,while the relationship between the driving torque and the friction factor in the non-conversion trigger stage and in the conversion trigger stage is *** results showed that the shape conversion can be better realized by increasing the friction factor of the trigger ***,the kinematics analysis of the robot,including climbing the obstacles,stairs and gully,is carried *** motion of the spokes tip is obtained,in order to derive the folding ratio and the surmountable obstacle height of the wheel-legged *** parameters of the wheel-legged structure are optimized,to obtain better stability and obstacle climbing ***,a dynamic simulation model is established by ADAMS,to verify the obstacle climbing performance and gait rationality of the robot,in addition to a prototype *** results showed that the surmountable obstacle height of the robot is about3.05 times the spoke *** robot has the stability of a traditional wheel mechanism and the obstacle surmount performance of a leg mechanism,making it more suitable for field reconnaissance and exploration missions.

关键词： mobile robots Scissor mechanism Kinematics ADAMS simulation Obstacle surmounting

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An Adaptive Obstacle Avoidance Algorithm for Unmanned Surface Vehicle in Complicated Marine Environments

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IEEE/CAA Journal of Automatica Sinica 2014年第4期1卷 385-396页

作者： Rubo Zhang Pingpeng Tang Yumin Su Xueyao Li Ge Yang Changting Shi the College of Computer Science and Technology Harbin Engineering UniversityHarbin 150001China College of Electromechanical and Information Dalian Nationalities University the College of Computer Science and Technology Harbin Engineering UniversityHarbin 150001China Wuhan Second Ship Design and Research Institute the National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle Harbin Engineering University

Unmanned surface vehicles(USVs) are important autonomous marine robots that have been studied and gradually applied into practice. However, the autonomous navigation of USVs, especially the issue of obstacle avoidance in complicated marine environment, is still a fundamental problem. After studying the characteristics of the complicated marine environment, we propose a novel adaptive obstacle avoidance algorithm for USVs,based on the Sarsa on-policy reinforcement learning *** proposed algorithm is composed of local avoidance module and adaptive learning module, which are organized by the “divide and conquer” strategy-based architecture. The course angle compensation strategy is proposed to offset the disturbances from sea wind and currents. In the design of payoff value function of the learning strategy, the course deviation angle and its tendency are introduced into action rewards and penalty policies. The validity of the proposed algorithm is verified by comparative experiments of simulations and sea trials in three sea-state marine environments. The results show that the algorithm can enhance the autonomous navigation capacity of USVs in complicated marine environments.

关键词： Algorithm design and analysis Collision avoidance Learning (artificial intelligence) Marine technology mobile robots Navigation Sea surface Unmanned aerial vehicles “divide and conquer” strategy Sarsa on-policy reinforcement learning algorithm Unmanned surface vehicle adaptive obstacle avoidance algorithm complicated marine environment Obstacle avoidance vehicle UNMANNED sublittoral zone Unmanned Aerial Vehicle Algorithm design and analysis Divide and conquer navigation Marine technology Ground vehicles drone honey bees Collision avoidance algorithms sea surface mobile robots

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Spherical robot: A novel robot for exploration in harsh unknown environments

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IET Cyber-Systems and Robotics 2023年第4期5卷 1-15页

作者： Wei Ren You Wang Haoxiang Liu Song Jin Yixu Wang Yifan Liu Ziang Zhang Tao Hu Guang Li State Key Laboratory of Industrial Control Technology Institute of Cyber Systems and ControlZhejiang UniversityHangzhouChina

The authors propose a complete software and hardware framework for a novel spherical robot to cope with exploration in harsh and unknown *** proposed robot is driven by a heavy pendulum covered by a fully enclosed spherical shell,which is strongly protected,amphibious,anti-overturn and has a *** for location and perception,planning and motion control are comprehensively *** the one hand,the authors fully consider the kinematic model of a spherical robot,propose a positioning algorithm that fuses data from inertial measurement units,motor encoder and Global Navigation Satellite System,improve global path planning algorithm based on Hybrid A*and design an instruction planning controller based on model predictive control(MPC).On the other hand,the dynamic model is built,linear MPC and robust servo linear quadratic regulator algorithm is improved,and a speed controller and a direction controller are *** addition,based on the pose and motion charac-teristics of a spherical robot,a visual obstacle perception algorithm and an electronic image stabilisation algorithm are ***,the authors build physical systems to verify the effectiveness of the above algorithms through experiments.

关键词： mobile robots robot control robot perception robot planning

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Deep Learning for Visual SLAM in Transportation Robotics:A review

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Transportation Safety and Environment 2019年第3期1卷 177-184页

作者： Chao Duan Steffen Junginger Jiahao Huang Kairong Jin Kerstin Thurow Institute of Artificial Intelligence&Robotics(IAIR) School of Traffic&Transportation EngineeringCentral South University410075 China Institute of Automation University Rostock18119 Germany 3Center for Life Science AutomationUniversity of Rostock18119 Germany

Visual SLAM(Simultaneously Localization and Mapping)is a solution to achieve localization and mapping of robots *** achievements have been made during the past decades,geography-based methods are becoming more and more successful in dealing with static ***,they still cannot handle a challenging *** the great achievements of deep learning methods in the field of computer vision,there is a trend of applying deep learning methods to visual *** this paper,the latest research progress of deep learning applied to the field of visual SLAM is *** outstanding research results of deep learning visual odometry and deep learning loop closure detect are ***,future development directions of visual SLAM based on deep learning is prospected.

关键词： deep learning visual SLAM transportation robotics mobile robots

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Predictive-based optimal automatic formation control of mobile vehicles

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IET Cyber-Systems and Robotics 2021年第4期3卷 331-342页

作者： Tadanao Zanma Shunta Haga Kenta Koiwa Kang‐Zhi Liu Graduate School of Engineering Chiba UniversityChibaJapan

In recent years,formation control has received a great deal of attention as one of the most interesting issues in multiple mobile robots *** variable formation control systems,multiple mobile vehicles can form an appropriate formation from a list of possible formations,such that all mobile vehicles can pass even when the width of the course is narrow,and simultaneously the vehicles maintain a set distance between the course and each *** paper presents a predictive-based automatic formation *** our formation control system,a unique formation is determined from feasible formations at any given sampling *** control is formulated by its corresponding mixed-integer quadratic programing by introducing binary variables that are used to specify the *** effectiveness of the proposed methods is verified by applying two-wheeled mobile vehicles through simulations and experiments.

关键词： control decision‐making mobile robots

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Robust model predictive tracking control for the wheeled mobile robot with boundary uncertain based on linear matrix inequalities

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IET Cyber-Systems and Robotics 2023年第1期5卷 36-50页

作者： Xing Gao Xin Su Aimin An Haochen Zhang College of Electrical and Information Engineering Lanzhou University of TechnologyLanZhouGanSuChina

In this study,a robust model predictive controller is designed for the trajectory tracking problem of non-holonomic constrained wheeled mobile robot based on an elliptic invariant set *** controller is based on a time-varying error model of robot kinematics and uses linear matrix inequalities to solve the robust tracking problem taking uncertainties into *** uncertainties are modelled by linear fractional transform form to contain both parameter perturbations and external *** control strategy consists of a feedforward term that drives the centre of the ellipse to the reference point and a feedback term that converges the uncertain system state error to the equilibrium *** strategy stabilises the nominal system and ensures that all states of the uncertain system remain within the ellipsoid at each step,thus achieving robust stability of the uncertain ***,the robustness of the algorithm and its resistance to disturbances are verified by simulation and experiment.

关键词： mobile robots robot control robot kinematics robustness

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Experimental Verification of a Multi-robot Distributed Control Algorithm with Containment and Group Dispersion Behaviors: the Case of Dynamic Leaders

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IEEE/CAA Journal of Automatica Sinica 2014年第01期1卷 54-60页

作者： Hejin Zhang Zhiyun Zhao Ziyang Meng Zongli Lin Department of Automation and Key Laboratory for System Control and Information Processing of Ministry of Education Shanghai Jiao Tong University the Access Linnaeus Centre School of Electrical Engineering Royal Institute of Technology Charles L. Brown Department of Electrical and Computer Engineering University of Virginia

This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform.

关键词： Heuristic algorithms mobile robots Robot kinematics Trajectory Dispersion Decentralized control

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Lessons learned:Symbiotic autonomous robot ecosystem for nuclear environments

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IET Cyber-Systems and Robotics 2023年第4期5卷 63-86页

作者： Daniel Mitchell Paul Dominick Emor Baniqued Abdul Zahid Andrew West Bahman Nouri Rahmat Abadi Barry Lennox Bin Liu Burak Kizilkaya David Flynn David John Francis Erwin Jose Lopez Pulgarin Guodong Zhao Hasan Kivrak Jamie Rowland Douglas Blanche Jennifer David Jingyan Wang Joseph Bolarinwa Kanzhong Yao Keir Groves Liyuan Qi Mahmoud A.Shawky Manuel Giuliani Melissa Sandison Olaoluwa Popoola Ognjen Marjanovic Paul Bremner Samuel Thomas Harper Shivoh Nandakumar Simon Watson Subham Agrawal Theodore Lim Thomas Johnson Wasim Ahmad Xiangmin Xu Zhen Meng Zhengyi Jiang James Watt School of Engineering Autonomous Systems and Connectivity DivisionUniversity of GlasgowGlasgowUK Department of Electrical and Electronic Engineering The University of ManchesterManchesterUK Bristol Robotics Laboratory University of the West of EnglandBristolUK Heriot-Watt University EdinburghUK

Nuclear facilities have a regulatory requirement to measure radiation levels within Post Operational Clean Out(POCO)around nuclear facilities each year,resulting in a trend towards robotic deployments to gain an improved understanding during nuclear decommissioning *** UK Nuclear Decommissioning Authority supports the view that human-in-the-loop(HITL)robotic deployments are a solution to improve procedures and reduce risks within radiation characterisation of nuclear *** authors present a novel implementation of a Cyber-Physical System(CPS)deployed in an analogue nuclear environment,comprised of a multi-robot(MR)team coordinated by a HITL operator through a digital twin *** development of the CPS created efficient partnerships across systems including robots,digital systems and *** was presented as a multi-staged mission within an inspection scenario for the hetero-geneous Symbiotic Multi-Robot Fleet(SMuRF).Symbiotic interactions were achieved across the SMuRF where robots utilised automated collaborative governance to work together,where a single robot would face challenges in full characterisation of *** contributions include the demonstration of symbiotic autonomy and query-based learning of an autonomous mission supporting scalable autonomy and autonomy as a *** coordination of the CPS was a success and displayed further challenges and improvements related to future MR fleets.

关键词： cyber-systems field robotics hazardous inspection human robot interaction industrial robotics mobile robots multi-agent systems multi-robot systems robotics service robots

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Research of the Anti-vibration Hammer Resetting Robot Based on Machine Vision

Research of the Anti-vibration Hammer Resetting Robot Based ...

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第32届中国控制与决策会议

作者： Liu Yanmei Wen Shihua Chen Zhen Zhang Dongyu School of Automation Shenyang Aerospace University Liaoning Power Transmission and Transformation Engineering Co Ltd

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

Target recognition,positioning and navigation of robots are the basis and key for industrial robots to accurately complete specific *** this paper,based on the detection and localization task of anti-vibration hammer resetting robot a vision algorithm is designed for machine arm ***,the improved canny algorithm is used to extract the edge of the collected image of the shockproof hammer bolt,then the improved Hough transform is used to accurately locate the frame and center of the fastening bolt of the shockproof hammer,so as to complete the operation task of the anti-vibration hammer resetting *** experimental results show that the method proposed in this paper.

关键词： Fasteners Image edge detection Standards mobile robots Manipulators Feature extraction

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Road Curbs Detection Based on Laser Radar

Road Curbs Detection Based on Laser Radar

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2006 8th International Conference on Signal Processing

作者： Chunhe Yu Danping Zhang Department of Electronic Engineering Shenyang Institute of Aeronautical Engineering

ISBN: (纸本)0780397371;9780780397378

In order to provide road information for outdoor mobile robot in a complicated environment,a new road curbs extraction algorithm is proposed based on a four-layer laser radar *** to the characteristic of road curbs that locates beside the road and presents nearly vertical relation with x-axis of the LDL,the algorithm includes three main steps: with the purpose of finding curbs exact position,initial curbs(beginning segments of curbs) are extracted in the range data firstly;in order to overcome the environment disturbance,then the entire curbs are obtained by using the initial curbs information and extent kalman filter technology;in order to obtain the stable and precision road curbs information,curbs tracking method is performed at *** experiment results testified the road curbs detection algorithm had high stability and reliability.

关键词： mobile robots

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