Research on Control System of Rat Repelling Robot
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The rat repelling robot was developed with the combination of electronic rat repellent and mobile robot.The mechanical structures and the rat repelling function of the rat repelling robot was designed,the robot control system with the function of obstacle avoidance and follow-wall was developed by CPU and infrared sensors,and the fuzzy control was used on the control of obstacle avoidance.The system is simple,easy to control.The experimental result shows that the mobile robot can realize the scheduled function.Keywords:
Obstacle avoidance
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Obstacle avoidance
Potential field
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Obstacle avoidance is the basic requirement for any autonomous mobile robot. Fuzzy intelligent obstacle avoidance strategy is proposed in this paper for the wheeled mobile robot tracking a target in the environment with obstacles, which is composed of two fuzzy logic controllers and an intelligent coordinator. Run-to-goal fuzzy controller makes the robot approach the target when there are no obstacles in the environment; Fuzzy obstacle controller will generate obstacle avoidance commands according to target orientation information and obstacle information when the robot detecting obstacles via its onboard sensors. Intelligent coordinator is designed to coordinate the two actions mentioned above to generate robot's ultimate control command. Ultimately, the robot tracks the target and realizes obstacle avoidance meanwhile. Simulations and experiments on robot platform validate the effectiveness proposed by the paper.
Obstacle avoidance
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Considering the noise effect during the navigation of a two wheeled mobile robot, SVM and LS-SVM based control schemes are discussed under the measured information with uncertainty, and in the different environments. The noise effect is defined as uncertainty in the measured data. One of them focuses on using a potential function and constructing a plane surface for avoiding the local minima in the static environments, where the controller is based on Lyapunov function candidate. Another one addresses to use a potential function and to define a new detouring virtual force for escaping from the local minima in the dynamic environments. Stability of the control system can be guaranteed. However, the motion control of the mobile robot would be affected by the noise effect. The SVM and LS-SVM for function estimation are used for estimating the parameter in the proposed controllers. With the estimated parameter, the noise effect during the navigation of the mobile robot can be reduced.
Maxima and minima
Obstacle avoidance
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Obstacle avoidance
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Obstacle avoidance
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In this paper, a kind of application system combining fuzzy control technology and ultrasound obstacle avoidance technology for the intelligent wheelchair robot. The system use the ultrasonic ranging distance as the input signal and the output signal is the speed of the robot’s wheels to avoid obstacle. The fuzzy controller is designed and simulation is performed in matlab platform, then the fuzzy control strategy is obtained. It has been applied successfully in ultrasound obstacle avoidance system for the intelligent wheelchair robot.
Obstacle avoidance
SIGNAL (programming language)
Ranging
Intelligent Control
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Obstacle avoidance
Potential field
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This paper proposes a mobility system for a robot. The purpose of this transport system are the followings. 1. realizing of an efficient and safe system under a situation where multiple robots move around ; 2. realizing of a safe and comfortable system for a driver and surrounding people ', 3. realizing of coexistence of autonomous robots and manipulative robots. And, in this system we are trying to exact a good feature of the existing transportation system and apply a good feature into this system. In this paper, we develop " Obstacle Avoidance Control module " to prevent a collision with objects. We propose an algorithm of an obstacle aboidance based on "a steering potential function".
Obstacle avoidance
Feature (linguistics)
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In this paper, a novel collision avoidance algorithm of a mobile robot is proposed. Virtual force field between a robot and an obstacle is formed and regulated to maintain a desired distance. To avoid obstacles on the path of a mobile robot, intelligent hybrid force control is used to regulate force field of an accurate distance between a robot and an obstacle. Since uncertainties from robot dynamics and obstacles degrade the performance of a collision avoidance task, neural network is used to compensate for uncertainties. Simulation studies of avoiding obstacles by maintaining a desired distance on the path of a wheeled mobile robot are conducted to confirm the proposed algorithm.
Obstacle avoidance
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The systemic structure and kinetic principle of mobile robot were introduced.One algorithm of obstacle avoidance for mobile robot based on fuzzy control with speed feedback was researched and simulated.The experiment of obstacle avoidance for mobile robot was made in the actual environment and the result validates that the fuzzy control algorithm is feasible.
Obstacle avoidance
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