PatrolBot

Abstract: In this paper, a sonar based navigation scheme for autonomous automatic guided vehicle (AGV) is proposed considering the physical placement, ranging limits and beam opening angles of sonars. A geometrical modeling of navigation path in an unknown environment is presented. A simple 2D axis transformation is proposed to relate local robot frame with the actual environment. Forward safe path (FSP) and target switching approach (TSA) are proposed for efficient obstacle avoidance and target tracking. FSP simplifies the environment conditions and provides minimum turning path during obstacle avoidance. TSA gives highest priority on the target location during obstacle avoidance and generates minimum distance path towards the target, removing unnecessary turning of the AGV. A scheme for target directional motion is proposed to get minimum turning path towards the target. These methods ensure the avoidance of dasiadead cyclepsila problem and generate dasiaoscillationpsila free navigation. These schemes are successfully implemented on a model of PatrolBottrade from ActivMedia Robotics.

Abstract: In this paper, we have proposed a sensor fusion scheme along with the geometrical modeling of mobile robot navigation path in an unknown environment. In this scheme, the physical placement of sonars, their ranging limits and beam opening angles are considered. A simple 2-D axis transformation is proposed to relate local robot frame with the actual navigation environment. forward safe path (FSP) and target switching approach (TSA) are proposed for efficient obstacle avoidance and target tracking of mobile robot. FSP greatly simplifies the environment conditions as sensed by the robot and also provides minimum turning path during avoidance of obstacles. This method also removes the ldquooscillationrdquo in the mobile robot navigation path. TSA technique gives highest priority on the target tracking during the obstacle avoidance and seeks minimum distance path towards the target. These methods remove unnecessary turning of mobile robot during navigation. A scheme for target directional motion is also proposed. So, mobile robot takes the minimum turning path required towards the target. These methods also ensure the avoidance of ldquodead cycle problemrdquo. These schemes are successfully implemented on a model of PatrolBot mobile robot from ActivMedia Robotics. The overview of current research work on multi-domain robotic system namely system-of-systems is also presented. This paper also describes the Global Positioning System-based navigation of rovers. Results of real-time experiments with Pioneer II P2AT-8 from ActivMedia are included in this paper to show the future aspect of this research work.

Abstract: In this paper the dynamics equations for a mobile robot, named PatrolBot, will be developed, using new concepts in advanced mechanics, based on important scientific researches of the main author, concerning the kinetic energy. In keeping the fact that the mathematical models of the mobile platforms are different besides the other robots types, due to nonholonomic constraints, these dynamic control functions, will be computed, according to these restrictions for robot motion.