Adaptive navigation and motion planning for a mobile track robot

B. H. Sudantha, K. A.S.N. Sumathipala, C. Premachandra, K. M.H.K. Warnakulasooriya, C. S. Elvitigala, Y. P. Jayasuriya

研究成果: Conference contribution

抄録

Localization and navigation of mobile robots precisely in an indoor environment is one of most important and challenging tasks. Navigation using conventional approaches such as Global Positioning System (GPS) and some vision based odometry are not very much effective in indoor environments. Therefore, a magnetic wheel encoding mechanism was selected in order to improve the navigational method. Also it could be with the most common localization approaches such as GPS, inertial navigation systems and laser sensors. This paper discusses a mobile robot application which navigates using magnetic wheel encoders and camera sensor. Further, the robot uses Wi-Fi to gather information and it creates intelligence to find the path dynamically. The Central control center and its main database process all available data and send the relevant control commands to the robots. Additionally, it will direct the messages between the nodes and the robot and keep robots on the correct track. The environment that the robot is moving is a pulse of black lines in white background. For the detection of the line Hough transformation has been used. It is having the capability of detecting sensor nodes using Radio-frequency identification (RFID) or Quick Response (QR) codes and taking measurements and returning to the base station avoiding obstacles communicating between nodes and the base.

言語English
Title of host publicationIFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781509049172
DOIs
StatePublished - 2017 8 30
イベント17th Joint World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems, IFSA-SCIS 2017 - Otsu, Japan
継続期間: 2017 6 272017 6 30

Other

Other17th Joint World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems, IFSA-SCIS 2017
Japan
Otsu
期間17/6/2717/6/30

Fingerprint

Motion planning
Navigation
Robots
Mobile robots
Global positioning system
Wheels
Robot applications
Wi-Fi
Inertial navigation systems
Sensors
Radio frequency identification (RFID)
Sensor nodes
Base stations
Cameras
Lasers

Keywords

    ASJC Scopus subject areas

    • Logic
    • Computational Theory and Mathematics
    • Computer Science Applications
    • Control and Optimization
    • Artificial Intelligence

    これを引用

    Sudantha, B. H., Sumathipala, K. A. S. N., Premachandra, C., Warnakulasooriya, K. M. H. K., Elvitigala, C. S., & Jayasuriya, Y. P. (2017). Adaptive navigation and motion planning for a mobile track robot. : IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems [8023304] Institute of Electrical and Electronics Engineers Inc.. DOI: 10.1109/IFSA-SCIS.2017.8023304

    Adaptive navigation and motion planning for a mobile track robot. / Sudantha, B. H.; Sumathipala, K. A.S.N.; Premachandra, C.; Warnakulasooriya, K. M.H.K.; Elvitigala, C. S.; Jayasuriya, Y. P.

    IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems. Institute of Electrical and Electronics Engineers Inc., 2017. 8023304.

    研究成果: Conference contribution

    Sudantha, BH, Sumathipala, KASN, Premachandra, C, Warnakulasooriya, KMHK, Elvitigala, CS & Jayasuriya, YP 2017, Adaptive navigation and motion planning for a mobile track robot. : IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems., 8023304, Institute of Electrical and Electronics Engineers Inc., 17th Joint World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems, IFSA-SCIS 2017, Otsu, Japan, 17/6/27. DOI: 10.1109/IFSA-SCIS.2017.8023304
    Sudantha BH, Sumathipala KASN, Premachandra C, Warnakulasooriya KMHK, Elvitigala CS, Jayasuriya YP. Adaptive navigation and motion planning for a mobile track robot. : IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems. Institute of Electrical and Electronics Engineers Inc.2017. 8023304. 利用可能場所, DOI: 10.1109/IFSA-SCIS.2017.8023304
    Sudantha, B. H. ; Sumathipala, K. A.S.N. ; Premachandra, C. ; Warnakulasooriya, K. M.H.K. ; Elvitigala, C. S. ; Jayasuriya, Y. P./ Adaptive navigation and motion planning for a mobile track robot. IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems. Institute of Electrical and Electronics Engineers Inc., 2017.
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