Control architecture for mobile robot operation and navigation

Ollero, A.; Mandow, Anthony; Muñoz, V.F.; Gabriel, Jakob

doi:10.1016/0736-5845(95)00032-1

Cited by 14 publications

(5 citation statements)

References 16 publications

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“…A mini-robot to perform spraying activities based on machine vision and fuzzy logic has been described in [115,116]. More examples of autonomous vehicle robot for spraying the weeds can be found in [117][118][119] and [90] and [114]. Development of an autonomous weeding machine requires a vision system capable of detecting and locating the position of the crop.…”

Section: Figure 2 Example Of Weed Control and Targeted Spraying Robotsmentioning

confidence: 99%

Research and development in agricultural robotics: A perspective of digital farming

Shamshiri¹,

Weltzien²,

Hameed³

et al. 2018

International Journal of Agricultural and Biological Engineering

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Digital farming is the practice of modern technologies such as sensors, robotics, and data analysis for shifting from tedious operations to continuously automated processes. This paper reviews some of the latest achievements in agricultural robotics, specifically those that are used for autonomous weed control, field scouting, and harvesting. Object identification, task planning algorithms, digitalization and optimization of sensors are highlighted as some of the facing challenges in the context of digital farming. The concepts of multi-robots, human-robot collaboration, and environment reconstruction from aerial images and ground-based sensors for the creation of virtual farms were highlighted as some of the gateways of digital farming. It was shown that one of the trends and research focuses in agricultural field robotics is towards building a swarm of small scale robots and drones that collaborate together to optimize farming inputs and reveal denied or concealed information. For the case of robotic harvesting, an autonomous framework with several simple axis manipulators can be faster and more efficient than the currently adapted professional expensive manipulators. While robots are becoming the inseparable parts of the modern farms, our conclusion is that it is not realistic to expect an entirely automated farming system in the future.

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Section: Figure 2 Example Of Weed Control and Targeted Spraying Robotsmentioning

confidence: 99%

Research and development in agricultural robotics: A perspective of digital farming

Shamshiri¹,

Weltzien²,

Hameed³

et al. 2018

International Journal of Agricultural and Biological Engineering

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“…Se diseñó una arquitectura de control para Lázaro (ver Figura 11). Dicha arquitectura se puede considerar híbrida (Jardón, et al, 2008) (Vuković & Miljković, 2009) puesto que posee niveles donde se exhibe una jerarquía funcional (Ollero, et al, 1994) y, a su vez, hay un nivel reactivo basado en comportamientos (Stein & Paul, 1994) que permiten al robot efectuar diferentes acciones en respuesta a los estímulos que pudiera recibir a partir de sus sensores para completar la tarea asignada. La implementación de la arquitectura se hace desde dos entornos: un sistema local, incorporado dentro del robot; y un sistema remoto, ubicado en el ordenador externo.…”

Section: Arquitectura De Controlunclassified

Lázaro: Robot Móvil dotado de Brazo para Contacto con el Suelo

García

Medina

Martínez

et al. 2017

Revista Iberoamericana de Automática e Informática Industrial R

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Este artículo tiene por objetivo describir a Lázaro, el cual es un pequeño robot móvil que posee un brazo diseñado especialmente para propiciar un punto adicional de contacto con el suelo que puede utilizarse para mejorar la estabilidad al vuelco y superar obstáculos. Específicamente, se aborda la descripción de la estructura mecánica así como los componentes electrónicos destinados a percepción, comunicación y control. Posteriormente, se revisan las características de funcionamiento de este robot, en cuanto a su cinemática, arquitectura de control, modos de operación e interface. Finalmente, se hace una descripción de algunas pruebas de funcionamiento.

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“…Then, these values are transferred to the low level controller so that motors make the robot move in a correct way. In the current application, the high level controller is based on a very well-known path tracking algorithm: Pure Pursuit [ 21 , 22 , 29 , 32 ], and the low level control implements a traditional PID controller that transmits orders to the motors driver by using I2C protocol.…”

Section: Case Study: the Navigation Of A Mobile Robotmentioning

confidence: 99%

A Smart Sensor for Defending against Clock Glitching Attacks on the I2C Protocol in Robotic Applications

Jiménez-Naharro

Gómez-Bravo

Medina-García

et al. 2017

Sensors

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This paper presents a study about hardware attacking and clock signal vulnerability. It considers a particular type of attack on the clock signal in the I2C protocol, and proposes the design of a new sensor for detecting and defending against this type of perturbation. The analysis of the attack and the defense is validated by means of a configurable experimental platform that emulates a differential drive robot. A set of experimental results confirm the interest of the studied vulnerabilities and the efficiency of the proposed sensor in defending against this type of situation.

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Control architecture for mobile robot operation and navigation

Cited by 14 publications

References 16 publications

Research and development in agricultural robotics: A perspective of digital farming

Research and development in agricultural robotics: A perspective of digital farming

Lázaro: Robot Móvil dotado de Brazo para Contacto con el Suelo

A Smart Sensor for Defending against Clock Glitching Attacks on the I2C Protocol in Robotic Applications

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