Design and Implementation of ROS-Based Autonomous Mobile Robot Positioning and Navigation System

Jian-jun, Zhu; Xu, Li

doi:10.1109/dcabes48411.2019.00060

Cited by 10 publications

(3 citation statements)

References 2 publications

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“…The attractional force and various repulsive forces on the spacecraft are equalized to a combined force to produce the combination function of the effects brought on by the artificial potential field after the attractional potential field and the repulsive potential field have been determined [8].…”

Section: Combined Potential Field Modelmentioning

confidence: 99%

Spacecraft environmental path planning method based on improved artificial potential field

2023

ACE

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Spacecraft is the primary means of transportation for human exploration of outer space. With the advancement of science and technology, existing space exploration can no longer satisfy people's desire to explore, in the future, further and deeper space exploration is the goal of development. And the safety of spacecraft navigation in space requires the development of a path planning system. Although there have been many kinds of methods for path planning at this stage, all of them have their strengths and specialize in planning directions, but they also have defects. Based on this, this study improves the traditional artificial potential field method, by adjusting its repulsive field calculation and combining it with the RRT algorithm. The improved method can avoid the local minimum problem of the traditional artificial potential field and generate paths to meet the requirements of spacecraft. The effectiveness of the algorithm is verified by simulation experimental results.

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Section: Combined Potential Field Modelmentioning

confidence: 99%

Spacecraft environmental path planning method based on improved artificial potential field

2023

ACE

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“…It can effectively reduce the impact of inertial forces during the robot's motion and improve the robot's dynamic stability and motion quality as a whole during the motion. Literature [14] combined with ROS for the design of autonomous mobile robots, this paper conducts an experimental comparative analysis of global path planning Dijkstra algorithm and A* algorithm, local path planning DWA algorithm, and Trajectory Rollout algorithm. Considering that the navigation process may encounter unexpected situations, adaptive Monte Carlo localization is used to track the positional attitude of the autonomous mobile robot, and it is used to experimentally verify its feasibility by navigating the unknown environment and the unexpected situation by external forces.…”

Section: Introductionmentioning

confidence: 99%

Research on the design of mechanical robot control system for industrial PC in the context of big data

Chen

2023

Applied Mathematics and Nonlinear Sciences

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In the digitalization of big data information, how to use big data technology to design and study the mechanical robot control system of industrial PC has become a key topic of concern in today’s society. In this paper, robot kinematic modeling is mainly used to analyze and study the robot motion equations and control system operation mechanism, and the motion controller of the industrial robot control system is selected from the CLIPPERPMAC controller of the PMAC motion controller series. The approach to reducing the operation error of the industrial robot system from the control perspective is discussed. The error is reduced by adjusting the PID parameters of the PMAC motion controller in automatic and manual ways, and the error is further reduced by introducing fuzzy control algorithms. By comparing the original curve, the curve after the PID adjustment of PMAC itself and the curve after the introduction of the fuzzy controller, the curve error is kept below 5%, which is determined to be an effective method to reduce the error. This study can precisely realize the design and research of mechanical robot control systems, thus providing a guiding reference value for the research of industrial robot mechanization.

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“…Nowadays, autonomous mobile robot (AMR) with navigation system is used in various works [19] [20]. Robot Operating System (ROS) provides useful packages for AMR, such as mapping, localization and navigation package, also provides useful tools for robot development [21]. The proposed robot is built on the ROS system and uses Simultaneous localization and mapping (SLAM) technology in ROS to scan the surroundings and construct a map to ensure that it can capture all areas of the space, allowing the robot to do multi-target navigation.…”

Section: Introductionmentioning

confidence: 99%

Development of an Intelligent Vital Sign Monitoring Robot System

Yeh¹,

Wu²,

Cheng³

2023

IJAIA

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We want to solve the problem that the elderly or heart patients will not miss the golden time for rescue incase of sudden death or emergency event at home. Therefore, this work proposes an intelligent vital signmonitoring robot system. Considering data protection and privacy issues, the heart rate of the elderly or heart patient can be measured and monitored through the millimetre wave radar on an autonomous mobilerobot (AMR). Additionally, by object detection technology, the infrared thermal imager is integrated todetect the temperature of a person’s head. The measured head temperature, thermal image and heart ratedata can be uploaded to cloud database with blockchain technology to prevent data tampering. We develop an interrupt method for multi-target navigationof AMR to interrupt the patrol when a custom triggersituation happened and to run the interrupt process for vital signs measurement. While the interrupt process is completed, the robot will patrol again. When the system detects an abnormal situation, familymembers or caregivers can be notified through IFTTT service and Line notification messages. The systemcan help us to monitor the situations of elderly and provide response in time when a sudden emergencyevent or health crisis happened.

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Design and Implementation of ROS-Based Autonomous Mobile Robot Positioning and Navigation System

Cited by 10 publications

References 2 publications

Spacecraft environmental path planning method based on improved artificial potential field

Spacecraft environmental path planning method based on improved artificial potential field

Research on the design of mechanical robot control system for industrial PC in the context of big data

Development of an Intelligent Vital Sign Monitoring Robot System

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