Dynamic Modelling and Continuous Trajectory Tracking Control of Space Robots Based on Lie Group SE(3)

Wang, Yong; Gong, Kejie; Duan, Yu-Rui; He, Bo; Ma, Hong

doi:10.1155/2023/7435217

Cited by 1 publication

(1 citation statement)

References 23 publications

(24 reference statements)

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“…If there is a problem in the recognition system, the robot's navigation system will also have a problem [18][19]. This must be overcome by the system within the robot itself [20] [21]. So the application of odometry is needed as an alternative method that can answer some of the limitations of line follower system [22][23] [24].…”

Section: Introductionmentioning

confidence: 99%

Application of Odometry and Dijkstra Algorithm as Navigation and Shortest Path Determination System of Warehouse Mobile Robot

Ubaidillah,

Sukri

2023

Journal of Robotics and Control

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One of the technologies in the industrial world that utilizes robots is the delivery of goods in warehouses, especially in the goods distribution process. This is very useful, especially in terms of resource efficiency and reducing human error. The existing system in this process usually uses the line follower concept on the robot's path with a camera sensor to determine the destination location. If the line and destination are not detected by the sensor or camera, the robot's navigation system will experience an error. it can happen if the sensor is dirty or the track is faded. The aim of this research is to develop a robot navigation system for efficient goods delivery in warehouses by integrating odometry and Dijkstra's algorithm for path planning. Holonomic robot is a robot that moves freely without changing direction to produce motion with high mobility. Dijkstra's algorithm is added to the holonomic robot to obtain the fastest trajectory. by calculating the distance of the node that has not been passed from the initial position, if in the calculation the algorithm finds a shorter distance it will be stored as a new route replacing the previously recorded route. the distance traversed by the djikstra algorithm is 780 mm while a distance of 1100 mm obtains the other routes. The time for using the Djikstra method is proven to be 5.3 seconds faster than the track without the Djikstra method with the same speed. Uneven track terrain can result in a shift in the robot's position so that it can affect the travel data. The conclusion is that odometry and Dijkstra's algorithm as a planning system and finding the shortest path are very efficient for warehouse robots to deliver goods than ordinary line followers without Dijkstra, both in terms of distance and travel time.

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