Gaining Control Knowledge Through an Applied Mobile Robotics Course

Pacheco, L.; Luo, Na; Ferrer, I.; Cufí, Xavier; Arbuse, Roger

doi:10.5772/27994

Cited by 6 publications

(8 citation statements)

References 6 publications

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“…Path-planning in partially unknown environments should be short enough to allow local reactive behaviors; consequently long trajectory planning should be flexible in order to deal with short-term uncertainties while the global task is accomplished. This research explores this challenge as a navigation strategy for the available WMR platform that consists of a differential driven mobile robot with a free rotating wheel [9]. The perception system is performed by a monocular camera and an odometer system.…”

Section: Wmrmentioning

confidence: 99%

Experimental results of an indoor navigation method based on bionic behaviors

Pacheco

Luo

Cobos

et al. 2012

Proceedings of 2012 IEEE International Conference on Automation, Quality and Testing, Robotics

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The present proposal is inspired by bionics; in this way, local path planning is developed by using the perception system under a deliberative strategy. Indoor global navigation is attained by solving local goals within an occupancy grid framework. Path-planning is computed at each perception step by using the on-robot monocular perception system and considering the detected obstacles. In this context, artificial potential fields are used for attracting the robot towards the desired coordinates. Trajectory tracking is based on reactive behaviors that are performed by using local model predictive control techniques. Global navigation is done by considering a set of local points that have to be reached using reactive behaviors. Dead reckoning problems are set to zero by selecting natural structured landmarks as local passage points that act as local attraction fields towards the goal. The research work is completed with a set of local experiments developed on a wheeled mobile robot.

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Section: Wmrmentioning

confidence: 99%

Experimental results of an indoor navigation method based on bionic behaviors

Pacheco

Luo

Cobos

et al. 2012

Proceedings of 2012 IEEE International Conference on Automation, Quality and Testing, Robotics

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“…However, the course Applied Mobile Robotics started as special subject in the summer of 2005. 13 It was proposed by a group of faculty members belonging to the teaching areas of control and computer engineering and sharing a common background in research on mobile robots. Hence, its purpose consists in consolidating, integrating and complementing different teaching aspects such as electronics, programming, control and perception systems from a practical point of view by using an available robotic platform.…”

Section: Current Educational Systemmentioning

confidence: 99%

“…Further information can be obtained in Ref. 13. On the first level there are two differential driven wheels, controlled by two d.c. motors, and a third omni-directional wheel that gives a third contact point with the floor.…”

Section: The Educational Open Mobile Platformmentioning

confidence: 99%

Integrating Control Science in a Practical Mobile Robotics Course

Pacheco

Luo

Ferrer

et al. 2014

International Journal of Electrical Engineering & Education

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The idea of incorporating and applying interdisciplinary concepts is an important objective in electrical and computer engineering education. In this sense, mobile robot platforms can be used as educational tools to promote and integrate different curriculum subjects. In this paper, the programme and experience of an optional course called Applied Mobile Robotics is outlined. The reported content is specially focused on the experiences of applying control theory to a mobile robot platform.

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“…The WMR PRIM, available in our lab, has been used in order to test and orient the research (Pacheco et al, 2009). Fig.…”

Section: The Control System Identification and The Mpc Formulationmentioning

confidence: 99%