IoT based Autonomous Robot Design Implementation for Military Applications

Vardhini, P. A. Harsha; Babu, K. Murali Chandra

doi:10.1109/delcon54057.2022.9753507

Cited by 7 publications

(6 citation statements)

References 6 publications

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“…In the first case, the robot, the obstacle, and the target point are collinear. The starting position, obstacle position, and target point position are (0, 0), (3,3), and (10, 10), respectively. Fig.…”

Section: Simulation Results and Comparative Analysismentioning

confidence: 99%

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Obstacle avoidance of mobile robots using modified artificial potential field algorithm based on vortex and PID adjustment

Sheng

Wang²

2022

International Conference on Advanced Sensing and Smart Manufacturing (ASSM 2022)

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In recent years, autonomous mobile robot has become a key research direction in academia due to their good application prospects. The ability to autonomously avoid obstacles and reach a preset target point is the basic requirement of an intelligent mobile robot. As a common obstacle avoidance algorithm for mobile robots, artificial potential field algorithm (APF) has defects such as local minima problem and GNRON problem. Aiming at the shortcomings of the traditional APF algorithm, this paper proposes an improved artificial potential field algorithm based on point vortex and PID adjustment. The implementation of the improved algorithm is based on the two following main points. Firstly, an irrotational point vortex flow field is added to the original repulsion field of the obstacle to form a composite potential field. Properties of point vortex are used to provide additional virtual deflection force to the robot to avoid getting stuck. Secondly, aiming at GNRON problem, the strength of vortex and the range of action of the vortex repulsive composite potential field are adjusted in real time by means of PID adjustment. Finally, in order to verify the feasibility of the improved algorithm proposed in this paper, a comparison with the traditional APF algorithm was performed in seven environments with different obstacle layouts. The results show that the improved algorithm can be effectively applied to a variety of obstacle environments. Moreover, the local minimal value problem and GNRON problem of the traditional APF algorithm are successfully solved. The mobile robot can flexibly and efficiently avoid obstacles and reach the end point.

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Section: Simulation Results and Comparative Analysismentioning

confidence: 99%

“…Automated mobile robots have been used in a wide range of medical 1 service 2 and military 3 applications for their excellent overall performance. It is the most basic and imperative requirement for mobile robots to identify a suitable route from the environment and reach the target point from the starting point without collision 4 .…”

Section: Introductionmentioning

confidence: 99%

Obstacle avoidance of mobile robots using modified artificial potential field algorithm based on vortex and PID adjustment

Sheng

Wang²

2022

International Conference on Advanced Sensing and Smart Manufacturing (ASSM 2022)

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“…The term Internet of Things (IoT) is used for a computing paradigm based on a network of interconnected, peripheral-like devices [1]. Due to its increasing popularity, the number of connected devices is growing exponentially, as the number of areas where it is being applied [2,3].…”

Section: Introductionmentioning

confidence: 99%

A Distributed Security Approach Based on Artificial Immune Systems for Intrusion Detection in Internet of Things

Rosset,

de Almeida,

de Carvalho

2024

Preprint

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Although the Internet of Things (IoT) is one of the fastest-growing technology paradigms, efforts in securing this environment do not advance as fast. A classical type of network security mechanism is the Intrusion Detection System (IDS). However, mainly due to their resource limitations, their incorporation to IoT environments built on top of low-end devices is not easy. To make this incorporation easier, this paper proposes a Distributed Immune Security Architecture (DISA) based on Artificial Immune Systems. DISA incorporates modules across network tiers (e.g. Cloud, Fog, and Edge) for monitoring, aggregation, training, storage of traffic models, and resource control. Using a dataset tailored for the training of Intrusion Detectors, we implemented and validated a distributed Intrusion Detector model combining Federated and Active Learning methods, named Fed-Active. Experimental results show that Fed-Active model reduces training times and achieves predictive performance comparable to those of traditional centralized approaches

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“…Other than that, the robot also can operate for long periods without needing to rest or refuel. Finally, AMRs also can be used to collect data that would be difficult or impossible for humans to obtain [6].…”

Section: Introductionmentioning

confidence: 99%

“…

However, there are some challenges associated with the AMRs in the military. Firstly, most AMRs are expensive to develop and purchase, because of size and its technology [6].

…”

mentioning

confidence: 99%

Designing an Autonomous Mobile Robot based on Rocker-Bogie Concept for Terrain Purposes

Nurul Muthmainnah Mohd Noor,

Zarith Sofia Ahmad Razali,

Rohidatun Mahmod@Wahab

et al. 2024

Malaysian J. Sci. Adv. Tech.

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Currently, extensive research has been done on improving self-controlling mobile robots. This robot is called autonomous mobile robots (AMRs) and it was designed for various applications like moving around in places such as libraries, restaurants, and healthcare. This paper focuses on designing a six-wheeled mobile robot using Fusion 360 software, based on Rocker-Bogie structure. The main idea from the Rocker-Bogie concept is that it does not use springs or separate stub axles for each wheel, allowing the robot’s body to overcome obstacles like rocks, ditches, and sand. The actuator of the DC motor for each wheel was used to study the robot’s stability and its movement. Meanwhile, the movement of the robot was controlled by implementing a user graphical interface (GUI) using Blynk software. There are four main directions for the movement of the robot: moving forward, backward, and turning left and right position. Importantly, the Rocker-Bogie can be a starting point for developing an independent mobile robot that can navigate different terrains like sand, grass, and roads. This capability comes by using various sensors that help the robot navigate its surroundings effectively.

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IoT based Autonomous Robot Design Implementation for Military Applications

Cited by 7 publications

References 6 publications

Obstacle avoidance of mobile robots using modified artificial potential field algorithm based on vortex and PID adjustment

Obstacle avoidance of mobile robots using modified artificial potential field algorithm based on vortex and PID adjustment

A Distributed Security Approach Based on Artificial Immune Systems for Intrusion Detection in Internet of Things

Designing an Autonomous Mobile Robot based on Rocker-Bogie Concept for Terrain Purposes

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