Navigation of Car-Like Robots in Three-Dimensional Space

Raj, Jai; Raghuwaiya, Krishna; Vanualailai, Jito; Sharma, Bibhya N.

doi:10.1109/apwconcse.2018.00051

Cited by 17 publications

(19 citation statements)

References 6 publications

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“…As it is shown in Table 2, the three robots have three degrees of freedom, named as x, y and ψ, which apply to rotation and translation of the robot in the plane, considering only planar terrains. In the case of the unicycle robot, it can turn around its control point [42]; however, the car-like model has to follow a circle based path [43], making it impossible to turn without displacing [44]. On the other hand, the omnidirectional vehicle can displace at any direction in the plane.…”

Section: Mobile Robotmentioning

confidence: 99%

A Comprehensive Performance Evaluation of Different Mobile Manipulators Used as Displaceable 3D Printers of Building Elements for the Construction Industry

et al. 2020

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The construction industry is currently technologically challenged to incorporate new developments for enhancing the process, such as the use of 3D printing for complex building structures, which is the aim of this brief. To do so, we show a systematic study regarding the usability and performance of mobile manipulators as displaceable 3D printing machinery in construction sites, with emphasis on the three main different existing mobile platforms: the car-like, the unicycle and the omnidirectional (mecanum wheeled), with an UR5 manipulator on them. To evaluate its performance, we propose the printing of the following building elements: helical, square, circular and mesh, with different sizes. As metrics, we consider the total control effort observed in the robots and the total tracking error associated with the energy consumed in the activity to get a more sustainable process. In addition, to further test our work, we constrained the robot workspace thus resembling real life construction sites. In general, the statistical results show that the omnidirectional platform presents the best results –lowest tracking error and lowest control effort– for circular, helicoidal and mesh building elements; and car-like platform shows the best results for square-like building element. Then, an innovative performance analysis is achieved for the printing of building elements, with a contribution to the reduction of energy consumption.

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Section: Mobile Robotmentioning

confidence: 99%

A Comprehensive Performance Evaluation of Different Mobile Manipulators Used as Displaceable 3D Printers of Building Elements for the Construction Industry

et al. 2020

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“…A study by [9] claimed that both education and human life do not effectively function without the knowledge of mathematics. In formal education, mathematics forms the basis of many of the sciences such as physics, chemistry, biology, engineering, and IT disciplines as well as the nonscience disciplines such as accounting, economics, geography, and even physical education, music, and art [1,4,6,7,[10][11][12][13][14][15]. It is one of the most important subjects in the school curriculum, which acts as a bridge for all knowledge [3].…”

Section: Introductionmentioning

confidence: 99%

Perceived Causes of Students’ Poor Performance in Mathematics: A Case Study at Ba and Tavua Secondary Schools

Chand¹,

Chaudhary

Prasad

et al. 2021

Front. Appl. Math. Stat.

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Poor achievement in mathematics is an issue of great concern for many countries across the globe. Fiji is one of the countries in the South Pacific experiencing the same trends, pressures, and concerns. This study aims to seek the views of stakeholders (students, teachers, heads of departments, and school heads) with regards to the causes of poor achievement in mathematics at the senior grades of secondary schools in the districts of Ba and Tavua, Fiji. A descriptive design using both quantitative and qualitative approaches were utilized whereby data were collected from 201 upper secondary school respondents comprising 171 students, 16 mathematics teachers, 7 department heads, and 7 school heads from seven randomly selected schools in the districts of Ba and Tavua. The study found that the students had a negative attitude toward mathematics. It was also found that an ineffective mathematics curriculum in secondary schools was the reason behind poor performance in the subject. Moreover, many of the primary school teachers lacked potential and competence to teach mathematics at primary school levels, and this largely contributed toward the lack of interest amongst students, hence translating into poor achievement at both upper and lower secondary levels. On the other hand, however, it was gathered that secondary school teachers were rather positive, good quality, performing, and fully qualified as far as the teaching of mathematics and delivery of the subject matter was concerned. Review and amendments to the year 12 and 13 mathematics curriculum, use of technologies to teach mathematics, improving the quality of primary school mathematics teachers, reducing the emphasis on exams, introducing internal assessments, projects, and field work in the mathematics curriculum were a few of the significant recommendations made from this study.

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“…9,12 Multi-agent robotic systems are more favored in accomplishing specific control objectives as a direct consequence of their effectiveness with the coupling of inherent constraints and restrictions, robustness, flexibility, redundancy, their wide-ranging capabilities, and the abundance of real-world applications compared to a single agent. 9,[17][18][19] The fundamental problem in the motion planning and control of such cooperative systems is finding a collision-free trajectory in environment cluttered with static and dynamic obstacles. The environment is either known or unknown to the cooperative system, hence the control mechanism for safe navigation among obstacles is a problem that still represents a real challenge.…”

Section: Introductionmentioning

confidence: 99%

Motion Control of a Flock of 1-Trailer Robots with Swarm Avoidance

Raj¹,

Raghuwaiya²,

Sharma³

et al. 2021

Robotica

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SUMMARY This paper addresses the motion planning and control problem of a system of 1-trailer robots navigating a dynamic environment cluttered with obstacles including a swarm of boids. A set of nonlinear continuous control laws is proposed via the Lyapunov-based Control Scheme for collision, obstacle, and swarm avoidances. Additionally, a leader–follower strategy is utilized to allow the flock to split and rejoin when approaching obstacles. The effectiveness of the control laws is demonstrated through numerical simulations, which show the split and rejoin maneuvers by the flock when avoiding obstacles while the swarm exhibits emergent behaviors.

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Navigation of Car-Like Robots in Three-Dimensional Space

Cited by 17 publications

References 6 publications

A Comprehensive Performance Evaluation of Different Mobile Manipulators Used as Displaceable 3D Printers of Building Elements for the Construction Industry

A Comprehensive Performance Evaluation of Different Mobile Manipulators Used as Displaceable 3D Printers of Building Elements for the Construction Industry

Perceived Causes of Students’ Poor Performance in Mathematics: A Case Study at Ba and Tavua Secondary Schools

Motion Control of a Flock of 1-Trailer Robots with Swarm Avoidance

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