Set-point Control of Mobile Robot with Obstacle Detection and Avoidance Using Navigation Function - Experimental Verification

Kowalczyk, Wojciech; Przybyla, Mateusz; Kozłowski, Krzysztof

doi:10.1007/s10846-016-0388-2

Cited by 10 publications

(3 citation statements)

References 29 publications

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“…Despite Binger et al and Ciullo reported theuseof IV robots for biomedical purposes [9,[31][32][33], they showed weight limitations and lacked the alarm system. Our robotic IV-pole was designed to overcome this limitation and was associated with an alarm system.…”

Section: Discussionmentioning

confidence: 99%

Cutting-Edge Robotic Intravenous Pole: Preliminary Design and Survey in Academic Medical Center in Lebanon

Kassem¹,

Ghandour²,

Hamawy³

et al. 2017

J Biomed Eng Med Devic

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Intravenous poles are biomedical healthcare supportive tools that aide in holding and delivering medications to patients through intravenous injections. Intravenous infusion relies on the weight of the Intravenous tubing fluid. Continuous follow-up of the intravenous bag is required to replace the fluid when emptied. Also, mobilization of the intravenous pole is required from patients and nurses. This leads to discomfort and inconvenience for both patients and hospital staff. Despite the existing intravenous poles have solved their difficulty, however, they were either not feasible, or couldn't hold a lot of weight in the bag. Moreover, they lack any alarm system which indicates an empty bag. To improve current intravenous poles, we aim to develop a cutting-edge robotic intravenous pole mounted with an alarm system. The robotic intravenous pole comprises motors to hold large weights, sensors and wireless joystick technology. Experimental results dedicated to the design showed that the novel designed pole mobilization is improved by the use of stepper motors, omni wheels, micro-controller, and a joystick. Also, the alarm system has added alert to patients and nurses when the intravenous bags were emptied. Moreover, the robotic intravenous pole moved in all directions and rotated, with a press of a button. This design surpasses the movements and weight tolerance provided by alternative designs, and it is mechanically and electrically safe on the patients. Survey results highlighted the acceptance and motivation of having and using and Robotic IV pole as compared to alternatives.

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Section: Discussionmentioning

confidence: 99%

Cutting-Edge Robotic Intravenous Pole: Preliminary Design and Survey in Academic Medical Center in Lebanon

Kassem¹,

Ghandour²,

Hamawy³

et al. 2017

J Biomed Eng Med Devic

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“…These approaches are motivated by the research introduced by Khatib 5 for online collision avoidance using APFs. Examples of the analytical approach with an NF are presented in previous studies, 6 –8 whose results originate from the NF definition introduced by Rimon and Koditschek. 4 With this approach, the NF is defined as a composition of several functions each designed to satisfy specific properties established by Rimon and Koditschek.…”

Section: Introductionmentioning

confidence: 96%

Minimum control effort–based path planning and nonlinear guidance for autonomous mobile robots

Quillen

Subbarao

2018

International Journal of Advanced Robotic Systems

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This article puts forth a framework using model-based techniques for path planning and guidance for an autonomous mobile robot in a constrained environment. The path plan is synthesized using a numerical navigation function algorithm that will form its potential contour levels based on the "minimum control effort." Then, an improved nonlinear model predictive control approach is employed to generate high-level guidance commands for the mobile robot to track a trajectory fitted along the planned path leading to the goal. A backstepping-like nonlinear guidance law is also implemented for comparison with the NMPC formulation. Finally, the performance of the resulting framework using both nonlinear guidance techniques is verified in simulation where the environment is constrained by the presence of static obstacles.

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“…The author of this paper together with its co-authors conducted extensive tests of this algorithm including simulations for sphere worlds [10], star worlds [6], and experiments for sphere worlds [7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Rapid Navigation Function Control for Two-Wheeled Mobile Robots

Kowalczyk

2018

J Intell Robot Syst

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This paper presents a kinematic controller for a differentially driven mobile robot. The controller is based on the navigation function (NF) concept that guarantees goal achievement from almost all initial states. Slow convergence in some cases is a significant disadvantage of this approach, especially when narrow passages exist in the environment and/or specific values of design parameters are set. The main reason of this phenomenon is that the velocity control strongly depends on the slope of the NF. The algorithm proposed in this paper is based on a method introduced in Urakubo (Nonlin. Dyn. 81(3): 1475-1487 2015), that extends NF to nonholonomic mobile platforms and allows stabilizing not only the position of robots but also their orientation. This algorithm is used as a reference in experimental performance comparison. In the new algorithm, the gradient of the NF is used to generate motion direction but the velocity is computed as a function of position and orientation errors. This approach results in much better state converge. Analysis of the convergence shows how the location of the eigenvalues of linearized system affects time of goal achievement. The paper describes saddle point detection and avoidance methodology and presents their experimental verification. It also shows what happens in practice if initial position is located exactly in the saddle point and its detection/avoidance procedures are turned off.

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Set-point Control of Mobile Robot with Obstacle Detection and Avoidance Using Navigation Function - Experimental Verification

Cited by 10 publications

References 29 publications

Cutting-Edge Robotic Intravenous Pole: Preliminary Design and Survey in Academic Medical Center in Lebanon

Cutting-Edge Robotic Intravenous Pole: Preliminary Design and Survey in Academic Medical Center in Lebanon

Minimum control effort–based path planning and nonlinear guidance for autonomous mobile robots

Rapid Navigation Function Control for Two-Wheeled Mobile Robots

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