Sonar-Based Rover Navigation for Single or Multiple Platforms: Forward Safe Path and Target Switching Approach

Ray, Anjan Kumar; Behera, Laxmidhar; Jamshidi, Mo

doi:10.1109/jsyst.2008.925270

Cited by 11 publications

(10 citation statements)

References 30 publications

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“…A FSP based path planning for mobile robot was presented in [9]. In this work, the concept is extended to a FSP based coordinated traffic scheduling for robots without ranging sensors.…”

Section: Fsp Modelmentioning

confidence: 99%

“…Physical dimension and a safety clearance of a robot are covered by the FSP. The safety issues are described in [9]. The FSP has three limiting lines.…”

Section: Fsp Modelmentioning

confidence: 99%

“…These robots need to avoid several obstacles as well as other robots along their paths. Forward safe path (FSP) based obstacle avoidance and path planning schemes were presented in [9]. In this work, we address an issue where a robot without having ranging sensors shares its positional information with other robots to avoid collision.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Coordinated traffic scheduling for communicating mobile robots

Ray

McGinnity

Behera

et al. 2011

2011 6th International Conference on System of Systems Engineering

Self Cite

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In this paper, a multi-robot networking paradigm is presented. This provides a general framework for coordination among a group of robots. An experiment is conducted showing the effectiveness of the developed network paradigm where a robot controls a group of robots. A coordinated traffic scheduling method is proposed for mobile robots. The aim is to build onboard knowledge for autonomous robots without ranging sensors (sonar or laser range finder) and/or cameras. In this work, more emphasis is given on the exploration of interactions between a pair of robots. The robots share their positions, orientations and safety information and the decision of a robot depends on interactions of the forward safe paths (FSPs) of these robots. The properties of intersection of two straight lines are used to classify different situations. The proposed method is discussed in details with various combinations of scenarios. Simulation results are presented to show the effectiveness of the proposed method.

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“…A FSP based path planning for mobile robot was presented in [9]. In this work, the concept is extended to a FSP based coordinated traffic scheduling for robots without ranging sensors.…”

Section: Fsp Modelmentioning

confidence: 99%

“…Physical dimension and a safety clearance of a robot are covered by the FSP. The safety issues are described in [9]. The FSP has three limiting lines.…”

Section: Fsp Modelmentioning

confidence: 99%

See 1 more Smart Citation

Coordinated traffic scheduling for communicating mobile robots

Ray

McGinnity

Behera

et al. 2011

2011 6th International Conference on System of Systems Engineering

Self Cite

View full text Add to dashboard Cite

show abstract

“…In the literature, a large number of algorithmic approaches were used in order to plan mobile robot motion such as grid method 1 , vector field histogram method 2 , potential field method 3 , path planning 4 , geometry based approach, pattern generation method 5 , switching control approach [6][7][8] , self localization 9 , soft computing based approaches like fuzzy logic, neural network, genetic algorithm and their different combinations 10 .…”

Section: Introductionmentioning

confidence: 99%

An Algorithm Based on Neuro-Fuzzy Controller Implemented in A Smart Clothing System For Obstacle Avoidance

Bahadır¹,

Thomassey²,

Končar³

et al. 2013

IJCIS

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In this study, to overcome navigation concerns of visually impaired people, an algorithm based on neuro-fuzzy controller composed of multi-layer fuzzy inference systems (FIS) for obstacle avoidance was developed and it was implemented in a smart clothing system. The success of the proposed algorithm was tested in real environment and it was compared with one layer FIS. Results showed that the proposed algorithm is capable of guiding user to a right orientation and it presented better results than the one layer FIS.

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“…Based on non-vision sensors, many researchers attempted to develop mobile robots that could move along a wall or around an obstacle. The issues were that when they were about to move into a narrow passage or come near obstacles, they could suffer from an oscillation problem while on the path (Zhu and Yang 2007;Hoffmann 2007;Montaner and RamirezSerrano 1998;Ray, Behera, and Jamshidi 2008). Another way of exploring the environment is by using a vision system.…”

Section: Introductionmentioning

confidence: 99%

Innovative Intelligent Navigation System by Applying Fuzzy Logic and Cell Assemblies in Rescuing Robot

Cheng

Fan

Huang

2012

Applied Artificial Intelligence

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& In this study, an intelligent navigation system is developed by using fuzzy logic and Cell Assemblies (CAs) approaches, together with various sensors, in accordance with mimicking human behavior. Because disaster areas can be extremely dangerous and might cover large areas, it is important to make the robot's movement safer and more efficient. Therefore, two models with different functions are designed. The ''robot navigation'' model is applied to a narrow or dark place by using a laser range finder whereas the ''intelligent cognitive'' model uses intelligent direction change in an open area by integrating a vision camera. The intelligent cognitive model that is implemented by CAs with fatiguing Leaky Integrate and Fire (fLIF) neurons can not only absorb the ideals of working and long-term memories to explain the phenomenon of biology neurons, but can also imitate human cognitive processes. Additionally, it is not difficult to combine and expand this model to become multifunctional, which mimics human learning. The main contribution of this study is that the clever combination of sensors significantly reduces the frequency of use of vision and image processing. Furthermore, the combined system can avoid potential risks and efficiently shorten the motion time by importing the vision camera. This system has been tested in several simulated environment schemes and the experimental results have proven that it can produce correct action commands relative to different schemes and can also improve the motion path to effectively meet the requirements of disaster relief.

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Sonar-Based Rover Navigation for Single or Multiple Platforms: Forward Safe Path and Target Switching Approach

Cited by 11 publications

References 30 publications

Coordinated traffic scheduling for communicating mobile robots

Coordinated traffic scheduling for communicating mobile robots

An Algorithm Based on Neuro-Fuzzy Controller Implemented in A Smart Clothing System For Obstacle Avoidance

Innovative Intelligent Navigation System by Applying Fuzzy Logic and Cell Assemblies in Rescuing Robot

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