Citation: Yufka, Alpaslan, "Motion Planning and Control Scheme for Cooperative Transportatio... more Citation: Yufka, Alpaslan, "Motion Planning and Control Scheme for Cooperative Transportation by Multiple Mobile Robots", Master of Science Thesis [dissertation], Eskisehir Osmangazi University, Department of Electrical and Electronics Engineering, Eskisehir, TURKEY, June, 2010, YOK Ref. No. 372574. Abstract : In this study, motion planning and control scheme for a cooperative transportation system, which consists of a single object and multiple autonomous non-holonomic mobile robots, is proposed. Virtual leader-follower formation control strategy is used for the cooperative transportation system. The object is assumed as the virtual leader of the system and the robots carrying the object are considered as follower robots. A smooth path is generated by considering the constraints of the virtual robot. The origin of the coordinate system attached to the center of gravity of the object tracks the generated path. A path for each follower robot is generated to keep the formati...
Formation-based Control Scheme for Cooperative Transportation by Multiple Mobile Robots, Sep 8, 2015
Citation: Alpaslan Yufka, Metin Ozkan, Formation-Based Control Scheme for Cooperative Transportat... more Citation: Alpaslan Yufka, Metin Ozkan, Formation-Based Control Scheme for Cooperative Transportation by Multiple Mobile Robots, International Journal of Advanced Robotic Systems, 2015, 12:120. ISSN 1729-8806. DOI: 10.5772/60972.
Abstract: This paper presents a motion planning and control scheme for a cooperative transportation system comprising a single rigid object and multiple autonomous non-holonomic mobile robots. A leader-follower formation control strategy is used for the transportation system in which the object is assumed to be the virtual leader; the robots carrying the object are considered followers. A smooth trajectory between the current and desired locations of the object is generated by considering the constraints of the virtual leader. In the leader-follower approach, the origin of the coordinate system attached to the center of gravity of the object, which is known as the virtual leader, moves along the generated trajectory while the real robots, which are known as followers, maintain a desired distance and orientation to the leader. An asymptotically stable tracking controller is used for trajectory tracking. The proposed approach is verified by simulations and real applications using Pioneer P3-DX mobile robots.
In this study, a path smoothing strategy is proposed for sensor-based coverage problems. Smooth p... more In this study, a path smoothing strategy is proposed for sensor-based coverage problems. Smooth paths are generated for the coverage problems considering mobile robot kinematics constraints. An open agent architecture-based control structure is used to implement the proposed approach on real robots. The algorithm is coded with C++ and implemented on P3-DX mobile robots in MobileSim simulation environments. It is
Indoor Localization System for Mobile Robots, Jun 2008
Citation: Alpaslan YUFKA and Oğuzcan DOBRUCALI, "Indoor Localization System for Mobile Robots", A... more Citation: Alpaslan YUFKA and Oğuzcan DOBRUCALI, "Indoor Localization System for Mobile Robots", An Engineering Synthesis and Design Project Report, Bachelor of Science in Electrical Engineering, Eskişehir Osmangazi University, June 2008.
Abstract in English: Localization is one of the main fundamental problems in manipulation of mobile robots, since it is useful for a mobile robot not only for navigation, but also for achieving some tasks. In this project, an indoor localization system is designed and implemented to inform mobile robots about their positions and orientations by using overhead cameras. This proposed system is composed of localization and communication modules, which are based on image processing and local area network tools.
Abstract in Turkish: Gezgin robotların konumlandırılması hem robotların idaresinde hem de robotların görevlerini yerine getirmesinde gereklidir ve günümüzde önemli sorunlardan biridir. İç ortamlar için tasarladığımız ve uyguladığımız konumlandırma sisteminde, gezgin robotlar konumlarını tepe kameralar sayesinde edinirler. Önerdiğimiz bu sistem konumlandırma ve iletişim kısımlarından oluşur; bu kısımlar görüntü işleme ve yerel ağ iletişim araçlarını kullanırlar.
Related papers are "Image Based Localization System for Mobile Robots (Gezgin Robotlar için Görüntü Tabanlı Konumlandırma Sistemi)" and "Multi-Camera Localization System for Mobile Robots (Gezgin Robotlar için Çok Kameralı Konumlandırma Sistemi)".
Formation-Based Object Transportation by Multiple Autonomous Non-holonomic Mobile Robots (Çoklu Gezgin Robotlarla Formasyon Tabanlı Nesne Taşıma), Sep 21, 2010
Abstract in Turkish:
Bu çalışmada, holonomik olmayan bir grup otonom robotun bir nesneyi işbirl... more Abstract in Turkish:
Bu çalışmada, holonomik olmayan bir grup otonom robotun bir nesneyi işbirlikli olarak taşıyabilmesi için hareket planlama ve kontrol yaklaşımı önerilmektedir. İşbirlikli taşıma sistemi için sanal lider-takipçi formasyon kontrolü yöntemi kullanılmaktadır. Taşınacak nesne, taşıma sisteminde sanal lider robot ve nesneyi taşıyan robotlarda takipçi robotlar olarak kabul edilmektedir. Kinematik kısıtlar göz önünde bulundurularak sanal robotun izleyeceği yörünge planlanmakta ve nesnenin ağırlık merkezine yerleştirilen koordinat sisteminin merkezinin yörüngeyi takip etmesi sağlanmaktadır. Her bir taşıyıcı robotun yörüngesi formasyon yapısını koruyacak şekilde planlanmakta ve her robotun kendi yörüngesini izlemeleri sağlanmaktadır. Takipçi robotların hareketlerini eşzamanlaştırmak üzere bir haberleşme altyapısı kullanılmaktadır. Ayrıca, yörüngelerin izlenmesinde asimptotik kararlı yörünge izleme denetleyicisi kullanılmaktadır. Önerilen yöntem, Pioneer P3-DX gezgin robotlar kullanarak gerçek dünya uygulamaları ve benzetimlerle doğrulanmaktadır.
A Multi-Robot Control Architecture for Fault-Tolerant Sensor-Based Coverage, Mar 1, 2010
Sensor-based coverage problems have many applications such as patrolling, search-rescue, and surv... more Sensor-based coverage problems have many applications such as patrolling, search-rescue, and surveillance. Using multi-robot team increases efficiency by reducing completion time of a sensor-based coverage task. Robustness to robot failures is another advantage of using multiple robots for coverage. Although there are many works to increase the efficiency of coverage methods, there are few works related to robot failures in the literature. In this paper, fault-tolerant control architecture is proposed for sensor-based coverage. Robot failures are detected using the heartbeat strategy. To show the effectiveness of the proposed approach, experiments are conducted using P3-DX mobile robots both in laboratory and simulation environment.
Keywords: Fault-tolerant, multi-robot, sensor-based coverage, control architecture.
Performance Comparison of BUG Algorithms for Mobile Robots, May 13, 2009
In this study, Bug1, Bug2, and DistBug motion planning algorithms for mobile robots are simulated... more In this study, Bug1, Bug2, and DistBug motion planning algorithms for mobile robots are simulated and their performances are compared. These motion planning algorithms are applied on a Pioneer mobile robot on the simulation environment of MobileSim. Sonar range sensors are used as the sensing elements. This study shows that mobile robots build a new motion planning using the bug’s algorithms only if they meet an unknown obstacle during their motion to the goal. Each of the bug’s algorithms is tested separately for an identical configuration space. At the end of this study, the performance comparison of the bug’s algorithms is shown.
Performance Comparison of the BUG’s Algorithms for Mobile Robots, Jun 29, 2009
In this study, Bug1, Bug2, Class1, Alg1, Alg2 and DistBug motion planning algorithms for mobile r... more In this study, Bug1, Bug2, Class1, Alg1, Alg2 and DistBug motion planning algorithms for mobile robots are simulated and their performances are compared. These motion planning algorithms are applied on a Pioneer mobile robot on the simulation environment of MobileSim. Sonar range sensors are used as the sensing element. This study shows that mobile robots build a new motion planning using the Bug’s algorithms only if they meet an unknown obstacle during their motion to goal. Each of the Bug’s algorithms is tested separately for two identical indoor environments. At the end of this study, the performance comparison of the Bug’s algorithms is shown.
BUG Algorithm Analysis using Petri net, Nov 28, 2013
In this study, BUG 1 navigation algorithm which is a simple motion planner, is modelled by the Pe... more In this study, BUG 1 navigation algorithm which is a simple motion planner, is modelled by the Petri net (PN) for a mobile robot (MR). We prefer this PN model to obtain the discrete data for this algorithm. PN is used as a modelling formalism to define MR’s movements such that the step of BUG 1 is constructed by using PN. Thus, all states are obtained the coverability tree. After all coverable marking vectors, the process of PN for BUG 1 is shown step by step on a real MR using the simulation environment of MobileSim.
Formation-based cooperative transportation by a group of non-holonomic mobile robots, Oct 10, 2010
In this study, motion planning and control scheme for a cooperative transportation system, which ... more In this study, motion planning and control scheme for a cooperative transportation system, which consists of a single object and multiple autonomous non-holonomic mobile robots, is proposed. Virtual leader-follower formation control strategy is used for the cooperative transportation system. The object is assumed as the virtual leader of the system and the robots carrying the object are considered as follower robots. A smooth path is generated by considering the constraints of the virtual robot. The origin of the coordinate system attached to the center of gravity of the object tracks the generated path. A path for each follower robot is generated to keep the formation structure. The follower robots track their paths. A communication framework is used for the messaging between robots, and asymptotically stable tracking control is used for trajectory tracking. The proposed method is verified with real applications and simulations using Pioneer P3-DX mobile robots and a single object.
Cooperative Transportation by Multiple Autonomous Non-holonomic Mobile Robots, Jun 12, 2010
In this study, motion planning and control scheme for a cooperative transportation system, which ... more In this study, motion planning and control scheme for a cooperative transportation system, which consists of a single object and multiple autonomous non-holonomic mobile robots included forklifts, is proposed. Virtual leader-follower formation control strategy is used for the cooperative transportation system. The object is assumed as the virtual leader of the system and the robots carrying the object on their forklifts are considered as follower robots. A smooth path is generated by considering the constraints of the virtual robot. The origin of the coordinate system attached to the center of gravity of the object tracks the generated path. A path for each follower robot is generated to keep the formation structure. The follower robots track their paths. A communication framework is used for the messaging between robots, and asymptotically stable tracking control is used for trajectory tracking. The proposed method is verified with real applications and simulations using Pioneer P3-DX mobile robots and a single object.
A smooth path generation approach for sensor-based coverage path planning, Nov 8, 2009
In this study, a path smoothing strategy is proposed for sensor-based coverage problems. Smooth p... more In this study, a path smoothing strategy is proposed for sensor-based coverage problems. Smooth paths are generated for the coverage problems considering mobile robot kinematics constraints. An open agent architecture-based control structure is used to implement the proposed approach on real robots. The algorithm is coded with C++ and implemented on P3-DX mobile robots in MobileSim simulation environments. It is shown that the proposed approach smoothes the curves and robot easily turns the corners. As a result of this, the completion time of the coverage decreases.
Direct-motion Diagonal and Perpendicular Parking for a Vehicle with and without a Trailer, Jun 3, 2010
In this study, the method of direct-motion diagonal and perpendicular parking is introduced both ... more In this study, the method of direct-motion diagonal and perpendicular parking is introduced both in theo-ry and in simulations for the vehicle with and without a trailer. The results show that not only a vehicle with a trailer park in diagonal or perpendicular using direct motion, but also a vehicle with a trailer park in diagonal and perpendicular in direct motion after the final value of the orientation angle is satisfied. Simulation results are given to verify the effec-tiveness of the proposed method.
Keywords: diagonal, perpendicular, direct motion, parking, trailer, car-like vehicle
Direct-Motion Parallel Parking for a Vehicle with and without a Trailer, Jun 21, 2010
In this study, the method of direct-motion parallel parking is introduced both in theory and in s... more In this study, the method of direct-motion parallel parking is introduced both in theory and in simulations for the vehicle with and without a trailer. The results show that not only a vehicle with a trailer park in parallel using direct motion, but also a vehicle with a trailer park in parallel in direct motion after the final value of the orientation angle is satisfied. Simulation results are given to verify the effectiveness of the proposed method.
An Intelligent PID Tuning Method for an Autonomous Mobile Robot, Jun 12, 2010
In this study, a Best First Search (BFS) Based Intelligent PID Tuning Method is proposed for a mo... more In this study, a Best First Search (BFS) Based Intelligent PID Tuning Method is proposed for a mobile robot path tracking problem. BFS is an informed search strategy in Artificial Intelligence (AI). It has been used in many areas of intelligent systems. Here, it is used to search values of both ultimate period and ultimate gain of Ziegler-Nichols (ZN) PID Tuning Method. So, using these ultimate period and gain, PID parameters can be c from tables of ZN method. The performance measure in this problem is described as minimizing total error during any specified trajectory tracking. Thus the proposed method does not depend on the system model. It only needs error information during the tracking control. So, this method can be used to tune PID parameters of any tracking controller for a system with unknown system dynamics. The proposed method is tested with simulations in MATLAB during trajectory tracking of a mobile robot. In addition, it is compared with classical PID and conventional PID tuning methods including Ziegler-Nichols method, Tyreus-Luyben method, and Shinskey method.
Keywords: Intelligent PID tuning, best first search, autonomous mobile robot, mobile robot path tracking problem, computed torque PID control, dynamic model, Ziegler-Nichols, Tyreus-Luyben, Shinskey.
Multi-Camera Localization System for Mobile Robots (Gezgin Robotlar için Çok Kameralı Konumlandırma Sistemi), Nov 26, 2008
Abstract in English:
In this study, a system providing indoor localization for the mobile robots... more Abstract in English:
In this study, a system providing indoor localization for the mobile robots is presented. The developed system is composed of two sub-systems. The first system is used to determine location of mobile robots. The localization is performed by processing images captured from the overhead cameras. The cameras are mounted on the ceiling of the building as to cover whole working region of mobile robots. Functions are defined in these methods to compensate the distortions on the image; which are caused by the positions of the cameras, using wide angle lenses, and changing light amplitude. The local poses computed by using these functions are then converted into global values. The second system is used to provide the communication between the first system and the mobile robots. This study is presented with the applications realized with a mobile robot in real-time.
Abstract in Turkish:
Bu çalışmada, iç ortamlarda gezgin robotların seyrüseferleri esnasında ihtiyaç duydukları konum bilgilerini sağlamak için görüntü tabanlı bir sistem sunulmaktadır. Sunulan sistem, gezgin robotların çalışma alanını kapsayacak şekilde tavana yerleştirilmiş kameralardan alınan görüntülerden robotların konumlarının hesaplanması ve bu konum bilgilerinin robotlara ulaştırılması olarak iki kısımdan oluşmaktadır. Çalışmada kameralardan sağlanan görüntülerin kameranın pozisyonu, geniş açılı mercek kullanılması ve ortamdaki ışık şiddetinin değişmesi gibi nedenlerle bozulmasından dolayı, bu bozulmaları tanımlayan bir fonksiyon kullanılarak robotların konum bilgileri hesaplanmakta ve. her bir kameranın yerel koordinat sistemine göre hesaplanan konum bilgileri, küresel koordinat sistemine dönüştürülerek robotlara mesaj tabanlı bir haberleşme yapısı ile aktarılmaktadır. Geliştirilen bu konumlandırma sistemi, gerçek ortamda gezgin robot kullanılarak yapılan uygulamalar ile birlikte sunulmaktadır.
Image Based Localization System for Mobile Robots (Gezgin Robotlar için Görüntü Tabanlı Konumlandırma Sistemi), Nov 13, 2008
Abstract in Turkish:
Bu çalışmada, iç ortamlarda gezgin robotların seyrüseferleri esnasında ihti... more Abstract in Turkish:
Bu çalışmada, iç ortamlarda gezgin robotların seyrüseferleri esnasında ihtiyaç duydukları konum bilgisini sağlamak için görüntü tabanlı bir sistem sunulmaktadır. Bu sistem, tavana yerleştirilen kameralardan alınan görüntüler üzerinden robotların konumlarının saptanmasını ve bu konum bilgisinin robotlara ulaştırılmasını sağlayan iki kısımdan oluşmaktadır. Kameralardan sağlanan görüntüler, kameranın pozisyonu, geniş açılı mercekler ve ortamdaki değişen ışık şiddeti gibi nedenlerle bozulmalara uğramaktadır. Çalışmada bozulmaları tanımlayan bir fonksiyon kullanılarak robotların konum bilgileri hesaplanmaktadır. Hesaplanan konum bilgisi geliştirilen mesaj tabanlı bir haberleşme yapısı ile robota iletilmektedir. Geliştirilen konumlandırma sistemi, gerçek ortamda gezgin robot kullanılarak yapılan uygulamalar ile birlikte sunulmaktadır.
Application of MCDM Methods for a Group of Nonholonomic Mobile Robots to Determine the Best Route and the Most Suıtable Robot to the Given Task, Jun 29, 2014
In this study, a fire-fighting scenario in an office environment wherein three different nonholon... more In this study, a fire-fighting scenario in an office environment wherein three different nonholonomic differential-drive mobile robots are used is considered as a case study. The 2D configuration space of the office environment is divided into grid cells by using the method of “Occupancy Grid Map” such that each grid cell is associated with each interrelated node. Each robot constructs a reachability three by using these nodes and Breadth-First Search (BFS) algorithm. The back-tracking algorithm is used to obtain the finite solution set of paths from the motion planning. The set of alternatives is constructed by randomly selecting routes from the finite solution set of paths. Each robot determines its own best route by applying Multi-Criteria Decision Making (MCDM) methods such that “Elimination et Choix Traduisant la Realite (ELECTRE I)” and “Technique for Order of Preference by Similarity to Ideal Solution (TOPSIS)”. Criteria for the path selection is weighted by applying the method of “Analytic Hierarchy Process (AHP)”. Then, each robot except the leader robot sends its best path-info to the leader so that the leader robot determines the most suitable robot that conforms to the fire-fighting task by using AHP. To analyze the effect of criteria’s weights on the alternatives and perform sensitivity-graphs, Expert Choice 11 software is used. The robot determined by the leader executes the task by tracking its own best path.
Citation: Yufka, Alpaslan, "Motion Planning and Control Scheme for Cooperative Transportatio... more Citation: Yufka, Alpaslan, "Motion Planning and Control Scheme for Cooperative Transportation by Multiple Mobile Robots", Master of Science Thesis [dissertation], Eskisehir Osmangazi University, Department of Electrical and Electronics Engineering, Eskisehir, TURKEY, June, 2010, YOK Ref. No. 372574. Abstract : In this study, motion planning and control scheme for a cooperative transportation system, which consists of a single object and multiple autonomous non-holonomic mobile robots, is proposed. Virtual leader-follower formation control strategy is used for the cooperative transportation system. The object is assumed as the virtual leader of the system and the robots carrying the object are considered as follower robots. A smooth path is generated by considering the constraints of the virtual robot. The origin of the coordinate system attached to the center of gravity of the object tracks the generated path. A path for each follower robot is generated to keep the formati...
Formation-based Control Scheme for Cooperative Transportation by Multiple Mobile Robots, Sep 8, 2015
Citation: Alpaslan Yufka, Metin Ozkan, Formation-Based Control Scheme for Cooperative Transportat... more Citation: Alpaslan Yufka, Metin Ozkan, Formation-Based Control Scheme for Cooperative Transportation by Multiple Mobile Robots, International Journal of Advanced Robotic Systems, 2015, 12:120. ISSN 1729-8806. DOI: 10.5772/60972.
Abstract: This paper presents a motion planning and control scheme for a cooperative transportation system comprising a single rigid object and multiple autonomous non-holonomic mobile robots. A leader-follower formation control strategy is used for the transportation system in which the object is assumed to be the virtual leader; the robots carrying the object are considered followers. A smooth trajectory between the current and desired locations of the object is generated by considering the constraints of the virtual leader. In the leader-follower approach, the origin of the coordinate system attached to the center of gravity of the object, which is known as the virtual leader, moves along the generated trajectory while the real robots, which are known as followers, maintain a desired distance and orientation to the leader. An asymptotically stable tracking controller is used for trajectory tracking. The proposed approach is verified by simulations and real applications using Pioneer P3-DX mobile robots.
In this study, a path smoothing strategy is proposed for sensor-based coverage problems. Smooth p... more In this study, a path smoothing strategy is proposed for sensor-based coverage problems. Smooth paths are generated for the coverage problems considering mobile robot kinematics constraints. An open agent architecture-based control structure is used to implement the proposed approach on real robots. The algorithm is coded with C++ and implemented on P3-DX mobile robots in MobileSim simulation environments. It is
Indoor Localization System for Mobile Robots, Jun 2008
Citation: Alpaslan YUFKA and Oğuzcan DOBRUCALI, "Indoor Localization System for Mobile Robots", A... more Citation: Alpaslan YUFKA and Oğuzcan DOBRUCALI, "Indoor Localization System for Mobile Robots", An Engineering Synthesis and Design Project Report, Bachelor of Science in Electrical Engineering, Eskişehir Osmangazi University, June 2008.
Abstract in English: Localization is one of the main fundamental problems in manipulation of mobile robots, since it is useful for a mobile robot not only for navigation, but also for achieving some tasks. In this project, an indoor localization system is designed and implemented to inform mobile robots about their positions and orientations by using overhead cameras. This proposed system is composed of localization and communication modules, which are based on image processing and local area network tools.
Abstract in Turkish: Gezgin robotların konumlandırılması hem robotların idaresinde hem de robotların görevlerini yerine getirmesinde gereklidir ve günümüzde önemli sorunlardan biridir. İç ortamlar için tasarladığımız ve uyguladığımız konumlandırma sisteminde, gezgin robotlar konumlarını tepe kameralar sayesinde edinirler. Önerdiğimiz bu sistem konumlandırma ve iletişim kısımlarından oluşur; bu kısımlar görüntü işleme ve yerel ağ iletişim araçlarını kullanırlar.
Related papers are "Image Based Localization System for Mobile Robots (Gezgin Robotlar için Görüntü Tabanlı Konumlandırma Sistemi)" and "Multi-Camera Localization System for Mobile Robots (Gezgin Robotlar için Çok Kameralı Konumlandırma Sistemi)".
Formation-Based Object Transportation by Multiple Autonomous Non-holonomic Mobile Robots (Çoklu Gezgin Robotlarla Formasyon Tabanlı Nesne Taşıma), Sep 21, 2010
Abstract in Turkish:
Bu çalışmada, holonomik olmayan bir grup otonom robotun bir nesneyi işbirl... more Abstract in Turkish:
Bu çalışmada, holonomik olmayan bir grup otonom robotun bir nesneyi işbirlikli olarak taşıyabilmesi için hareket planlama ve kontrol yaklaşımı önerilmektedir. İşbirlikli taşıma sistemi için sanal lider-takipçi formasyon kontrolü yöntemi kullanılmaktadır. Taşınacak nesne, taşıma sisteminde sanal lider robot ve nesneyi taşıyan robotlarda takipçi robotlar olarak kabul edilmektedir. Kinematik kısıtlar göz önünde bulundurularak sanal robotun izleyeceği yörünge planlanmakta ve nesnenin ağırlık merkezine yerleştirilen koordinat sisteminin merkezinin yörüngeyi takip etmesi sağlanmaktadır. Her bir taşıyıcı robotun yörüngesi formasyon yapısını koruyacak şekilde planlanmakta ve her robotun kendi yörüngesini izlemeleri sağlanmaktadır. Takipçi robotların hareketlerini eşzamanlaştırmak üzere bir haberleşme altyapısı kullanılmaktadır. Ayrıca, yörüngelerin izlenmesinde asimptotik kararlı yörünge izleme denetleyicisi kullanılmaktadır. Önerilen yöntem, Pioneer P3-DX gezgin robotlar kullanarak gerçek dünya uygulamaları ve benzetimlerle doğrulanmaktadır.
A Multi-Robot Control Architecture for Fault-Tolerant Sensor-Based Coverage, Mar 1, 2010
Sensor-based coverage problems have many applications such as patrolling, search-rescue, and surv... more Sensor-based coverage problems have many applications such as patrolling, search-rescue, and surveillance. Using multi-robot team increases efficiency by reducing completion time of a sensor-based coverage task. Robustness to robot failures is another advantage of using multiple robots for coverage. Although there are many works to increase the efficiency of coverage methods, there are few works related to robot failures in the literature. In this paper, fault-tolerant control architecture is proposed for sensor-based coverage. Robot failures are detected using the heartbeat strategy. To show the effectiveness of the proposed approach, experiments are conducted using P3-DX mobile robots both in laboratory and simulation environment.
Keywords: Fault-tolerant, multi-robot, sensor-based coverage, control architecture.
Performance Comparison of BUG Algorithms for Mobile Robots, May 13, 2009
In this study, Bug1, Bug2, and DistBug motion planning algorithms for mobile robots are simulated... more In this study, Bug1, Bug2, and DistBug motion planning algorithms for mobile robots are simulated and their performances are compared. These motion planning algorithms are applied on a Pioneer mobile robot on the simulation environment of MobileSim. Sonar range sensors are used as the sensing elements. This study shows that mobile robots build a new motion planning using the bug’s algorithms only if they meet an unknown obstacle during their motion to the goal. Each of the bug’s algorithms is tested separately for an identical configuration space. At the end of this study, the performance comparison of the bug’s algorithms is shown.
Performance Comparison of the BUG’s Algorithms for Mobile Robots, Jun 29, 2009
In this study, Bug1, Bug2, Class1, Alg1, Alg2 and DistBug motion planning algorithms for mobile r... more In this study, Bug1, Bug2, Class1, Alg1, Alg2 and DistBug motion planning algorithms for mobile robots are simulated and their performances are compared. These motion planning algorithms are applied on a Pioneer mobile robot on the simulation environment of MobileSim. Sonar range sensors are used as the sensing element. This study shows that mobile robots build a new motion planning using the Bug’s algorithms only if they meet an unknown obstacle during their motion to goal. Each of the Bug’s algorithms is tested separately for two identical indoor environments. At the end of this study, the performance comparison of the Bug’s algorithms is shown.
BUG Algorithm Analysis using Petri net, Nov 28, 2013
In this study, BUG 1 navigation algorithm which is a simple motion planner, is modelled by the Pe... more In this study, BUG 1 navigation algorithm which is a simple motion planner, is modelled by the Petri net (PN) for a mobile robot (MR). We prefer this PN model to obtain the discrete data for this algorithm. PN is used as a modelling formalism to define MR’s movements such that the step of BUG 1 is constructed by using PN. Thus, all states are obtained the coverability tree. After all coverable marking vectors, the process of PN for BUG 1 is shown step by step on a real MR using the simulation environment of MobileSim.
Formation-based cooperative transportation by a group of non-holonomic mobile robots, Oct 10, 2010
In this study, motion planning and control scheme for a cooperative transportation system, which ... more In this study, motion planning and control scheme for a cooperative transportation system, which consists of a single object and multiple autonomous non-holonomic mobile robots, is proposed. Virtual leader-follower formation control strategy is used for the cooperative transportation system. The object is assumed as the virtual leader of the system and the robots carrying the object are considered as follower robots. A smooth path is generated by considering the constraints of the virtual robot. The origin of the coordinate system attached to the center of gravity of the object tracks the generated path. A path for each follower robot is generated to keep the formation structure. The follower robots track their paths. A communication framework is used for the messaging between robots, and asymptotically stable tracking control is used for trajectory tracking. The proposed method is verified with real applications and simulations using Pioneer P3-DX mobile robots and a single object.
Cooperative Transportation by Multiple Autonomous Non-holonomic Mobile Robots, Jun 12, 2010
In this study, motion planning and control scheme for a cooperative transportation system, which ... more In this study, motion planning and control scheme for a cooperative transportation system, which consists of a single object and multiple autonomous non-holonomic mobile robots included forklifts, is proposed. Virtual leader-follower formation control strategy is used for the cooperative transportation system. The object is assumed as the virtual leader of the system and the robots carrying the object on their forklifts are considered as follower robots. A smooth path is generated by considering the constraints of the virtual robot. The origin of the coordinate system attached to the center of gravity of the object tracks the generated path. A path for each follower robot is generated to keep the formation structure. The follower robots track their paths. A communication framework is used for the messaging between robots, and asymptotically stable tracking control is used for trajectory tracking. The proposed method is verified with real applications and simulations using Pioneer P3-DX mobile robots and a single object.
A smooth path generation approach for sensor-based coverage path planning, Nov 8, 2009
In this study, a path smoothing strategy is proposed for sensor-based coverage problems. Smooth p... more In this study, a path smoothing strategy is proposed for sensor-based coverage problems. Smooth paths are generated for the coverage problems considering mobile robot kinematics constraints. An open agent architecture-based control structure is used to implement the proposed approach on real robots. The algorithm is coded with C++ and implemented on P3-DX mobile robots in MobileSim simulation environments. It is shown that the proposed approach smoothes the curves and robot easily turns the corners. As a result of this, the completion time of the coverage decreases.
Direct-motion Diagonal and Perpendicular Parking for a Vehicle with and without a Trailer, Jun 3, 2010
In this study, the method of direct-motion diagonal and perpendicular parking is introduced both ... more In this study, the method of direct-motion diagonal and perpendicular parking is introduced both in theo-ry and in simulations for the vehicle with and without a trailer. The results show that not only a vehicle with a trailer park in diagonal or perpendicular using direct motion, but also a vehicle with a trailer park in diagonal and perpendicular in direct motion after the final value of the orientation angle is satisfied. Simulation results are given to verify the effec-tiveness of the proposed method.
Keywords: diagonal, perpendicular, direct motion, parking, trailer, car-like vehicle
Direct-Motion Parallel Parking for a Vehicle with and without a Trailer, Jun 21, 2010
In this study, the method of direct-motion parallel parking is introduced both in theory and in s... more In this study, the method of direct-motion parallel parking is introduced both in theory and in simulations for the vehicle with and without a trailer. The results show that not only a vehicle with a trailer park in parallel using direct motion, but also a vehicle with a trailer park in parallel in direct motion after the final value of the orientation angle is satisfied. Simulation results are given to verify the effectiveness of the proposed method.
An Intelligent PID Tuning Method for an Autonomous Mobile Robot, Jun 12, 2010
In this study, a Best First Search (BFS) Based Intelligent PID Tuning Method is proposed for a mo... more In this study, a Best First Search (BFS) Based Intelligent PID Tuning Method is proposed for a mobile robot path tracking problem. BFS is an informed search strategy in Artificial Intelligence (AI). It has been used in many areas of intelligent systems. Here, it is used to search values of both ultimate period and ultimate gain of Ziegler-Nichols (ZN) PID Tuning Method. So, using these ultimate period and gain, PID parameters can be c from tables of ZN method. The performance measure in this problem is described as minimizing total error during any specified trajectory tracking. Thus the proposed method does not depend on the system model. It only needs error information during the tracking control. So, this method can be used to tune PID parameters of any tracking controller for a system with unknown system dynamics. The proposed method is tested with simulations in MATLAB during trajectory tracking of a mobile robot. In addition, it is compared with classical PID and conventional PID tuning methods including Ziegler-Nichols method, Tyreus-Luyben method, and Shinskey method.
Keywords: Intelligent PID tuning, best first search, autonomous mobile robot, mobile robot path tracking problem, computed torque PID control, dynamic model, Ziegler-Nichols, Tyreus-Luyben, Shinskey.
Multi-Camera Localization System for Mobile Robots (Gezgin Robotlar için Çok Kameralı Konumlandırma Sistemi), Nov 26, 2008
Abstract in English:
In this study, a system providing indoor localization for the mobile robots... more Abstract in English:
In this study, a system providing indoor localization for the mobile robots is presented. The developed system is composed of two sub-systems. The first system is used to determine location of mobile robots. The localization is performed by processing images captured from the overhead cameras. The cameras are mounted on the ceiling of the building as to cover whole working region of mobile robots. Functions are defined in these methods to compensate the distortions on the image; which are caused by the positions of the cameras, using wide angle lenses, and changing light amplitude. The local poses computed by using these functions are then converted into global values. The second system is used to provide the communication between the first system and the mobile robots. This study is presented with the applications realized with a mobile robot in real-time.
Abstract in Turkish:
Bu çalışmada, iç ortamlarda gezgin robotların seyrüseferleri esnasında ihtiyaç duydukları konum bilgilerini sağlamak için görüntü tabanlı bir sistem sunulmaktadır. Sunulan sistem, gezgin robotların çalışma alanını kapsayacak şekilde tavana yerleştirilmiş kameralardan alınan görüntülerden robotların konumlarının hesaplanması ve bu konum bilgilerinin robotlara ulaştırılması olarak iki kısımdan oluşmaktadır. Çalışmada kameralardan sağlanan görüntülerin kameranın pozisyonu, geniş açılı mercek kullanılması ve ortamdaki ışık şiddetinin değişmesi gibi nedenlerle bozulmasından dolayı, bu bozulmaları tanımlayan bir fonksiyon kullanılarak robotların konum bilgileri hesaplanmakta ve. her bir kameranın yerel koordinat sistemine göre hesaplanan konum bilgileri, küresel koordinat sistemine dönüştürülerek robotlara mesaj tabanlı bir haberleşme yapısı ile aktarılmaktadır. Geliştirilen bu konumlandırma sistemi, gerçek ortamda gezgin robot kullanılarak yapılan uygulamalar ile birlikte sunulmaktadır.
Image Based Localization System for Mobile Robots (Gezgin Robotlar için Görüntü Tabanlı Konumlandırma Sistemi), Nov 13, 2008
Abstract in Turkish:
Bu çalışmada, iç ortamlarda gezgin robotların seyrüseferleri esnasında ihti... more Abstract in Turkish:
Bu çalışmada, iç ortamlarda gezgin robotların seyrüseferleri esnasında ihtiyaç duydukları konum bilgisini sağlamak için görüntü tabanlı bir sistem sunulmaktadır. Bu sistem, tavana yerleştirilen kameralardan alınan görüntüler üzerinden robotların konumlarının saptanmasını ve bu konum bilgisinin robotlara ulaştırılmasını sağlayan iki kısımdan oluşmaktadır. Kameralardan sağlanan görüntüler, kameranın pozisyonu, geniş açılı mercekler ve ortamdaki değişen ışık şiddeti gibi nedenlerle bozulmalara uğramaktadır. Çalışmada bozulmaları tanımlayan bir fonksiyon kullanılarak robotların konum bilgileri hesaplanmaktadır. Hesaplanan konum bilgisi geliştirilen mesaj tabanlı bir haberleşme yapısı ile robota iletilmektedir. Geliştirilen konumlandırma sistemi, gerçek ortamda gezgin robot kullanılarak yapılan uygulamalar ile birlikte sunulmaktadır.
Application of MCDM Methods for a Group of Nonholonomic Mobile Robots to Determine the Best Route and the Most Suıtable Robot to the Given Task, Jun 29, 2014
In this study, a fire-fighting scenario in an office environment wherein three different nonholon... more In this study, a fire-fighting scenario in an office environment wherein three different nonholonomic differential-drive mobile robots are used is considered as a case study. The 2D configuration space of the office environment is divided into grid cells by using the method of “Occupancy Grid Map” such that each grid cell is associated with each interrelated node. Each robot constructs a reachability three by using these nodes and Breadth-First Search (BFS) algorithm. The back-tracking algorithm is used to obtain the finite solution set of paths from the motion planning. The set of alternatives is constructed by randomly selecting routes from the finite solution set of paths. Each robot determines its own best route by applying Multi-Criteria Decision Making (MCDM) methods such that “Elimination et Choix Traduisant la Realite (ELECTRE I)” and “Technique for Order of Preference by Similarity to Ideal Solution (TOPSIS)”. Criteria for the path selection is weighted by applying the method of “Analytic Hierarchy Process (AHP)”. Then, each robot except the leader robot sends its best path-info to the leader so that the leader robot determines the most suitable robot that conforms to the fire-fighting task by using AHP. To analyze the effect of criteria’s weights on the alternatives and perform sensitivity-graphs, Expert Choice 11 software is used. The robot determined by the leader executes the task by tracking its own best path.
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Papers by Alpaslan YUFKA
Abstract: This paper presents a motion planning and control scheme for a cooperative transportation system comprising a single rigid object and multiple autonomous non-holonomic mobile robots. A leader-follower formation control strategy is used for the transportation system in which the object is assumed to be the virtual leader; the robots carrying the object are considered followers. A smooth trajectory between the current and desired locations of the object is generated by considering the constraints of the virtual leader. In the leader-follower approach, the origin of the coordinate system attached to the center of gravity of the object, which is known as the virtual leader, moves along the generated trajectory while the real robots, which are known as followers, maintain a desired distance and orientation to the leader. An asymptotically stable tracking controller is used for trajectory tracking. The proposed approach is verified by simulations and real applications using Pioneer P3-DX mobile robots.
Paper videos can be reached from this URLs: http://www.youtube.com/playlist?list=PLENSkat0854tcWruhIrH2eqzc_Vwc_2Rm
http://www.ai-robotlab.ogu.edu.tr/gallery-movies.htm
Abstract in English: Localization is one of the main fundamental problems in manipulation of mobile robots, since it is useful for a mobile robot not only for navigation, but also for achieving some tasks. In this project, an indoor localization system is designed and implemented to inform mobile robots about their positions and orientations by using overhead cameras. This proposed system is composed of localization and communication modules, which are based on image processing and local area network tools.
Abstract in Turkish: Gezgin robotların konumlandırılması hem robotların idaresinde hem de robotların görevlerini yerine getirmesinde gereklidir ve günümüzde önemli sorunlardan biridir. İç ortamlar için tasarladığımız ve uyguladığımız konumlandırma sisteminde, gezgin robotlar konumlarını tepe kameralar sayesinde edinirler. Önerdiğimiz bu sistem konumlandırma ve iletişim kısımlarından oluşur; bu kısımlar görüntü işleme ve yerel ağ iletişim araçlarını kullanırlar.
Related papers are "Image Based Localization System for Mobile Robots (Gezgin Robotlar için Görüntü Tabanlı Konumlandırma Sistemi)" and "Multi-Camera Localization System for Mobile Robots (Gezgin Robotlar için Çok Kameralı Konumlandırma Sistemi)".
Bu çalışmada, holonomik olmayan bir grup otonom robotun bir nesneyi işbirlikli olarak taşıyabilmesi için hareket planlama ve kontrol yaklaşımı önerilmektedir. İşbirlikli taşıma sistemi için sanal lider-takipçi formasyon kontrolü yöntemi kullanılmaktadır. Taşınacak nesne, taşıma sisteminde sanal lider robot ve nesneyi taşıyan robotlarda takipçi robotlar olarak kabul edilmektedir. Kinematik kısıtlar göz önünde bulundurularak sanal robotun izleyeceği yörünge planlanmakta ve nesnenin ağırlık merkezine yerleştirilen koordinat sisteminin merkezinin yörüngeyi takip etmesi sağlanmaktadır. Her bir taşıyıcı robotun yörüngesi formasyon yapısını koruyacak şekilde planlanmakta ve her robotun kendi yörüngesini izlemeleri sağlanmaktadır. Takipçi robotların hareketlerini eşzamanlaştırmak üzere bir haberleşme altyapısı kullanılmaktadır. Ayrıca, yörüngelerin izlenmesinde asimptotik kararlı yörünge izleme denetleyicisi kullanılmaktadır. Önerilen yöntem, Pioneer P3-DX gezgin robotlar kullanarak gerçek dünya uygulamaları ve benzetimlerle doğrulanmaktadır.
Paper videos can be reached from this URL: https://www.youtube.com/playlist?list=PLENSkat0854sdT88vPC2mIeRUwS1lh5R0
Please look at the further study of "Formation-based cooperative transportation by a group of non-holonomic mobile robots"
Keywords: Fault-tolerant, multi-robot, sensor-based coverage, control architecture.
Paper videos can be reached from this URLs: http://www.youtube.com/playlist?list=PLENSkat0854tXKZWJ7X6dWBOyOBcW2jZC
http://www.ai-robotlab.ogu.edu.tr/gallery-movies.htm
Keywords: Bug, pioneer, robots, sonar, MobileSim
Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854tTGxwtIYy3JOrSsPGFx074
Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854sc3ir3uGysZefYqtdOxyr8
Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854ubZ5h1ERsyNqsVNbMFQmaa
Keywords—cooperative transportation, motion planning, tracking control, formation, multiple robots
Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854v2a9-42vbagdJxYZlw5cu9
Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854sw9XIuLI_hz3NzoauVJDaC
Please look at the further study of "Formation-based cooperative transportation by a group of non-holonomic mobile robots"
Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854u1X2v44coTavWfRQjOyGyt
Keywords: diagonal, perpendicular, direct motion, parking, trailer, car-like vehicle
Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854vGceT1fX4Yr6Yw0UqqW_vl
Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854vszuVfu9mnrEvHsVQGBBgB
Keywords: Intelligent PID tuning, best first search, autonomous mobile robot, mobile robot path tracking problem, computed torque PID control, dynamic model, Ziegler-Nichols, Tyreus-Luyben, Shinskey.
In this study, a system providing indoor localization for the mobile robots is presented. The developed system is composed of two sub-systems. The first system is used to determine location of mobile robots. The localization is performed by processing images captured from the overhead cameras. The cameras are mounted on the ceiling of the building as to cover whole working region of mobile robots. Functions are defined in these methods to compensate the distortions on the image; which are caused by the positions of the cameras, using wide angle lenses, and changing light amplitude. The local poses computed by using these functions are then converted into global values. The second system is used to provide the communication between the first system and the mobile robots. This study is presented with the applications realized with a mobile robot in real-time.
Abstract in Turkish:
Bu çalışmada, iç ortamlarda gezgin robotların seyrüseferleri esnasında ihtiyaç duydukları konum bilgilerini sağlamak için görüntü tabanlı bir sistem sunulmaktadır. Sunulan sistem, gezgin robotların çalışma alanını kapsayacak şekilde tavana yerleştirilmiş kameralardan alınan görüntülerden robotların konumlarının hesaplanması ve bu konum bilgilerinin robotlara ulaştırılması olarak iki kısımdan oluşmaktadır. Çalışmada kameralardan sağlanan görüntülerin kameranın pozisyonu, geniş açılı mercek kullanılması ve ortamdaki ışık şiddetinin değişmesi gibi nedenlerle bozulmasından dolayı, bu bozulmaları tanımlayan bir fonksiyon kullanılarak robotların konum bilgileri hesaplanmakta ve. her bir kameranın yerel koordinat sistemine göre hesaplanan konum bilgileri, küresel koordinat sistemine dönüştürülerek robotlara mesaj tabanlı bir haberleşme yapısı ile aktarılmaktadır. Geliştirilen bu konumlandırma sistemi, gerçek ortamda gezgin robot kullanılarak yapılan uygulamalar ile birlikte sunulmaktadır.
Bu çalışmada, iç ortamlarda gezgin robotların seyrüseferleri esnasında ihtiyaç duydukları konum bilgisini sağlamak için görüntü tabanlı bir sistem sunulmaktadır. Bu sistem, tavana yerleştirilen kameralardan alınan görüntüler üzerinden robotların konumlarının saptanmasını ve bu konum bilgisinin robotlara ulaştırılmasını sağlayan iki kısımdan oluşmaktadır. Kameralardan sağlanan görüntüler, kameranın pozisyonu, geniş açılı mercekler ve ortamdaki değişen ışık şiddeti gibi nedenlerle bozulmalara uğramaktadır. Çalışmada bozulmaları tanımlayan bir fonksiyon kullanılarak robotların konum bilgileri hesaplanmaktadır. Hesaplanan konum bilgisi geliştirilen mesaj tabanlı bir haberleşme yapısı ile robota iletilmektedir. Geliştirilen konumlandırma sistemi, gerçek ortamda gezgin robot kullanılarak yapılan uygulamalar ile birlikte sunulmaktadır.
Keywords: Mobile robots, motion planning, Occupancy Grid Map, Breadth-First Search, node, back-tracking, leader, Multi-Criteria Decision Making, ELECTRE I, TOPSIS, AHP, Expert Choice, sensitivity-graphs.
Abstract: This paper presents a motion planning and control scheme for a cooperative transportation system comprising a single rigid object and multiple autonomous non-holonomic mobile robots. A leader-follower formation control strategy is used for the transportation system in which the object is assumed to be the virtual leader; the robots carrying the object are considered followers. A smooth trajectory between the current and desired locations of the object is generated by considering the constraints of the virtual leader. In the leader-follower approach, the origin of the coordinate system attached to the center of gravity of the object, which is known as the virtual leader, moves along the generated trajectory while the real robots, which are known as followers, maintain a desired distance and orientation to the leader. An asymptotically stable tracking controller is used for trajectory tracking. The proposed approach is verified by simulations and real applications using Pioneer P3-DX mobile robots.
Paper videos can be reached from this URLs: http://www.youtube.com/playlist?list=PLENSkat0854tcWruhIrH2eqzc_Vwc_2Rm
http://www.ai-robotlab.ogu.edu.tr/gallery-movies.htm
Abstract in English: Localization is one of the main fundamental problems in manipulation of mobile robots, since it is useful for a mobile robot not only for navigation, but also for achieving some tasks. In this project, an indoor localization system is designed and implemented to inform mobile robots about their positions and orientations by using overhead cameras. This proposed system is composed of localization and communication modules, which are based on image processing and local area network tools.
Abstract in Turkish: Gezgin robotların konumlandırılması hem robotların idaresinde hem de robotların görevlerini yerine getirmesinde gereklidir ve günümüzde önemli sorunlardan biridir. İç ortamlar için tasarladığımız ve uyguladığımız konumlandırma sisteminde, gezgin robotlar konumlarını tepe kameralar sayesinde edinirler. Önerdiğimiz bu sistem konumlandırma ve iletişim kısımlarından oluşur; bu kısımlar görüntü işleme ve yerel ağ iletişim araçlarını kullanırlar.
Related papers are "Image Based Localization System for Mobile Robots (Gezgin Robotlar için Görüntü Tabanlı Konumlandırma Sistemi)" and "Multi-Camera Localization System for Mobile Robots (Gezgin Robotlar için Çok Kameralı Konumlandırma Sistemi)".
Bu çalışmada, holonomik olmayan bir grup otonom robotun bir nesneyi işbirlikli olarak taşıyabilmesi için hareket planlama ve kontrol yaklaşımı önerilmektedir. İşbirlikli taşıma sistemi için sanal lider-takipçi formasyon kontrolü yöntemi kullanılmaktadır. Taşınacak nesne, taşıma sisteminde sanal lider robot ve nesneyi taşıyan robotlarda takipçi robotlar olarak kabul edilmektedir. Kinematik kısıtlar göz önünde bulundurularak sanal robotun izleyeceği yörünge planlanmakta ve nesnenin ağırlık merkezine yerleştirilen koordinat sisteminin merkezinin yörüngeyi takip etmesi sağlanmaktadır. Her bir taşıyıcı robotun yörüngesi formasyon yapısını koruyacak şekilde planlanmakta ve her robotun kendi yörüngesini izlemeleri sağlanmaktadır. Takipçi robotların hareketlerini eşzamanlaştırmak üzere bir haberleşme altyapısı kullanılmaktadır. Ayrıca, yörüngelerin izlenmesinde asimptotik kararlı yörünge izleme denetleyicisi kullanılmaktadır. Önerilen yöntem, Pioneer P3-DX gezgin robotlar kullanarak gerçek dünya uygulamaları ve benzetimlerle doğrulanmaktadır.
Paper videos can be reached from this URL: https://www.youtube.com/playlist?list=PLENSkat0854sdT88vPC2mIeRUwS1lh5R0
Please look at the further study of "Formation-based cooperative transportation by a group of non-holonomic mobile robots"
Keywords: Fault-tolerant, multi-robot, sensor-based coverage, control architecture.
Paper videos can be reached from this URLs: http://www.youtube.com/playlist?list=PLENSkat0854tXKZWJ7X6dWBOyOBcW2jZC
http://www.ai-robotlab.ogu.edu.tr/gallery-movies.htm
Keywords: Bug, pioneer, robots, sonar, MobileSim
Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854tTGxwtIYy3JOrSsPGFx074
Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854sc3ir3uGysZefYqtdOxyr8
Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854ubZ5h1ERsyNqsVNbMFQmaa
Keywords—cooperative transportation, motion planning, tracking control, formation, multiple robots
Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854v2a9-42vbagdJxYZlw5cu9
Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854sw9XIuLI_hz3NzoauVJDaC
Please look at the further study of "Formation-based cooperative transportation by a group of non-holonomic mobile robots"
Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854u1X2v44coTavWfRQjOyGyt
Keywords: diagonal, perpendicular, direct motion, parking, trailer, car-like vehicle
Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854vGceT1fX4Yr6Yw0UqqW_vl
Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854vszuVfu9mnrEvHsVQGBBgB
Keywords: Intelligent PID tuning, best first search, autonomous mobile robot, mobile robot path tracking problem, computed torque PID control, dynamic model, Ziegler-Nichols, Tyreus-Luyben, Shinskey.
In this study, a system providing indoor localization for the mobile robots is presented. The developed system is composed of two sub-systems. The first system is used to determine location of mobile robots. The localization is performed by processing images captured from the overhead cameras. The cameras are mounted on the ceiling of the building as to cover whole working region of mobile robots. Functions are defined in these methods to compensate the distortions on the image; which are caused by the positions of the cameras, using wide angle lenses, and changing light amplitude. The local poses computed by using these functions are then converted into global values. The second system is used to provide the communication between the first system and the mobile robots. This study is presented with the applications realized with a mobile robot in real-time.
Abstract in Turkish:
Bu çalışmada, iç ortamlarda gezgin robotların seyrüseferleri esnasında ihtiyaç duydukları konum bilgilerini sağlamak için görüntü tabanlı bir sistem sunulmaktadır. Sunulan sistem, gezgin robotların çalışma alanını kapsayacak şekilde tavana yerleştirilmiş kameralardan alınan görüntülerden robotların konumlarının hesaplanması ve bu konum bilgilerinin robotlara ulaştırılması olarak iki kısımdan oluşmaktadır. Çalışmada kameralardan sağlanan görüntülerin kameranın pozisyonu, geniş açılı mercek kullanılması ve ortamdaki ışık şiddetinin değişmesi gibi nedenlerle bozulmasından dolayı, bu bozulmaları tanımlayan bir fonksiyon kullanılarak robotların konum bilgileri hesaplanmakta ve. her bir kameranın yerel koordinat sistemine göre hesaplanan konum bilgileri, küresel koordinat sistemine dönüştürülerek robotlara mesaj tabanlı bir haberleşme yapısı ile aktarılmaktadır. Geliştirilen bu konumlandırma sistemi, gerçek ortamda gezgin robot kullanılarak yapılan uygulamalar ile birlikte sunulmaktadır.
Bu çalışmada, iç ortamlarda gezgin robotların seyrüseferleri esnasında ihtiyaç duydukları konum bilgisini sağlamak için görüntü tabanlı bir sistem sunulmaktadır. Bu sistem, tavana yerleştirilen kameralardan alınan görüntüler üzerinden robotların konumlarının saptanmasını ve bu konum bilgisinin robotlara ulaştırılmasını sağlayan iki kısımdan oluşmaktadır. Kameralardan sağlanan görüntüler, kameranın pozisyonu, geniş açılı mercekler ve ortamdaki değişen ışık şiddeti gibi nedenlerle bozulmalara uğramaktadır. Çalışmada bozulmaları tanımlayan bir fonksiyon kullanılarak robotların konum bilgileri hesaplanmaktadır. Hesaplanan konum bilgisi geliştirilen mesaj tabanlı bir haberleşme yapısı ile robota iletilmektedir. Geliştirilen konumlandırma sistemi, gerçek ortamda gezgin robot kullanılarak yapılan uygulamalar ile birlikte sunulmaktadır.
Keywords: Mobile robots, motion planning, Occupancy Grid Map, Breadth-First Search, node, back-tracking, leader, Multi-Criteria Decision Making, ELECTRE I, TOPSIS, AHP, Expert Choice, sensitivity-graphs.