Robot path planning is about finding a collision free motion from one position to another. Efficient algorithms for solving problems of this type have important applications in areas such as: industrial robotics, computer animation, drug design, and automated surveillance. In this paper, a modified A~* algorithm is used for optimizing the path. Different from the approaches that only choose the shortest routes, this method estimates the energy consumption and chooses the most energy efficient routes. As mobile robots are powered by batteries, their energy is limited. Therefore, how to minimize energy consumption is an important problem. The basic idea is to minimize unnecessary stops and turns for mobile robots that cause acceleration and deceleration and consumes significant energy. Simulation results are presented on various environments with different levels of complexity depending on the density of the obstacles. The effectiveness of the proposed approach is evaluated in terms of number of movement steps, path length, energy consumption, number of turns and time. The experimental results show that our approach can provide effective path by reducing the number of turns compared to A~*, thus saving energy. All paths generated were optimal in terms of length and smoothness.

关键词：机器人；路径规划；移动机器人；A~ *算法；能源消耗

查看摘要 索取原文[11页]

To investigate robot Simultaneous Localization and Mapping (SLAM) in the unknown environment, the non-linear Interacting Multiple Model (IMM) SLAM algorithm is applied to solve the problem concerning the statistical property mutation of a system. The key point of this algorithm is to use non-linear Gaussian model to approximate non-linear and non-Gaussian model so that robot Simultaneous Localization and Mapping can be achieved. Each model employs the Extended Kalman Filter (EKF) algorithm to linearize the non-linear system and uses the non-linear Interacting Multiple Model algorithm in each step to get fusion estimated value. The Monte Carlo simulation results show that the proposed algorithm has better estimate precision.

关键词：机器人；自动控制系统；定位；交互多模型

查看摘要 索取原文[10页]

This report documents (1) the successful FCC certification effort by AKELA and (2) AKELA user test and evaluation of the NIJ ASTIR system. At the conclusion of this NIJ Cooperative effort, the ASTIR system received final FCC Certification. The FCC certification allows the availability of the ASTIR for LE emergency operations. Its effectiveness will be a function of the building wall material makeup, line-of-site metallic and moving obstructions, and complexity of the building structure. Due to limited user operational testing on complex structures and wall construction materials, it is anticipated that image display information and associated interpretation will require signal processing product improvement. Product improvements will be limited to signal processing and imaging display software - no modifications are required for radar hardware and/or the physical system.

关键词：传感器；FCC

查看摘要 索取原文[36页]

The difficulties one faces when developing a service robot increase exponentially with the number of different modules and functions to be included. In the DESIRE project a new service robot was to be built as a means for advancing and demonstrating the convergence of service robotics technologies. It also had to meet the often contradicting requirements and demands of all thirteen partners and their heterogeneous software modules and functions which they committed to this project. In this article we will discuss the development process of the hardware of the DESIRE technology platform. Starting with the listing and description of the different components and requirements we will describe the development process of the platform's frame and internal structure as well as the design of the outer cover. We expect this chapter to be used as inspiration and guideline for other engineers in upcoming projects with similar settings concerning system complexity and team composition. We are confident that the experience of the robot development process gathered within a large joint research project will help others to identify potential pitfalls and challenges for a robot's hardware design beforehand and thus reduce the effort, time and resources needed for future service robot development.

关键词：机器人；DASIRE;硬件设计

查看摘要 索取原文[8页]

In the field of service robotics there is a high demand for high quality models of all the objects a service robot should be capable of handling. This is especially true for geometrical representations of objects that can be used for visualization and simulation. The acquisition of such models can be done using the sensors available on the robot or can be generated off line using specialized hardware. Currently the latter approach yields qualitatively better results for onboard sensors are still limited. In project DESIRE high quality models were needed to train the vision system as well as the manipulation capabilities of the demonstrator, thus a specialized sensor setup was constructed and used to generate 2D and 3D object models.

关键词：机器人；半自动；建模

查看摘要 索取原文[13页]

Mobile sensor networks have received a significant amount of research attention in recent years because they can support a wide range of applications, for example, intelligent transportation systems (ITS), wildlife conservation systems, and battlefield surveillance systems. In most applications for sensor networks, it is expected that data on sensor nodes can be periodically queried by an external source. Important statistical information about the underlying physical processes can thus be collected for further use. Recently, query processing techniques, including range queries, k-nearest neighbor (KNN) queries, and snapshot queries, have been widely utilized in different applications. Among the various query types for aggregating sensor information, the KNN query, which aims at finding the KNNs around a query point, q, has been recognized as one of the key spatial queries in mobile sensor networks. Applications of KNN queries include vehicle navigation, wildlife social discovery, and squad/platoon searching on the battlefields. KNN queries can also be applied to emergency situations such as tracing the insurgents of a traffic accident, discovering the impact of a forest fire, and seeking our nearby survivors around a battlefield stronghold.

关键词：传感器；KNN

查看摘要 索取原文[15页]

The potential of RFID (radio frequency identification) technology is analyzed in the context of service robots. Various concepts that differ by operation frequency (LF, HF, UHF) and, thus, by range are analyzed. Typically, the service robot application which is to be supported by RFID, preselects the frequency band by range requirements. Within the DESIRE project, RFID was investigated for platform localization in large operation areas as well as for object identification at small distances. To enable this investigation, an electronic system was designed, built and integrated into the DESIRE platform that supports multiple antenna control. Detection zones of objects, equipped with UHF-RFID tags, were estimated under lab conditions and for onboard scenarios. In particular, strengths and weaknesses of UHF-RFID object identification at far distances and in the presence of interfering signals are discussed. This lead to one scenario in which the robot grasps an object, moves and rotates it in reading distance to the antenna mounted at the robot torso. The service robot can thus perceive object information that complements information from other sensor modalities like vision.

关键词：机器人；RFID功能

查看摘要 索取原文[11页]

Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is a new Human Research Program (HRP) risk. HRI is a research area that seeks to understand the complex relationship among variables that affect the way humans and robots work together to accomplish goals. The DRP addresses three major HRI study areas that will provide appropriate information for navigation guidance to a teleoperator of a robot system, and contribute to the closure of currently identified HRP gaps: (1) Overlays -- Use of overlays for teleoperation to augment the information available on the video feed (2) Camera views -- Type and arrangement of camera views for better task performance and awareness of surroundings (3) Command modalities -- Development of gesture and voice command vocabularies

关键词：机器人；地区采集原料机器人,机器人,机器人控制;机器人动力学;控制系统设计;动态控制;摄像头,导航,语音控制

查看摘要 索取原文[7页]

Planning of the optimal path has always been the target pursued by many researchers since last five decade. Its application on mobile robot is one of the most important research topics among the scientist and researcher. This paper aims to plan the obstacle-avoiding path for mobile robots based on the Artificial Immune Algorithm (AIA) developed from the immune principle. An immunity algorithm adapting capabilities of the immune system is proposed and enable robot to reach the target object safely and successfully fulfill its task through optimal path and with minimal rotation angle efficiency. Finally, we have compared with the GA based path planning with the AIA based path planning. Simulation results show that the mobile robot is capable of avoiding obstacles, escaping traps, and reaching the goal efficiently and effectively by using AIA than GA.

关键词：机器人；路径规划；人工免疫算法；导航；GA

查看摘要 索取原文[13页]

Over the last few years, the interest in studying the Artificial Immune System (AIS) is increasing because of its properties such as uniqueness, recognition of foreigners, anomaly detection, distributed detection, noise tolerance, reinforcement learning and memory. Previous research work has proved that AIS model can apply to behavior-based robotics, but implementation of idiotypic selection in these fields are very few.The present research aims to implement a simple system architecture for a mobile robot navigation problem working with artificial immune system based on the idiotypic effects among the antibodies and the antigens. In this architecture environmental conditions are modeled as antigens and the set of action strategies by the mobile robot are treated as antibodies. These antibodies are selected on the basis of providing the robot with the ability to move in a number of different directions by avoiding obstacles in its environment. Simulation results showed that the robot is capable to reach goal effectively by avoiding obstacles and escape traps in its maze environment.

关键词：机器人；人工免疫系统给；idiotypic效应；免疫网络；导航

查看摘要 索取原文[12页]