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Path Planning in Unknown Environment with Minimal Sensing
, Ph.D. Dissertation Sharif University of Technology ; Ghodsi, Mohammad (Supervisor)
Abstract
In this research, path planning in unknown environment is considered. It is assumed that the robot’s sensors are the only tools to collect information from the scene. Volume of the information gathered from the environment depends on the capability of the sensor. So, a detour from the optimal path is unavoidable. In this research, the basic robot is equipped with a minimal sensing system that only detects the iscontinuities in depth information (gaps). We present some online search strategies that guide such a robot to navigate unknown streets from a start point s to reach a target point t. Then, we empower the robot by adding a compass to patrol more general classes of polygons. We present...
Optimal strategy for walking in streets with minimum number of turns for a simple robot
, Article Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) ; Vol. 8881, issue , 2014 , p. 101-112 ; Ghodsi, M ; Sharif University of Technology
Abstract
We consider the problem of walking a simple robot in an unknown street. The robot that cannot infer any geometric properties of the street traverses the environment to reach a target t, starting from a point s. The robot has a minimal sensing capability that can only report the discontinuities in the depth information (gaps), and location of the target point once it enters in its visibility region. Also, the robot can only move towards the gaps while moving along straight lines is cheap, but rotation is expensive for the robot. We maintain the location of some gaps in a tree data structure of constant size. The tree is dynamically updated during the movement. Using the data structure, we...
Optimal path-planning for mobile robots to find a hidden target in an unknown environment based on machine learning
, Article Journal of Ambient Intelligence and Humanized Computing ; 2018 , Pages 1-10 ; 18685137 (ISSN) ; Rasooli, A ; Khodaygan, S ; Sharif University of Technology
Springer Verlag
2018
Abstract
Using mobile robots in disaster areas can reduce risks and the search time in urban search and rescue operations. Optimal path-planning for mobile robotics can play a key role in the reduction of the search time for rescuing victims. In order to minimize the search time, the shortest path to the target should be determined. In this paper, a new integrated Reinforcement Learning—based method is proposed to search and find a hidden target in an unknown environment in the minimum time. The proposed algorithm is developed in two main phases. Depending on whether or not the mobile robot receives the signal from the hidden target, phases I or II of the proposed algorithm can be carried out. Then,...
Optimal path-planning for mobile robots to find a hidden target in an unknown environment based on machine learning
, Article Journal of Ambient Intelligence and Humanized Computing ; Volume 10, Issue 5 , 2019 , Pages 1841-1850 ; 18685137 (ISSN) ; Rasooli, A ; Khodaygan, S ; Sharif University of Technology
Springer Verlag
2019
Abstract
Using mobile robots in disaster areas can reduce risks and the search time in urban search and rescue operations. Optimal path-planning for mobile robotics can play a key role in the reduction of the search time for rescuing victims. In order to minimize the search time, the shortest path to the target should be determined. In this paper, a new integrated Reinforcement Learning—based method is proposed to search and find a hidden target in an unknown environment in the minimum time. The proposed algorithm is developed in two main phases. Depending on whether or not the mobile robot receives the signal from the hidden target, phases I or II of the proposed algorithm can be carried out. Then,...
Hardware in the loop simulation and analysis of a model of fish robotic system
, Article ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010, 12 July 2010 through 14 July 2010, Istanbul ; Volume 5 , 2010 , Pages 203-210 ; 9780791849194 (ISBN) ; Vosoughi, G. R ; Farshchi, M ; Nemati, A ; Sharif University of Technology
2010
Abstract
In the present study, an adaptive sliding mode control method was employed to control a fish robotic system using hardware in the loop methodology. Up to now, few researches have focused on autonomous control of fish robot in dynamic environments which may be the result of difficulties in modeling of hydrodynamic effects on fish robot. Therefore, following the introduction of the nonlinear model for the robot, elongated body theory, suggested by Lighthill, was used to analyze fish movements. Then, kinematics control to track desired trajectories was designed for under-actuated model of robot. Adaptive sliding mode controller, capable of adapting according to changes and uncertainties, was...
Impedance control and gain tuning of flexible base moving manipulators using PSO method
, Article 2008 IEEE International Conference on Information and Automation, ICIA 2008, Zhangjiajie, Hunan, 20 June 2008 through 23 June 2008 ; 2008 , Pages 458-463 ; 9781424421848 (ISBN) ; Vossoughi, G. R ; Vajedi, M ; Brooshaki, M ; Sharif University of Technology
2008
Abstract
New gains tuning and impedance control method were addressed for flexible base moving manipulators. Slow and fast dynamics of robot are decoupled using singular perturbation method. Then, using sliding mode control method, an impedance control law was derived for the slow dynamics. Combined control law was proposed comprising the impedance control law and a feedback control law for the fast dynamics. As fist time, we proposed a new online particle swarm optimization algorithm for gain tuning of impedance control at the contact moments of end effector and unknown environments. This proposed Sliding Mode Impedance Controller and online PSO were simulated for a Flexible Base Moving Manipulator....