Adaptive Navigation Control for Swarms of Autonomous Mobile by Nishimura, Yasuhiro; Lee, Geunho; Chong, Nak Young; Ji, Sang

By Nishimura, Yasuhiro; Lee, Geunho; Chong, Nak Young; Ji, Sang Hoon; Cho, Young-Jo

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Extra info for Adaptive Navigation Control for Swarms of Autonomous Mobile Robots

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Control systems are developed in open loop or closed loop. Some problems of control systems in open loop are the limitations to regulate the speed and acceleration in different paths, this control does not correct the system to disturbances or dynamic changes, resulting in paths that are not smooth (Siegwart & Nourbakhsh, 2004). Systems in closed loop control can regulate and compare its parameters with references to minimize errors. The feedback control is used to solve the navigation system when the robot has to follow a path described by velocity and position profiles as a function of time from an initial to a final position.

11 presents an algorithm of the robot movement from TNm (target node of m order) to TNn including the orientation recognition process. 1 Positioning control At every step of the robot movement, the robot will perform a self-localization task first in order to determine whether it has reached the target node or not. In order to perform the self-localization task, the robot can simply capture one image and feed the extracted visual features into the NN. Based on our empirical studies, we found out that the NN output is gradually increasing when the robot is approaching towards the target node.

Knight, K. (1994). Inteligência Artificial, Makron Books do Brasil, 1994, São Paulo. Russell, R. (1995). Laying and Sensing Odor Markings as a Strategy for Assistent Mobile Robot Navigation Tasks. IEEE Robotics & Automation Magazine, pp. 3-9, September 1995. ; Stentz, A. & Thorpe, C. (1986). An Architecture for Sensor Fusion in a Mobile Robot. Proc. IEEE International Conference on Robotics and Automation, San Francisco, CA, pp. 2002-2011, April 1986. ; Khatib, O. ). Springer Handbook of Robotics.

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