Path planning of a multiple mobile robot system

We present path-planning techniques for a multiple mobile robot system. The mobile robot has the shape of a cylinder, and its diameter, height, and weight are 8 cm, 15 cm, and 1.5 kg, respectively. The controller of the mobile robot is an MCS-51 chip, and it acquires detection signals from sensors through I/O pins. It receives commands from the supervising computer via a wireless RF interface, and transmits the status of the robots to the supervising computer via a wireless RF interface. The mobile robot system is a module-based system, and contains a controller module (including two DC motors and drivers), an obstacle detection module, a voice module, a wireless RF module, an encoder module, and a compass detection module. We propose an evaluation method to arrange the position of the multiple mobile robot system, and develop a path-planning interface on the supervising computer. In the experimental results, the mobile robots were able to receive commands from the supervising computer, and to move their next positions according to the proposed method.     

Path planning of fire-escaping system for intelligent building

We present the path-planning techniques of the fire-escaping system for intelligent building, and use multiple mobile robots to present the experimental scenario. The fire-escaping system contains a supervised computer, an experimental platform, some fire-detection robots and some navigation robots. The mobile robot has the shape of a cylinder, and its diameter, height and weight are 10?cm, 15?cm and 1.5?kg, respectively. The mobile robot contains a controller module, two DC servomotors (including drivers), three IR sensor modules, a voice module and a wireless RF module. The controller of the mobile robot acquires the detection signals from reflective IR sensors through I/O pins and receives the command from the supervised computer via wireless RF interface. The fire-detection robot carries the flame sensor to detect fire sources moving on the grid-based experiment platform, and calculates the more safety escaping path using piecewise cubic Bezier curve on all probability escaping motion paths. Then the user interface uses A* searching algorithm to program escaping motion path to approach the Bezier curve on the grid-based platform. The navigation robot guides people moving to the safety area or exit door using the programmed escaping motion path. In the experimental results, the supervised computer programs the escaping paths using the proposed algorithms and presents movement scenario using the multiple smart mobile robots on the experimental platform. In the experimental scenario, the user interface transmits the motion command to the mobile robots moving on the grid-based platform, and locates the positions of fire sources by the fire-detection robots. The navigation robot guides people leaving the fire sources using the low-risk escaping motion path and moves to the exit door.     

Developing a vision-based auto-recharging system for mobile robots

This article describes a vision-based auto-recharging system that guides a mobile robot moving toward a docking station. The system contains a docking station and a mobile robot. The docking station contains a docking structure, a control device, a charger, a safety detection device, and a wireless RF interface. The mobile robot contains a power detection module (voltage and current), an auto-switch, a wireless RF interface, a controller, and a camera. The controller of the power detection module is a Holtek chip. The docking structure is designed with one active degree of freedom and two passive degrees of freedom. For image processing, the mobile robot uses a webcam to capture a real-time image. The image signal is transmitted to the controller of the mobile robot via a USB interface. We use an Otsu algorithm to calculate the distance and orientation of the docking station from the mobile robot. In the experiment, the proposed algorithm guided the mobile robot to the docking station.     

Speech-based formation control of the multi-robot system

The article presents multiple pattern formation control of the multi-robot system using A* searching algorithm, and avoids the collision points moving on the motion platform. We use speech recognition algorithm to decide the various pattern formations, and program mobile robots to present the movement scenario on the grid-based motion platform. We have been developed some pattern formations to be applied in game applications, such as long snake pattern formation, phalanx pattern formation, crane wing pattern formation, sword pattern formation, cone pattern formation and so on. The mobile robot contains a controller module, three IR sensor modules, a voice module, a wireless RF module, a compass module, and two DC servomotors. The controller of the mobile robot can acquire the detection signals from reflect IR sensor modules and the compass module, and decide the cross points of the aisle. The mobile robot receives the command from the supervised computer, and transmits the status of environment to the supervised computer via wireless RF interface. We develop the user interface of the multi-robot system to program motion paths for various pattern formation exchanges using the minimum displacement. Users can use speech to control the multiple mobile robots to execut pattern formation exchange. In the experimental results, users can speak the pattern formation. The speech recognition system receives the signal to decide the pattern formation. The multiple mobile robots can receive the pattern formation command from the supervised computer, and arrange the assigned pattern formation on the motion platform, and avoid other mobile robots.     

Multi-robot-based intelligent security system

This article describes a multiple security module-based intelligent security system that has multiple communication interfaces which can be applied in home automation. The interfaces of the intelligent security system contain wired RS485, wireless RF, and Internet. The detection modules of the system have both active and passive security modules. The passive security modules contain wired security modules and wireless security modules. The control unit of all security modules is a HOLTEK microchip. Each security module has two different interfaces. They use voice modules to alarm users of an event, and to transmit real-time event signals to the supervising computer via the wired RS485 or wireless RF interface. If an event occurs, the supervising computer calculates its belief values using Dempster-Shafter evidence theory according to the passive wired and wireless security modules. If the belief value is over a set threshold, the supervising computer commands the mobile robot to move to the event location, and receives a signal from the mobile robot via the wireless RF interface. The supervising computer recognizes the final decision output using Dempster-Shafter evidence theory, and displays the detection and decision output values on the monitor of the user interface. Finally, we present some experimental results using wired passive security modules, wireless passive security modules, and active security modules for fire detection and gas leakage detection using the experimental platform of the intelligent security system.     

Develop a multi-detection security system using multi-sensor fusion algorithms

The paper develops the multi-detection system using multi-level surveillance structure. The system contains active detection modules, passive detection modules, a supervised computer, an image system and an intelligent home. The passive detection modules contain wire/wireless detection modules and appliance control modules, and decide the event to be true or not using fusion algorithms, and transmit detection signals to the supervised computer via wire/wireless interface. Mobile robots are active detection modules and carry various sensors to search dangerous events. Each mobile robot transmits the real-time event signal to the supervised computer and the other mobile robots via wireless RF interface. The image system detects fire source using Otsu algorithm. The system integrates wire/wireless passive detection modules, mobile robots and image system to detect fire source using weighted average method. If the fire event occurs, the supervised computer calculates the dangerous grade using logical filter method according to the signals of detection modules in the first step, and transmits the position of the fire event to the other mobile robots. The assigned mobile robots move to the event location for double check autonomously, and transmit the detection results to the supervised computer. The supervised computer gives the final decision according to the feedback signals in the second step. Finally, we present some experimental scenarios using passive detection modules, active detection modules and image system for the fire detection in the intelligent home.     

Developing a module-based security system for an intelligent home

The security system in a workplace or home is important to human life. Unlucky events are often caused by the negligence of humans. We have developed a modulebased security system for home automation. The structure of the security system contains many modules. Each module has two types of interface (wireless RF and speech). There are active and passive modules in the security system. The active security module is a smart robot. We have designed many types of smart robot for the security system. The passive security modules include a fire security module, an intruder security module, an environment security module, a gas security module, an AC power security module, and an appliance control module. In the security module, we use multisensor fusion algorithms to decide the exact output. In these modules, we use a two-wire communication method through the wireless RF interface, and a voice alarm for serious events, and transmit the real-time status to the supervised computer. In the smart robot system, we have designed many types of smart robot for the security system. We have designed a general user interface (GUI) for the intelligent security system. The user interface can supervise these modules and the smart robots via the wireless RF device, and supervise the security system via wireless, Internet, and cell phone.     

DYLEMA: Using walking robots for landmine detection and location

Detection and removal of antipersonnel landmines is an important worldwide concern. A huge number of landmines has been deployed over the last twenty years, and demining will take several more decades, even if no more mines were deployed in future. An adequate mine-clearance rate can only be achieved by using new technologies such as improved sensors, efficient manipulators and mobile robots. This paper presents some basic ideas on the configuration of a mobile system for detecting and locating antipersonnel landmines efficiently and effectively. The paper describes the main features of the overall system, which consists of a sensor head that can detect certain landmine types, a manipulator to move the sensor head over large areas, a locating system based on a global-positioning system, a remote supervisor computer and a legged robot used as the subsystems’ carrier. The whole system has been configured to work in a semi-autonomous mode with a view also to robot mobility and energy efficiency.     

Motion planning for mobile robots using a laser range finder

We have designed a mobile robot with a distribution structure for intelligent life space. The mobile robot was constructed using an aluminum frame. The mobile robot has the shape of a cylinder, and its diameter, height, and weight are 40 cm, 80 cm, and 40 kg, respectively. There are six systems in the mobile robot, including structure, an obstacle avoidance and driving system, a software development system, a detection module system, a remote supervision system, and others. In the obstacle avoidance and driving system, we use an NI motion control card to drive two DC servomotors in the mobile robot, and detect obstacles using a laser range finder and a laser positioning system. Finally, we control the mobile robot using an NI motion control card and a MAXON driver according to the programmed trajectory. The mobile robot can avoid obstacles using the laser range finder, and follow the programmed trajectory. We developed the user interface with four functions for the mobile robot. In the security system, we designed module-based security devices to detect dangerous events and transmit the detection results to the mobile robot using a wireless RF interface. The mobile robot can move to the event position using the laser positioning system.     

基于嵌入式Linux的移动机器人控制系统设计

介绍了一个以嵌入式Linux系统为核心的移动机器人控制系统的设计与实现，阐述了运动控制与传感模块、主控制模块、人机交互界面和无线通信模块。该系统具有良好的可扩展性和可移植性。在无线通信模块中，集成了Zigbee协议，从而为无线传感器网络与移动机器人的协作性研究提供了可能。实验表明，该系统可以实现机器人的复杂控制。     

基于GPS/GIS/GSM的移动机器人定位技术研究

本文论述了基于GPS/GIS/GSM技术的移动机器人定位系统的主要内容和关键技术。采用了GPS接收机和地图匹配的联合方法对机器人进行定位,并利用无线移动通信系统进行信息的收发和对机器人的控制。实验表明,该方案具有良好的实时性和定位精度。     

基于单片机的移动机器人路径规划模糊控制器设计

提出了一种基于模糊控制的移动机器人路径控制的设计思路,并给出了以ATmage128单片机为核心的控制系统硬件设计方案。系统预先设定目标,移动机器人根据超声波传感器感知周围环境,采用模糊控制进行路径规划,从而进行机器人自主移动到达目标。论文给出了模糊控制隶属度函数,介绍了模糊控制规则。同时介绍了显示电路、超声波测距电路、电机驱动电路、无线通信电路等硬件模块接口电路。     

A* search algorithm applied to a Chinese chess game

This article presents an A* search algorithm to be applied to path planning in a Chinese chess game, and uses multiple mobile robots to present the scenario. The mobile robots have a cylindrical shape, and their diameter, height, and weight are 8 cm, 15 cm, and 1.5 kg, respectively. The controller of the mobile robots is a MCS-51 chip. We play the Chinese chess game using multiple mobile robots according to the evaluation algorithm of the game, and calculate the displacement by the encoder of a DC servomotor. The A* search algorithm can solve the shortest-path problem for the mobile robots from the starting point to the target point on the chess board. The simulated results found the shortest path for the mobile robots (chess pieces) moving to target points from their starting points in a collision-free environment. Finally, we implemented the experimental results on a Chinese chess board using mobile robots. Users can play the Chinese chess game using the supervising computer via a wireless RF interface. The scenario of the feedback of the Chinese chess game to the user interface uses an image system.     

基于Msp430无线安防传感网的设计研究

文中给出了一种面向无线传感网络协议的改进方法,设计并实现了一种面向于中小型场所的远程智能安防系统。该改进方法采用只在中心节点形成与维护路由表的策略,形成多路径单跳网络。通信节点采用具有超低功耗特性的Msp430单片机和CC1101射频模块构架,中心节点采用PC机外接CC1101RS-232串口模块方案,将汇聚节点和基站服务器合二为一,实现通信协议的转换,同时为远端移动终端节点提供通信接口。通信过程增加接收确认信号环节以确保信号的有效发送。实验结果表明,文中的设计方法能够高效地完成在有效通信范围内的信息传感。     

基于云服务器与Arduino的GPS定位系统设计

设计了基于Arduino的GPS定位系统,该系统以Arduino作为主控制器,结合实现定位功能的GPS模块和数据传送的GSM模块,将位置信息传送到服务器端,实现定位功能,同时可以发送短信到用户智能终端.该系统主要分为三个模块,包括信息采集与处理模块、服务器传送模块、用户智能终端模块.信息采集与处理模块的硬件主要由单片机、GPS模块、GPRS模块和 GSM模块等构成.该系统可以快速有效地传送地理位置信息,可应用于火灾、抢劫、迷路、车祸、失踪、急性疾病等方面的报警.     

手机WiFi热点的电子秤自动质监系统设计

介绍了一种基于手机WiFi热点的电子秤自动化质监系统的设计,系统由质监模块和手机模块组成。质监模块采用LPC1100作为MCU,HLK-RM04为无线芯片,从电子秤RS232接口获取数据,并通过手机WiFi无线网发送至手机模块,实现高效方便的质监。     

Hybrid deliberative/reactive control of a scanning system for landmine detection

Antipersonnel mines infest fields all over the world. According to recent estimates, landmines are killing and maiming more than 2000 innocent civilians per month. The problem of landmine detection and removal requires the cooperation of a number of engineering fields, which in turn poses a need for new technologies, such as improved sensors, efficient manipulators and mobile robots. This paper describes the configuration and control architecture of a scanning manipulator for detecting antipersonnel landmines. The scanning system is part of a demining system based on a walking robot that acts as the carrier for the scanning manipulator. Broadly speaking, the scanning system consists of a sensor head that can detect certain kinds of landmines and, to move the sensor head over large areas, a manipulator that has been appropriately sensorized to scan irregular terrains in the presence of obstacles. The proposed control architecture is of the hybrid deliberative/reactive type: A deliberative controller defines a sweep trajectory that furnishes complete coverage of the infested area, while two reactive controllers are involved in on-line adaptation to the environment. Experiments show good performance of the whole system.     

一种基于GPS技术的新型无线传感网络节点设计

针对无线传感网络节点定位的需要,文章给出了一种基于高性能先进精简指令集机器（ARM）STM32系列微控制器,GPS模块以及CC2420射频通讯模块构成的新型无线传感网络节点的设计方案,分析了采用STM32微控制器性能优势,以及GPS坐标数据提取方法;文章给出了系统组成设计;重点阐述了节点的硬件设计,以及接收GPS模块数据的处理程序设计。     

基于S3C6410的矿用车载定位装置的设计

针对现有的采用8/16位单片机作为主控处理器的车载定位装置存在数据运算能力及实时性较差、较复杂操作系统无法移植及功能可扩展性不强等问题,设计了一种基于S3C6410和嵌入式Wince操作系统的矿用车载定位装置。该装置首先通过GPS定位模块获得卡车的定位数据,并将定位数据通过UART通信方式传输给ARM处理器S3C6410,然后通过GPRS无线传输模块向后台定位中心发送GPS定位数据,实现卡车的实时定位。该装置功能强大,实用性好,满足了应用现场的实时性需求。