Subscribe to the gold package and get unlimited access to Shamra Academy
Register a new userMobile Robot Motion Planning using Bug Algorithms
تخطيط حركة روبوت متنقل باستخدام خوارزميات BUG
2206
2 63
0
(
0
)
Created by
Shamra Editor
Ask ChatGPT about the research
يعتبر تخطيط الحركة من القضايا الهامة و الملحة لما يعطيه للروبوت من قدرة على الوصول إلى الهدف بشكل آلي و منع الاصطدام بأي عائق، مما يرفع من أداء الروبوت و يقلل من كلفته التشغيلية. و يقسم تخطيط حركة الروبوت عادةً إلى قسمين: يقوم الأول بإيجاد المسار المناسب و يضمن الثاني تتبع الروبوت لهذا المسار وصولاً لهدفه. يعتمد هذا البحث على التقنيات المستخدمة في أحد أشهر خوارزميات تجنب العوائق (خوارزميات Bug) من أجل إيجاد مسار عام للروبوت. و تطبق تلك المسارات الناتجة على أرض الواقع باستخدام روبوت Boe-Bot تفاضلي القيادة.
Motion Planning is an important and potential issue in Robotics, because it gives the robot the ability to reach its target automatically with collision free, which increase the robot performance and reduce its operational cost. The robot motion planning is commonly divide into two approaches: finding the appropriate path and making the robot tracking this path until it reaches its goal. This research depends on one of the most common obstacles avoidance path planningtechniques (Bug algorithms) to find global path of robot. And make the Boe-Bot robot (differential drive robot) tracking the paths generated by these algorithms in a certain environment.
References used
S. M. LAVALLE, Planning Algorithms, New York, USA. : Cambridge University Press, 2006
P. K. DAS, H. S. BEHERA, P. K. JENA AND B. K. PANIGRAHI, "Multi-robot path planning in a dynamic environment using improved gravitational search algorithm," Journal of Electrical Systems and Information Technology, 2016,vol. 3, pp. 295-313
L. FENG-LI, "Tracking and Following Algorithms of Mobile Robots for Service Activities in Dynamic Environments," International Journal of Automation and Smart Technology, 2015,vol. 4, no. 4, pp. 39-48
rate research
Read More
Robot navigation is challenging for building intelligence mobile robots. To find
Proper possible path from starting point to target point, that reduces time and distance,
avoiding collision with obstacles is a current potential research area. Rapid
ly exploring
random trees (RRTs)is considered as one of the fastest methods to find solutions.
Moreover, this algorithm is computationally efficient; therefore, it can be used in
multidimensional environments.
This paper reviews the RRT algorithm, and provides application of path planning to
differential robot in two different workspaces using Virtual Robot Experimentation
Platform) V-REP(simulator. This research clarifies the algorithm’s ability to find suitable
path in relatively short time, and demonstrated the ability of V-rep to model and 3D
simulate of mobile robot’s movement efficiently and smoothly.
Industrialists interested automates their factories to increase production, reduce costs
and improve quality by using robots in leadership and finishing most of the production
processes, where robots characterized as mechanical structures programma
ble to perform
tasks accurate, speed and reliability.
Research depend in concluding the optimal path on generating virtual paths
(triangular, curved, square) reflects the robotic arm movement to reach the target point,
where as it has been known moving time and angles of rotation and torque in the joints
under the influence of gravity through the study of horizontal and vertical movement of the
robotic arm.
A study of suggested trajectories for the robotic arm shows that the best paths on the
safety of robotic arm motors is semi-circular path as limiting the occurrence of mechanical
shocks or the appearance of high values of the joints torques. while showing that the path
that achieves less time to reach the target point and less amount of energy is the triangular
path in the case of horizontal motion of the robotic arm despite the emergence of sharp
deviations in the torque and power schemas as a result of the sudden change in the
direction of movement.
The negative impact of gravity is especially apparent when the second joint up or
down movement, causing the appearance of peaks in energy curve reflects the high values
of determination in this joint.
Most robotic industries depend on using (servo motors) and (stepper
motors) orcontinuous current motors (DC motors) for movement
transition, which increases the cost and complicates the robot’s
controlling process, as well as its driving circuits.
This essay deals with using pneumatic in the new design and
building of a robot’s arm, that can manage to do many tasks with a
much lower budget than the one needed for any of the above
mentioned methods, that’s because it can be used for tasks that need
high speed and capacity, but don’t need precision.
In developing countries, where resources are often scarce, land availability, productivity potential, capability and sustainability for agriculture and, planning and maximizing the use of the land resources for a particular land utilization type is e
ssential. In order to ensure appropriate decision and, continued and sustainable productivity, thereby continuing to support the population economically without degradation, land use planning is essential. Remote sensing (RS) and geographic information systems(GIS) are useful tools in land use planning processes .in this study 4 landscape units (costal leveled plains ,valleys and channel bed, Piedmont :slight slopping ,moderately slopping ,sever slopping ,and Summit unit) were described and compared its characteristics with the land utilization requirements for 6 land utilization types (LUT1: irrigated citrus low mechanized ,LUT2: irrigated potato high mechanized ,LUT3: irrigated tomato medium mechanized,LUT4: rainfed olive low mechanized,LUT5:rainfed wheat low mechanized, LUT6:natural forests)by using LAMIS program .the results showed that43.07% of studied area is moderate suitability S3, 27.9% is low suitabilityS4 ,and 20.24% is unsuitable N1.the land suitability evaluation for LUT2 :35.18% good suitability S2 ,35.17% moderate suitabilityS3 and 20.24% low suitability S4 and for LUT3:50.97% good suitability S2,20.04% moderate suitabilityS3 and 20.24% low suitability S4. 43.07% of lands are very suitable S1 for LUT4 ,27.91% good suitability S2 and 20.24% moderate suitabilityS3.for LUT6 ; land suitability evaluation shown that 59.24% of lands are very suitable S1 and 31.93% good suitable S2.
Land use planning processes include matching between physical and socio-economic conditions by using Definite program .optimal land utilization types are determined depending on 3 multi-criteria ( costs ,gross margin , water requirements for irrigation) and according to two scenarios ( SC1:conservative scenario with concerned to water requirements , SC2:economic scenario with concerned to gross margin ).the results showed that LUT4 is the optimal current land use type of all three physiographic units (costal leveled plains ,valleys and channel bed and slight slopping).2 suggested land utilization types ( LUT7:irrigated kiwi low mechanized ,LUT8:irrigated groundnuts high mechanized) are proposed to costal leveled plains and compared with LUT4,comparison results shown that LUT4 is the optimal land use according to SC1 and LUT7 is the optimal land use type according to SC2.for valley and
channel bed unit , the optimal land use type according to SC1 is multiple land use type ( rainfed wheat under rainfed olive trees) and according to SC2 is LUT7.3 land utilization types(LUT7,LUT8,LUT9: rainfed lentil low mechanized)are suggested for slight slopping piedmont .the results of planning process showed that the optimal land use type is LUT4 for both scenarios SC1,SC2.
In this paper, I study the motion of the double pendulum . I write
the Euler -Lagrange equations and canonical Hamilton's
equations. I study the special case in which one angle is constant,
where the double pendulum behaves as a simple pendulum.
I also mention small oscillator's case, where the numerical solution
converges to the analytical solution, for unequal lengths and
masses.
Log in to be able to interact and post comments
comments
Fetching comments
Sign in to be able to follow your search criteria
