Learning Motion Trajectories and Visual Commands of a Nonholonomic Mobile Robot Using Metaheuristic Technique
Апстракт
The hybrid mobile robot control algorithm consists of two independent control loops. By developing two control phases, the transportation task is separated into two parts: movement from the initial position to a position at a great distance from the machine tool (global control) and movement from this position to the machine tool/intermediate point (local control). The original control system based on epipolar geometry as well as on learning of motion trajectories and visual commands was implemented on the Khepera II nonholonomic mobile robot (with additional equipment: KheGrip gripper and Prestigio PWC 2 WEB camera) by using metaheuristic technique in a laboratory model of the technological environment.
Кључне речи:
The hybrid mobile robot control algorithm / Epipolar geometry / Learning of motion trajectories / Nonholonomic mobile robot / Metaheuristic techniquesИзвор:
Proceedings of the 5th International Conference on Manufacturing Engineering (ICMEN 2014), 2014, 89-98Издавач:
- The Aristotle University of Thessaloniki
Финансирање / пројекти:
- Иновативни приступ у примени интелигентних технолошких система за производњу делова од лима заснован на еколошким принципима (RS-MESTD-Technological Development (TD or TR)-35004)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Mitić, Marko AU - Vuković, Najdan AU - Diryag, Ali AU - Miljković, Zoran PY - 2014 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4632 AB - The hybrid mobile robot control algorithm consists of two independent control loops. By developing two control phases, the transportation task is separated into two parts: movement from the initial position to a position at a great distance from the machine tool (global control) and movement from this position to the machine tool/intermediate point (local control). The original control system based on epipolar geometry as well as on learning of motion trajectories and visual commands was implemented on the Khepera II nonholonomic mobile robot (with additional equipment: KheGrip gripper and Prestigio PWC 2 WEB camera) by using metaheuristic technique in a laboratory model of the technological environment. PB - The Aristotle University of Thessaloniki C3 - Proceedings of the 5th International Conference on Manufacturing Engineering (ICMEN 2014) T1 - Learning Motion Trajectories and Visual Commands of a Nonholonomic Mobile Robot Using Metaheuristic Technique EP - 98 SP - 89 UR - https://hdl.handle.net/21.15107/rcub_machinery_4632 ER -
@conference{ author = "Mitić, Marko and Vuković, Najdan and Diryag, Ali and Miljković, Zoran", year = "2014", abstract = "The hybrid mobile robot control algorithm consists of two independent control loops. By developing two control phases, the transportation task is separated into two parts: movement from the initial position to a position at a great distance from the machine tool (global control) and movement from this position to the machine tool/intermediate point (local control). The original control system based on epipolar geometry as well as on learning of motion trajectories and visual commands was implemented on the Khepera II nonholonomic mobile robot (with additional equipment: KheGrip gripper and Prestigio PWC 2 WEB camera) by using metaheuristic technique in a laboratory model of the technological environment.", publisher = "The Aristotle University of Thessaloniki", journal = "Proceedings of the 5th International Conference on Manufacturing Engineering (ICMEN 2014)", title = "Learning Motion Trajectories and Visual Commands of a Nonholonomic Mobile Robot Using Metaheuristic Technique", pages = "98-89", url = "https://hdl.handle.net/21.15107/rcub_machinery_4632" }
Mitić, M., Vuković, N., Diryag, A.,& Miljković, Z.. (2014). Learning Motion Trajectories and Visual Commands of a Nonholonomic Mobile Robot Using Metaheuristic Technique. in Proceedings of the 5th International Conference on Manufacturing Engineering (ICMEN 2014) The Aristotle University of Thessaloniki., 89-98. https://hdl.handle.net/21.15107/rcub_machinery_4632
Mitić M, Vuković N, Diryag A, Miljković Z. Learning Motion Trajectories and Visual Commands of a Nonholonomic Mobile Robot Using Metaheuristic Technique. in Proceedings of the 5th International Conference on Manufacturing Engineering (ICMEN 2014). 2014;:89-98. https://hdl.handle.net/21.15107/rcub_machinery_4632 .
Mitić, Marko, Vuković, Najdan, Diryag, Ali, Miljković, Zoran, "Learning Motion Trajectories and Visual Commands of a Nonholonomic Mobile Robot Using Metaheuristic Technique" in Proceedings of the 5th International Conference on Manufacturing Engineering (ICMEN 2014) (2014):89-98, https://hdl.handle.net/21.15107/rcub_machinery_4632 .