Simulation of Virtual Environment for Scout Mobile Robot
Journal Title: International Research Journal of Applied and Basic Sciences - Year 2013, Vol 5, Issue 7
Abstract
This study has been set out to fill the perceived gaps within the context of mobile robots literature. For this purpose, a real-life robot which is known as Scout – and one set of which has hitherto been purchased by Iran University of Science and Technology – has been adopted to carry out investigations on the motion-planning problem. The optimal path for the base of the manipulator robot was designed and developed benefitting from the Kinematic and Dynamic functions along with the Path profile; withal, Optimal Control was also utilized before applying Pontryagin's minimum principle. Moreover, in contemplation of devising autonomous obstacle avoidance alongside diminishing the risk of being lost or deviated from a target point, over the course of the next stage, so-called Artificial Intelligence has been implemented in the noted robot by means of the Artificial Neural Networks. Thereafter, Scout has been simulated in a three-dimensional environment, whereby a comparison is taken place to contrast the differences resulted from the 2D simulation. This comparison not only verifies the exact compliance of the results of both the 2D and 3D simulations, but also proves the benefits of the 3D simulation, which provides a more realistic analysis of robot’s motion-planning. At length, the findings of this research affirm that enhancing robot with the Kinematic and Dynamic functions, Path profile, Optimal Control and Artificial Neural Network promotes autonomous traits of the robot that facilitates collision-free movements. Furthermore, this study might serve as a test-bed for conducting investigations on the routing of the Scout robot prior to any real-time implementations.
Authors and Affiliations
MozhganKhoylou| Department of Computer-Mechatronic, Science and Research Branch of Islamic Azad University Tehran, IRAN, email: mojgankho@aol.com, MoharamHabibNejadKorayem| College of Mechanical Engineering, Iran University of Science & Technology Tehran, Iran, Vahid Azimirad| Biomechatronic Research Lab, School of Engineering Emerging Technologies University of Tabriz
Keywords
Related Articles
- EP ID EP5971
- DOI -
- Views 312
- Downloads 8
Effect of place attachment in creating sense of place Case study: Tajrish old Bazaar and new commercial center
Today, concepts such as “Meaning of place”, “Sense of place”, “Place Attachment” And phrases such these, has been so discussed in the literature of architecture and urban design. Sense of place is one of the main concept...
Exploring the Possibilities and Perspectives of Mindfulness to Improve Learning Abilities of EFL students
Mindfulness is a form of attentional skill that focuses the mind on the present. This approach of mindful brain takes a deep look at this type of awareness through a surprising perspective in considering it as a means of...
Investigating the most common problems after delivery of removable partial dentures Running title: complication on removable partial denture
Background and Aims: Prosthodontics treatments are linked to different oral complaints such as speech, chewing, pain, esthetics etc. These complaints are varied between both removable partial and complete denture wearers...
The Effects Of Physical Rehabilitation On The Dynamics Indices Of A Trunk Muscle Strength Tolerance In Iranian Children With Scoliosis
Scoliosis is one of the most common orthopedic diseases. Its frequency according to different situations varies widely from 0.5 to 20%. Development of rehabilitation programs for the correction and prevention of scoliosi...
Effect of item variety on the performance of EFL learners' reading comprehension
Reading comprehension can be considered as a multifaceted skill that involves understanding a text, processing information, and interpreting the author's intention. Moreover, item variety has been regarded as one of the...