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 309
- Downloads 8
Comparing the Role of Families in Student Achievement and Adjustment in Terms of Interaction with Children and Involvement with Their Homework
The purpose of the present study is to compare the role of families in academic achievement and adjustment of female high school students in terms of interaction and involvement in their homework. Participants of the pre...
The Role of Sequencing Pedagogical Tasks and Its Influence on Optimizing L2 Learners’ acquisition of English Clauses
The role of tasks as a means of triggering meaning negotiation supposed to promote a second language acquisition has a rich trace in the Second Language Acquisition literature. Needless to say, tasks can play a very vita...
The Assassin of Heinousness of Castigation Without Statement
The systematic human being in the society and the following of rules is a vital role for the continuation of life . The assassin of heinousness of castigation without statement is an important and inevitable rule before...
A Disciplinary Study of Colligation: Hard versus Soft Sciences
According to the Lexical Priming Theory (Hoey, 2005), the colligational primings of a word impinge on the genre or discipline in which it occurs. This study attempted to compare the colligations of one noun (group) based...
Valuation of organic dairy products, proteins and factors affecting willingness to pay study fittings in the city of Shiraz
Many studies show that organic products do not have adverse effects common products. Due to the absence of a specific market for organic products in Iran, this study, using contingent valuation approach and method to est...