Definition
The
following paper gives brief explanation on the mobile robots and its
applications in the various purposes with great efficiency and precision in the
fields of security, maintenance, modern agricultural techniques, terrain
detection and sensing, usage of multirobot its docking and manipulating
capabilities and heavy duty applications like automated assembly in aircraft
bodies, etc. The development of intelligent surveillance systems is an active
research area. In this context, mobile and multi-functional robots are
generally adopted as means to reduce the environment structuring and the number
of devices needed to cover a given area.
The
feasibility of the approach is demonstrated through experimental tests using a
multisensory platform equipped with a monocular camera, a laser scanner, and an
RFID device. Real world applications of the proposed system include surveillance
of wide areas (e.g. airports and museums) and buildings, and monitoring of
safety equipment. Secondly new version of the JL series reconfigurable
multi-robot system called JL-2. By virtue of the docking manipulator composed
of a parallel mechanism and a cam gripper, every mobile robot in the JL-2
system is able to not only perform tasks in parallel, e.g. moving and grasping,
but also dock with each other even if there are large misalignments between two
robots.
Long-range
terrain perception has a high value in performing efficient autonomous
navigation and risky intervention tasks for field robots, such as earlier
recognition of hazards, better path planning, and higher speeds. However,
Stereo-based navigation systems can only perceive near-field terrain due to the
nearsightedness of stereo vision. Many near-to-far learning methods, based on
regions’ appearance features, are proposed to predict the far-field terrain.
Introduction to Mobile
Robots:
Mobile robots are the objects
which move around in their environment and are not fixed to one physical
location. They consist of instrument panels like LASER scanners, monocular
cameras and RFID devices for sensing the terrain.They can be controlled by Bluetooth,
wireless network of pc, a wireless remote control microcontroller, etc. They
are used for reasons like security, maintenance, industrial transports, in
military, etc. Mobile robots are the focus of a great deal of current research
and almost every major university has one or more labs that focus on mobile
robot research. Mobile robots are also found in industry, military and security
environments. They also appear as consumer products, for entertainment or to
perform certain tasks like vacuum.
Classification of Mobile
Robots:
Mobile robots may be
classified by:
The environment in which they travel:·
o Land or home robots. They
are most commonly wheeled, but also include legged robots with two or more legs
(humanoid, or resembling animals or insects).
o Aerial robots are usually
referred to as Unmanned Arial Vehicle (UAVs)
o Underwater robots are
usually called Autonomous Underwater Vehicles.(AUVs)
The device they use to move, mainly:·
o Legged robot: human-like
legs (i.e. an android) or animal-like legs.
o Wheeled robot.
o Tracks.
Automatically Guided
Vehicles:
An automated guided vehicle or
automatic guided vehicle (AGV) is a mobile robot that follows markers or wires
in the floor, or uses vision or lasers. They are most often used in industrial
applications to move materials around a manufacturing facility or a warehouse.
Application of the automatic guided vehicle has broadened during the late 20th
century and they are no longer restricted to industrial environments. Automated
guided vehicles (AGVs) increase efficiency and reduce costs by helping to
automate a manufacturing facility or warehouse objects behind them in trailers
to which they can autonomously attach. The trailers can be used to move raw
materials or finished product. The AGV can also store objects on a bed. The
objects can be placed on a set of motorized rollers (conveyor) and then pushed
off by reversing them. Some AGVs use forklifts to lift objects for storage.
AGVs are employed in nearly every industry, including, pulp, paper, metals,
newspaper, and general manufacturing. Transporting materials such as food,
linen or medicine in hospitals is also done.
Autonomous Underwater Vehicles
An autonomous underwater vehicle
(AUV) is a robot which travels underwater. In military applications, AUVs are
also known as unmanned undersea vehicles (UUVs). AUVs constitute part of a
larger group of undersea systems known as unmanned underwater vehicles, a
classification that includes non-autonomous remotely operated underwater
vehicles (ROVs) – controlled and powered from the surface by an operator/pilot
via an umbilical. Until relatively recently, AUVs have been used for a limited
number of tasks dictated by the technology available. With the development of
more advanced processing capabilities and high yield power supplies, AUVs are
now being used for more and more tasks with roles and missions constantly
evolving.
Conclusions:
Integrating a simple gripper at the
end of the parallel mechanism is a feasible solution to combine the grasping
and docking function on reconfigurable mobile robots. The docking ability of
JL-2 is enhanced by a 3 DOFs docking gripper and the high docking forces
arising from a cam guidance mechanism. It is possible for JL- 2 to realize the
docking action in rugged terrains in the future. Although the multi-point
mating structure ensures a solid connection, it may introduce an
over-constraints problem which results in a poor self-aligning ability around
the rotation axis. The design concept of these robots utilizes a pair of robots
in which a primary, easily accessible robot is able to control an inner robot
from across a thin panel. This control is performed using magnetic fields and a
Lorenz force. The locomotion of the inner robot, even when it carries a heavy
payload, can be accomplished through the thin panel by utilizing an energy
accumulation strategy. A more detailed design of the feet (a critical
component) of the inner robot has been demonstrated, and a functional prototype
has been produced that can quickly switch between high frictional engagement
and low friction rolling due to its bi-stable design. This property will allow
for effective locomotion and reliable gripping as needed.
The integrated gripper and cutter is
used to pick fruits such as tomatoes by holding their peduncle. It is a unique
universal gripper which can pick up almost any fruit such as apples, grapes,
crab apples, cherries, if the fruit peduncles are long enough. The gripper and
cutter is small, light, efficient, and simple to operate. It is inexpensive and
easy to control and manufacture. Because the gripper and cutter is so light,
small robot payload is required. A small robot can be used to drive the gripper
and cutter to harvest fruits and vegetables. We described the architecture of
the system based on a three-layer scheme that allows for modularity and
flexibility, and may supervise a number of basic navigation tasks and specific
surveillance tasks.
The control system makes the robot
able to execute autonomously multiple heterogeneous task sequences in dynamic
environments, since it models the sequential constraints of the tasks, defines
the priority among tasks and dynamically selects the most appropriate
behaviours in any given circumstance. We also presented the localization and
mapping modules that use vision, laser and RFID data. Then, the implemented
modules for abandoned/removed object detection and people detection and
following were introduced. Preliminary experimental results are promising and
show the effectiveness of the overall system. The implemented tasks provide the
first steps toward the development of a fully autonomous mobile surveillance
robot.
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