Title: The navigation of mobile robots in non-stationary and non-structured environments

Authors: Victor Vladareanu; Gabriela Tont; Luige Vladareanu; Florentin Smarandache

Addresses: 'Politehnica' University of Bucharest, Faculty of Electronics II, 313 Splaiul Independenţei, 060042 Bucharest, Romania ' University of Oradea, Faculty of Electrical Engineering and Information Technology, Universitatii 1, 410087, Oradea, Romania ' Robotics and Mechatronics Department, Institute of Solid Mechanics of the Romanian Academy, Bucharest 1, C-tin Mille 15, 010141, Romania ' Mathematics Department, The University of New Mexico, 705 Gurley, Gallup, NM87301, USA

Abstract: The paper presents the navigation of mobile walking robot systems for movement in non-stationary and non-structured environments. In the first approach are presented main elements for the successful completion of intelligent navigation. The wireless sensor networks (WSN), dynamical stability control, strategies for dynamical control and a Bayesian approach of simultaneous localisation and mapping (SLAM) for avoiding obstacles and dynamical stability control for motion on rough terrain are studied. By processing inertial information of force, torque, tilting and wireless sensor networks (WSN) an intelligent high level algorithm is implementing using the virtual projection method. New capabilities to improve the walking robot stability are developed through the real-time balance motion control. The dynamic robot walking is presented in correlation with a stochastic model of assessing system probability of unidirectional or bidirectional transition states, applying the non-homogeneous/non-stationary Markov chains. The results show that the proposed new navigation strategy of the mobile robot using Bayesian approach walking robot control systems for going around obstacles has increased the robot's mobility and stability in workspace.

Keywords: robot navigation; mobile robots; simultaneous localisation and mapping; SLAM; wireless sensor networks; WSNs; Markov chains; Bayesian approach; non-stationary environments; non-structured environments; obstacle avoidance; walking robots; legged locomotion; intelligent navigation; stability control; robot motion; rough terrain; force; torque; tilting; virtual projection; robot stability; balance control; motion control; stochastic modelling; robot control.

DOI: 10.1504/IJAMECHS.2013.057663

International Journal of Advanced Mechatronic Systems, 2013 Vol.5 No.4, pp.232 - 242

Published online: 12 Jul 2014 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article