Please use this identifier to cite or link to this item: http://localhost/handle/Hannan/611200
Title: Integration of Hardware and Software Designs for Object Grasping and Transportation by a Mobile Robot With Navigation Guidance Via a Unique Bearing-Alignment Mechanism
Authors: Junmin Wu;Xiangyu Yue;Wei Li
subject: obstacle avoidance|motion planning|navigation guidance|localization|direction alignment|path planning|manipulation|sensor fusion|object grasping|mobile robot manipulation|transportation
Year: 2016
Publisher: IEEE
Abstract: In this paper, we consider the systematic design and implementation of grasping and transportation by a mobile robot with low implementation complexity. The study is mainly divided into three aspects: 1) design of a mechanical gripper and an arm mounted on the robot for grasping; 2) design of the hardware communication configuration (HCC) for transportation guidance that includes a destination beacon and a sensor system on the robot that working together with some designed event-triggered communication mechanisms, among which the unique bearing-alignment mechanism is designed to calibrate the heading direction of the robot, the HCC is low cost in the sense of low energy consumption; and 3) an effective and low-cost heuristic transportation algorithm that is tightly incorporated with the designed HCC in an event-triggered manner. The particular contribution is the tight integration of the heuristic transportation algorithm and the HCC, and the very simple nature of the transportation algorithm dues to this integration, which passes some computational functions to the HCC. Numerical simulations and experiments are presented, showing the effectiveness of the proposed system.
URI: http://localhost/handle/Hannan/142489
http://localhost/handle/Hannan/611200
ISSN: 1083-4435
1941-014X
volume: 21
issue: 1
Appears in Collections:2016

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Title: Integration of Hardware and Software Designs for Object Grasping and Transportation by a Mobile Robot With Navigation Guidance Via a Unique Bearing-Alignment Mechanism
Authors: Junmin Wu;Xiangyu Yue;Wei Li
subject: obstacle avoidance|motion planning|navigation guidance|localization|direction alignment|path planning|manipulation|sensor fusion|object grasping|mobile robot manipulation|transportation
Year: 2016
Publisher: IEEE
Abstract: In this paper, we consider the systematic design and implementation of grasping and transportation by a mobile robot with low implementation complexity. The study is mainly divided into three aspects: 1) design of a mechanical gripper and an arm mounted on the robot for grasping; 2) design of the hardware communication configuration (HCC) for transportation guidance that includes a destination beacon and a sensor system on the robot that working together with some designed event-triggered communication mechanisms, among which the unique bearing-alignment mechanism is designed to calibrate the heading direction of the robot, the HCC is low cost in the sense of low energy consumption; and 3) an effective and low-cost heuristic transportation algorithm that is tightly incorporated with the designed HCC in an event-triggered manner. The particular contribution is the tight integration of the heuristic transportation algorithm and the HCC, and the very simple nature of the transportation algorithm dues to this integration, which passes some computational functions to the HCC. Numerical simulations and experiments are presented, showing the effectiveness of the proposed system.
URI: http://localhost/handle/Hannan/142489
http://localhost/handle/Hannan/611200
ISSN: 1083-4435
1941-014X
volume: 21
issue: 1
Appears in Collections:2016

Files in This Item:
File Description SizeFormat 
7101839.pdf1.21 MBAdobe PDFThumbnail
Preview File
Title: Integration of Hardware and Software Designs for Object Grasping and Transportation by a Mobile Robot With Navigation Guidance Via a Unique Bearing-Alignment Mechanism
Authors: Junmin Wu;Xiangyu Yue;Wei Li
subject: obstacle avoidance|motion planning|navigation guidance|localization|direction alignment|path planning|manipulation|sensor fusion|object grasping|mobile robot manipulation|transportation
Year: 2016
Publisher: IEEE
Abstract: In this paper, we consider the systematic design and implementation of grasping and transportation by a mobile robot with low implementation complexity. The study is mainly divided into three aspects: 1) design of a mechanical gripper and an arm mounted on the robot for grasping; 2) design of the hardware communication configuration (HCC) for transportation guidance that includes a destination beacon and a sensor system on the robot that working together with some designed event-triggered communication mechanisms, among which the unique bearing-alignment mechanism is designed to calibrate the heading direction of the robot, the HCC is low cost in the sense of low energy consumption; and 3) an effective and low-cost heuristic transportation algorithm that is tightly incorporated with the designed HCC in an event-triggered manner. The particular contribution is the tight integration of the heuristic transportation algorithm and the HCC, and the very simple nature of the transportation algorithm dues to this integration, which passes some computational functions to the HCC. Numerical simulations and experiments are presented, showing the effectiveness of the proposed system.
URI: http://localhost/handle/Hannan/142489
http://localhost/handle/Hannan/611200
ISSN: 1083-4435
1941-014X
volume: 21
issue: 1
Appears in Collections:2016

Files in This Item:
File Description SizeFormat 
7101839.pdf1.21 MBAdobe PDFThumbnail
Preview File