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    Item type:Publication,
    A novel artificial organic control system for mobile robot navigation in assisted living using vision- and neural-based strategies
    (2018)
    Ponce, Hiram  
    ;
    Moya-Albor, Ernesto  
    ;
    Brieva, Jorge  
    Robots in assisted living (RAL) are an alternative to support families and professional caregivers with a wide range of possibilities to take care of elderly people. Navigation of mobile robots is a challenging problem due to the uncertainty and dynamics of environments found in the context of places for elderly. To accomplish this goal, the navigation system tries to replicate such a complicated process inspired on the perception and judgment of human beings. In this work, we propose a novel nature-inspired control system for mobile RAL navigation using an artificial organic controller enhanced with vision-based strategies such as Hermite optical flow (OF) and convolutional neural networks (CNNs). Particularly, the Hermite OF is employed for obstacle motion detection while CNNs are occupied for obstacle distance estimation. We train the CNN using OF visual features guided by ultrasonic sensor-based measures in a 3D scenario. Our application is oriented to avoid mobile and fixed obstacles using a monocular camera in a simulated environment. For the experiments, we use the robot simulator V-REP, which is an integrated development environment into a distributed control architecture. Security and smoothness metrics as well as quantitative evaluation are computed and analyzed. Results showed that the proposed method works successfully in simulation conditions.
    Scopus© Citations 7  14  1
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    Analysis and implementation of a car-type mobile robot for semi-planned trajectory tracking using hybrid control
    (Institute of Electrical and Electronics Engineers Inc., 2022)
    Hernandez-Perez, M. A.
    ;
    Pérez-Daniel, Karina Ruby
    ;
    Delgado-Reyes, G.
    ;
    Garcia Ramirez, P.
    ;
    Morales-Layja, L.
    The present research work carries out an analysis and implementation of a car-type mobile robot for monitoring planned and semi-planned trajectories through a hybrid control. As a first step, a mathematical model that describes the behavior of a car-type robot based on a differential robot is determined. In addition, numerical simulations are presented in an open-loop and later in a closed-loop using a classic control strategy to follow planned trajectories. Subsequently, in order to verify the simulations, the model, and the designed control strategies, the development and implementation of a SunFounder PiCar-V model car-type mobile robot prototype were carried out. The implementation has been done using the Raspbian operating system and the help of the Raspberry Pi 4 B microcomputer for remote interaction between the prototype and the personal computer. Finally, a camera is implemented as a sensor and a series of electromechanical couplings that help the mobile robot to have greater freedom, vision, and control over trajectory tracking. This adaptation allows obtaining a hybrid control by switching between classic closed-loop control and a visual control supported by the camera incorporated in the robot, thus allowing a greater autonomy of the PiCar-V to follow semi-planned trajectories. © 2022 IEEE.
      15  1