Swarm Robot Control for Human Services and Moving Rehabilitation by Sensor Fusion
A current trend in robotics is fusing different types of sensors having different characteristics to improve the performance of a robot system and also benefit from the reduced cost of sensors. One type of robot that requires sensor fusion for its application is the service robot. To achieve better...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2014/278659 |
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| _version_ | 1850219201247051776 |
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| author | Tresna Dewi Naoki Uchiyama Shigenori Sano Hiroki Takahashi |
| author_facet | Tresna Dewi Naoki Uchiyama Shigenori Sano Hiroki Takahashi |
| author_sort | Tresna Dewi |
| collection | DOAJ |
| description | A current trend in robotics is fusing different types of sensors having different characteristics to improve the performance of a robot system and also benefit from the reduced cost of sensors. One type of robot that requires sensor fusion for its application is the service robot. To achieve better performance, several service robots are preferred to work together, and, hence, this paper concentrates on swarm service robots. Swarm service mobile robots operating within a fixed area need to cope with dynamic changes in the environment, and they must also be capable of avoiding dynamic and static obstacles. This study applies sensor fusion and swarm concept for service mobile robots in human services and rehabilitation environment. The swarm robots follow the human moving trajectory to provide support to human moving and perform several tasks required in their living environment. This study applies a reference control and proportional-integral (PI) control for the obstacle avoidance function. Various computer simulations are performed to verify the effectiveness of the proposed method. |
| format | Article |
| id | doaj-art-7d03a9908f9e44738c5534405f0e2cfd |
| institution | OA Journals |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-7d03a9908f9e44738c5534405f0e2cfd2025-08-20T02:07:27ZengWileyJournal of Robotics1687-96001687-96192014-01-01201410.1155/2014/278659278659Swarm Robot Control for Human Services and Moving Rehabilitation by Sensor FusionTresna Dewi0Naoki Uchiyama1Shigenori Sano2Hiroki Takahashi3Electronic Study Program, State Polytechnic of Sriwijaya, Palembang 30139, IndonesiaDepartment of Mechanical Engineering, Toyohashi University of Technology, Toyohashi 441-8580, JapanDepartment of Mechanical Engineering, Toyohashi University of Technology, Toyohashi 441-8580, JapanDepartment of Mechanical Engineering, Toyohashi University of Technology, Toyohashi 441-8580, JapanA current trend in robotics is fusing different types of sensors having different characteristics to improve the performance of a robot system and also benefit from the reduced cost of sensors. One type of robot that requires sensor fusion for its application is the service robot. To achieve better performance, several service robots are preferred to work together, and, hence, this paper concentrates on swarm service robots. Swarm service mobile robots operating within a fixed area need to cope with dynamic changes in the environment, and they must also be capable of avoiding dynamic and static obstacles. This study applies sensor fusion and swarm concept for service mobile robots in human services and rehabilitation environment. The swarm robots follow the human moving trajectory to provide support to human moving and perform several tasks required in their living environment. This study applies a reference control and proportional-integral (PI) control for the obstacle avoidance function. Various computer simulations are performed to verify the effectiveness of the proposed method.http://dx.doi.org/10.1155/2014/278659 |
| spellingShingle | Tresna Dewi Naoki Uchiyama Shigenori Sano Hiroki Takahashi Swarm Robot Control for Human Services and Moving Rehabilitation by Sensor Fusion Journal of Robotics |
| title | Swarm Robot Control for Human Services and Moving Rehabilitation by Sensor Fusion |
| title_full | Swarm Robot Control for Human Services and Moving Rehabilitation by Sensor Fusion |
| title_fullStr | Swarm Robot Control for Human Services and Moving Rehabilitation by Sensor Fusion |
| title_full_unstemmed | Swarm Robot Control for Human Services and Moving Rehabilitation by Sensor Fusion |
| title_short | Swarm Robot Control for Human Services and Moving Rehabilitation by Sensor Fusion |
| title_sort | swarm robot control for human services and moving rehabilitation by sensor fusion |
| url | http://dx.doi.org/10.1155/2014/278659 |
| work_keys_str_mv | AT tresnadewi swarmrobotcontrolforhumanservicesandmovingrehabilitationbysensorfusion AT naokiuchiyama swarmrobotcontrolforhumanservicesandmovingrehabilitationbysensorfusion AT shigenorisano swarmrobotcontrolforhumanservicesandmovingrehabilitationbysensorfusion AT hirokitakahashi swarmrobotcontrolforhumanservicesandmovingrehabilitationbysensorfusion |