TC4 Sensing, Learning, and Control in Robots and Systems Ⅱ
Time : 17:00~18:30
Room : Opal
Chair : Prof.Hsien-I-Lin (National Taipei University of Technology, Taiwan)
17:00~17:15        TC4-1
A Cost-effective Tracking Method for Leader-Follower Mobile Robots Control Using Photovoltaic Sensor

Kuang-Yow Lian, Wei-Hsiu Hsu, Deepak Balram(National Taipei University of Technology, Taiwan)

This paper deals with the formation control of multiple autonomous mobile robots based on a new tracking method. In this method, we have mounted a light source on the leader robot and installed a photovoltaic sensor at the front end of the follower robot. The photovoltaic sensor consisting of seven micro solar modules acts as a light sensor for the follower robot which helps it to move in accordance with the leader robot by detecting the light source of the leader robot. From the relative angle measurement and ultrasonic measurement of the relative distance, angle offset and distance informati
17:15~17:30        TC4-2
Visual Servoing and Compliant Motion Control of a Continuum Robot

Kai-Tai Song, Han-Chih Tsai(National Chiao Tung University, Taiwan)

This paper presents a visual servoing and compliant motion control design of a continuum robot. Two endoscopic cameras were installed at the tip of the continuum robot to build a stereo camera system. The depth information is obtained by using semi-global block-matching (SGBM) algorithm. The visual servoing system proposed in this work includes the feature point extraction by using speeded-up robust features (SURF), followed by feature-point matching using nearest neighbor distance ratio (NNDR), and tracking of feature points by using mean shift algorithm. Through the pressure sensor installed
17:30~17:45        TC4-3
Robotic Arm Path Planning Based on Three-Dimensional Artificial Potential Field

Hsien-I Lin, Ming-Feng Hsieh(National Taipei University of Technology, Taiwan)

This paper focuses on the problem of collision avoidance by an three-dimensional artificial potential field (APF) for a robotic arm. This helps a robotic arm move in a safe path in an unknown 3D environment. The major contribution of our proposed algorithm is the implementation of rotational repulsive force fields that provide a robotic arm a feasible direction to avoid obstacles in a 3D space.
17:45~18:00        TC4-4
Motion planning with obstacle avoidance of an UR3 robot using charge system search

Chih-Jer Lin(National Taipei University of Technology, Taiwan)

The RRT algorithm may obtain a discontinuous solution of the angular trajectory. To solve the above problem, we studied a particle swarm optimization with the charge search system (CSS) to find the optimal path planning with obstacle avoidance. The steps of the proposed method are mentioned as follows: (1) establish the configuration space with the obstacle regions, (2) formulate the motion planning with obstacle using the CSS method and (3) use the PSO method to solve the path planning problem. The simulation and experiments using the proposed method are visually illustrated for some cases.

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