EyeSim is a multi-robot, multi-tasking simulation system that allows realistic simulation of mobile robots with either differential drive, Ackermann steering, or omni-directional Mechanum wheel drive. The software development kit (SDK) for EyeSim is identical to the RoBIOS operating system for the real EyeBot robots, including a virtual camera system. A realistic error model for sensors and act...

Abstract Map information is important for path planning and self-localization when mobile robots accomplish autonomous tasks. In unknown environments, however, mobile robots should generate an environment map by themselves. We propose a method for 3D environment modeling by a mobile robot. A 3D environment model can be generaterd from the result of 3D measurement using image data. To realize a ...

Map information is important for path planning and self-localization when mobile robots accomplish autonomous tasks. In unknown environments, however, mobile robots should generate an environment map by themselves. We propose a method for 3D environment modeling by a mobile robot. A 3D environment model can be generaterd from the result of 3D measurement using image data. To realize a 3D measur...

This paper describes a low computational direct approach for optimal motion planning and obstacle avoidance of Omni-directional mobile robots within velocity and acceleration constraints on the robot motion. The main purpose of this problem is the minimization of a quadratic cost function while limitation on velocity and acceleration of robot is considered and collision with any obstacle in the...

This paper proposes the step-on interface (SOI) to operate a mobile robot in which a projector projects and displays a direction screen on a floor and a user specifies a button showing the selected movement by stepping or pointing. The HFAMRO-1 mobile robot has been developed to demonstrate the SOI’s potential (HFAMRO: “human-friendly amusing” mobile robot). The SOI of HFAMRO-1 consists of a pr...

A basic requirement for all mobile robots is a precise, accurate and fast perception of the environment to allow intelligent behavior through interaction with its surrounding. This paper introduces a new method for a reliable, fast and efficient purely omni-directional vision based mobile robot navigation for a closed world environment. The proposed method enables a robot that is driving at a h...

ABSTRAKRobot roda omni (OMR) merupakan salah satu jenis robot tipe holonomic, yaitu yang dapat bergerak ke segala arah tanpa harus mengubah orientasi dari itu sendiri. Dalam pengembangannya, OMR ditambahkan kemampuan lain seperti menuju titik diinginkan dan menghindari rintangan. Pada makalah ini akan merancang mensimulasikan dengan konfigurasi tiga buah menggunakan metode potential field Peran...

Recent image-based robotic systems use predicted future state images to control robots. Therefore, the prediction accuracy of image affects performance robot. To predict images, most previous studies assume that camera captures entire scene and environment is static. However, in real robot applications, these assumptions do not always hold. For example, if a attached mobile robot, its view chan...