In this paper we focus on the application of reinforcement learning to obstacle avoidance in dynamic Environments in wireless sensor networks. A distributed algorithm based on reinforcement learning is developed for sensor networks to guide mobile robot through the dynamic obstacles. The sensor network models the danger of the area under coverage as obstacles, and has the property of adoption o...

In this paper, some definitions and traditional formulas for calculating the mobility of mechanisms are represented, e.g. Grubler formula, Somov - Malyshev formula, and Buchsbaum - Freudenstei. It is discussed that there are certain cases in which they are too ambiguous and incorrect to use. However, a matrix method is suggested based on the rank of the Jacobian of the mechanism and its applica...

Designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. For this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. Therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

In this paper, the uncertain dynamic parameters of an experimental target tracker robot are identified through the application of genetic algorithm. The considered serial robot is a two-degree-of-freedom dynamic system with two revolute joints in which damping coefficients and inertia terms are uncertain. First, dynamic equations governing the robot system are extracted and then, simulated nume...

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

mobile robot navigation is one of the basic problems in robotics. in this paper, a new approachis proposed for autonomous mobile robot navigation in an unknown environment. the proposedapproach is based on learning virtual parallel paths that propel the mobile robot toward the trackusing a multi-layer, feed-forward neural network. for training, a human operator navigates themobile robot in some...