• فهرست مقالات Robots

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        1 - Optimal Trajectory Planning of a Box Transporter Mobile Robot
        Hossein Barghi Jond Adel Akbarimajd Nurhan Gürsel Özmen Sonia Gharibzadeh
        This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulatio چکیده کامل
        This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained and are represented as a bound on robot acceleration. A trajectory optimization problem is defined for general motion where dynamic grasp conditions are regarded as constraint on acceleration. The optimal trajectory planning for linear, circular and curve motions are discussed. Optimization problems for linear and circular trajectories were analytically solved by previous studies and here we focused with curve trajectory where Genetic Algorithm is employed as a solver tool. Motion simulations showed that the resulted trajectories satisfy the acceleration constraint as well as velocity boundary condition that is needed to accomplish non-prehensile box manipulation task. پرونده مقاله
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        2 - حل مساله‌ی سینماتیک معکوس بازوی یک روبات با دو درجه‌ی آزادی با استفاده از روش تجزیه‌ی آدومین
        قاسم اسعدی کردشولی علیرضا وحیدی روجا نوروزی
        مقدمه: مساله­ی سینماتیک معکوس بازوی مسطح یک روبات با دو درجه­ی آزادی پس از تبدیل به دستگاهی متشکل از دو معادله­ی جبری غیرخطی با استفاده از روش تجزیه­ی آدومین حل شده است. برتری روش به­کاررفته این است که پاسخ را به­صورت تابعی از موقعیت دلخواه دست ر چکیده کامل
        مقدمه: مساله­ی سینماتیک معکوس بازوی مسطح یک روبات با دو درجه­ی آزادی پس از تبدیل به دستگاهی متشکل از دو معادله­ی جبری غیرخطی با استفاده از روش تجزیه­ی آدومین حل شده است. برتری روش به­کاررفته این است که پاسخ را به­صورت تابعی از موقعیت دلخواه دست روبات و طول بازوهای آن به­دست می­دهد. دقت روش به­کاررفته تا مرتبه­ی دلخواه قابل افزایش است. روش حل منجر به هیچ تکینگی نمی­شود. مساله یک باربرای هر ساختار حل می­شود و سپس برای هر مسیر دلخواه قابل استفاده است. روش مورد بحث سریع و درک آن آسان است. هدف: در این مطالعه هدف استفاده از روش تجزیه­ی آدومین برای حل مساله­ی سینماتیک معکوس بازوی روبات با دو درجه آزادی است. روشبررسی: تبدیل مساله­ی سینماتیک معکوس بازوی روبات با دو درجه آزادی به یک دستگاه معادله­ی جبری و سپس حل آن با روش تجزیه­ی آدومین. نتایج: نشان داده شد که روش به کار رفته نتایج دقیق برای کنترل دست روبات روی مسیر دلخواه می دهد. نتیجهگیری: این مقاله با استفاده از روش تجزیه­ی آدومین به حل مساله­ی سینماتیک معکوس بازوی روبات با دو درجه آزادی پرداخته است. نتایج نشان می­دهند که این روش برای مساله­ی روبات، روشی قابل کنترل و سریع است. پرونده مقاله
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        3 - Due Date Assignment and JIT Scheduling Problem in Blocking Hybrid Flow Shop Robotic Cells with Multiple Robots and Batch Delivery Cost‎
        J. Rezaeian N. Derakhshan I. Mahdavi R. Alizadeh Foroutan
        In this paper, just-in-time scheduling problem with batch delivery and due date assignment for hybrid flow shop robotic cells is considered. A mixed integer linear programming (MILP) model is presented to determine the sequence of jobs and robot moves. Two meta-heuristi چکیده کامل
        In this paper, just-in-time scheduling problem with batch delivery and due date assignment for hybrid flow shop robotic cells is considered. A mixed integer linear programming (MILP) model is presented to determine the sequence of jobs and robot moves. Two meta-heuristic algorithms including Artificial Immune System (AIS) and Tabu Search (TS) are proposed. The results show that AIS performs well for this problem. پرونده مقاله
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        4 - Kinematic Synthesis of a Novel Parallel Cable Robot as Artificial Leg
        Ebrahim Shahabi MirAmin Hosseini
        Accommodation of mechanism with human being’s physical characteristics creates the possibility of safe and efficient interaction between human being and robot. Regarding the fact that amputation of a limb in human beings causes several mental, economical and socia چکیده کامل
        Accommodation of mechanism with human being’s physical characteristics creates the possibility of safe and efficient interaction between human being and robot. Regarding the fact that amputation of a limb in human beings causes several mental, economical and social difficulties and problems, need to a substitute limb which has the most efficiency for the person after amputation is a vital need. The cable robots are the kinds of robots that the cable is used instead of rigid link. The cable robots have a simple appearance that some cables connect the motors to the final organ. In this research a robot with cable mover is designed and modeled as a tool in the case of creating movement with the most accordance for an artificial organ below the knee. In addition, in this mechanism some advantages are also considered including creating movement in two axes, its cheapness and lightness. In this research at first a primary design of the artificial organ is presented. The forward and inverse kinematic relations which are dominant on system are explained, in fact you can find different features with kinematic robots like dexterity, global condition, local condition, etc, and finally we study the available workspace for the system. Workspace in cable robots is different from other parallel robots, in this paper, first description about some methods for finding work space in cable-driven-robots and then use of force-closure workspace to find workspace for this system are presented. پرونده مقاله
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        5 - Analysis of Multi-Robots Transportation with Multi-objective PSO Algorithm in an Artificial Capital Market
        داود آشیانی سعید حسین سعادتی عبدالرضا صدیق منش
        In this paper, to analyze the transport of autonomous robots, an artificial Capital market is used. Capital market is considered as a pier which loading and unloading of cargo is done. Autonomous robots load and unload from the ship to the warehouse wharf or vice versa. چکیده کامل
        In this paper, to analyze the transport of autonomous robots, an artificial Capital market is used. Capital market is considered as a pier which loading and unloading of cargo is done. Autonomous robots load and unload from the ship to the warehouse wharf or vice versa. All the robots have the ability of transporting the loads, but depending on loads and the location of unloading (or loading) and position of robots, robots have different role in unloading tasks. The role of robots and their number is decided, planned, and managed by the partial swarm optimization (PSO) algorithm. The main goal of the paper is to optimize a multi-object function (MOF) which is a combination of total work time and fuel cost functions. In this paper, a new method of transporting from ships to warehouses and vice versa was developed and presented considering the cost of fuel and the shortest possible time. پرونده مقاله
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        6 - Control of Wheeled Mobile Manipulators with Flexible Suspension Considering Wheels Slip Effects
        Rambod Rastegari Khalil Alipour
        Wheeled mobile manipulators utilize both the locomotion capabilities of the wheeled platform and manipulation capacity of the arm. While the modelling and control of such systems have previously been studied, most of them have considered robots with rigid suspension and چکیده کامل
        Wheeled mobile manipulators utilize both the locomotion capabilities of the wheeled platform and manipulation capacity of the arm. While the modelling and control of such systems have previously been studied, most of them have considered robots with rigid suspension and their wheels are subject to pure rolling conditions. To relax the aforementioned limiting assumptions, this research addresses modelling and control of a mobile manipulator with flexible suspension while considers the frictional effects. To this end, the Newton-Euler approach is employed and the modelling process is elaborated. To control the system, a two degree-of-freedom policy is suggested at two levels. In the first level, the Multiple Impedance Control (MIC) algorithm is modified and then is effectively utilized. Next, in the second level, the wheels actuating torques are adjusted such that the required forces/torques of the platform resulted from the first level be realized. The obtained simulation results support the proficiency of the suggested control scenario to control of wheeled mobile robots with flexible suspension and pneumatic tires. پرونده مقاله
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        7 - Direct Optimal Motion Planning for Omni-directional Mobile Robots under Limitation on Velocity and Acceleration
        Naser Azim Mohseni Ahmad Fakharian
        10.22094/joie.2017.280
        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 quad چکیده کامل
        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 robot workspace is avoided. This problem can be formulated as a constraint nonlinear optimal control problem. To solve this problem, a direct method is utilized which employs polynomials functions for parameterization of trajectories. By this transforming, the main optimal control problem can be rewritten as a nonlinear programming problem (NLP) with lower complexity. To solve the resulted NLP and obtain optimal trajectories, a new approach with very small run time is used. Finally, the performance and effectiveness of the proposed method are tested in simulations and some performance indexes are computed for better assessment. Furthermore, a comparison between proposed method and another direct method is done to verify the low computational cost and better performance of the proposed method. پرونده مقاله
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        8 - New Heuristic Algorithm for Flow Shop Scheduling with 3 Machines and 2 Robots Considering the Breakdown Interval of Machines and Robots Simultaneously
        mahdi eghbali Mohammad Saidi Mehrabad hassan haleh
        10.22094/joie.2016.259
        Scheduling is an important subject of production and operations management area. In flow-shop scheduling, the objective is to obtain a sequence of jobs which when processed in a fixed order of machines, will optimize some well defined criteria. The concept of transporta چکیده کامل
        Scheduling is an important subject of production and operations management area. In flow-shop scheduling, the objective is to obtain a sequence of jobs which when processed in a fixed order of machines, will optimize some well defined criteria. The concept of transportation time is very important in scheduling. Transportation can be done by robots. In situations that robots are used to transport materials (material handler), breakdown of the machines and robots have a significant role in the production concern. This paper deals with minimization of the total elapsed time for flow shop scheduling problem (number of machine=3) in which the effect of machine and robots breakdown interval are considered simultaneously. Furthermore, by providing an example, the proposed algorithm is described. A summary and future works conclude the paper پرونده مقاله
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        9 - Computer-based Regressor-free Adaptive Control versus Direct Adaptive Fuzzy Control of the Robotic System
        Mahmood Nadali Abolghasem Nadali Maryam Nadali
        A comprehensive comparison between regressor-free control and direct adaptive fuzzy control of flexible-joint robots is addressed in this paper. In the proposed regressor-free controller, two critical practical situations are considered: the fact that robot actuators ha چکیده کامل
        A comprehensive comparison between regressor-free control and direct adaptive fuzzy control of flexible-joint robots is addressed in this paper. In the proposed regressor-free controller, two critical practical situations are considered: the fact that robot actuators have limited voltages, and limitation on the number of measurement devices. However, in the article "decentralized direct adaptive fuzzy control for flexible-joint robots," these limitations have been neglected. It should be noted that a few solutions for the voltage-bounded robust tracking control of flexible joint robots have been proposed. In this paper; we contribute to this subject by presenting a new form of voltage-based controllers. The closed-loop control system stability is proved, and uniformly boundedness of the joint position errors is guaranteed. As a second contribution of this paper, we present a robust adaptive control scheme without the need for computation of the regressor matrix with the same result on the closed-loop system stability. Experimental results of the proposed controller and the decentralized direct adaptive fuzzy controller are produced using MATLAB/SIMULINK external mode control on a single-link flexible-joint electrically driven robot. Experimental and analytical results demonstrate the high performance of the proposed control scheme. پرونده مقاله
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        10 - Stability of Robust Lyapunov Based Control of Flexible-Joint Robots Using Voltage Control Strategy Revisited
        Ali Deylami
        Many advanced robot applications such as assembly and manufacturing require mechanical interaction of the robot manipulator with the environment. Any back-stepping based control strategy proposed for position control of electrical flexible joint robots requires a conver چکیده کامل
        Many advanced robot applications such as assembly and manufacturing require mechanical interaction of the robot manipulator with the environment. Any back-stepping based control strategy proposed for position control of electrical flexible joint robots requires a convergence of internal signals to its desired value called a fictitious control signal. This problem is complicated and time-consuming, whereas a 5th-order nonlinear differential equation describes each joint of the robot. The best idea is to focus on the convergence of main signals while the other signals in the system remain bounded. With this in mind, this paper present a robust Lyapunov-based controller for the flexible joint electrically driven robot (FJER) considering input nonlinearities associated with actuator constraints. It also finds uncertainties associated with robot dynamics. The proposed approach is based on a third-order model instead of a fifth-order model of the robotic system. The stability is guaranteed in the presence of both structured and unstructured uncertainties. The actuator/link position errors asymptotically converge to zero while the other signals are bounded. Simulation results on a 2-DOF electrical robot manipulator effectively verify the efficiency of the proposed strategy. پرونده مقاله
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        11 - Robust Fractional-order Control of Flexible-Joint Electrically Driven Robots
        Payam Kheirkhahan
        This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implemen چکیده کامل
        This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancellation of motor current by feedback linearization in voltage control strategy can cancel the highly nonlinear dynamics of manipulators. Thus, it can guarantee robustness of control system to both structured and unstructured uncertainties associated with robot dynamics. As a result, the proposed control is simple, fast response and superior to torque control approaches. The control method is verified by stability analysis. Simulations on a two-link actuated flexible-joint robot show the effectiveness of the proposed control approach. Compared with ordinary controller, the fractional type shows a better tracking performance. پرونده مقاله
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        12 - Integer-order Versus Fractional-order Adaptive Fuzzy Control of Electrically Driven Robots with Elastic Joints
        Asghar Kebreyaeezade
        Real-time robust adaptive fuzzy fractional-order control of electrically driven flexible-joint robots has been addressed in this paper. Two important practical situations have been considered: the fact that robot actuators have limited voltage, and the fact that current چکیده کامل
        Real-time robust adaptive fuzzy fractional-order control of electrically driven flexible-joint robots has been addressed in this paper. Two important practical situations have been considered: the fact that robot actuators have limited voltage, and the fact that current signals are contaminated with noise. Through of a novel voltage-based fractional order control for an integer-order dynamical system and based on a Lyapunov's functions analysis, it is shown that the overall closed-loop system is robust, BIBO stable and the joint position tracking error is uniformly bounded. The satisfactory performance in lower energy consumption of the proposed fractional control scheme is verified in comparison with a standard integer-order controller by experimental results. پرونده مقاله
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        13 - Robust Fractional Order Control of Under-actuated Electromechanical System
        Mohammad Goodarzi
        This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strate چکیده کامل
        This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque control approaches. It can guarantee robustness of control system to both structured and unstructured uncertainties associated with robot dynamics. The control method is verified by stability analysis. Simulation results on a two-link actuated flexible-joint robot show the effectiveness of the proposed control approach. پرونده مقاله
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        14 - Task-space Control of Robots Using an Adaptive Taylor Series Uncertainty Estimator Revisited
        Masoud Shahhosseini
        This paper presents an improved version of the article “task-space control of robots uses an adaptiveTaylor series uncertainty estimator” by designing a more general framework for dealing withactuator saturation. There are four important issues about the afo چکیده کامل
        This paper presents an improved version of the article “task-space control of robots uses an adaptiveTaylor series uncertainty estimator” by designing a more general framework for dealing withactuator saturation. There are four important issues about the aforementioned article. Firstly, thesaturated and unsaturated regions have been discussed separately in that article, while this paperpresents a unified approach for stability analysis. Secondly, the linear parameterization of unknownmulti-variable vector-valued nonlinearities represented in the aforementioned article is not true.Consequently, it will affect the stability analysis significantly and the obtained results are doubtful.Thirdly, although the tracking error is bounded in the saturated area, it may be unacceptable due toundesirable performance. Thus, performance evaluation is needed to verify the satisfactoryoperation of the control system. However, in the aforementioned article, performance evaluationhas not been presented. Fourthly, the aforementioned paper applies the Taylor series as a universalapproximator without verifying the conditions of the universal approximation theorem. This paperproves that the Taylor series can satisfy the conditions of this theorem. All these four importantissues are addressed in this paper and a modified version of the aforementioned article is presented. پرونده مقاله
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        15 - طراحی مسیر ربات‌های متحرک با ترکیب روش میدان پتانسیل مصنوعی و الگوریتم فراابتکاری شاهین
        حسین سعیدی مسینه محمد سعادت
        طراحی مسیر ربات‌های متحرک یکی از مسائل مهم در حوزه رباتیک است. همچنین امروزه بهینه سازی طول مسیر حرکت و عبور از تله‌های حداقل محلی یکی از مشکلات اساسی و به روز در ربات‌های متحرک است. یکی از روش‌های مهم در طراحی مسیر این گونه ربات‌ها، روش میدان پتانسیل مصنوعی است زیرا م چکیده کامل
        طراحی مسیر ربات‌های متحرک یکی از مسائل مهم در حوزه رباتیک است. همچنین امروزه بهینه سازی طول مسیر حرکت و عبور از تله‌های حداقل محلی یکی از مشکلات اساسی و به روز در ربات‌های متحرک است. یکی از روش‌های مهم در طراحی مسیر این گونه ربات‌ها، روش میدان پتانسیل مصنوعی است زیرا مبتنی بر محاسبات ساده ریاضی است. از مهم‌ترین معایب این روش می‌توان به گیرکردن در تله‌های حداقل محلی اشاره نمود. یک رویکرد برای رفع مشکل حداقل‌های محلی، استفاده از روش های بهینه سازی برای یافتن ضرایب مناسب جذب، دفع و طول گام است که بتواند هم از حداقل های محلی عبور کند و هم طول مسیر را نیز در بهینه سازی لحاظ نماید. الگوریتم شاهین یک الگوریتم فراابتکاری قوی و جدید در حوزه بهینه‌سازی است که مبتنی بر جمعیت و الهام گرفته شده از زندگی شاهین‌ها در طبیعت است. این الگوریتم توانسته است برتری خود را بر روش های بهینه سازی مشابه در یافتن جواب بهینه، همگرایی سریعتر، زمان حل کمتر و دوری از حداقل های محلی اثبات نماید. از آن جایی که این روش تاکنون در طراحی مسیر ربات های متحرک مورد استفاه قرار نگرفته است، در این مقاله به منظور رفع معایب روش میدان پتانسیل مصنوعی و هم چنین بهینه‌سازی طول مسیر، بازده مسیریابی و زمان همگرایی از الگوریتم شاهین استفاده شده است. نتایج شبیه‌سازی حاکی از رفع معایب روش میدان پتانسیل مصنوعی و بهینه‌شدن طول مسیر حرکت، افزایش بازده مسیریابی و کاهش زمان همگرایی است. پرونده مقاله
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        16 - یک روش جدید ترکیبی در مسیریابی سراسری وسایل نقلیة خودگردان زیرآبی
        شبنم پسته احمدرضا نقش نیلچی فرید شیخ‌الاسلام
        تاکنون روش‌های سراسری متعددی برای حل مسئله طراحی مسیر پیشنهاد شده است که از آن میان روش‌های گراف پدیداری، دیاگرام ورونویی، درخت چهاروجهی و جبهه موج جایگاه ویژه‌ای دارند. در این مقاله با ترکیب این چهار روش در یک ساختار واحد، یک الگوریتم طراحی مسیر جدید به نام (HYBRID-VQV چکیده کامل
        تاکنون روش‌های سراسری متعددی برای حل مسئله طراحی مسیر پیشنهاد شده است که از آن میان روش‌های گراف پدیداری، دیاگرام ورونویی، درخت چهاروجهی و جبهه موج جایگاه ویژه‌ای دارند. در این مقاله با ترکیب این چهار روش در یک ساختار واحد، یک الگوریتم طراحی مسیر جدید به نام (HYBRID-VQVW) HYBRID-Visibility-QuadTree-Voronoi-WaveFront ارائه می‌شود. در این روش در هر فاصلة نمونه‌برداری پس از ساخت چهار مسیر سراسری روی فضای پیکربندی، بهترین آن‌ها طبق چند ملاک رفتاری مشخص می‌شود. این ملاک‌ها شامل طول، امنیت و همواری مسیر می‌باشند. در حقیقت الگوریتم HYBRID-VQVW یک مبادلة پارامتری میان کوتاه‌ترین، امن‌ترین و هموارترین مسیر برقرار می‌کند و در نهایت به مسیری می‌رسیم که از مسیر تولید شده با روش‌های دیاگرام ورونویی، درخت چهاروجهی و جبهة موج کوتاهتر و هموارتر بوده و نسبت به مسیر گراف پدیداری امن‌تر است. پرونده مقاله
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        17 - Representing a Model for Improving Connectivity and Power Dissipation in Wireless Networks Using Mobile Sensors
        Nasrin Elyasi Omid Pourgalehdari
        Wireless sensor networks are often located in areas where access to them is difficult or dangerous. Today, in wireless sensor networks, cluster-based routing protocols by dividing sensor nodes into distinct clusters and selecting local head-clusters to combine and send چکیده کامل
        Wireless sensor networks are often located in areas where access to them is difficult or dangerous. Today, in wireless sensor networks, cluster-based routing protocols by dividing sensor nodes into distinct clusters and selecting local head-clusters to combine and send information of each cluster to the base station and balanced energy consumption by network nodes, get the best performance in terms of increasing longevity and preservation network coverage as compared to other routine methods. Their main purpose is to control the danger area and transfer data to a sink. Therefore, connecting to sensor networks and coverage rate of controlled area is one of the most important concerns to achieve these goals. In this paper, to cluster wireless sensor networks, a method using the Imperialistcompetitive evolutionary algorithm is purposed that divides wireless sensor nodes into balanced clusters, in addition to, several mobile robots has been used for improving power dissipation of network, to assist in the transmission of sensor networks and improve network connectivity and coverage rate of the controlled area. In this research, the sensor network is based on an islets-based topology that has been used robots to detect and enhance connectivity and cover cavities that are largely around the sensors. The simulation results show that our new model can greatly improve the network coverage connectivity criteria. The simulation results show its successful performance in increasing longevity of the wireless sensor network. پرونده مقاله
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        18 - Time-Distance Optimal Trajectory Planning For Mobile Robots On Straight And Circular Paths
        Hossein Barghi Jond Adel Akbarimajd Nurhan Gursel Ozmen
        Trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. In this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position t چکیده کامل
        Trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. In this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. Along the path, the robot requires to observe a certain acceleration profile. Then, we formulated an optimization approach to generate optimal trajectory profiles for the mobile robot in the cases of maximum-distance and minimum-time problems. The optimization problem presented to find the trajectory strategy that would give the robot time-distance optimality to move from a start point to an end point where the robot should stay inside its acceleration limits all the time. The problem solved analytically because as it is well known, numerical solutions and iterative methods are time-consuming, therefore, our closed-form solutions demand low computation time. Finally, the results are verified by simulations. پرونده مقاله
      • دسترسی آزاد مقاله

        19 - Multi-Robot Foraging Based on Contract Net Protocol
        Adel Akbarimajd Hossein Barghi Jond
        Because of high speed, efficiency, robustness and flexibility of multi-agent systems, in recent years there has been an increasing interest in the art of these systems. In competitive multi agent systems, a mechanism is required via which the agents can come to reach an چکیده کامل
        Because of high speed, efficiency, robustness and flexibility of multi-agent systems, in recent years there has been an increasing interest in the art of these systems. In competitive multi agent systems, a mechanism is required via which the agents can come to reach an agreement. Contract net protocols are one of the well-known negotiation protocols in multi-agent systems. In contract net protocol, each agent can be a manager or a contractor. The managers announce available tasks and the contractors bid over the tasks. Then, the managers investigate received bids and decide which contractor could perform the task. The decision is made based on an eligibility function. In this paper, a multi robot foraging problem is considered where mobile robots with limited energy resource try to transport some moving objects to a collection point. The problem is modeled as a contract net system and then solved. Efficiency of the algorithm and optimality of solutions are investigated by provided examples and simulations. پرونده مقاله
      • دسترسی آزاد مقاله

        20 - Trajectory Tracking of Two-Wheeled Mobile Robots, Using LQR Optimal Control Method, Based On Computational Model of KHEPERA IV
        Amin Abbasi Ata Jahangir Moshayedi
        This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinem چکیده کامل
        This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best possible precision considering the dynamic limits of the robot. Applying several challenging paths to the system showed that the control design is able to track applied reference paths with an acceptable tracking error. پرونده مقاله
      • دسترسی آزاد مقاله

        21 - Optimal Trajectory Planning of a Mobile Robot with Spatial Manipulator For Spatial Obstacle Avoidance
        مصطفی غیور مصطفی شریعتی‌نیا
        Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes ki چکیده کامل
        Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the existence of multiple solutions in specified workspace. This paper presents a methodology for generating paths and trajectories for both the mobile platform and a 3DOF manipulator mounted on it, in the presence of obstacles. Obstacles add kinematics constraint into optimization problem. The method employs smooth and continuous functions such as polynomials. The proposed method includes obtaining time history of motion of mobile robot. It is supposed obstacles can be enclosed in cylinders. Platform that has been used in this research is a differentially-driven platform. The core of the method is based on mapping the non-holonomic constraint to a space where it can be satisfied trivially. A suitable criterion can be used to solve an optimization problem to find the optimal solution. In this research, the problem of path planning with simultaneous optimization of kinematics and dynamic indices has been accomplished using genetic algorithm in order to find the global optimum solution. The validity of the methodology is demonstrated by using a differential-drive mobile manipulator system, and various simulations of platform with a spatial 3-link manipulator are presented to show the effectiveness of the presented method. پرونده مقاله

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