This paper presents a Rule Based Fuzzy Logic approach for automatic reaction control of mobile robots in an uncertain environment. The fuzzy rules anticipated for escaping the obstacles are derived from the experience of human responses to the environment that guides the robot for shortest path to reach the goal. Heuristic rules governing the robot are appropriately created according to various...

This paper addresses the problem of numerically finding an optimal path for a robot with non-holonomic constraints. A car like robot, whose turning radius is lower bounded i s considered as an example, where the arc length and the change in steering angle are optimized. The car like robot is kinematically constrained and i s modelled as a 2 D object translating and rotating in the horizontal pl...

In order to better study the trajectory of robot motion, a motion trajectory planning and simulation based on 6-DOF manipulator arm robot is designed. Three and five polynomial methods are adopted to plan motion trajectories. The advantages and disadvantages of the three and five polynomial trajectory planning are summarized. The trajectory planning in the right angle space can make the robot a...

In this paper, we describe a miniature climbing robot, 96 x 46 x 64 [mm], able to climb ferromagnetic surfaces and to make inner plane to plane transition using only two degrees of freedom. Our robot, named TRIPILLAR, combines magnetic caterpillars and magnets to climb planar ferromagnetic surfaces. Two triangular tracks are mounted in a differential drive mode, which allows squid steering and ...

Peak-to-trough electroantennogram amplitudes (bursts), caused by the individual filaments of a plume of female pheromone, diminish as high-emission-rate sources are approached by male Grapholita molesta, and this reduction is correlated with in-flight arrestment (ceasing to advance upwind) These findings are consistent with the hypothesis that one cause of in-flight arrestment in response to hi...

This paper describes the use of FlightGear, an open-source flight simulator, and JSBSim, an open source flight dynamics model, to model and simulate a small autonomous Unmanned Aerial Vehicle (UAV). A small commercial electric engine Cessna-182 radio controlled (RC) aircraft was chosen to represent the UAV. The first step was to create the required JSBSim aircraft configuration files by using t...

In order to implement electronically variable dynamics for vehicle handling, the control system requires an accurate knowledge of the vehicle states as well as a means of actuation to precisely influence the vehicle’s motion. Steer-by-wire capability conveniently addresses both of these requirements. This paper first presents an approach to estimating vehicle sideslip angle using steering torqu...

A shared lane keeping assistance system supports the driver in the steering task. In contrast to an autonomous system, the shared system works in parallel with the driver by applying an additional torque on the steering wheel. This means the system and the driver perform the steering task in cooperation. As the driver is still part of the control loop a driver model is required to predict the s...

1. Tethered flying locusts (Locusta migratoria) make correctional steering movements with the abdomen when stimulated with a moving artificial horizon and integrated wind jet, simulating deviation from a straight course. 2. Neurones in the metathoracic and first abdominal neuromeres of the metathoracic ganglion have been characterized morphologically and physiologically. The selective stimulati...