Faculty of Automation and Computer Science > Research > Systems Engineering > Research areas > Mobile Robots Navigation

Mobile Robots Navigation

Research team

Gheorghe Lazea, Radu Robotin, Sorin Herle, Cosmin Marcu, Tamas Levente

Research fields

  • Algorithms for Mobile Robot Navigation in Dynamic Environments
  • Image Processing (2D, 3D)
  • Sensors and Methods for Mobile Robot Positioning
  • Sensor Fusionf
  • fInteligent Control in Robot Navigation.

Recent research projects

“Autonomous multi-robot cooperative systems”, national research grant funded by CNCSIS A - 1028 (2004-2006).


“Development of Multi-Sensor Perception Systems and Sensor Data Fusion for Mobile Robots”, national research grant funded by CNCSIS, A – 1549, (2007-2008).

Publications

Gh. Lazea, R. Robotin, C. Marcu, L. Tamas, ”Autonomous system for mobile robot navigation”, Proceedings of International Symposium on System Theory, Automation, Robotics, Computers, Informatics, Electronics and Instrumentation SINTES 13, Craiova, Romania, October 18-20, 2007, vol.2, pp. 250-254.


L. Vacariu, M. Chintoanu, Gh. Lazea, O. Cret, “Communication at Ontological

Level in Cooperative Mobile Robot System”, Proceedings of International Conference on Informatics in Control, Automation and Robotics, ICINCO 2007, Angers (France), pp. 455-460.


C. Marcu, Gh. Lazea, R. Robotin, “An OpenGL Application for Industrial Robots Simulation”, Proceedings of International IEEE-TTTC International Conference on Automation, Quality and Testing, Robotics AQTR 2006 (THETA 15), Cluj-Napoca, May 25-28, 2006, vol.II, pp. 254-259.


R.B. Rusu, R. Robotin, Gh. Lazea, C. Marcu, “Towards Open Architecture for

Mobile Robots: ZeeRO”, Proceedings of International Conference on Automation, Quality and Testing, Robotics AQTR 2006 (THETA 15), Cluj-Napoca, May 25-28, 2006, vol.II, pp. 260-265.


M. Trusca, Gh. Lazea, P. Dobra, “Effects of the small delays in robotic control systems”, Proceedings of International IEEE-TTTC International Conference on Automation, Quality and Testing, Robotics AQTR 2006 (THETA 15), Cluj-Napoca, May 25-28, 2006, vol.II, pp. 302-305.


Gh. Lazea, R.B. Rusu, R. Robotin, R. Sime, “The ZeeRo mobile robot a modular architecture”, RAAD 2006 Conf. Balatonfured, Hungary, on CD.


Gh. Lazea, R. Robotin, S. Herle, F. Cotofan, “Mobile Robot Navigation in Dynamic Environments Using Path Planning Algorithms with Focusing Heuristic”, Proceedings of International Symposium on System Theory, Automation, Robotics, Computers, Informatics, Electronics and Instrumentation SINTES 12, Craiova, Romania, October 20-22, 2005, vol.2, pp. 292-296.


R. Robotin, Gh. Lazea, S. Herle, “Hybrid Goal Acquisition System for Pioneer 2 Mobile Robot”, Control Engineering and Applied Informatics CEAI Journal, 2004, vol.6, nr.2, pp. 51-55.


M. Trusca, Gh. Lazea, “Robot Manipulator Controller Based on Adaptive Learning Rules”, Control Engineering and Applied Informatics CEAI Journal, 2004 vol.6, no 2, pp. 55-61.


M. Trusca, Gh. Lazea, P. Dobra, “Adaptive tracking control algorithm for a robot manipulators system”, International Conference on Intelligent Engineering Systems, INES 04, Cluj-Napoca, Sept.19-21, 2004, pp. 166-171.


M. Trusca, Gh. Lazea, “Performance analyses of neural network based controller for nonlinear systems”, International Conference on Intelligent Engineering Systems. INES 04, Cluj-Napoca, Sept.19-21, 2004, pp. 113-119.


M. Trusca, Gh. Lazea, “Robot manipulator controller based on adaptive learning rules”, Proceedings of International Conference on Automation, Quality & Testing, Robotics, 2004, Cluj-Napoca, May 13-15, 2004, pp. 79-84.


R. Robotin, Gh. Lazea, S. Herle, “Hybrid Goal Acquisition System for Pioneer 2 Mobile Robot”, Proceedings of International Conference on Automation, Quality & Testing, Robotics 2004, Cluj-Napoca, May 13-15, 2004, pp. 49-55.

Research description

SMAC - Autonomous multi-robot cooperative systems


Objectives:

- Multi-robot cooperative architecture.

- Mobile robots communication and cooperation.

- Multi-robot system control.

- Cooperative mechanism and policies.

- Execution monitoring.


Achievements:

Formation navigation algorithms


Theoretical aspects, simulation, testing for mobile robots formation (line, column, flock and rhomb – Figure 1) have been developed within the framework of this project to achieve communication, cooperation and task allocation for mobile robots formation

Fig.1 Mobile robots in a "flock" formation
Fig.1 Mobile robots in a "flock" formation
Fig.2 ZeeRO mobile robot
Fig.2 ZeeRO mobile robot

The ZeeRO mobile robot (figure 2) has been designed and built by the people in the Robotics Research Group (Department of Automation). The mobile robot has a multiple sensorial system, comprising ultrasonic range finding sensors, infrared range finding sensors, a pyroelectrical sensor, a video camera. The mobile robot has been tested in experiments including vision based navigation (color recognition and pattern recognition) obstacle avoidance and human heat detection.


SMAC communication protocols

Experiments concerning FIPA communication protocol and onthological level agent communication.

 

Applications

- “ROBOTUX’ –  cleaning and security in a museum, using Player/Stage platform

- “Search and Rescue” - cooperative missions using Pioneer 2 mobile robot

- “Formation Control” experiments concerning mobile robots cooperation and tasks allocation.