Unit 4 Mobile Robotics (LPU)

Autonomous Mobile
Robots
This Pdf is not enough for completing your

syllabus,do read your text book also
Mobile Robot Vs Stationary Robot
• They are unbounded.
• Can walk, run , jump,fly, slide ,skate, swim.
• Wheel is man invention/artificial, legs are natural.
• Leg can move on any terrain.
• Leg are slow than wheels
• Leg require more DOF
• Are complex
• Power consumed is more
• Locomotion is the complement of manipulation.
• In manipulation the robot arm is fixed but moves object in the
workspace by imparting forced to them and locomotion then I
meant is fixed and the robot moves by imparting force to the
environment
• Advantage: Adaptability and Maneuverability.
• Maneuverability :a planned and regulated
movement or evolution of troops, warships, etc.
• Telepresence :refers to a set of technologies
which allow a person to feel as if they were
present, to give the appearance that they were
present, or to have an effect, at a location other
than their true location.
• Teleoperation is the operation of a machine at a
distance.
Legged Robot
• Less energy loss
• Potentially less weight
• Can traverse more rugged terrain
• Legs do less damage to terrain (environmentally conscious)
• Potentially more maneuverability
• Better handling of rough terrain.
– Only about 1/2 of the world’s land mass is accessible by artificial
vehicles.
• Use of isolated footholds that optimize support and
traction.
– e.g. a ladder.

• For a mobile robot with K legs, the total number of possible events for a walking
machine is
• N =2k -1 !
• For a biped walker k=2 legs, the number of possible events is

• N =2k -1 ! =3 != 6
• The six different events are
1. lift right leg;
2. lift left leg;
3. release right leg;
4. release left leg;
5. lift both legs together;
6. release both legs together.
• Large animals, such as mammals and reptiles, have four legs, whereas insects have six or
more legs.
• In some mammals, the ability to walk on only two legs has been perfected. Especially in
the case of humans, balance has progressed to the point that we can even jump with one
leg 1.

Wheeled Robot
• Wheeled robots are typically quite energy
efficient and simple to control.
• It can achieve very good efficiencies.
• Instead of worrying about balance, wheeled
robot research tends to focus on the problems
of traction and stability, maneuverability, and
control

Optical Encoder
• https://en.wikipedia.org/wiki/Rotary_encoder

GPS( Global Positioning System)

https://www.superdroidrobots.com/shop/cust
om.aspx/sensor-support/68/

Subsumption architecture
• Subsumption architecture is a reactive robotic
architecture heavily associated with behavior-
based robotics which was very popular in the
1980s and 90s.
• The term was introduced by Rodney Brooks
and colleagues in 1986.
• Subsumption has been widely influential in
autonomous robotics and elsewhere in real-
time AI.

• In this architecture each behavior is represented as a separate layer, having direct access
to sensory information.
• Each layer has an individual goal, and they all work concurrently and asynchronously.
• A layer is constructed of a set of Augmented Finite State Machines (AFSM), connected by
wires through which signals can be passed from one AFSM to another.
• These layers are organized hierarchically, and higher levels are allowed to subsume, hence
the name, lower ones.
• This subsumption can take form of inhibition or suppression. Inhibition eliminates the
signal coming out from an AFSM of the lower level, leaving it inactive.
• Suppression substitutes the signal of the AFSM by the signal given by the higher level.
Higher level AFSMs can also send reset signals to lower ones.
• These mechanisms provide a competitive, priority-based coordination.
Locomotion in nature

AUTONOMOUS MOBILE ROBOTS
▫ Mobility
The mobility of robots is the degree
to which robots are able to freely
move through the world.
▫ Autonomy
It depends on to what extent a
robot relies on prior
knowledge or information from the
environment to
achieve its tasks.
In 1979 , RIA (Robotic Institute of America)
defined robot as ” a reprogrammable ,
Multifunctional manipulator designed to move
materials ,parts, tools or specified devices
through various programmed motions for the
syllabus,do readperformance
your text book also of variety of tasks
ISSUES OF NAVIGATION
• Computational power
▫ Real time image processing
▫ Computer vision
▫ Learning is high.
• Object and Landmark Recognition
• ▫ Robots need to recognize structures to perform their tasks. If these
• structures are not known in advance, image processing may need a lot
• more computational power than if the structures are known.
• • Obstacle Avoidance
• ▫ At all costs robots should avoid colliding with the obstacles in their
• environments.
• • Multi-Modal Sensor Fusion
• ▫ The information that robots obtain using their sensors needs to be
• combined to determineThis what
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• Uni-modal sensor fusionsyllabus,do read your text book also
Path Planning
• Path-planning is an important primitive for autonomous
mobile robots that lets robots find the shortest – or otherwise
optimal – path between two points.

• The Path planning algorithms are further
categorized as
– Bug1 algorithm
– Bug2 algorithm
– Tangent Bug Algorithm
– Potential field approaches
– Cell decomposition

Bug1 algorithm
• The Bug1 algorithm exhibits two behaviours:
– Motion to goal
– Boundary following
• During motion-to-goal, the robot moves
along the m-line toward qgoal until it either
encounters the goal or an obstacle.
• If the robot encounters an obstacle, let qH1
be the point where the robot first encounters
an obstacle and call this point a hit point.
• The robot then circumnavigates the obstacle
until it returns to qH1.

Bug2 algorithm
• Bug2 also exhibits two behaviors:
– motion to goal, and
– boundary following.
• The motion line is fixed, connecting
qstart to qgoal.
• From a hit point qi,hit it circumnavigate
an obstacle until it reaches a new point
along the motion line, closer to qgoal.
• If it returns to qi,hit the goal is not
reachable.
• At first glance it seems that Bug1 is
more effective than Bug2, yielding a
shorter path. This Pdf is not enough for completing your
Tangent Bug algorithm
• The tangent bug algorithm is actually the improved version of Bug1 and
Bug2 algorithms.
• Unlike these methods, tangent bug algorithm depends on the existence
of a range sensor that is mounted on the point robot in the map.
• By only investigating the output of this range sensor, and including the
knowledge of the robot's current pose and goal's pose, the robot plans
actions to reach to the goal.
• The range sensor mounted on the robot is a device that gives raw
distance information from the robot to the environment covering the
360° circumference of the robot.
• The method in calculating the distance depends on the 'laser rays' that
are emanated from the robot's centre to all degrees.
• One of the most important property of this raw distance sensor is that,
only the distance to the closest obstacle on a particular laser ray is
computed. The sensor could be modelled as follows
http://www.barankahyaoglu.com/robotics/tangent/
t2 t 3
t 1

The Cell Decomposition Approach
• The basic idea behind this method is that a path

between the initial configuration and the goal
configuration can be determined by subdividing
the free space of the robot's configuration into
smaller regions called cells.
• After this the cells, where the nodes represent the
cells in decomposition, a connectivity graph, as
shown below, is constructed according to the
adjacency relationships between the free space,
and the links between the nodes show that the
corresponding cells are adjacent to each other.

Applications
• First response, Surveillance and Reconnaissance,
Patrolling
• IED handling, UXO handling, Mine laying and
breaching
• Communication relays, Logistics transport
• Convoy protection, Road clearance
• Target Identification and Tracking, Remotely
• Operated weapons
• Disaster management
Legged mobile robot
• Legged robots are a type of mobile robot
which use mechanical limbs for movement.
They are more versatile than wheeled robots
and can traverse many different terrains,
though these advantages require increased
complexity and power consumption.
• Legged robots often imitate legged animals,
such as humans or insects, in an example of
biomimicry.

Wheeled mobile robot
• Wheeled robots are typically quite energy
efficient and simple to control. However, other
forms of locomotion may be more appropriate
for a number of reasons, for example
traversing rough terrain, as well as moving and
interacting in human environments.
Furthermore, studying bipedal and insect-like
robots may beneficially impact on
biomechanics.

Unit 4 Mobile Robotics (LPU)

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Autonomous Mobile

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This Pdf is not enough for completing your

• For a biped walker k=2 legs, the number of possible events is

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• The basic idea behind this method is that a path

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