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  • Open Access


    An Improved High Precision 3D Semantic Mapping of Indoor Scenes from RGB-D Images

    Jing Xin1,*, Kenan Du1, Jiale Feng1, Mao Shan2

    CMES-Computer Modeling in Engineering & Sciences, Vol.137, No.3, pp. 2621-2640, 2023, DOI:10.32604/cmes.2023.027467

    Abstract This paper proposes an improved high-precision 3D semantic mapping method for indoor scenes using RGB-D images. The current semantic mapping algorithms suffer from low semantic annotation accuracy and insufficient real-time performance. To address these issues, we first adopt the Elastic Fusion algorithm to select key frames from indoor environment image sequences captured by the Kinect sensor and construct the indoor environment space model. Then, an indoor RGB-D image semantic segmentation network is proposed, which uses multi-scale feature fusion to quickly and accurately obtain object labeling information at the pixel level of the spatial point cloud model. Finally, Bayesian updating is… More >

  • Open Access


    Computing and Implementation of a Controlled Telepresence Robot

    Ali A. Altalbe1,2,*, Aamir Shahzad3, Muhammad Nasir Khan4

    Intelligent Automation & Soft Computing, Vol.37, No.2, pp. 1569-1585, 2023, DOI:10.32604/iasc.2023.039124

    Abstract The development of human-robot interaction has been continuously increasing for the last decades. Through this development, it has become simpler and safe interactions using a remotely controlled telepresence robot in an insecure and hazardous environment. The audio-video communication connection or data transmission stability has already been well handled by fast-growing technologies such as 5G and 6G. However, the design of the physical parameters, e.g., maneuverability, controllability, and stability, still needs attention. Therefore, the paper aims to present a systematic, controlled design and implementation of a telepresence mobile robot. The primary focus of this paper is to perform the computational analysis… More >

  • Open Access


    Integrating WSN and Laser SLAM for Mobile Robot Indoor Localization

    Gengyu Ge1,2,*, Zhong Qin1, Xin Chen1

    CMC-Computers, Materials & Continua, Vol.74, No.3, pp. 6351-6369, 2023, DOI:10.32604/cmc.2023.035832

    Abstract Localization plays a vital role in the mobile robot navigation system and is a fundamental capability for the following path planning task. In an indoor environment where the global positioning system signal fails or becomes weak, the wireless sensor network (WSN) or simultaneous localization and mapping (SLAM) scheme gradually becomes a research hot spot. WSN method uses received signal strength indicator (RSSI) values to determine the position of the target signal node, however, the orientation of the target node is not clear. Besides, the distance error is large when the indoor signal receives interference. The laser SLAM-based method usually uses… More >

  • Open Access


    Novel ARC-Fuzzy Coordinated Automatic Tracking Control of Four-Wheeled Mobile Robot

    G. Pandiaraj*, S. Muralidharan

    Intelligent Automation & Soft Computing, Vol.35, No.3, pp. 3713-3726, 2023, DOI:10.32604/iasc.2023.031463

    Abstract Four-wheeled, individual-driven, nonholonomic structured mobile robots are widely used in industries for automated work, inspection and exploration purposes. The trajectory tracking control of the four-wheel individual-driven mobile robot is one of the most blooming research topics due to its nonholonomic structure. The wheel velocities are separately adjusted to follow the trajectory in the old-fashioned kinematic control of skid-steered mobile robots. However, there is no consideration for robot dynamics when using a kinematic controller that solely addresses the robot chassis’s motion. As a result, the mobile robot has limited performance, such as chattering during curved movement. In this research work, a… More >

  • Open Access


    Metaheuristic Optimization for Mobile Robot Navigation Based on Path Planning

    El-Sayed M. El-kenawy1,2, Zeeshan Shafi Khan3,*, Abdelhameed Ibrahim4, Bandar Abdullah Aloyaydi5, Hesham Arafat Ali2,4, Ali E. Takieldeen2

    CMC-Computers, Materials & Continua, Vol.73, No.2, pp. 2241-2255, 2022, DOI:10.32604/cmc.2022.026672

    Abstract Recently, the path planning problem may be considered one of the most interesting researched topics in autonomous robotics. That is why finding a safe path in a cluttered environment for a mobile robot is a significant requisite. A promising route planning for mobile robots on one side saves time and, on the other side, reduces the wear and tear on the robot, saving the capital investment. Numerous route planning methods for the mobile robot have been developed and applied. According to our best knowledge, no method offers an optimum solution among the existing methods. Particle Swarm Optimization (PSO), a numerical… More >

  • Open Access


    Artificial Potential Field Incorporated Deep-Q-Network Algorithm for Mobile Robot Path Prediction

    A. Sivaranjani1,*, B. Vinod2

    Intelligent Automation & Soft Computing, Vol.35, No.1, pp. 1135-1150, 2023, DOI:10.32604/iasc.2023.028126

    Abstract Autonomous navigation of mobile robots is a challenging task that requires them to travel from their initial position to their destination without collision in an environment. Reinforcement Learning methods enable a state action function in mobile robots suited to their environment. During trial-and-error interaction with its surroundings, it helps a robot to find an ideal behavior on its own. The Deep Q Network (DQN) algorithm is used in TurtleBot 3 (TB3) to achieve the goal by successfully avoiding the obstacles. But it requires a large number of training iterations. This research mainly focuses on a mobility robot’s best path prediction… More >

  • Open Access


    Optimum Design of Stair-Climbing Robots Using Taguchi Method

    A. Arunkumar1,*, S. Ramabalan1, D. Elayaraja2

    Intelligent Automation & Soft Computing, Vol.35, No.1, pp. 1229-1244, 2023, DOI:10.32604/iasc.2023.027388

    Abstract Environmental issues like pollution are major threats to human health. Many systems are developed to reduce pollution. In this paper, an optimal mobile robot design to reduce pollution in Green supply chain management system. Green supply chain management involves as similating environmentally and economically feasible solutions into the supply chain life-cycle. Smartness, advanced technologies, and advanced networks are becoming pillars of a sustainable supply chain management system. At the same time, there is much change happening in the logistics industry. They are moving towards a new logistics model. In the new model, robotic logistics has a vital role. The reasons… More >

  • Open Access


    Improved Dijkstra Algorithm for Mobile Robot Path Planning and Obstacle Avoidance

    Shaher Alshammrei1, Sahbi Boubaker2,*, Lioua Kolsi1,3

    CMC-Computers, Materials & Continua, Vol.72, No.3, pp. 5939-5954, 2022, DOI:10.32604/cmc.2022.028165

    Abstract Optimal path planning avoiding obstacles is among the most attractive applications of mobile robots (MRs) in both research and education. In this paper, an optimal collision-free algorithm is designed and implemented practically based on an improved Dijkstra algorithm. To achieve this research objectives, first, the MR obstacle-free environment is modeled as a diagraph including nodes, edges and weights. Second, Dijkstra algorithm is used offline to generate the shortest path driving the MR from a starting point to a target point. During its movement, the robot should follow the previously obtained path and stop at each node to test if there… More >

  • Open Access


    Metaheuristics Algorithm for Tuning of PID Controller of Mobile Robot System

    Harsh Goud1, Prakash Chandra Sharma2, Kashif Nisar3,7,*, Muhammad Reazul Haque4, Ag. Asri Ag. Ibrahim3, Narendra Singh Yadav2, Pankaj Swarnkar5, Manoj Gupta6, Laxmi Chand6

    CMC-Computers, Materials & Continua, Vol.72, No.2, pp. 3481-3492, 2022, DOI:10.32604/cmc.2022.019764

    Abstract Robots in the medical industry are becoming more common in daily life because of various advantages such as quick response, less human interference, high dependability, improved hygiene, and reduced aging effects. That is why, in recent years, robotic aid has emerged as a blossoming solution to many challenges in the medical industry. In this manuscript, meta-heuristics (MH) algorithms, specifically the Firefly Algorithm (FF) and Genetic Algorithm (GA), are applied to tune PID controller constraints such as Proportional gain Kp Integral gain Ki and Derivative gain Kd. The controller is used to control Mobile Robot System (MRS) at the required set… More >

  • Open Access


    Localization of Mobile Robot Aided for Large-Scale Construction Based on Optimized Artificial Landmark Map in Ongoing Scene

    Zhen Xu1, Shuai Guo1,2,*, Tao Song1, Yuwen Li1, Lingdong Zeng1

    CMES-Computer Modeling in Engineering & Sciences, Vol.130, No.3, pp. 1853-1882, 2022, DOI:10.32604/cmes.2022.018004

    Abstract The effectiveness of mobile robot aided for architectural construction depends strongly on its accurate localization ability. Localization of mobile robot is increasingly important for the printing of buildings in the construction scene. Although many available studies on the localization have been conducted, only a few studies have addressed the more challenging problem of localization for mobile robot in large-scale ongoing and featureless scenes. To realize the accurate localization of mobile robot in designated stations, we build an artificial landmark map and propose a novel nonlinear optimization algorithm based on graphs to reduce the uncertainty of the whole map. Then, the… More >

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