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Electronics
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Sensor-Based Navigation and Control with Applications
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Sensor-Based Navigation and Control with Applications

A special issue of Electronics (ISSN 2079-9292). This special issue belongs to the section "Systems & Control Engineering".

Deadline for manuscript submissions: closed (31 March 2021) | Viewed by 22692

Special Issue Editor

Prof. Dr. Josep M. Rossell

E-Mail Website
Guest Editor
Department of Mathematics, Polytechnic University of Catalonia, Manresa, Spain
Interests: data mining; health and safety; robust control
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Navigation strategies and collision avoidance are interesting areas of mobile robotics research and represent a significant challenge. We just have to think about the technological effort that is currently being made to develop autonomous vehicles without human intervention. Usually, sensor-based control performs navigation tasks with respect to some characteristics perceived in the environment. Different types of sensors can be used in order to attain the information about the surroundings, such as optic flow sensors, video cameras or range sensors, among others, where the position and orientation are crucial for the correct navigation of the autonomous robot.

This Special Issue focuses on the navigation and control of autonomous robots moving in an unknown environment with unexpected obstacles. Mobile robots that can operate in a wide variety of scenarios with complex conditions are required, where the mobility is the key point to increase the degree of autonomy. This leads to the development of specific navigation systems that accommodate the requirements of each application.

This Special Issue solicits high-quality contributions with consolidated and evaluated research related to sensor-based navigation and control systems. We invite the scientific community to provide theoretical and applied results in this promising investigation area.

Topics of interest include but are not limited to the following:

  • Mobile robots
  • Navigation control
  • Obstacle avoidance
  • Autonomous vehicles
  • Robotized vehicles
  • Global navigation
  • Remote control
  • Fault diagnosis
  • Robot sensing systems

Prof. Dr. Josep M. Rossell
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Electronics is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Published Papers (6 papers)

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14 pages, 5114 KiB  
Article
Synthesis of a Path-Planning Algorithm for Autonomous Robots Moving in a Game Environment during Collision Avoidance
by Józef Lisowski
Electronics 2021, 10(6), 675; https://doi.org/10.3390/electronics10060675 - 13 Mar 2021
Cited by 21 | Viewed by 2268
Abstract
This paper describes and illustrates the optimization of a safe mobile robot control process in collision situations using the model of a multistep matrix game of many participants in the form of a dual linear programming problem. The synthesis of non-cooperative and cooperative [...] Read more.
This paper describes and illustrates the optimization of a safe mobile robot control process in collision situations using the model of a multistep matrix game of many participants in the form of a dual linear programming problem. The synthesis of non-cooperative and cooperative game control software was performed in Matlab/Simulink software to determine the safe path of the robot when passing a greater number of other robots and obstacles. The operation of the game motion control algorithm of a mobile robot is illustrated by computer simulations made in the Matlab/Simulink program of two real previously recorded navigation situations while passing dozens of other autonomous mobile robots. Full article
(This article belongs to the Special Issue Sensor-Based Navigation and Control with Applications)
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15 pages, 4111 KiB  
Article
Path Planning of a Sweeping Robot Based on Path Estimation of a Curling Stone Using Sensor Fusion
by JaeHyeon Gwon, Hyeon Kim, HyunSoo Bae and SukGyu Lee
Electronics 2020, 9(3), 457; https://doi.org/10.3390/electronics9030457 - 08 Mar 2020
Cited by 10 | Viewed by 5469
Abstract
In this paper, we proposed an enhanced path planning strategy for sweeper robots, which were created for the curling Olympic games. The main task for the multi-robot system is to clean the ice surface making a smooth path for a curling stone. The [...] Read more.
In this paper, we proposed an enhanced path planning strategy for sweeper robots, which were created for the curling Olympic games. The main task for the multi-robot system is to clean the ice surface making a smooth path for a curling stone. The sweeping robots should have a motion planning on how to follow the curling stone slide and to prevent any collisions. In order to find the next position of the sweeping robot, it needs to establish the current position and to compute the next position of the curling stone. The initial and goal points of the sweeping robots are found and set up based on the simulation results from the main server. While the curling stone moves, the sweeping robots measure its position and adjust their motions according to the stone position trajectory. If the distance between the current and the next positions of a curling stone exceeds the threshold value, the sweeping robots should activate the sweeping mechanism preventing collisions with the stone. Since the estimation of the sweeping robot motion solely depends on the stone’s trajectory, the accumulation of errors is undesirable. Thus, the stone trajectory should be recalculated in a certain time step using the trend-adjusted exponential smoothing method. Then, the formation of the sweeping robot system can be calibrated according to the stone path computation. The obtained experimental results proved the efficiency of the proposed path planning method. Full article
(This article belongs to the Special Issue Sensor-Based Navigation and Control with Applications)
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18 pages, 1183 KiB  
Article
Fuzzy Analytic Hierarchy Process-Based Mobile Robot Path Planning
by Changwon Kim, Yeesock Kim and Hak Yi
Electronics 2020, 9(2), 290; https://doi.org/10.3390/electronics9020290 - 08 Feb 2020
Cited by 21 | Viewed by 3678
Abstract
This study presents a new path planning method based on Fuzzy Analytic Hierarchy Process (FAHP) for a mobile robot to be effectively operated through a multi-objective decision making problem. Unlike typical AHP, the proposed FAHP has a difference in using triangulation fuzzy number [...] Read more.
This study presents a new path planning method based on Fuzzy Analytic Hierarchy Process (FAHP) for a mobile robot to be effectively operated through a multi-objective decision making problem. Unlike typical AHP, the proposed FAHP has a difference in using triangulation fuzzy number based extent analysis to derive weight vectors among the considerations. FAHP framework for finding the optimal position in this study is defined with the highest level (goal), middle level (objectives), and the lowest level (alternatives). It analytically selects an optimal position as a sub-goal among points on the sensing boundary of the mobile robot considering the three objectives: the travel distance to the target, robot’s rotation, and safety against collision between obstacles. Alternative solutions are evaluated by quantifying the relative importance for the objectives. Comparative results obtained from the artificial potential field, AHP, and FAHP simulations show that FAHP is much preferable for mobile robot’s path planning than typical AHP. Full article
(This article belongs to the Special Issue Sensor-Based Navigation and Control with Applications)
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10 pages, 1223 KiB  
Article
A Recent Electronic Control Circuit to a Throttle Device
by Leonardo Acho, Gisela Pujol-Vázquez and José Gibergans-Báguena
Electronics 2020, 9(1), 191; https://doi.org/10.3390/electronics9010191 - 19 Jan 2020
Cited by 5 | Viewed by 3833
Abstract
The main objective of this paper was to conceive a new electronic control circuit to the throttle device. The throttle mechanical actuator is the most important part in an automotive gasoline engine. Among the different control strategies recently reported, an easy to implement [...] Read more.
The main objective of this paper was to conceive a new electronic control circuit to the throttle device. The throttle mechanical actuator is the most important part in an automotive gasoline engine. Among the different control strategies recently reported, an easy to implement control scheme is an open research topic in the analog electronic engineering field. Hence, we propose using the nonlinear dwell switching control theory for an analog electronic control unit, to manipulate an automotive throttle plate. Due to the switching mechanism commuting between a stable and an unstable controllers, the resultant closed-loop system is robust enough to the control objective. This fact is experimentally evidenced. The proposed electronic controller uses operational amplifiers along with an Arduino unit. This unit is just employed to generate the related switching signal that can be replaced by using, for instance, the timer IC555. Thus, this study is a contribution on design and realization of an electronic control circuit to the throttle device. Full article
(This article belongs to the Special Issue Sensor-Based Navigation and Control with Applications)
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16 pages, 11962 KiB  
Article
Research on the Heading Calibration for Foot-Mounted Inertial Pedestrian-Positioning System Based on Accelerometer Attitude
by Qiuying Wang, Kaiyue Liu, Zhiguo Sun, Muchun Cai and Ming Cheng
Electronics 2019, 8(12), 1405; https://doi.org/10.3390/electronics8121405 - 25 Nov 2019
Cited by 6 | Viewed by 2301
Abstract
Foot-mounted inertial pedestrian positioning (FIPP) plays an important role for facilitating pedestrian activities. It is suitable for indoor environment applications where global navigation satellite systems are unavailable such as during firefighting and military actions. However, the positioning error of FIPP can increase rapidly [...] Read more.
Foot-mounted inertial pedestrian positioning (FIPP) plays an important role for facilitating pedestrian activities. It is suitable for indoor environment applications where global navigation satellite systems are unavailable such as during firefighting and military actions. However, the positioning error of FIPP can increase rapidly due to the measurement noise of the sensors. Zero Velocity Update (ZUPT) is an error correction method proposed to solve this accumulative error. However, the heading misalignment angle, which results in a continuous increase in the positioning error, cannot be estimated by ZUPT. In order to solve this problem, the improved ZUPT based on the Improved Attitude Algorithm (IAA) according to accelerometer measurements is proposed in this paper. When a pedestrian is in the stance phase, the horizontal attitude is estimated by using accelerometer measurements. According to the relationship between the heading misalignment angle and horizontal attitude, the heading misalignment angle is obtained by a series of mathematical derivations. By taking the velocity error and the attitude misalignment angle as observations, the heading misalignment angle and positioning error can be estimated and compensated for through the Kalman filter. Finally, we use MTI-G710 sensor manufactured by XSENS for the actual test and the experiment results show that the proposed method is effectively correct. Full article
(This article belongs to the Special Issue Sensor-Based Navigation and Control with Applications)
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21 pages, 14245 KiB  
Technical Note
Dynamic Performance Evaluation of Various GNSS Receivers and Positioning Modes with Only One Flight Test
by Cheolsoon Lim, Hyojung Yoon, Am Cho, Chang-Sun Yoo and Byungwoon Park
Electronics 2019, 8(12), 1518; https://doi.org/10.3390/electronics8121518 - 11 Dec 2019
Cited by 14 | Viewed by 4330
Abstract
The performance of global navigation satellite system (GNSS) receivers in dynamic modes is mostly assessed using results obtained from independent maneuvering of vehicles along similar trajectories at different times due to limitations of receivers, payload, space, and power of moving vehicles. However, such [...] Read more.
The performance of global navigation satellite system (GNSS) receivers in dynamic modes is mostly assessed using results obtained from independent maneuvering of vehicles along similar trajectories at different times due to limitations of receivers, payload, space, and power of moving vehicles. However, such assessments do not ensure valid evaluation because the same GNSS signal environment cannot be ensured in a different test session irrespective of how accurately it mimics the original session. In this study, we propose a valid methodology that can evaluate the dynamic performance of multiple GNSS receivers in various positioning modes with only one dynamic test. We used the record-and-replay function of RACELOGIC’s LabSat3 Wideband and developed a software that can log and re-broadcast Radio Technical Commission for Maritime Services (RTCM) messages for the augmented systems. A preliminary static test and a drone test were performed to verify proper operation of the system. The results show that the system could efficiently evaluate the performances of stand-alone, differential GNSS, and real time kinematics positioning for three GNSS receivers in two different positioning modes by repeatedly re-radiating the recorded signals acquired through only one flight. Our proposed system is expected to be useful in evaluating dynamic navigation performance accurately and conveniently in a valid manner. Full article
(This article belongs to the Special Issue Sensor-Based Navigation and Control with Applications)
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