TY - GEN
T1 - Development of wireless charging robot for indoor environment based on probabilistic roadmap
AU - Wu, Yi Shiun
AU - Chen, Chi Wei
AU - Samani, Hooman
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2016.
PY - 2016
Y1 - 2016
N2 - The aim of this paper is to develop a robotic system which can navigate in an indoor environment and charge several electrical devices. Several algorithms such as Travel Salesman Problem, Probabilistic Roadmap and Fuzzy Cmeans Clustering are used for development of such a system. The testbed is constructed by Arduino Uno, Arduino WIFI Shield, Go-between Shield by Mayhew Lab and Polulu Zumo robot for Arduino Ver.1.2. All the algorithms are coded by MathWorks MATLAB and Simulink. The core of the wireless charging robot is to optimize the best performance for single robot to charge multiple devices. Owing to the computation restriction of the mobile robot, the calculation will be done on remote server and communicate with the robot through Wi-Fi connection. By this, the computation load on mobile robot can be reduced as well as improving the efficiency. A real-time feedback system is also built to promote accuracy in actual environment. After the development of improved stability and flexibility, the robot can be brought to real life as an interactive and collaborative robotic system.
AB - The aim of this paper is to develop a robotic system which can navigate in an indoor environment and charge several electrical devices. Several algorithms such as Travel Salesman Problem, Probabilistic Roadmap and Fuzzy Cmeans Clustering are used for development of such a system. The testbed is constructed by Arduino Uno, Arduino WIFI Shield, Go-between Shield by Mayhew Lab and Polulu Zumo robot for Arduino Ver.1.2. All the algorithms are coded by MathWorks MATLAB and Simulink. The core of the wireless charging robot is to optimize the best performance for single robot to charge multiple devices. Owing to the computation restriction of the mobile robot, the calculation will be done on remote server and communicate with the robot through Wi-Fi connection. By this, the computation load on mobile robot can be reduced as well as improving the efficiency. A real-time feedback system is also built to promote accuracy in actual environment. After the development of improved stability and flexibility, the robot can be brought to real life as an interactive and collaborative robotic system.
KW - Interactive collaborative robotics
KW - Mobile robot
KW - Probabilistic roadmap
KW - Wireless charging
UR - http://www.scopus.com/inward/record.url?scp=84984876962&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-43955-6_8
DO - 10.1007/978-3-319-43955-6_8
M3 - Conference contribution
AN - SCOPUS:84984876962
SN - 9783319439549
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 55
EP - 62
BT - Interactive Collaborative Robotics - 1st International Conference, ICR 2016, Proceedings
A2 - Rigoll, Gerhard
A2 - Meshcheryakov, Roman
A2 - Ronzhin, Andrey
PB - Springer Nature Link
T2 - 1st International Conference on Interactive Collaborative Robotics, ICR 2016
Y2 - 24 August 2016 through 26 August 2016
ER -