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Recent Advances in Modelling, Control and Navigation of Ground and...
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Recent Advances in Modelling, Control and Navigation of Ground and Aerial Robots

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

Deadline for manuscript submissions: 15 February 2025 | Viewed by 3619

Special Issue Editors

Prof. Dr. Andon Venelinov Topalov

E-Mail Website
Guest Editor
Control Systems Department, Faculty of Electronics and Automation, Technical University of Sofia, Plovdiv Branch, 4000 Plovdiv, Bulgaria
Interests: intelligent control; smart and collaborative robots
Dr. Sevil Ahmed

E-Mail Website
Guest Editor
Control Systems Department, Faculty of Electronics and Automation, Technical University of Sofia, Plovdiv Branch, 4000 Plovdiv, Bulgaria
Interests: robotics; mechatronics; fuzzy logic; neural networks; adaptive control

Special Issue Information

Dear Colleagues,

The development of control and navigation algorithms is the focus of a significant amount of current research works in the field of ground and aerial robotics. Aerial robotics is one of the fastest growing contemporary industries, with constantly emerging new applications. It is to be noted that an important characteristic of the current design approaches to automated systems is that they lie at the intersection of artificial intelligence, computer vision, navigation, path planning and robotics.

This Special Issue on the modelling, control and navigation of UGVs (unmanned ground vehicles) and UAVs (unmanned aerial vehicles) aims to address the topic by collecting contributions from researchers from across the globe. By sharing goals, visions and results within the community, we will richen and stimulate the areas of inquiry focusing on the modelling, control and navigation of ground and aerial robots. The goal is also to emphasize the computational methods of programming control and navigation algorithms for robots (UGVs and UAVs), rather than methods of hardware construction.

We believe that such a collection of papers will serve as a valuable source of ideas to those who work in the research and development of control and navigation algorithms for various robots and unmanned vehicles.

Papers presenting different approaches from nonlinear control theory applied to trajectory tracking control and navigation of robots, as well as various robot control systems, are welcome.

I/We look forward to receiving your contributions.

Prof. Dr. Andon Venelinov Topalov
Dr. Sevil Ahmed
Guest Editors

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.

Keywords

  • robotics, robot manipulators
  • mobile robots
  • mobile manipulators
  • unmanned aerial vehicles
  • collective robotics
  • robot control and navigation
  • backstepping control
  • sliding mode control
  • computed torque control
  • Lyapunov-based nonlinear feedback control
  • intelligent control

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Published Papers (3 papers)

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21 pages, 2071 KiB  
Article
Trajectory Control of Quadrotors via Spiking Neural Networks
by Yesim Oniz
Electronics 2024, 13(16), 3319; https://doi.org/10.3390/electronics13163319 - 21 Aug 2024
Viewed by 552
Abstract
In this study, a novel control scheme based on spiking neural networks (SNNs) has been proposed to accomplish the trajectory tracking of quadrotor unmanned aerial vehicles (UAVs). The update rules for the network parameters have been derived using the Lyapunov stability theorem. Three [...] Read more.
In this study, a novel control scheme based on spiking neural networks (SNNs) has been proposed to accomplish the trajectory tracking of quadrotor unmanned aerial vehicles (UAVs). The update rules for the network parameters have been derived using the Lyapunov stability theorem. Three different trajectories have been utilized in the simulated and experimental studies to verify the efficacy of the proposed control scheme. The acquired results have been compared with the responses obtained for proportional–integral–derivative (PID) and traditional neural network controllers. Simulated and experimental studies demonstrate that the proposed SNN-based controller is capable of providing better tracking accuracy and robust system response in the presence of disturbing factors. Full article
(This article belongs to the Special Issue Recent Advances in Modelling, Control and Navigation of Ground and Aerial Robots)
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17 pages, 2501 KiB  
Article
Optimizing Mobile Robot Navigation Based on A-Star Algorithm for Obstacle Avoidance in Smart Agriculture
by Antonios Chatzisavvas, Michael Dossis and Minas Dasygenis
Electronics 2024, 13(11), 2057; https://doi.org/10.3390/electronics13112057 - 24 May 2024
Cited by 2 | Viewed by 1024
Abstract
The A-star algorithm (A*) is a traditional and widely used approach for route planning in various domains, including robotics and automobiles in smart agriculture. However, a notable limitation of the A-star algorithm is its tendency to generate paths that lack the desired smoothness. [...] Read more.
The A-star algorithm (A*) is a traditional and widely used approach for route planning in various domains, including robotics and automobiles in smart agriculture. However, a notable limitation of the A-star algorithm is its tendency to generate paths that lack the desired smoothness. In response to this challenge, particularly in agricultural operations, this research endeavours to enhance the evaluation of individual nodes within the search procedure and improve the overall smoothness of the resultant path. So, to mitigate the inherent choppiness of A-star-generated paths in agriculture, this work adopts a novel approach. It introduces utilizing Bezier curves as a postprocessing step, thus refining the generated paths and imparting their smoothness. This smoothness is instrumental for real-world applications where continuous and safe motion is imperative. The outcomes of simulations conducted as part of this study affirm the efficiency of the proposed methodology. These results underscore the capability of the enhanced technique to construct smooth pathways. Furthermore, they demonstrate that the generated paths enhance the overall planning performance. However, they are also well suited for deployment in rural conditions, where navigating complex terrains with precision is a critical necessity. Full article
(This article belongs to the Special Issue Recent Advances in Modelling, Control and Navigation of Ground and Aerial Robots)
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24 pages, 4204 KiB  
Article
Kinematic Modeling with Experimental Validation of a KUKA®–Kinova® Holonomic Mobile Manipulator
by Vasil Popov, Andon V. Topalov, Tihomir Stoyanov and Sevil Ahmed-Shieva
Electronics 2024, 13(8), 1534; https://doi.org/10.3390/electronics13081534 - 17 Apr 2024
Cited by 1 | Viewed by 1546
Abstract
We have proposed an open-source holonomic mobile manipulator composed of the KUKA youBot holonomic mobile platform with four Swedish wheels and a stationary aboard six-degrees-of-freedom Kinova Jaco Gen 2H manipulator, and we have developed corresponding kinematic problems. We have defined forward and inverse [...] Read more.
We have proposed an open-source holonomic mobile manipulator composed of the KUKA youBot holonomic mobile platform with four Swedish wheels and a stationary aboard six-degrees-of-freedom Kinova Jaco Gen 2H manipulator, and we have developed corresponding kinematic problems. We have defined forward and inverse analytic Jacobians and designed Jacobian algorithms of forward and inverse mobile manipulator kinematics. An experimental test conducted with the designed laboratory prototype of the investigated mobile manipulator with the described kinematics was used to verify the obtained theoretical results. The goal of the test was to keep constant the position of the gripper in 3D space while the mobile platform is moving to some extend in the 2D workspace. Full article
(This article belongs to the Special Issue Recent Advances in Modelling, Control and Navigation of Ground and Aerial Robots)
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