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Electronics
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Advances in Mobile Robots: Navigation, Motion Planning and Control
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Advances in Mobile Robots: Navigation, Motion Planning and Control

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

Deadline for manuscript submissions: 15 January 2025 | Viewed by 4985

Special Issue Editor

Prof. Dr. Giuseppe Menga

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Guest Editor
Department of Control and Computer Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy
Interests: posture control; bipedal robots; robots for posture rehabilitation
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Mobile robotics is a challenging and expanding area covering a large variety of domains, such as manufacturing, agriculture, military, health care and education.

Navigation and path planning are important aspects of autonomous or supervised (drones) mobile robots, but control is also considered. Biped robotics are the first to be considered, but multi-legged robots, carts with wheels for patient support and rim-less wheels as models for passive walking (i.e., inverted pendulum and foot placement estimation) are also valued.

The aim of this Special Issue is to bring together new advances in the navigation and control of mobile robotics. As these aspects have received separate attention in the past, the journal Electronics offers the opportunity to show the synergy between them.

In this Special Issue, original research articles and reviews are welcome. Research areas may include (but are not limited to) the following:

  • Navigation: both autonomous and supervised navigation with fleet management, team coordination (e.g., robot soccer playing, Swarm intelligence, etc.) and remote navigation management (drones are also a kind of mobile robot).
  • Path planning: a priori or in dynamic online environment using on-board sensors, e.g., to direct to the robot on a specific path, avoiding obstacles, coping with irregular terrain, climbing and descending stairs.
  • Human–robot co-existence environments, especially in health care.
  • Control: control dynamics, balance, gait, especially human-like walking merging unstable (i.e., inverted pendulum) and stable (i.e., zero moment point) phases.

Prof. Dr. Giuseppe Menga
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.

Keywords

  • mobile robotics
  • navigation
  • path planning
  • control of posture

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Published Papers (4 papers)

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Research

16 pages, 416 KiB  
Article
A Dynamic Event-Based Recursive State Estimation for Mobile Robot Localization
by Li Zhu, Ruifeng Gao, Cong Huang, Quan Shi and Zhenquan Shi
Electronics 2024, 13(16), 3227; https://doi.org/10.3390/electronics13163227 - 14 Aug 2024
Viewed by 524
Abstract
This paper deals with the recursive state estimation issue for mobile robot localization under a dynamic event-based mechanism. To enhance the utilization of communication resources, a dynamic event-based transmission protocol is utilized to reduce unnecessary measurement transmissions by introducing an auxiliary dynamical variable [...] Read more.
This paper deals with the recursive state estimation issue for mobile robot localization under a dynamic event-based mechanism. To enhance the utilization of communication resources, a dynamic event-based transmission protocol is utilized to reduce unnecessary measurement transmissions by introducing an auxiliary dynamical variable to adjust threshold parameters. The primary objective of this paper is to develop a dynamic event-based recursive state estimation scheme for the mobile robot localization problem in the presence of the impact of the dynamic event-based mechanism such that an upper bound on the estimation error covariance is firstly guaranteed by using mathematical induction and then is locally minimized by virtue of appropriately choosing the gain parameters. Furthermore, the boundedness analysis of the estimation error is conducted by establishing an evaluation criteria in the mean-squared sense. Finally, an experimental example is conducted to verify the feasibility of the proposed mobile robot localization strategy. Full article
(This article belongs to the Special Issue Advances in Mobile Robots: Navigation, Motion Planning and Control)
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15 pages, 1798 KiB  
Article
A Novel Paradigm for Controlling Navigation and Walking in Biped Robotics
by Giuseppe Menga
Electronics 2024, 13(11), 2224; https://doi.org/10.3390/electronics13112224 - 6 Jun 2024
Viewed by 732
Abstract
This paper extends the three-dimensional inverted pendulum (spherical inverted pendulum or SIP) in a polar coordinate system to simulate human walking in free fall and the energy recovery when the foot collides with the ground. The purpose is to propose a general model [...] Read more.
This paper extends the three-dimensional inverted pendulum (spherical inverted pendulum or SIP) in a polar coordinate system to simulate human walking in free fall and the energy recovery when the foot collides with the ground. The purpose is to propose a general model to account for all characteristics of the biped and of the gait, while adding minimal dynamical complexity with respect to the SIP. This model allows for both walking omnidirectionally on a flat surface and going up and down staircases. The technique does not use torque control. However, for the gait, the only action is the change in angular velocity at the start of a new step with respect to those given after the collision (emulating the torque action in the brief double stance period) to recover from the losses, as well as the preparation of the position in the frontal and sagittal planes of the swing foot for the next collision for balance and maneuvering. Moreover, in climbing or descending staircases, during the step, the length of the supporting leg is modified for the height of the step of the staircase. Simulation examples are offered for a rectilinear walk, ascending and descending rectilinear or spiral staircases, showing stability of the walk, and the expenditure of energy. Full article
(This article belongs to the Special Issue Advances in Mobile Robots: Navigation, Motion Planning and Control)
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16 pages, 4829 KiB  
Article
Kinematic Analysis of a Wheeled-Leg Small Pipeline Robot Turning in Curved Pipes
by Jian Wang, Zongjian Mo, Yuan Cai and Songtao Wang
Electronics 2024, 13(11), 2170; https://doi.org/10.3390/electronics13112170 - 2 Jun 2024
Cited by 2 | Viewed by 801
Abstract
A wheeled-leg pipeline robot suitable for operation in small pipes is proposed to address the challenges of detecting the condition of pipelines, such as solution corrosion and crack defects, which cannot be conducted externally due to the pre-buried pipe system embedded in other [...] Read more.
A wheeled-leg pipeline robot suitable for operation in small pipes is proposed to address the challenges of detecting the condition of pipelines, such as solution corrosion and crack defects, which cannot be conducted externally due to the pre-buried pipe system embedded in other structures. Inspired by existing pipeline robots, the proposed robot employs a mechanical structure with six wheeled legs arranged in an alternating pattern. To analyze the motion state of the pipeline robot turning in curved pipes, kinematic analysis based on geometry is conducted to figure out the kinematic characteristics of the robot navigating in curved pipes. The relationship between the motion trajectories of each contact wheel and the posture angle of the robot in the pipeline is the focal point. Additionally, a turning method preventing wheel slippage is proposed specifically for this type of robot. Finally, an experiment with the pipeline robot navigating in the curved pipeline is implemented and demonstrates successful passing through curved pipes with an inner diameter of 120 mm as well as a turning radius of 240 mm, with the effectiveness of the kinematic analysis validated. Full article
(This article belongs to the Special Issue Advances in Mobile Robots: Navigation, Motion Planning and Control)
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20 pages, 10982 KiB  
Article
Research on Path Planning with the Integration of Adaptive A-Star Algorithm and Improved Dynamic Window Approach
by Tianjian Liao, Fan Chen, Yuting Wu, Huiquan Zeng, Sujian Ouyang and Jiansheng Guan
Electronics 2024, 13(2), 455; https://doi.org/10.3390/electronics13020455 - 22 Jan 2024
Cited by 8 | Viewed by 2491
Abstract
In response to the shortcomings of the traditional A-star algorithm, such as excessive node traversal, long search time, unsmooth path, close proximity to obstacles, and applicability only to static maps, a path planning method that integrates an adaptive A-star algorithm and an improved [...] Read more.
In response to the shortcomings of the traditional A-star algorithm, such as excessive node traversal, long search time, unsmooth path, close proximity to obstacles, and applicability only to static maps, a path planning method that integrates an adaptive A-star algorithm and an improved Dynamic Window Approach (DWA) is proposed. Firstly, an adaptive weight value is added to the heuristic function of the A-star algorithm, and the Douglas–Pucker thinning algorithm is introduced to eliminate redundant points. Secondly, a trajectory point estimation function is added to the evaluation function of the DWA algorithm, and the path is optimized for smoothness based on the B-spline curve method. Finally, the adaptive A-star algorithm and the improved DWA algorithm are integrated into the fusion algorithm of this article. The feasibility and effectiveness of the fusion algorithm are verified through obstacle avoidance experiments in both simulation and real environments. Full article
(This article belongs to the Special Issue Advances in Mobile Robots: Navigation, Motion Planning and Control)
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