Thesis Comparison of the Intelligent Method in Positioning and Navigation of the Moving Robot

In this regard, a chapter is devoted to a general explanation before explaining the subject of a chapter.

In this chapter we first get a brief introduction to mobile robot history, types and components of mobile robot system and their disadvantages and advantages and then we understand the concept of positioning and navigation. Polynomials about artificial intelligence.

Chapter 3 introduces common smart systems:

1 Introduction: 10

1-1 Background 11

1-1-1 Detailed mechanical system. 11

1.1.1 Stimulants 11

1.1.1 Transmission tools or systems

Sensors 12.1

1-1-5 Brain or Computer Robot ... 12

1-2 Historical Segmentation of Robots 14

1.2.1 Non-programmable or zero-generation robots. 14

1-2.2 Programmable Robots First Generation Robots .. 14

1-2-3 Adaptive Robots or Second Generation Robots. 14

1.2.4 Smart Robots or Third Generation. 14

1-3 Sensors in the Robot 14

1-3-1 Video Camera .. 22

1-3-2 Image Processing. 23

1-3-3 Ultrasonic waves. 25

1-3-4 Application of Ultrasonic Sensors in Robotics .... 25

1-3-5 Sonar Sensor: 28

6.3.6 Sensor Performance: 29

4-1 Types of Robots and their Applications in Industry: 29

1-3-7 .............................................. ................................................... ........................ Production .. 30

1-3-8 Exploration, Search and Extraction 30

1-3-9 Medical .. 32

1-3-10 Construction Work .. 33

1-3-11 Secret Robots in Factories ... 34

1-3-12 Control Methods .. 38

6-1 PID control: 40

1-4 Artificial Neural Network 41

1-4-1 History. 41

1-4-2 Definition ... 41

1-4-3 Neural Network Components 43

1-4-4 Neural Network Training .. 44

1-4-5 Application of Neural Network 45

Fuzzy Logic 47

1-6 Model of Office 48

1-7 Genetic Algorithms 50

1-7-1 Local and General Optimal 52

1-7-1-1 Operators of a Genetic Algorithm ... 54

8-1 Project Motivation and Necessity: 55

2 Introduction 58

The concept of mobile robot navigation 58

2.2 Integration of information into mobile robot navigation 60

Merging Low and High Level Information 60

2-3 Sound Waves 61

2.3.1 Ultrasonic Sensors .... 63

2-3-2 ............................................. ................................................... ........................ Sonar. 63

2-3.3 Active sonar. 65

2.3.4 Active sonar data analysis .. 68

2-3-5 Inactive sonar .. 70

2-3 Speed ​​of sound ... 70

7.2.2 Sound Source Identification 72

2-3-8 ............................................. ................................................... Noise 73

9.2.3 Sonar at War .... 73

2.4 Recursive Signal Recognition 74

2-5 Acoustic Fissures 76

2-5-1 Application of Acoustic Fractionations 77

2-6 Summary 78

List of images

          page title

figure 1. 1 Robot Schematic ... 13

figure 1. 2 Schematic of controller and sensor in robot ... 15

figure 1. 3 Contact Pressure Sensors .... 18

figure 1. 4 Incremental Encoders 20

figure 1. 5 units of light 21

figure 1. 6 Robot vision system ... 21

figure 1. 7 How to move the sensor 22

figure 1. 8 examples of the application of ultrasonic sensors in robotics .... 27

figure 1. 9 examples of the use of sonar sensors in robotics .... 28

figure 1. 10 robots sent to Mars ... 31

figure 1. 11 Surgery Using Robot ... 33

figure 1. 12 Earthquake Relief Robots. 33

figure 1. 13 Okada Robotic Robot. 34

figure 1. 14 Robatanov