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Article
Leader Follower Tracking with Obstacle Avoidance using Circular Paths Algorithm

Author: Abdulmuttalib T. Rashid عبدالمطلب تركي رشيد
Journal: Basrah Journal for Engineering Science مجلة البصرة للعلوم الهندسية ISSN: Print: 18146120; Online: 23118385 Year: 2016 Volume: 16 Issue: 2 Pages: 29-47
Publisher: Basrah University جامعة البصرة

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Abstract

This paper deals with a new algorithm called circularpaths for leader follower tracking with obstacle avoidanceusing. In leader-follower tracking, one robot acts as a leaderwith defined motion and the other robot acts as a follower whichposition itself in accordance with the position and orientation ofthe leader. The leader movement is dependent on an assignedtrajectory and the follower movement is dependent on thecircular paths algorithm. In each step, this algorithm constructsa circular path using three points represented by the next stepposition of the leader robot, the last step position and thecurrent step position of the follower robot. The next position ofthe follower robot lays on the circumstance of the circular pathand the orientation is represented by the tangent line to thiscircular path at this next position of the follower robot. Whenan obstacle intersect any circular path for the follower robot,then this path must be replaced by another circular pathconstruct from the two positions of the follower robot and theleader position is replaced by the tangent point to the obstacle.Simulation results illustrate the soundness of this algorithm


Article
Polygon Shape Formation for Multi-Mobile Robots in a Local Knowledge Environment

Authors: Abduladhem A. Ali --- Abdulmuttalib T. Rashid
Journal: Basrah Journal for Engineering Science مجلة البصرة للعلوم الهندسية ISSN: Print: 18146120; Online: 23118385 Year: 2019 Volume: 19 Issue: 2 Pages: 39-46
Publisher: Basrah University جامعة البصرة

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Abstract

The formation is an important task in multi-mobile robots coordination in a defined environment. In a local knowledge environment the multi-mobile robot formations are realized using small robots with minor hardware requirements. The localization, path planning and obstacle avoidance processes are required to perform formation. In this paper a static strategy for polygon shape formation is implemented using a several number of mobile robots. This strategy has a better efficiency, since it use the cluster matching algorithm instead of the triangulation algorithm in completing the formation. Also, the visibility binary tree algorithm and the reciprocal orientation algorithm are used in this paper. This strategy has better performance in the multi-robot formation, since it use the cluster matching algorithm instead of the triangulation algorithm.


Article
RP Lidar Sensor for Multi-Robot Localization using Leader Follower Algorithm

Authors: Abdulmuttalib T. Rashid --- Bayadir A. Issa
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2019 Volume: 15 Issue: 2 Pages: 21-32
Publisher: Basrah University جامعة البصرة

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Abstract

In this paper, a new technique for multi-robot localization in an unknown environment, called the leader-follower localization algorithm is presented. The framework utilized here is one robot that goes about as a leader and different robots are considered as followers distributed randomly in the environment. Every robot equipped with RP lidar sensors to scan the environment and gather information about every robot. This information utilized by the leader to distinguish and confine every robot in the environment. The issue of not noticeable robots is solved by contrasting their distances with the leader. Moreover, the equivalent distance robot issue is unraveled by utilizing the permutation algorithm. Several simulation scenarios with different positions and orientations are implemented on (3-7) robots to show the performance of the introduced technique.


Article
An algorithm for Path planning with polygon obstacles avoidance based on the virtual circle tangents

Authors: Zahraa Y. Ibrahim --- Abdulmuttalib T. Rashid --- Ali F. Marhoon
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2016 Volume: 12 Issue: 2 Pages: 221-234
Publisher: Basrah University جامعة البصرة

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Abstract

In this paper, a new algorithm called the virtual circle tangents is introduced for mobile robot navigation in an environment with polygonal shape obstacles. The algorithm relies on representing the polygonal shape obstacles by virtual circles, and then all the possible trajectories from source to target is constructed by computing the visible tangents between the robot and the virtual circle obstacles. A new method for searching the shortest path from source to target is suggested. Two states of the simulation are suggested, the first one is the off-line state and the other is the on-line state. The introduced method is compared with two other algorithms to study its performance.


Article
Design and Implementation of Locations Matching Algorithm for Multi-Object Recognition and Localization

Authors: Mofeed T. Rashid --- Wael H. Zayer --- Abdulmuttalib T. Rashid
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2018 Volume: 14 Issue: 1 Pages: 10-21
Publisher: Basrah University جامعة البصرة

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Abstract

A new algorithm for multi-object recognition and localization is introduced in this paper. This algorithmdeals with objects which have different reflectivity factors and distinguish color with respect to the other objects.Two beacons scan multi-color objects using long distance IR sensors to estimate their absolute locations. These twobeacon nodes are placed at two corners of the environment. The recognition of these objects is estimated bymatching the locations of each object with respect to the two beacons. A look-up table contains the distancesinformation about different color objects is used to convert the reading of the long distance IR sensor from voltage todistance units. The locations of invisible objects are computed by using absolute locations of invisible objectsmethod. The performance of introduced algorithm is tested with several experimental scenarios that implemented oncolor objects.


Article
Table-Based Matching Algorithm for Localization and Orientation Estimation of Multi-Robot System

Authors: Ola A. Hasan --- Abdulmuttalib T. Rashid --- Ramzy S. Ali
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2019 Volume: 15 Issue: 1 Pages: 53-71
Publisher: Basrah University جامعة البصرة

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Abstract

In this paper, a new algorithm called table-based matching for multi-robot (node) that used for localizationand orientation are suggested. The environment is provided with two distance sensors fixed on two beacons at thebottom corners of the frame. These beacons have the ability to scan the environment and estimate the location andorientation of the visible nodes and save the result in matrices which are used later to construct a visible node table.This table is used for matching with visible-robot table which is constructed from the result of each robot scanning toits neighbors with a distance sensor that rotates at 360⁰; at this point, the location and identity of all visible nodesare known. The localization and orientation of invisible robots rely on the matching of other tables obtained from theinformation of visible robots. Several simulations implementation are experienced on a different number of nodes tosubmit the performance of this introduced algorithm.

Keywords

Localization --- Beacons --- multi-robot


Article
Polygon Shape Formation for Multi-Mobile Robots in a Global Knowledge Environment

Authors: Abdulmuttalib T. Rashid --- Abduladhem A. Ali --- Mattia Frasca
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2019 Volume: 15 Issue: 1 Pages: 76-88
Publisher: Basrah University جامعة البصرة

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Abstract

In coordination of a group of mobile robots in a real environment, the formation is an important task. Multimobilerobot formations in global knowledge environments are achieved using small robots with small hardwarecapabilities. To perform formation, localization, orientation, path planning and obstacle and collision avoidanceshould be accomplished. Finally, several static and dynamic strategies for polygon shape formation areimplemented. For these formations minimizing the energy spent by the robots or the time for achieving the task, havebeen investigated. These strategies have better efficiency in completing the formation, since they use the clustermatching algorithm instead of the triangulation algorithm.


Article
Prediction-Based Path Planning with Obstacle Avoidance in Dynamic Target Environment

Authors: Zahraa Y. Ibrahim --- Abdulmuttalib T. Rashid --- Ali F. Marhoon علي فاضل مرهون
Journal: Basrah Journal for Engineering Science مجلة البصرة للعلوم الهندسية ISSN: Print: 18146120; Online: 23118385 Year: 2016 Volume: 16 Issue: 2 Pages: 48-60
Publisher: Basrah University جامعة البصرة

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Abstract

In this paper, a new algorithm for mobile robot navigation and polygonal obstacles avoidance in dynamic target environment is introduced. In the dynamic target path planning theagent (robot) trying to reach a moving target in minimum pathcost. The introduced algorithm which called Prediction-basedpath planning with obstacle avoidance in dynamic target environment planning a path to a moving target by predicting the nexttarget location, then computing a path from the robot current location to the predicted target location representing each visibleobstacle by the smallest circle that enclosing the polygon obstacle,then determine the visible tangents between the robot and the circular obstacle that intersect its shortest path and compute theshortest path. Three target movement scenarios were suggestedand tested in different environment conditions. The results showthat the target was reached in all scenarios and under all environment conditions with good path cost.


Article
An Efficient Mathematical Approach for an Indoor Robot Localization System

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Abstract

In a counterfeit clever control procedure, another productive methodology for an indoor robot localization framework is arranged. In this paper, a new mathematic calculation for the robot confinement framework utilizing light sensors is proposed. This procedure takes care of the issue of localization (position recognizing) when utilizing a grid of LEDs distributed uniformly in the environment, and a multi-portable robot outfitted with a multi-LDRs sensor and just two of them activate the visibility robot. The proposed method is utilized to assess the robot's situation by drawing two virtual circles for each two LDR sensors; one of them is valid and the other is disregarded according to several suggested equations. The midpoint of this circle is assumed to be the robot focus. The new framework is simulated on a domain with (n*n) LEDs exhibit. The simulation impact of this framework shows great execution in the localization procedure.


Article
Hybrid approach for multi-node localization and Identification

Authors: Ola A. Hasan علا احمد حسن --- Abdulmuttalib T. Rashid عبدالمطلب تركي رشيد --- Ramzy S. Ali رمزي سالم علي
Journal: Basrah Journal for Engineering Science مجلة البصرة للعلوم الهندسية ISSN: Print: 18146120; Online: 23118385 Year: 2016 Volume: 16 Issue: 2 Pages: 11-20
Publisher: Basrah University جامعة البصرة

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Abstract

In this paper, a new approach for the positioning(localization) of multi-node systems is presented. Each nodeincluding the beacon node contains two types of sensors: onefor the distance sensing and the other type is forcommunication. The main idea of our proposed approach is touse the control of beacon to construct anodes' tree which isgoing to be used later by the nodes to know the paths in whichthe information will flow. During the tree construction, theidentities of nodes will be known. Every node except thebeacon will use the information obtained from its previousneighbor in the tree to find its own location and orientation.Several simulations using visual basic 2012 are implemented todiscern the performance of this algorithm.

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