LPWAN-Based Real-Time 2D SLAM and Object Localization for Teleoperation Robot Control

In this study, the teleoperation robot control on a mobile robot with 2D SLAM and object localization using LPWAN is proposed. The mobile robot is a technology gaining popularity due to flexibility and robustness in a variety of terrains. In search and rescue activities, the mobile robots can be used to perform some missions, assist and preserve human life. However, teleoperation control becomes a challenging problem for this implementation. The robust wireless communication not only allows the operator to stay away from dangerous area, but also increases the mobility of the mobile robot itself. Most of teleoperation mobile robots use Wi-Fi having high-bandwidth, yet short communication range. LoRa as LPWAN, on the other hand, has much longer range but low-bandwidth communication speed. Therefore, the combination of them complements each other’s weaknesses. The use of a two-LoRa configuration also enhances the teleoperation capabilities. All information from the mobile robot can be sent to the PC controller in relatively fast enough for real-time SLAM implementation. Furthermore, the mobile robot is also capable of real-time object detection, localization, and transmitting images. Another problem of LoRa communication is a timeout. We apply timeout recovery algorithms to handle this issue, resulting in more stable data. All data have been confirmed by real-time trials and the proposed method can approach the Wi-Fi performance with a low waiting time or delay.

Indirect Control of an Autonomous Wheelchair Using SSVEP BCI

Having the capability to control a wheelchair using brain signals would be a major benefit to patients suffering from motor disabling diseases. However, one major challenge such systems are facing is the amount of input needed over time by the patient for control. Such a navigation control system results in a significant mental burden for the patient. The objective of this study is to develop a BCI system that requires a low number of inputs from a subject to operate. We propose an autonomous wheelchair that uses steady-state visual evoked potential based brain computer interfaces to achieve the objective. A dual mode system was implemented in this study to allow the autonomous wheelchair to work in both unknown and known environments. Robot operating system is used as the middleware in this study for the development of the algorithm to operate the wheelchair. The mental task for the subject using this wheelchair is reduced by relegating the responsibility of navigation control from the subject to the navigation software.

Automated Steering Control System for Reverse Parking Maneuver of Semi-Trailer Vehicles Considering Motion Planning by Simulation of Feedback Control System

With the increase in the demand for road freight transportation, semi-trailers are being increasingly preferedowing to their large maximum load capacity. However, for such vehicles, excellent driving skills are required because unique steering is often necessary during reverse parking. In this paper, the concept of a parking assist system and path tracking controller is proposed. The control system consists of a pure pursuit motion planner for handling the reference path tracking and a feedback controller for stabilizing the hitch angles. We propose a control method to realize the ideal control performance of an actual vehicle subjected to unmeasured disturbance. An actual full-scale vehicle experiment is conducted and the effectiveness of the proposed approach is verified by evaluating the error from the target parking position.