Mobile Robot for Life Science Automation
The paper presents a control system for mobile robots in distributed life science laboratories. The system covers all technical aspects of laboratory mobile robotics. In this system: (a) to get an accurate and low-cost robot localization, a method using a StarGazer module with a number of ceiling la...
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.5772/56670 |
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doaj-0e11059525cf43d8a8beffa53d9c10a02020-11-25T03:45:17ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-07-011010.5772/5667010.5772_56670Mobile Robot for Life Science AutomationHui Liu0Norbert Stoll1Steffen Junginger2Kerstin Thurow3 Institute of Automation, University of Rostock, Germany Center for Life Science Automation, Germany Institute of Automation, University of Rostock, Germany Center for Life Science Automation, GermanyThe paper presents a control system for mobile robots in distributed life science laboratories. The system covers all technical aspects of laboratory mobile robotics. In this system: (a) to get an accurate and low-cost robot localization, a method using a StarGazer module with a number of ceiling landmarks is utilized; (b) to have an expansible communication network, a standard IEEE 802.11g wireless network is adopted and a XML-based command protocol is designed for the communication between the remote side and the robot board side; (c) to realize a function of dynamic obstacle measurement and collision avoidance, an artificial potential field method based on a Microsoft Kinect sensor is used; and (d) to determine the shortest paths for transportation tasks, a hybrid planning strategy based on a Floyd algorithm and a Genetic Algorithm (GA) is proposed. Additionally, to make the traditional GA method suitable for the laboratory robot's routing, a series of optimized works are also provided in detail. Two experiments show that the proposed system and its control strategy are effective for a complex life science laboratory.https://doi.org/10.5772/56670 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Hui Liu Norbert Stoll Steffen Junginger Kerstin Thurow |
spellingShingle |
Hui Liu Norbert Stoll Steffen Junginger Kerstin Thurow Mobile Robot for Life Science Automation International Journal of Advanced Robotic Systems |
author_facet |
Hui Liu Norbert Stoll Steffen Junginger Kerstin Thurow |
author_sort |
Hui Liu |
title |
Mobile Robot for Life Science Automation |
title_short |
Mobile Robot for Life Science Automation |
title_full |
Mobile Robot for Life Science Automation |
title_fullStr |
Mobile Robot for Life Science Automation |
title_full_unstemmed |
Mobile Robot for Life Science Automation |
title_sort |
mobile robot for life science automation |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2013-07-01 |
description |
The paper presents a control system for mobile robots in distributed life science laboratories. The system covers all technical aspects of laboratory mobile robotics. In this system: (a) to get an accurate and low-cost robot localization, a method using a StarGazer module with a number of ceiling landmarks is utilized; (b) to have an expansible communication network, a standard IEEE 802.11g wireless network is adopted and a XML-based command protocol is designed for the communication between the remote side and the robot board side; (c) to realize a function of dynamic obstacle measurement and collision avoidance, an artificial potential field method based on a Microsoft Kinect sensor is used; and (d) to determine the shortest paths for transportation tasks, a hybrid planning strategy based on a Floyd algorithm and a Genetic Algorithm (GA) is proposed. Additionally, to make the traditional GA method suitable for the laboratory robot's routing, a series of optimized works are also provided in detail. Two experiments show that the proposed system and its control strategy are effective for a complex life science laboratory. |
url |
https://doi.org/10.5772/56670 |
work_keys_str_mv |
AT huiliu mobilerobotforlifescienceautomation AT norbertstoll mobilerobotforlifescienceautomation AT steffenjunginger mobilerobotforlifescienceautomation AT kerstinthurow mobilerobotforlifescienceautomation |
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1724510398053351424 |