Search research articles

ABOUT JoVE

Overview Leadership Blog JoVE Help Center

AUTHORS

Publishing Process Editorial Board Scope & Policies Peer Review FAQ Submit

LIBRARIANS

Testimonials Subscriptions Access Resources Library Advisory Board FAQ

RESEARCH

JoVE Journal Methods Collections JoVE Encyclopedia of Experiments Archive

EDUCATION

JoVE Core JoVE Business JoVE Science Education JoVE Lab Manual Faculty Resource Center Faculty Site

Terms & Conditions of Use

Related Concept Videos

One-Degree-of-Freedom System

One-Degree-of-Freedom System

In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...

Rolling Resistance: Problem Solving

Rolling Resistance: Problem Solving

Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...

Relative Motion Analysis using Rotating Axes-Problem Solving

Relative Motion Analysis using Rotating Axes-Problem Solving

Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...

Hierarchy of Motor Control

Hierarchy of Motor Control

The hierarchy of motor control refers to the different levels of organization and processing involved in controlling movement in the body. These levels range from higher cortical areas involved in planning and decision-making to lower spinal cord reflexes that respond automatically to external stimuli.

Torque Free Motion

Torque Free Motion

The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...

Relative Motion Analysis using Rotating Axes

Relative Motion Analysis using Rotating Axes

Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by

Same author

Reuse Distance-Aided Resource Selection Mechanisms for NR-V2X Sidelink Communication.

Sensors (Basel, Switzerland)·2024

Same author

Clustering-Based Noise Elimination Scheme for Data Pre-Processing for Deep Learning Classifier in Fingerprint Indoor Positioning System.

Sensors (Basel, Switzerland)·2021

Same author

Adjacent Vehicle Number-Triggered Adaptive Transmission for V2V Communications.

Sensors (Basel, Switzerland)·2018

See all related articles

Search research articles

Related Experiment Video

Updated: Aug 2, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

ROS-Based Autonomous Navigation Robot Platform with Stepping Motor.

Shengmin Zhao¹, Seung-Hoon Hwang¹

¹Division of Electronics and Electrical Engineering, Dongguk University, Seoul 04620, Republic of Korea.

Sensors (Basel, Switzerland)

|April 13, 2023

Summary

This study introduces Owlbot, an autonomous navigation robot using a stepping motor and a novel polynomial control algorithm. Owlbot accurately maps unknown environments and navigates autonomously with minimal movement error.

Keywords:

autonomous navigation indoor navigation robot robot operating system simultaneous localisation and mapping stepping motor

More Related Videos

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

Published on: December 19, 2016

Related Experiment Videos

Last Updated: Aug 2, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

Published on: December 19, 2016

Area of Science:

Robotics
Control Systems
Artificial Intelligence

Background:

Indoor navigation robots commonly use direct current motors and complex control algorithms requiring sensor cooperation.
Existing systems often face challenges with error correction and precise motor control.

Purpose of the Study:

To design an autonomous navigation robot platform, Owlbot, utilizing a stepping motor for enhanced precision.
To develop a novel stepping motor control algorithm using polynomial equations for accurate motor operation.
To achieve simultaneous localization, mapping, and autonomous navigation in unknown environments.

Main Methods:

Designed the Owlbot robot platform with a stepping motor as the mobile actuator.
Developed a polynomial equation-based control algorithm to convert speed instructions into precise motor control signals.
Integrated 2D LiDAR and an inertial measurement unit (IMU) for sensor data.
Implemented a particle filtering mapping algorithm for simultaneous localization and mapping (SLAM).

Main Results:

Owlbot successfully mapped an unknown environment.
The robot demonstrated autonomous navigation capabilities using the developed control algorithm.
Experimental results showed a maximum movement error of less than 0.015 m, indicating high accuracy.

Conclusions:

The proposed stepping motor control algorithm and Owlbot platform enable accurate and efficient indoor autonomous navigation.
The integration of polynomial control with SLAM techniques offers a robust solution for mobile robot navigation.
Owlbot presents a viable alternative to traditional DC motor-based navigation systems, offering improved precision.