LITERATURE SURVEY

1. EFFICIENT PATH PLANNING IN SEMI-FAULT TOLERANT ROBOTICS

2. Caesar robot

EFFICIENT PATH PLANNING IN SEMI-FAULT TOLERANT

ROBOTICSMain task - proper execution of actions based on the set of beliefsRobot that is able to make decisions in multiple environmentsTraining of robot using offline maps graceful Degradation of the sensors in hostile and difficult environmentsThe goal is to find an optimal path, avoiding maximum collision and increasing the optimization in real-time robotics

ALGORITHM:-

Repeated forward A*Pass the initial location of the robot and final goal locationExecutes the Compute Path algorithmBacktracks from the goal to agent using tree pointerFind the shortest path among the path nodes calculatedMoves the agent along the selected path Five values for each state: g(s), h(s), f(s), tree(s) & search(s)

Initially, start state pushed into open list Then removed and moved to closed list Actions performed on node & f(s) updated States with greater g(s) into open list Loop finds next minimum f(s) node Procedure continues until goal reached

IMPLEMENTATION :-

Software implementation under open-source environment, so Java used Creates software objects which are encapsulations of data and procedures. Simulating java code using ECLIPSE SDK DC motor for driving and servo for steering Focus – to achieve less weight with elegant design Aluminium frame work sufficiently strong Capacity to add new parts Weight within the figure formed, so easily handled Size not too small nor large

ADVANTAGES:-

Strong frame work and low cost Provides smooth drive Front wheel drive chosen One DC motor and one servo motor required Rear wheels are self aligned Surface of the wheels provide greater grip

DISADVANTAGES:-

Collision avoidance not considered Multiple agents system scenario not mentioned

Caesar robot

Previous USAR robots and their associated problems Improvements of the mechanical, communication and sensory systems To provide development of USAR robots Include semi-autonomous robots

Mechanical System:-

CAESAR's tracks prevented slippage on smooth surfaces Flipper arms assisted with climbing over obstacles Gradual lift of the front or back part Kevlar and phenolic resin composite body ensured a strong body Heat reflected by aluminized Kevlar CAESAR has an overall weight of 56.5 kg

Communication System :-

Use of UHF dedicated frequencies allowed radio signals to be reflected Robotic Communication Protocol allowed data reliability Corruption of data prevented Eggbeater antennas for omni-directional communication Thermal video transmission possible

Sensory System :-

Thermal camera revealed heated areas Sonar sensors for object detection Gas sensors included onboard identifies gas concentration levels Control unit included GUI with AI Allows controlling of diff robots, but one at a time GUI indicates unsafe areas by changing color

Thus CAESAR robot could provide:1. Thermal imaging2. Gas sensing3. Maneuverability4. Audio feed5. Telemetry6. Thermal shielding 7. Low weight and size