Research on the Map Construction of SLAM Mobile Robot Based on the Two-Dimensional Code Correction

In order to realize fast real-time positioning after a mobile robot starts, this paper proposes an improved ORB-SLAM2 algorithm. Firstly, we proposed a binary vocabulary storage method and vocabulary training algorithm based on an improved Oriented FAST and Rotated BRIEF (ORB) operator to reduce the vocabulary size and improve the loading speed of the vocabulary and tracking accuracy. Secondly, we proposed an offline map construction algorithm based on the map element and keyframe database; then, we designed a fast reposition method of the mobile robot based on the offline map. Finally, we presented an offline visualization method for map elements and mapping trajectories. In order to check the performance of the algorithm in this paper, we built a mobile robot platform based on the EAI-B1 mobile chassis, and we implemented the rapid relocation method of the mobile robot based on improved ORB SLAM2 algorithm by using C++ programming language. The experimental results showed that the improved ORB SLAM2 system outperforms the original system regarding start-up speed, tracking and positioning accuracy, and human–computer interaction. The improved system was able to build and load offline maps, as well as perform rapid relocation and global positioning tracking. In addition, our experiment also shows that the improved system is robust against a dynamic environment.

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Multipath Bayesian Map Construction Model from Sonar Data

Robotica ◽

10.1017/s0263574700020014 ◽

1996 ◽

Vol 14 (5) ◽

pp. 527-540 ◽

Cited By ~ 11

Author(s):

Jong Hwan Lim ◽

Dong Woo Chof†

Keyword(s):

Mobile Robot ◽

Real World ◽

Probabilistic Approach ◽

Bayesian Reasoning ◽

Occupancy Probability ◽

Map Construction ◽

Sonar Sensor ◽

A Cell ◽

Construction Model ◽

Wrong Interpretation

SUMMARYA new model for the construction of a sonar map in a specular environment has been developed and implemented. In a real world, where most of the object surfaces are specular ones, a sonar sensor surfers from a multipath effect which results in a wrong interpretation of an object's location. To reduce this effect and hence to construct a reliable map of a robot's surroundings, a probabilistic approach based on Bayesian reasoning is adopted to both evaluation of object orientations and estimation of an occupancy probability of a cell by an object. The usefulness of this approach is illustrated with the results produced by our mobile robot equipped with ultrasonic sensors.

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Navigation of a mobile robot by locally optimal trajectories

Robotica ◽

10.1017/s0263574799001769 ◽

1999 ◽

Vol 17 (5) ◽

pp. 553-562 ◽

Cited By ~ 3

Author(s):

Kokou Djath ◽

Ali Siadet ◽

Michel Dufaut ◽

Didier Wolf

Keyword(s):

Mobile Robot ◽

Shortest Path ◽

Laser Scanner ◽

Navigation Algorithm ◽

Map Construction ◽

Unstructured Environment ◽

Environment Perception ◽

Simple Equations ◽

Holonomic Mobile Robot ◽

Local Map

This paper proposes a navigation system for a non-holonomic mobile robot. The navigation is based on a “look and move” approach. The aim is to define intermediate points called sub-goals through which the robot must pass. This algorithm is particularly suitable for navigation in an unknown environment and obstacle avoidance. Between two successive sub-goals, a shortest path planning solution is adopted. We have adopted the “Dubins' car” because of the environment perception sensor, a 180° laser scanner. In order to minimize the calculation time, the theoretical results of shortest path are approximated by simple equations. The navigation algorithm proposed can be used either in a structured or unstructured environment. In this context the local map construction is based on the segmentation of a structured environment; so for an unstructured environment, a suitable algorithm must be used instead.

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Optimize 2-D Path Planning of Mobile Robot by using ACO with Guidance Factor

Sir Syed Research Journal of Engineering & Technology ◽

10.33317/ssurj.148 ◽

2020 ◽

Vol 9 (02) ◽

Author(s):

Li Wang

Keyword(s):

Path Planning ◽

Mobile Robot ◽

Design Method ◽

Target Position ◽

Structure Design ◽

Two Dimensional ◽

Ant System ◽

Planning Strategy ◽

Research Article ◽

System Methodology

In this research article, the path planning of a mobile robot done by using ant colony optimization (ACO) with guidance factor. A two-dimensional (2-D) threat map structure design for path planning strategy, in which threat points are fixed in the path of moving robot. The two main objective of this research; to reach the mobile robot at the target position by using optimal route using ACO strategy. Secondly, by using guidance factor all the ants of ACO arrive at the fixed targeted area. Moreover, the results of the proposed algorithm compares with the classical ant system methodology. The simulated results show that the design method has short path planning and less steady state error to reach the designated path robustly.

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Development of Four Kinds of Mobile Robot with Preliminary-Announcement and Indication Function of Upcoming Operation

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2007.p0148 ◽

2007 ◽

Vol 19 (2) ◽

pp. 148-159 ◽

Cited By ~ 6

Author(s):

Takafumi Matsumaru ◽

Keyword(s):

Mobile Robot ◽

Mobile Robots ◽

Two Dimensional ◽

Flat Panel Display ◽

Laser Pointer ◽

Flat Panel ◽

Future Time ◽

Evaluation Score ◽

Gender And Age ◽

Direction Of Movement

We propose approaches and equipment for preliminarily announcing and indicating to people the speed and direction of movement of mobile robots moving on a two-dimensional plane. We introduce the four approaches categorized into (1) announcing the state just after the present and (2) indicating operations from the present to some future time continuously. To realize the approaches, we use omni-directional display (PMR-2), flat-panel display (PMR-6), laser pointer (PMR-1), and projection equipment (PMR-5) for the announcement unit of protobots. The four protobots were exhibited at the 2005 International Robot Exhibition (iREX05). We had visitors answer questionnaires in a 5-stage evaluation. The projector robot PMR-5 received the highest evaluation score among the four. An examination of differences by gender and age suggested that some people prefer simple information, friendly expressions, and a minimum of information to be presented at one time.

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