A QR Code-based High-Precision Docking System for Mobile Robots Exhibiting Submillimeter Accuracy

2021 ◽  
Author(s):  
Georgios Bolanakis ◽  
Kostas Nanos ◽  
Evangelos Papadopoulos
Keyword(s):  
Mobile Robots ◽  
High Precision ◽  
Qr Code

A QR-code localization system for mobile robots: Application to smart wheelchairs

2017 ◽  
Author(s):  
Luca Cavanini ◽  
Gionata Cimini ◽  
Francesco Ferracuti ◽  
Alessandro Freddi ◽  
Gianluca Ippoliti ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Qr Code ◽  
Localization System ◽  
Smart Wheelchairs

scholarly journals Recognition of Perspective Distorted QR Codes with a Partially Damaged Finder Pattern in Real Scene Images

2020 ◽  
Vol 10 (21) ◽  
pp. 7814
Author(s):  
Ladislav Karrach ◽  
Elena Pivarčiová ◽  
Pavol Bozek
Keyword(s):  
Mobile Robots ◽  
Qr Code ◽  
Two Dimensional ◽  
Quick Response ◽  
Image Binarization ◽  
Computationally Efficient ◽  
Qr Codes ◽  
Operational Space ◽  
Perspective Distortion ◽  
Real Scene

QR (Quick Response) codes are one of the most famous types of two-dimensional (2D) matrix barcodes, which are the descendants of well-known 1D barcodes. The mobile robots which move in certain operational space can use information and landmarks from environment for navigation and such information may be provided by QR Codes. We have proposed algorithm, which localizes a QR Code in an image in a few sequential steps. We start with image binarization, then we continue with QR Code localization, where we utilize characteristic Finder Patterns, which are located in three corners of a QR Code, and finally we identify perspective distortion. The presented algorithm is able to deal with a damaged Finder Pattern, works well for low-resolution images and is computationally efficient.

Intelligent Robot Obstacle Avoidance Perception Method Using a High-Precision Laser Distance Measuring System

2021 ◽  
Vol 16 (3) ◽  
pp. 471-478
Author(s):  
Yuzhou Liu
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Obstacle Avoidance ◽  
High Precision ◽  
Large Scale ◽  
Measuring System ◽  
Channel Modulation ◽  
Avoidance Control ◽  
Modulation Signal ◽  
Distance Measuring

Laser distance measuring is increasingly used in large-scale and real-time scanning measurement, including three-dimensional map construction, size measurement of large-scale buildings, and real-time surface information acquisition. Therefore, there are high-precision and high-efficiency requirements for the laser distance measuring system. Based on the phase laser distance measuring, a laser parallel distance measuring system is proposed as per the frequency division multiplexer principle. The system uses multi-channel modulation signals with different frequencies to drive multiple lasers to emit light intensity in parallel, and then the light wave is measured according to the change of the modulation signal. The single-channel modulation signal adopts the multi-scale composite wave to eliminate the uncertainty of the whole wavelength by using the combination of two scales and distance measurement. The multiple echo signals after diffuse reflection of the measured target are mixed and received by the same photodetector and go through signal amplification, clutter filtering, etc., and then are sent to the mixing unit together with the reference signal, followed by down-frequency processing, with the effective signal obtained through the low-frequency filter. In the experiment, the laser distance measuring system is used for obstacle avoidance control of mobile robots, and fuzzy control is used to design the corresponding obstacle avoidance controller. The robot lateral deviation and heading angle are used as the input of the fuzzy controller, and the track variation is the output. The test verifies that the obstacle avoidance control is effective, that is, the laser distance measuring system designed in this research can be used for the obstacle avoidance control of mobile robots.

scholarly journals High Precision GNSS Guidance for Field Mobile Robots

10.5772/52554 ◽  
2012 ◽  
Vol 9 (5) ◽  
pp. 169 ◽  
Author(s):  
Ladislav Jurišica ◽  
František Duchoň ◽  
Dušan Kaštan ◽  
Andrej Babinec
Keyword(s):  
Mobile Robots ◽  
High Precision

Indoor Localization of Mobile Robots Through QR Code Detection and Dead Reckoning Data Fusion

2017 ◽  
Vol 22 (6) ◽  
pp. 2588-2599 ◽  
Author(s):  
Payam Nazemzadeh ◽  
Daniele Fontanelli ◽  
David Macii ◽  
Luigi Palopoli
Keyword(s):  
Data Fusion ◽  
Mobile Robots ◽  
Indoor Localization ◽  
Dead Reckoning ◽  
Qr Code

An Approach Towards High-Precision Docking of the Mobile Robots for Industrial Purposes

2020 ◽  
pp. 239-247
Author(s):  
Piotr Falkowski ◽  
Michał Smater ◽  
Jakub Koper ◽  
Arkadiusz Myśliwiec ◽  
Tomasz Mackiewicz
Keyword(s):  
Mobile Robots ◽  
High Precision

scholarly journals Positioning, Navigation, and Book Accessing/Returning in an Autonomous Library Robot using Integrated Binocular Vision and QR Code Identification Systems

Sensors ◽  
2019 ◽  
Vol 19 (4) ◽  
pp. 783 ◽  
Author(s):  
Xiaojun Yu ◽  
Zeming Fan ◽  
Hao Wan ◽  
Yuye He ◽  
Junye Du ◽  
...  
Keyword(s):  
High Precision ◽  
Binocular Vision ◽  
Vision System ◽  
Operation Time ◽  
Cost Effective ◽  
Qr Code ◽  
Identification Technique ◽  
Code Identification ◽  
Operational Errors ◽  
Operational Error

With rapid advancements in artificial intelligence and mobile robots, some of the tedious yet simple jobs in modern libraries, like book accessing and returning (BAR) operations that had been fulfilled manually before, could be undertaken by robots. Due to the limited accuracies of the existing positioning and navigation (P&N) technologies and the operational errors accumulated within the robot P&N process, however, most of the current robots are not able to fulfill such high-precision operations. To address these practical issues, we propose, for the first time (to the best of our knowledge), to combine the binocular vision and Quick Response (QR) code identification techniques together to improve the robot P&N accuracies, and then construct an autonomous library robot for high-precision BAR operations. Specifically, the binocular vision system is used for dynamic digital map construction and autonomous P&N, as well as obstacle identification and avoiding functions, while the QR code identification technique is responsible for both robot operational error elimination and robotic arm BAR operation determination. Both simulations and experiments are conducted to verify the effectiveness of the proposed technique combination, as well as the constructed robot. Results show that such a technique combination is effective and robust, and could help to significantly improve the P&N and BAR operation accuracies, while reducing the BAR operation time. The implemented autonomous robot is fully-autonomous and cost-effective, and may find applications far beyond libraries with only sophisticated technologies employed.

scholarly journals Path Planning of Mobile Robots Based on QR Code

2018 ◽  
Vol 1 (1) ◽  
pp. 31-38
Author(s):  
Gokhan Atali ◽  
Zeynep Garip ◽  
Sinan Serdar Ozkan ◽  
Durmuş Karayel
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Qr Code ◽  
Image Tracking ◽  
Work Area ◽  
Planning Algorithm ◽  
Application Fields ◽  
Path Planning Algorithm ◽  
S Application ◽  
Day By Day

The place and importance of mobile robots in today's industry is increasing day by day. The use of mobile robots for industrial purposes such as sorting, moving and placing is no longer a preference but a necessity. With methods such as line, magnetic field, infrared ray or image tracking, positioning of mobile robots and path planning are possible. The use of these methods depends on the application fields. The industry started with mobile line following robot’s application at the beginning, gradually they have been developing day by day, and pursuits for different methods. If the topic examined under the heading of Industry 4.0, it is necessary to equip mobile robots with innovative technologies. The need for mobile robots that can provide fast, effective and practical solutions is being investigated by academics and commercial product developers.In this study, it is aimed to carry out a QR code based study on path planning of industrial mobile robots with distributed mobility. For this purpose, coordinates of the mobile robot work area are represented by QR labels and prepared in the form of a matrix. This way, developed path planning algorithm can be evaluated as a derivative of existing algorithms.

High-precision and robust localization system for mobile robots in complex and large-scale indoor scenes

2021 ◽  
Vol 18 (5) ◽  
pp. 172988142110476
Author(s):  
Jibo Wang ◽  
Chengpeng Li ◽  
Bangyu Li ◽  
Chenglin Pang ◽  
Zheng Fang
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
High Precision ◽  
Autonomous Navigation ◽  
Target Area ◽  
Global Localization ◽  
Localization System ◽  
Current Localization ◽  
Robust Localization ◽  
Indoor Scenes

High-precision and robust localization is the key issue for long-term and autonomous navigation of mobile robots in industrial scenes. In this article, we propose a high-precision and robust localization system based on laser and artificial landmarks. The proposed localization system is mainly composed of three modules, namely scoring mechanism-based global localization module, laser and artificial landmark-based localization module, and relocalization trigger module. Global localization module processes the global map to obtain the map pyramid, thus improve the global localization speed and accuracy when robots are powered on or kidnapped. Laser and artificial landmark-based localization module is employed to achieve robust localization in highly dynamic scenes and high-precision localization in target areas. The relocalization trigger module is used to monitor the current localization quality in real time by matching the current laser scan with the global map and feeds it back to the global localization module to improve the robustness of the system. Experimental results show that our method can achieve robust robot localization and real-time detection of the current localization quality in indoor scenes and industrial environment. In the target area, the position error is less than 0.004 m and the angle error is less than 0.01 rad.

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