Vision based localization for multiple mobile robots using low-cost vision sensor

2015 ◽  
Author(s):  
Seokju Lee ◽  
Girma S. Tewolde ◽  
Jongil Lim ◽  
Jaerock Kwon
Keyword(s):  
Mobile Robots ◽  
Low Cost ◽  
Vision Sensor ◽  
Multiple Mobile Robots ◽  
Vision Based Localization

Vision Based Localization for Multiple Mobile Robots Using Low-cost Vision Sensor

2016 ◽  
Vol 7 (1) ◽  
pp. 12-25
Author(s):  
Seokju Lee ◽  
Girma Tewolde ◽  
Jongil Lim ◽  
Jaerock Kwon
Keyword(s):  
Mobile Robots ◽  
Vision System ◽  
Low Cost ◽  
Vision Sensor ◽  
Rf Transceiver ◽  
Multiple Mobile Robots ◽  
Multiple Devices ◽  
Localization Performance ◽  
Vision Based Localization ◽  
High Flexibility

This paper presents an efficient approach for a vision based localization of multiple mobile robots in an indoor environment by using a low cost vision sensor. The proposed vision sensor system that uses a single camera mounted over the mobile robots field takes advantages of small size, low energy consumption, and high flexibility to play an important role in the field of robotics. The nRF24L01 RF transceiver is connected to the vision system to enable wireless communication with multiple devices through 6 different data pipes. The downward-facing camera provides excellent performance that has the ability to identify a number of objects based on color codes, which form colored landmarks that provide mobile robots with useful image information for localization in the image view, which is then transformed to real world coordinates. Experimental results are given to show that the proposed method can obtain good localization performance in multi-mobile robots setting.

Vision Based Localization for Multiple Mobile Robots Using Low-cost Vision Sensor

2020 ◽  
pp. 575-589
Author(s):  
Seokju Lee ◽  
Girma Tewolde ◽  
Jongil Lim ◽  
Jaerock Kwon
Keyword(s):  
Mobile Robots ◽  
Vision System ◽  
Low Cost ◽  
Vision Sensor ◽  
Rf Transceiver ◽  
Multiple Mobile Robots ◽  
Multiple Devices ◽  
Localization Performance ◽  
Vision Based Localization ◽  
High Flexibility

This paper presents an efficient approach for a vision based localization of multiple mobile robots in an indoor environment by using a low cost vision sensor. The proposed vision sensor system that uses a single camera mounted over the mobile robots field takes advantages of small size, low energy consumption, and high flexibility to play an important role in the field of robotics. The nRF24L01 RF transceiver is connected to the vision system to enable wireless communication with multiple devices through 6 different data pipes. The downward-facing camera provides excellent performance that has the ability to identify a number of objects based on color codes, which form colored landmarks that provide mobile robots with useful image information for localization in the image view, which is then transformed to real world coordinates. Experimental results are given to show that the proposed method can obtain good localization performance in multi-mobile robots setting.

scholarly journals Self Control and Server-Supervisory Control for Multiple Mobile Robots and its Applicability to Intelligent DNC System

Robotics ◽  
2013 ◽  
pp. 375-390
Author(s):  
F. Nagata ◽  
T. Yamashiro ◽  
N. Kitahara ◽  
A. Otsuka ◽  
K. Watanabe ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Control Systems ◽  
Supervisory Control ◽  
Low Cost ◽  
Self Control ◽  
Control Mode ◽  
Actual System ◽  
Multiple Mobile Robots ◽  
Collective Behaviors ◽  
Nc Machine

Multiple mobile robots with six PSD (Position Sensitive Detector) sensors are designed for experimentally evaluating the performance of two control systems. They are self-control mode and server-supervisory control mode. The control systems are considered to realize swarm behaviors such as Ligia exotica. This is done by using only information of PSD sensors. Experimental results show basic but important behaviors for multiple mobile robots. They are following, avoidance, and schooling behaviors. The collective behaviors such as following, avoidance, and schooling emerge from the local interactions among the robots and/or between the robots and the environment. The objective of the study is to design an actual system for multiple mobile robots, to systematically simulate the behaviors of various creatures who form groups such as a school of fish or a swarm of insect. Further, the applicability of the server-supervisory control scheme to an intelligent DNC (Direct Numerical Control) system is briefly considered for future development. DNC system is an important peripheral apparatus, which can directly control NC machine tools. However, conventional DNC systems can neither deal with various information transmitted from different kinds of sensors through wireless communication nor output suitable G-codes by analyzing the sensors information in real time. The intelligent DNC system proposed at the end of the chapter aims to realize such a novel and flexible function with low cost.

Self Control and Server-Supervisory Control for Multiple Mobile Robots, and its Applicability to Intelligent DNC System

2012 ◽  
pp. 67-84
Author(s):  
F. Nagata ◽  
T. Yamashiro ◽  
N. Kitahara ◽  
A. Otsuka ◽  
K. Watanabe ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Control Systems ◽  
Supervisory Control ◽  
Low Cost ◽  
Self Control ◽  
Control Mode ◽  
Actual System ◽  
Multiple Mobile Robots ◽  
Collective Behaviors ◽  
Nc Machine

Multiple mobile robots with six PSD (Position Sensitive Detector) sensors are designed for experimentally evaluating the performance of two control systems. They are self-control mode and server-supervisory control mode. The control systems are considered to realize swarm behaviors such as Ligia exotica. This is done by using only information of PSD sensors. Experimental results show basic but important behaviors for multiple mobile robots. They are following, avoidance, and schooling behaviors. The collective behaviors such as following, avoidance, and schooling emerge from the local interactions among the robots and/or between the robots and the environment. The objective of the study is to design an actual system for multiple mobile robots, to systematically simulate the behaviors of various creatures who form groups such as a school of fish or a swarm of insect. Further, the applicability of the server-supervisory control scheme to an intelligent DNC (Direct Numerical Control) system is briefly considered for future development. DNC system is an important peripheral apparatus, which can directly control NC machine tools. However, conventional DNC systems can neither deal with various information transmitted from different kinds of sensors through wireless communication nor output suitable G-codes by analyzing the sensors information in real time. The intelligent DNC system proposed at the end of the chapter aims to realize such a novel and flexible function with low cost.

Accurate 3D Localization Using RGB-TOF Camera and IMU for Industrial Mobile Robots

Robotica ◽  
2021 ◽  
pp. 1-18
Author(s):  
Majid Yekkehfallah ◽  
Ming Yang ◽  
Zhiao Cai ◽  
Liang Li ◽  
Chuanxiang Wang
Keyword(s):  
Mobile Robots ◽  
Inertial Measurement Unit ◽  
Indoor Environment ◽  
State Of The Art ◽  
Low Cost ◽  
Estimation Algorithm ◽  
Measurement Unit ◽  
3D Localization ◽  
Fast Motion ◽  
Tof Camera

SUMMARY Localization based on visual natural landmarks is one of the state-of-the-art localization methods for automated vehicles that is, however, limited in fast motion and low-texture environments, which can lead to failure. This paper proposes an approach to solve these limitations with an extended Kalman filter (EKF) based on a state estimation algorithm that fuses information from a low-cost MEMS Inertial Measurement Unit and a Time-of-Flight camera. We demonstrate our results in an indoor environment. We show that the proposed approach does not require any global reflective landmark for localization and is fast, accurate, and easy to use with mobile robots.

scholarly journals A novel edge gradient algorithm for multiple mobile robots cooperative mapping in unknown environment

2019 ◽  
Vol 16 (4) ◽  
pp. 172988141986038
Author(s):  
Huang Yiqing ◽  
Wang Hui ◽  
Wei Lisheng ◽  
Gao Wengen ◽  
Ge Yuan
Keyword(s):  
Visual Field ◽  
Mobile Robots ◽  
Information Exchange ◽  
Field Of View ◽  
Gradient Algorithm ◽  
Movement Direction ◽  
Mapping Technique ◽  
Map Building ◽  
Multiple Mobile Robots ◽  
Motion Behavior

This article presented a cooperative mapping technique using a novel edge gradient algorithm for multiple mobile robots. The proposed edge gradient algorithm can be divided into four behaviors such as adjusting the movement direction, evaluating the safety of motion behavior, following behavior, and obstacle information exchange, which can effectively prevent multiple mobile robots falling into concave obstacle areas. Meanwhile, a visual field factor is constructed based on biological principles so that the mobile robots can have a larger field of view when moving away from obstacles. Also, the visual field factor will be narrowed due to the obstruction of the obstacle when approaching an obstacle and the obtained map-building data are more accurate. Finally, three sets of simulation and experimental results demonstrate the performance superiority of the presented algorithm.

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