Implementation of unconsciousness movements for mobile robot by using sonar sensor

2007 ◽  
Author(s):  
Takanori Emaru ◽  
Takeshi Tsuchiya
Keyword(s):  
Mobile Robot ◽  
Sonar Sensor

CORRIDOR-SCENE CLASSIFYING METHODS FOR MOBILE ROBOT BASED ON MULTI-SONAR-SENSOR INFORMATION FUSION

2007 ◽  
Vol 04 (01) ◽  
pp. 15-26 ◽  
Author(s):  
XIUQING WANG ◽  
ZENG-GUANG HOU ◽  
LONG CHENG ◽  
MIN TAN ◽  
FEI ZHU
Keyword(s):  
Principal Component Analysis ◽  
Mobile Robot ◽  
Principal Component ◽  
Component Analysis ◽  
Experimental Results ◽  
Scene Analysis ◽  
Kernel Principal Component Analysis ◽  
Kernel Pca ◽  
Sonar Sensor ◽  
Pca Method

The ability of cognition and recognition for complex environment is very important for a real autonomous robot. A new scene analysis method using kernel principal component analysis (kernel-PCA) for mobile robot based on multi-sonar-ranger data fusion is put forward. The principle of classification by principal component analysis (PCA), kernel-PCA, and the BP neural network (NN) approach to extract the eigenvectors which have the largest k eigenvalues are introduced briefly. Next the details of PCA, kernel-PCA and the BP NN method applied in the corridor scene analysis and classification for the mobile robots based on sonar data are discussed and the experimental results of those methods are given. In addition, a corridor-scene-classifier based on BP NN is discussed. The experimental results using PCA, kernel-PCA and the methods based on BP neural networks (NNs) are compared and the robustness of those methods are also analyzed. Such conclusions are drawn: in corridor scene classification, the kernel-PCA method has advantage over the ordinary PCA, and the approaches based on BP NNs can also get satisfactory results. The robustness of kernel-PCA is better than that of the methods based on BP NNs.

Multipath Bayesian Map Construction Model from Sonar Data

Robotica ◽  
1996 ◽  
Vol 14 (5) ◽  
pp. 527-540 ◽  
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.

Localization and Path Planning for an Autonomous Mobile Robot Equipped with Sonar Sensor

2015 ◽  
Vol 772 ◽  
pp. 494-499 ◽  
Author(s):  
Corina Monica Pop ◽  
Gheorghe Leonte Mogan ◽  
Mihail Neagu
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Mobile Robotics ◽  
Planning Process ◽  
Autonomous Mobile Robot ◽  
Sonar Sensors ◽  
Sonar Sensor ◽  
Simulation Results ◽  
Effectiveness And Efficiency ◽  
Global Trajectory

In the field of mobile robotics, the process of robot localization and global trajectory planning in robot operating scenes, that are completely or partially known, represents one of the main issues that are essential for providing the desired robot functionality. This paper introduces the basic elements of path planning for an autonomous mobile robot equipped with sonar sensors, operating in a static environment. The path planning process is initially performed by using a known map. Next, the sonar sensors are used to localize the robot, based on obstacle avoidance techniques. The effectiveness and efficiency of the algorithm proposed in this paper is demonstrated by the simulation results.

Removal of sonar wave interference in multi-robot system for the efficient SLAM by randomized triggering time technique

2020 ◽  
Vol 17 (4) ◽  
pp. 535-542
Author(s):  
Ravinder Singh ◽  
Akshay Katyal ◽  
Mukesh Kumar ◽  
Kirti Singh ◽  
Deepak Bhola
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Cross Talk ◽  
Autonomous Navigation ◽  
Content Type ◽  
Occupancy Grid ◽  
Grid Map ◽  
Wave Interference ◽  
Sonar Sensor ◽  
Occupancy Grid Map

Purpose Sonar sensor-based mobile robot mapping is an efficient and low cost technique for the application such as localization, autonomous navigation, SLAM and path planning. In multi-robots system, numbers of sonar sensors are used and the sound waves from sonar are interacting with the sound wave of other sonar causes wave interference. Because of wave interference, the generated sonar grid maps get distorted which resulted in decreasing the reliability of mobile robot’s navigation in the generated grid maps. This research study focus in removing the effect of wave interfaces in the sonar mapping to achieve robust navigation of mobile robot. Design/methodology/approach The wrong perception (occupancy grid map) of the environment due to cross talk/wave interference is eliminated by randomized the triggering time of sonar by varying the delay/sleep time of each sonar sensor. A software-based approach randomized triggering technique (RTT) is design in laboratory virtual instrument engineering workbench (LabVIEW) that randomized the triggering time of the sonar sensor to eliminate the effect of wave interference/cross talk when multiple sonar are placed in face-forward directions. Findings To check the reliability of the RTT technique, various real-world experiments are perform and it is experimentally obtained that 64.8% improvement in terms of probabilities in the generated occupancy grid map has been attained when compared with the conventional approaches. Originality/value This proposed RTT technique maybe implementing for SLAM, reliable autonomous navigation, optimal path planning, efficient robotics vision, consistent multi-robotic system, etc.

Person Following of a Mobile Robot based on the Fusion of Camera and Sonar Sensor

2016 ◽  
Vol 2016 (0) ◽  
pp. 502
Author(s):  
Kaoru SAITO ◽  
Shinsuke OH-HARA ◽  
ATSUSHI Fujimori
Keyword(s):  
Mobile Robot ◽  
Person Following ◽  
Sonar Sensor

scholarly journals An Automated Obstacle Detector and Path Finder Robotic Car

2020 ◽  
Vol 4 (2) ◽  
Author(s):  
Mohammad Shamiur Rahman Al Nahian ◽  
Arnab Piush Biswas
Keyword(s):  
Mobile Robot ◽  
System Support ◽  
Security Sector ◽  
Sonar Sensor ◽  
Cost Efficient ◽  
The Given

This is to present you a simple and cost-efficient obstacle detecting mobile robot. Here a controlled rotating sonar sensor has been used to measure distance.  With this robot the angular and distance values are being sampled with the system support and being simplified to get a correct way through the given algorithm. The system was implemented in C++ type Arduino coding Software. Inputting the data and processing it in Arduino; all were digitally maintained; the digital pins of Arduino were used. And the outputs were controlled by the Arduino which were pre-given. This simple, cost efficient and mostly accurate project can be used in farming as well as defense and security sector of any country.

Experimental investigation of mapping and navigation based on certainty grids using sonar sensors

Robotica ◽  
1993 ◽  
Vol 11 (1) ◽  
pp. 7-17 ◽  
Author(s):  
Jong Hwan Lim ◽  
Dong Woo Cho
Keyword(s):  
Mobile Robot ◽  
Bayesian Model ◽  
Range Data ◽  
Autonomous Mobile Robot ◽  
Two Dimensional ◽  
On Certainty ◽  
Probability Map ◽  
Sonar Sensors ◽  
Sonar Sensor ◽  
Sensor Information

SUMMARYA mapping and navigation system based on certainty grids for an autonomous mobile robot operating in unknown environment is described. The system uses sonar range data to build a map of the robot's surroundings. The range data from sonar sensor are integrated into a probability map that is composed of two dimensional grids which contain the probabilities of being occupied by the objects in the environment. A Bayesian model is used to estimate the uncertainty of the sensor information and to update the existing probability map with new range data. The resulting two dimensional map is used for path planning and navigation. In this paper, the Bayesian updating model which was successfully simulated in our earlier work is implemented on a mobile robot and is shown to be valid in the real world by experiment.

Avoiding Obstacle Control of Mobile Robot Based on Artificial Potential Field Method

2014 ◽  
Vol 556-562 ◽  
pp. 2325-2328 ◽  
Author(s):  
Jing Wang
Keyword(s):  
Mobile Robot ◽  
Control Strategy ◽  
Potential Field ◽  
Field Method ◽  
Artificial Potential Field ◽  
Target Point ◽  
Simulation Environment ◽  
Sonar Sensor ◽  
Artificial Potential Field Method ◽  
Moving Speed

Avoiding obstacle control strategy of Mobile robot based on Artificial Potential Field is addressed in this paper, detecting ambient by use of sonar sensor .Setting target point and the moving speed arbitrarily in mobile simulation environment, these avoid obstacle moment are conducted successfully.

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