Robust and Efficient Mobile Robot Self-localization using Laser Scanner and Geometrical Maps

2006 ◽  
Author(s):  
L. Armesto ◽  
J. Tornero
Keyword(s):  
Mobile Robot ◽  
Laser Scanner

scholarly journals Set-point Control of Mobile Robot with Obstacle Detection and Avoidance Using Navigation Function - Experimental Verification

2016 ◽  
Vol 85 (3-4) ◽  
pp. 539-552 ◽  
Author(s):  
Wojciech Kowalczyk ◽  
Mateusz Przybyla ◽  
Krzysztof Kozlowski
Keyword(s):  
Mobile Robot ◽  
Experimental Verification ◽  
Control Method ◽  
Laser Scanner ◽  
Obstacle Detection ◽  
Navigation Function ◽  
Mobile Robot Control ◽  
Good Potential ◽  
Point Control ◽  
Robot Position

AbstractThis paper presents the results of an experimental verification of mobile robot control algorithm including obstacle detection and avoidance. The controller is based on the navigation potential function that was proposed in work (Urakubo, Nonlinear Dyn. 81(3), 1475–1487 2015). Conducted experiments considered the task of reaching and stabilization of robot in point. The navigation potential agregates information of robot position and orientation but also the repelling potentials of obstacles. The obstacle detection is performed solely with the use of laser scanner. The experiments show that the method can easily handle environments with one or two obstacles even if they instantly hide or show-up due to the scanner range limits. The experiments also indicate that the utilized control method has a good potential for being used in parallel parking task.

Navigation of a mobile robot by locally optimal trajectories

Robotica ◽  
1999 ◽  
Vol 17 (5) ◽  
pp. 553-562 ◽  
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.

Adaptive Line Extraction for Slam Line Based Applications in Unknown Environments

2011 ◽  
Vol 403-408 ◽  
pp. 2057-2064
Keyword(s):  
Mobile Robot ◽  
Laser Scanner ◽  
Line Extraction ◽  
International Conference ◽  
Unknown Environments ◽  
Extraction Algorithm ◽  
Ieee International Conference

Paper has been removed due to plagiarism. The original was published in the Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, Thailand, February 21 - 26, 2009. Recursive Line Extraction Algorithm from 2D Laser Scanner Applied to Navigation a Mobile Robot, Mohammad Norouzi, Mostafa Yaghobi, Mohammad Rezai Siboni, Mahdi Jadaliha

scholarly journals ANALISIS PENGARUH KECEPATAN KENDARAAN LISTRIK DAN KECERAHAN LINGKUNGAN TERHADAP HASIL PEMETAAN RUANGAN DARI SENSOR LASER SCANNER

2018 ◽  
Vol 3 (1) ◽  
pp. 57
Author(s):  
Muh. Abdillah ◽  
Fatkhur Rohman
Keyword(s):  
Mobile Robot ◽  
Laser Scanner ◽  
Operation System

Angka kecelakaan lalu lintas di Indonesia masih tinggi. Menurut Data Badan Pusat Statistik (BPS) jumlah kecelakaan lalu lintas dalam 10 tahun terakhir mengalami fluktuasi, peningkatan paling tinggi terjadi pada 2011, yakni mencapai 108 ribu kasus. Salah satu solusi dari latar belakang tersebut ialah menggunakan sistem autonomus. Tujuan dari penelitian ini adalah untuk mempelajari sistem autonomous menggunakan sensor laser scanner untuk mendeteksi hambatan di sekitar, dan kemudian membuat simulasi pemetaan 2D menggunakan software simulator Rviz dan digabungkan dengan ROS (Robot Operation System). Penelitian ini menjelaskan pengaruh variasi kecepatan mobile robot dan variasi kecerahan lingkungan terhadap hasil pemetaan, dengan asumsi awal tidak terdapat pengaruh terhadap hasil pembacaan sensor. Hasil penelitian mendapati adanya pengaruh kecepatan kendaraan listrik dari kecepatan 0.4 m/s, 1.77 m/s, 2.62 m/s dan 3.45 m/s terhadap hasil pemetaan. Pengaruh yang diperoleh adalah semakin cepat kendaraan listrik berjalan maka hasil pemetaan semakin tidak akurat. Hal itu disebabkan adanya pngiriman data serial dalam waktu bersamaan. Adapun pengaruh kecerahan lingkungan terhadap hasil pemetaan setelah di uji adalah tidak ada pengaruh. Hal itu disebabkan tingkat kecerahan yang digunakan masih dalam rentang spesifikasi sensor yaitu 10000 lux atau kurang

scholarly journals Person-following of a Mobile Robot using a Complementary Tracker with a Camera-laser Scanner

2014 ◽  
Vol 20 (1) ◽  
pp. 78-86 ◽  
Author(s):  
Hyoung-Rae Kim ◽  
Xue-Nan Cui ◽  
Jae-Hong Lee ◽  
Seung-Jun Lee ◽  
Hakil Kim
Keyword(s):  
Mobile Robot ◽  
Laser Scanner ◽  
Person Following

Autonomous Mobile Robot Searching for Persons with Specific Clothing on Urban Walkway

2017 ◽  
Vol 29 (4) ◽  
pp. 649-659 ◽  
Author(s):  
Ryohsuke Mitsudome ◽  
◽  
Hisashi Date ◽  
Azumi Suzuki ◽  
Takashi Tsubouchi ◽  
...  
Keyword(s):  
Object Recognition ◽  
Mobile Robot ◽  
Real Time ◽  
Real World ◽  
Laser Scanner ◽  
High Accuracy ◽  
Autonomous Mobile Robot ◽  
World Environment

In order for a robot to provide service in a real world environment, it has to navigate safely and recognize the surroundings. We have participated in Tsukuba Challenge to develop a robot with robust navigation and accurate object recognition capabilities. To achieve navigation, we have introduced the ROS packages, and the robot was able to navigate without major collisions throughout the challenge. For object recognition, we used both a laser scanner and camera to recognize a person in specific clothing, in real time and with high accuracy. In this paper, we evaluate the accuracy of recognition and discuss how it can be improved.

Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning

2019 ◽  
Vol 39 (3) ◽  
pp. 469-478
Author(s):  
Qifeng Yang ◽  
Daokui Qu ◽  
Fang Xu ◽  
Fengshan Zou ◽  
Guojian He ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Motion Control ◽  
Autonomous Navigation ◽  
Laser Scanning ◽  
Large Scale ◽  
Laser Scanner ◽  
Geometric Feature ◽  
Content Type ◽  
Localization Accuracy ◽  
Novel Approach

Purpose This paper aims to propose a series of approaches to solve the problem of the mobile robot motion control and autonomous navigation in large-scale outdoor GPS-denied environments. Design/methodology/approach Based on the model of mobile robot with two driving wheels, a controller is designed and tested in obstacle-cluttered scenes in this paper. By using the priori “topology-geometry” map constructed based on the odometer data and the online matching algorithm of 3D-laser scanning points, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot’s autonomous navigation and control. Findings A series of experiments are conducted with a self-designed mobile robot platform in large-scale outdoor environments, and the experimental results show the validity and effectiveness of the proposed approach. Originality/value The problem of motion control for a differential drive mobile robot is investigated in this paper first. At the same time, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot’s autonomous navigation and control.

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