Autonomous navigation for planetary exploration by a mobile robot

2003 ◽  
Author(s):  
L. Yenilmez ◽  
H. Temeltas
Keyword(s):  
Mobile Robot ◽  
Autonomous Navigation ◽  
Planetary Exploration

Planetary exploration by a mobile robot: Mission teleprogramming and autonomous navigation

1995 ◽  
Vol 2 (4) ◽  
pp. 333-344 ◽  
Author(s):  
Raja Chatila ◽  
Simeon Lacroix ◽  
Thierry Simeon ◽  
Matthieu Herrb
Keyword(s):  
Mobile Robot ◽  
Autonomous Navigation ◽  
Planetary Exploration

scholarly journals A novel navigation system for an autonomous mobile robot in an uncertain environment

Robotica ◽  
2021 ◽  
pp. 1-26
Author(s):  
Meng-Yuan Chen ◽  
Yong-Jian Wu ◽  
Hongmei He
Keyword(s):  
Mobile Robot ◽  
Navigation System ◽  
Autonomous Navigation ◽  
Clustering Algorithm ◽  
Modular Design ◽  
Optimal Path ◽  
Surrounding Environment ◽  
Computing Complexity ◽  
The Arts ◽  
Window Approach

Abstract In this paper, we developed a new navigation system, called ATCM, which detects obstacles in a sliding window with an adaptive threshold clustering algorithm, classifies the detected obstacles with a decision tree, heuristically predicts potential collision and finds optimal path with a simplified Morphin algorithm. This system has the merits of optimal free-collision path, small memory size and less computing complexity, compared with the state of the arts in robot navigation. The modular design of 6-steps navigation provides a holistic methodology to implement and verify the performance of a robot’s navigation system. The experiments on simulation and a physical robot for the eight scenarios demonstrate that the robot can effectively and efficiently avoid potential collisions with any static or dynamic obstacles in its surrounding environment. Compared with the particle swarm optimisation, the dynamic window approach and the traditional Morphin algorithm for the autonomous navigation of a mobile robot in a static environment, ATCM achieved the shortest path with higher efficiency.

scholarly journals Autonomous system to control a mobile robot

2020 ◽  
Vol 9 (4) ◽  
pp. 1711-1717
Author(s):  
Ayman Abu Baker ◽  
Yazeed Yasin Ghadi
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Autonomous Navigation ◽  
Fuzzy Controller ◽  
Computational Time ◽  
Ongoing Effort ◽  
Unstructured Environment ◽  
Adaptive Inference ◽  
Real Time Applications ◽  
Linguistic Labels

This paper presents an ongoing effort to control a mobile robot in unstructured environment. Obstacle avoidance is an important task in the field of robotics, since the goal of autonomous robot is to reach the destination without collision. Several algorithms have been proposed for obstacle avoidance, having drawbacks and benefits. In this paper, the fuzzy controller is used to tackle the problem of mobile robot autonomous navigation in unstructured environment. The objective is to make the robot move along a collision free trajectory until it reaches its target. The proposed approach uses the fuzzified, adaptive inference engine and defuzzification engine. Also number of linguistic labels is optimized for the input of the mobile robot in order to reduce computational time for real-time applications. The proposed fuzzy controller is evaluated subjectively and objectively with other approaches and also the processing time is taken in consideration.

scholarly journals Autonomous Path Planning Scheme Research for Mobile Robot

2016 ◽  
Vol 16 (4) ◽  
pp. 113-125
Author(s):  
Jianxian Cai ◽  
Xiaogang Ruan ◽  
Pengxuan Li
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Autonomous Navigation ◽  
Learning Algorithm ◽  
Action Learning ◽  
Cognitive Learning ◽  
Learning Ability ◽  
Q Learning ◽  
Planning Strategy ◽  
Navigation Path

Abstract An autonomous path-planning strategy based on Skinner operant conditioning principle and reinforcement learning principle is developed in this paper. The core strategies are the use of tendency cell and cognitive learning cell, which simulate bionic orientation and asymptotic learning ability. Cognitive learning cell is designed on the base of Boltzmann machine and improved Q-Learning algorithm, which executes operant action learning function to approximate the operative part of robot system. The tendency cell adjusts network weights by the use of information entropy to evaluate the function of operate action. The results of the simulation experiment in mobile robot showed that the designed autonomous path-planning strategy lets the robot realize autonomous navigation path planning. The robot learns to select autonomously according to the bionic orientate action and have fast convergence rate and higher adaptability.

Navigation of a wheeled mobile robotic agent using modified grey wolf optimization controller

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Chittaranjan Paital ◽  
Saroj Kumar ◽  
Manoj Kumar Muni ◽  
Dayal R. Parhi ◽  
Prasant Ranjan Dhal
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Real Time ◽  
Autonomous Navigation ◽  
Simulation Software ◽  
Grey Wolf ◽  
Grey Wolf Optimization ◽  
Content Type ◽  
Cluttered Environment

PurposeSmooth and autonomous navigation of mobile robot in a cluttered environment is the main purpose of proposed technique. That includes localization and path planning of mobile robot. These are important aspects of the mobile robot during autonomous navigation in any workspace. Navigation of mobile robots includes reaching the target from the start point by avoiding obstacles in a static or dynamic environment. Several techniques have already been proposed by the researchers concerning navigational problems of the mobile robot still no one confirms the navigating path is optimal.Design/methodology/approachTherefore, the modified grey wolf optimization (GWO) controller is designed for autonomous navigation, which is one of the intelligent techniques for autonomous navigation of wheeled mobile robot (WMR). GWO is a nature-inspired algorithm, which mainly mimics the social hierarchy and hunting behavior of wolf in nature. It is modified to define the optimal positions and better control over the robot. The motion from the source to target in the highly cluttered environment by negotiating obstacles. The controller is authenticated by the approach of V-REP simulation software platform coupled with real-time experiment in the laboratory by using Khepera-III robot.FindingsDuring experiments, it is observed that the proposed technique is much efficient in motion control and path planning as the robot reaches its target position without any collision during its movement. Further the simulation through V-REP and real-time experimental results are recorded and compared against each corresponding results, and it can be seen that the results have good agreement as the deviation in the results is approximately 5% which is an acceptable range of deviation in motion planning. Both the results such as path length and time taken to reach the target is recorded and shown in respective tables.Originality/valueAfter literature survey, it may be said that most of the approach is implemented on either mathematical convergence or in mobile robot, but real-time experimental authentication is not obtained. With a lack of clear evidence regarding use of MGWO (modified grey wolf optimization) controller for navigation of mobile robots in both the environment, such as in simulation platform and real-time experimental platforms, this work would serve as a guiding link for use of similar approaches in other forms of robots.

An EKF-based multiple data fusion for mobile robot indoor localization

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Guangbing Zhou ◽  
Jing Luo ◽  
Shugong Xu ◽  
Shunqing Zhang ◽  
Shige Meng ◽  
...  
Keyword(s):  
Data Fusion ◽  
Mobile Robot ◽  
Autonomous Navigation ◽  
Indoor Localization ◽  
Robot Navigation ◽  
Sensor Data ◽  
Measurement Unit ◽  
Indoor Environments ◽  
Content Type ◽  
Multiple Data

Purpose Indoor localization is a key tool for robot navigation in indoor environments. Traditionally, robot navigation depends on one sensor to perform autonomous localization. This paper aims to enhance the navigation performance of mobile robots, a multiple data fusion (MDF) method is proposed for indoor environments. Design/methodology/approach Here, multiple sensor data i.e. collected information of inertial measurement unit, odometer and laser radar, are used. Then, an extended Kalman filter (EKF) is used to incorporate these multiple data and the mobile robot can perform autonomous localization according to the proposed EKF-based MDF method in complex indoor environments. Findings The proposed method has experimentally been verified in the different indoor environments, i.e. office, passageway and exhibition hall. Experimental results show that the EKF-based MDF method can achieve the best localization performance and robustness in the process of navigation. Originality/value Indoor localization precision is mostly related to the collected data from multiple sensors. The proposed method can incorporate these collected data reasonably and can guide the mobile robot to perform autonomous navigation (AN) in indoor environments. Therefore, the output of this paper would be used for AN in complex and unknown indoor environments.

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