Analyzing the effect of landmark vectors in homing navigation

2012 ◽  
Vol 20 (5) ◽  
pp. 337-359 ◽  
Author(s):  
Seung-Eun Yu ◽  
Changmin Lee ◽  
DaeEun Kim
Keyword(s):  
Mobile Robots ◽  
Significant Influence ◽  
Experimental Results ◽  
Retinal Images ◽  
Navigation Algorithms ◽  
Homing Performance ◽  
Potential Use

The development of an autonomous navigating robot is a challenging task. Motivated by the performance of insects successfully returning to the nest, researchers have studied bio-inspired navigation algorithms for their potential use in mobile robots. In this paper, we analyze landmark-based approaches, especially Distance Estimated Landmark Vector (DELV), Average Correctional Vector and Average Landmark Vector methods, that use landmark vectors for visible environmental landmarks. We evaluated the homing performance of various landmark vector methods with surrounding landmarks under occlusion and found that the occluded or missing landmarks have a significant influence on the performance. We also developed a landmark vector algorithm with a visual compass that uses only retinal images without a reference compass. From our experimental results, we conclude that the DELV shows robust homing navigation performance with missing or occluded landmarks among landmark vector methods.

scholarly journals Determining Shape and Size of Personal Space of a Human when Passed by a Robot

2021 ◽  
Author(s):  
Margot M. E. Neggers ◽  
Raymond H. Cuijpers ◽  
Peter A. M. Ruijten ◽  
Wijnand A. IJsselsteijn
Keyword(s):  
Mobile Robots ◽  
Humanoid Robot ◽  
Personal Space ◽  
Human Robot Interaction ◽  
Autonomous Mobile Robots ◽  
Robot Interaction ◽  
Human Comfort ◽  
Navigation Algorithms ◽  
Insight Into ◽  
Shape And Size

AbstractAutonomous mobile robots that operate in environments with people are expected to be able to deal with human proxemics and social distances. Previous research investigated how robots can approach persons or how to implement human-aware navigation algorithms. However, experimental research on how robots can avoid a person in a comfortable way is largely missing. The aim of the current work is to experimentally determine the shape and size of personal space of a human passed by a robot. In two studies, both a humanoid as well as a non-humanoid robot were used to pass a person at different sides and distances, after which they were asked to rate their perceived comfort. As expected, perceived comfort increases with distance. However, the shape was not circular: passing at the back of a person is more uncomfortable compared to passing at the front, especially in the case of the humanoid robot. These results give us more insight into the shape and size of personal space in human–robot interaction. Furthermore, they can serve as necessary input to human-aware navigation algorithms for autonomous mobile robots in which human comfort is traded off with efficiency goals.

Experimental Study on the Optimal Thickness of Infiltration Media of the CRI System

2011 ◽  
Vol 415-417 ◽  
pp. 1703-1707
Author(s):  
Jun Min Chen ◽  
Xiao Lin Yao
Keyword(s):  
Experimental Study ◽  
Removal Efficiency ◽  
Significant Influence ◽  
Soil Column ◽  
Experimental Results ◽  
Artificial Soil ◽  
Optimal Thickness ◽  
Effluent Quality ◽  
Anaerobic Zone

Abstract. In order to investigate the optimal thickness of infiltration media in the Constructed Rapid Infiltration System, the artificial soil column is used to simulate the Constructed Rapid Infiltration System, and the CODCr, NH3-N and TN concentrations of the effluent from all the sampling sites are monitored. The experimental results and analysis show that the thickness of infiltration media exerts a significant influence on the CODCr, NH3-N and TN concentration and removal efficiency of the effluent; the CODCr, NH3-N and TN are mainly removed in the 0-1800mm zone of the artificial soil column; the total CODCr removal efficiency increases, as the thickness of infiltration media increases, but the CODCr removal efficiency in the 1800-2200mm zone is very low; the NH3-N and TN removal efficiency reaches the maximum where the thickness of infiltration media is 1800mm; the NH3-N and TN concentration of the effluent from 1800-2200mm zone dose not decrease, but increase 5-8%, due to the assimilation denitrification and amemoniation reaction on the end of the anaerobic zone; in consideration of the effluent quality, efficient biodegradation zone, construction investment, etc. the optimal thickness of infiltration media in CRI system should be 1800mm.

A New Approach for Autonomous Robot Obstacle Avoidance Using PSD Infrared Sensor Combined with Digital Compass

2014 ◽  
Vol 511-512 ◽  
pp. 101-104 ◽  
Author(s):  
Yang Xue ◽  
Jun Tao Yang ◽  
Ya Ling Dong ◽  
Jia Li Shen ◽  
Ru Peng ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Obstacle Avoidance ◽  
Autonomous Robot ◽  
Experimental Results ◽  
Position Sensitive Detector ◽  
Infrared Sensor ◽  
Sensitive Detector ◽  
New Approach ◽  
Position Sensitive

This paper presents a new approach for obstacle avoidance of small mobile robots, which combine the position sensitive detector (PSD) with digital compass. It is important for an autonomous robot to explore its surroundings in performing the task of localization and navigation for searching. Because of the complexity of the environment, one simple kind of sensors is not sufficient for robot to accomplish these tasks. In this paper, the small mobile robots are enabled to identify barriers and distinguish surroundings by using the angle signal from the digital compass which is generally mounted on the robot. Experimental results indicate that this approach based on digital compass shows great potential in autonomous robot obstacle avoidance.

scholarly journals Trajectory planning method of mobile piezorobot

2009 ◽  
Vol 50 ◽  
Author(s):  
Ramutis Bansevičius ◽  
Asta Drukteinienė ◽  
Genadijus Kulvietis
Keyword(s):  
Mathematical Model ◽  
Mobile Robots ◽  
Trajectory Planning ◽  
Simultaneous Equations ◽  
Planning Method ◽  
Experimental Results

This paper presents analysis of trajectory planningmethods for mobile robots and new trajectory planning method research for mobile piezorobots. Here are deduced motional simultaneous equations for this kind of robots that describe point-to-pointmotion by given function. Preliminary experimental results prove the feasibility of proposed mathematical model.

Effects of Multi-Robot Team Formations on Distributed Area Coverage

2019 ◽  
pp. 1192-1219
Author(s):  
Prithviraj Dasgupta ◽  
Taylor Whipple ◽  
Ke Cheng
Keyword(s):  
Mobile Robots ◽  
Area Coverage ◽  
Experimental Results ◽  
Wheel Slip ◽  
Robot System ◽  
Multiple Mobile Robots ◽  
Unknown Environment ◽  
Robot Teams ◽  
And Performance ◽  
Multi Robot

This paper examines the problem of distributed coverage of an initially unknown environment using a multi-robot system. Specifically, focus is on a coverage technique for coordinating teams of multiple mobile robots that are deployed and maintained in a certain formation while covering the environment. The technique is analyzed theoretically and experimentally to verify its operation and performance within the Webots robot simulator, as well as on physical robots. Experimental results show that the described coverage technique with robot teams moving in formation can perform comparably with a technique where the robots move individually while covering the environment. The authors also quantify the effect of various parameters of the system, such as the size of the robot teams, the presence of localization, and wheel slip noise, as well as environment related features like the size of the environment and the presence of obstacles and walls on the performance of the area coverage operation.

Visual Feedback for Nonholonomic Mobile Robots

2010 ◽  
pp. 152-181 ◽  
Author(s):  
Andrea Usai ◽  
Paolo Di Giamberardino
Keyword(s):  
Mobile Robots ◽  
State Estimation ◽  
Visual Feedback ◽  
Fundamental Matrix ◽  
Experimental Results ◽  
System State ◽  
Head Pose ◽  
Nonholonomic Mobile Robots ◽  
Camera System ◽  
Observer Accuracy

In this chapter, we describe a homography approach to vision based feedback for nonholonomic mobile robots control. Differently than other approaches based on homography or fundamental matrix, our method has been developed to be robust to reference features loss, during the robot movement. This allows us to implement an arbitrary control law without the need of a teach-by-showing stage. In the chapter, the use of a stereo camera system to improve the observer accuracy and to perform an auto-calibration of the stereo-head pose is investigated. Experimental results are provided to show the performances of the proposed system state estimation, using an eye-in-hand mobile robotic platform.

Simulation and Experimental Results of a New Control Strategy For Point Stabilization of Nonholonomic Mobile Robots

2020 ◽  
Vol 67 (8) ◽  
pp. 6679-6687 ◽  
Author(s):  
Ernesto Fabregas ◽  
Gonzalo Farias ◽  
Ernesto Aranda-Escolastico ◽  
Gonzalo Garcia ◽  
Dictino Chaos ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Control Strategy ◽  
Experimental Results ◽  
Nonholonomic Mobile Robots ◽  
Point Stabilization

scholarly journals Study on the unsaturated hydrogen bond behavior of bio-based polyamide 56

e-Polymers ◽  
2019 ◽  
Vol 19 (1) ◽  
pp. 23-31
Author(s):  
Shouyun Zhang ◽  
Jinghong Ma
Keyword(s):  
Hydrogen Bond ◽  
Infrared Spectroscopy ◽  
Hydrogen Bonds ◽  
Metal Oxides ◽  
Significant Influence ◽  
Polymer Chains ◽  
Experimental Results ◽  
Bond Behavior ◽  
Unit Structure

AbstractIn this paper, the unsaturated hydrogen bonds (H-bonds) of the bio-based polyamide 56 (PA56) with an odd-even unit structure were analyzed by infrared spectroscopy. It was proved that the bio-based PA56 had less saturated H-bonds, which became attenuated and blue-shifted at the temperature exceeding 260°C. Besides, as H-bond was decayed and broken, new unsaturated H-bonds readily formed. Moreover, the experimental results obtained strongly indicate that the unsaturated H-bonds of bio-based polyamide 56 could react with polar metal oxides. Besides, the intercalation of montmorillonite was found to have a significant influence on the hydrogen bond between polymer chains.

Localization of Mobile Robot Based on Least Square Method

2013 ◽  
Vol 347-350 ◽  
pp. 808-811
Author(s):  
Jia Lu Li ◽  
Lin Bing Long ◽  
Bao Feng Zhang
Keyword(s):  
Motion Estimation ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Least Squares ◽  
Least Square Method ◽  
Least Square ◽  
Experimental Results ◽  
Sift Algorithm ◽  
Key Techniques ◽  
Point Detection

Localization is the basis for navigation of mobile robots. This paper focuses on key techniques of localization for mobile robots based on vision. Firstly, the specific measures and steps of the algorithm are analyzed and researched in depth. In the study, SIFT algorithm combined with epipolar geometry constraint is used on the environment feature point detection, matching and tracking. And the method of RANSAC combined with the least squares is used to obtain accurate results of the motion estimation. Then the necessary experiments are carried out to verify the correctness and effectiveness of algorithms. The experimental results verified the accuracy of the improved algorithm.

scholarly journals Cooperative Carrying Control for Multi-Evolutionary Mobile Robots in Unknown Environments

Electronics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 298 ◽  
Author(s):  
Jyun-Yu Jhang ◽  
Cheng-Jian Lin ◽  
Kuu-Young Young
Keyword(s):  
Differential Evolution ◽  
Mobile Robots ◽  
Target Location ◽  
Learning Strategy ◽  
Control Method ◽  
Behavioral Control ◽  
Differential Evolution Algorithm ◽  
Experimental Results ◽  
Unknown Environment ◽  
Navigation Control

This study provides an effective cooperative carrying and navigation control method for mobile robots in an unknown environment. The manager mode switches between two behavioral control modes—wall-following mode (WFM) and toward-goal mode (TGM)—based on the relationship between the mobile robot and the unknown environment. An interval type-2 fuzzy neural controller (IT2FNC) based on a dynamic group differential evolution (DGDE) is proposed to realize the carrying control and WFM control for mobile robots. The proposed DGDE uses a hybrid method that involves a group concept and an improved differential evolution to overcome the drawbacks of the traditional differential evolution algorithm. A reinforcement learning strategy was adopted to develop an adaptive WFM control and achieve cooperative carrying control for mobile robots. The experimental results demonstrated that the proposed DGDE is superior to other algorithms at using WFM control. Moreover, the experimental results demonstrate that the proposed method can complete the task of cooperative carrying, and can realize navigation control to enable the robot to reach the target location.

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