Modeling of an Active Camera for Selection and Tracking of Visual Landmarks in Mobile Robot Navigation

2001 ◽  
Vol 56 (6-7) ◽  
pp. 8
Author(s):  
Victor Ayala-Ramirez ◽  
Michel Devy ◽  
Yuriy V. Shkvarko ◽  
Rene Jaime-Rivas
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Visual Landmarks ◽  
Active Camera

Building the Panoramic Image for Mobile Robot Localization

2013 ◽  
Vol 365-366 ◽  
pp. 967-970 ◽  
Author(s):  
Vladimir Popov ◽  
Anna Gorbenko
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
String Matching ◽  
Mobile Robot Navigation ◽  
Robot Localization ◽  
Panoramic Image ◽  
High Quality ◽  
Visual Landmarks ◽  
One Dimensional ◽  
Mobile Robot Localization

Visual landmarks are extensively used in contemporary robotics. There are a large number of different systems of visual landmarks. In particular, fingerprints give us unique identifiers for visually distinct locations by recovering statistically significant features. Therefore, fingerprints can be used as visual landmarks for mobile robot navigation. To create fingerprints we need one-dimensional color panoramas of high quality. In this paper, we consider a method for building the panoramic image using string matching algorithms. In particular, we propose the shortest common ordered supersequence problem.

scholarly journals LEARNING VISUAL LANDMARKS FOR MOBILE ROBOT NAVIGATION

2002 ◽  
Vol 35 (1) ◽  
pp. 445-450 ◽  
Author(s):  
M. Mata ◽  
J.M. Armingol ◽  
A. de la Escalera ◽  
M.A. Salichs
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Visual Landmarks

The Problem of Selection of Fingerprints for Topological Localization

2013 ◽  
Vol 365-366 ◽  
pp. 946-949 ◽  
Author(s):  
Vladimir Popov
Keyword(s):  
Mobile Robot ◽  
Hamming Distance ◽  
Robot Navigation ◽  
Automatic Generation ◽  
Visual Navigation ◽  
Mobile Robot Navigation ◽  
Visual Landmarks ◽  
One Dimensional ◽  
Topological Localization ◽  
Selection Of

Visual navigation is extensively used in contemporary robotics. In particular, we can mention different systems of visual landmarks. In this paper, we consider one-dimensional color panoramas. Panoramas can be used for creating fingerprints. Fingerprints give us unique identifiers for visually distinct locations by recovering statistically significant features. Fingerprints can be used as visual landmarks for mobile robot navigation. In this paper, we consider a method for automatic generation of fingerprints. Since a fingerprint is a circular string, different string-matching algorithms can be used for selection of fingerprints. In particular, we consider the problem of finding the consensus of circular strings under the Hamming distance metric.

DEVELOPMENT OF A CONTROL STRATEGY FOR MOBILE ROBOT NAVIGATION IN UNKNOWN TERRAIN

2019 ◽  
Author(s):  
Diego Gabriel Gomes Rosa ◽  
Carlos Luiz Machado de souza junior ◽  
Marco Antonio Meggiolaro ◽  
Luiz Fernando Martha
Keyword(s):  
Mobile Robot ◽  
Control Strategy ◽  
Robot Navigation ◽  
Mobile Robot Navigation

Real-time road edge following for mobile robot navigation

1990 ◽  
Vol 2 (1) ◽  
pp. 35 ◽  
Author(s):  
R.A. Lotufo ◽  
A.D. Morgan ◽  
E.L. Dagless ◽  
D.J. Milford ◽  
J.F. Morrissey ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Robot Navigation ◽  
Mobile Robot Navigation

scholarly journals Path Planning and Replanning for Mobile Robot Navigation on 3D Terrain: An Approach Based on Geodesic

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
Kun-Lin Wu ◽  
Ting-Jui Ho ◽  
Sean A. Huang ◽  
Kuo-Hui Lin ◽  
Yueh-Chen Lin ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Tangent Plane ◽  
Intersection Point ◽  
Mobile Robot Navigation ◽  
Complete Manifold ◽  
Geodesic Triangle ◽  
Planning Stage ◽  
3D Terrain ◽  
Bonnet Theorem

In this paper, mobile robot navigation on a 3D terrain with a single obstacle is addressed. The terrain is modelled as a smooth, complete manifold with well-defined tangent planes and the hazardous region is modelled as an enclosing circle with a hazard grade tuned radius representing the obstacle projected onto the terrain to allow efficient path-obstacle intersection checking. To resolve the intersections along the initial geodesic, by resorting to the geodesic ideas from differential geometry on surfaces and manifolds, we present a geodesic-based planning and replanning algorithm as a new method for obstacle avoidance on a 3D terrain without using boundary following on the obstacle surface. The replanning algorithm generates two new paths, each a composition of two geodesics, connected via critical points whose locations are found to be heavily relying on the exploration of the terrain via directional scanning on the tangent plane at the first intersection point of the initial geodesic with the circle. An advantage of this geodesic path replanning procedure is that traversability of terrain on which the detour path traverses could be explored based on the local Gauss-Bonnet Theorem of the geodesic triangle at the planning stage. A simulation demonstrates the practicality of the analytical geodesic replanning procedure for navigating a constant speed point robot on a 3D hill-like terrain.

Sign in / Sign up

Export Citation Format

Share Document