scholarly journals Efficient Computation for Localization and Navigation System for a Differential Drive Mobile Robot in Indoor and Outdoor Environments

2021 ◽  
Vol 35 (6) ◽  
pp. 437-446
Author(s):  
Selvaraj Karupusamy ◽  
Sundaram Maruthachalam ◽  
Suresh Mayilswamy ◽  
Shubham Sharma ◽  
Jujhar Singh ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Low Cost ◽  
Target Position ◽  
Simulation Software ◽  
Outdoor Environment ◽  
Navigation Systems ◽  
Efficient Computation ◽  
Differential Drive ◽  
Indoor And Outdoor Environments ◽  
Indoor And Outdoor

Numerous challenges are usually faced during the design and development of an autonomous mobile robot. Path planning and navigation are two significant areas in the control of autonomous mobile robots. The computation of odometry plays a major role in developing navigation systems. This research aims to develop an effective method for the computation of odometry using low-cost sensors, in the differential drive mobile robot. The controller acquires the localization of the robot and guides the path to reach the required target position using the calculated odometry and its created new two-dimensional mapping. The proposed method enables the determination of the global position of the robot through odometry calibration within the indoor and outdoor environment using Graphical Simulation software.

scholarly journals A Low-Cost Underground Garage Navigation Switching Algorithm Based on Kalman Filtering

Sensors ◽  
2019 ◽  
Vol 19 (8) ◽  
pp. 1861 ◽  
Author(s):  
Ningbo Li ◽  
Yanbin Gao ◽  
Ye Wang ◽  
Zhejun Liu ◽  
Lianwu Guan ◽  
...  
Keyword(s):  
Low Cost ◽  
Dead Reckoning ◽  
Fast Response ◽  
Outdoor Environment ◽  
Vehicle Navigation ◽  
Initial State ◽  
Parking Lots ◽  
Switching Algorithm ◽  
Indoor And Outdoor Environments ◽  
Indoor And Outdoor

Modern parking lots have gradually developed into underground garages to improve the efficient use of space. However, the complex design of parking lots also increases the demands on vehicle navigation. The traditional method of navigation switching only uses satellite signals. After the Position Dilution Of Precision (PDOP) of satellite signals is over the limit, vehicle navigation will enter indoor mode. It is not suitable for vehicles in underground garages to switch modes with a fast-response system. Therefore, this paper chooses satellite navigation, inertial navigation, and the car system to combine navigation. With the condition that the vehicle can freely travel through indoor and outdoor environments, high-precision outdoor environment navigation is used to provide the initial state of underground navigation. The position of the vehicle underground is calculated by the Dead Reckoning (DR) navigation system. This paper takes advantage of the Extended Kalman Filter (EKF) algorithm to provide two freely switchable navigation modes for vehicles in ground and underground garages. The continuity, robustness, fast response, and low cost of the indoor and outdoor switching navigation methods are verified in real-time systems.

scholarly journals Survey of Radio Navigation Systems

2015 ◽  
Vol 61 (1) ◽  
pp. 43-48 ◽  
Author(s):  
Przemysław Gilski ◽  
Jacek Stefański
Keyword(s):  
Information Processing ◽  
Navigation Systems ◽  
Consumer Behavior Analysis ◽  
Radio Navigation ◽  
Pedestrian Navigation ◽  
Outdoor Environments ◽  
Wireless Positioning ◽  
Indoor And Outdoor Environments ◽  
Processing Mechanisms ◽  
Indoor And Outdoor

Abstract At present, there is a growing demand for radio navigation systems, ranging from pedestrian navigation to consumer behavior analysis. These systems have been successfully used in many applications and have become very popular in recent years. In this paper we present a review of selected wireless positioning solutions operating in both indoor and outdoor environments. We describe different positioning techniques, methods, systems, as well as information processing mechanisms

scholarly journals A Seamless Navigation System and Applications for Autonomous Vehicles Using a Tightly Coupled GNSS/UWB/INS/Map Integration Scheme

2021 ◽  
Vol 14 (1) ◽  
pp. 27
Author(s):  
Changqiang Wang ◽  
Aigong Xu ◽  
Xin Sui ◽  
Yushi Hao ◽  
Zhengxu Shi ◽  
...  
Keyword(s):  
High Precision ◽  
Navigation System ◽  
Autonomous Vehicles ◽  
Outdoor Environment ◽  
Precision Positioning ◽  
Outdoor Environments ◽  
Tightly Coupled ◽  
Seamless Positioning ◽  
Indoor And Outdoor Environments ◽  
Indoor And Outdoor

Seamless positioning systems for complex environments have been a popular focus of research on positioning safety for autonomous vehicles (AVs). In particular, the seamless high-precision positioning of AVs indoors and outdoors still poses considerable challenges and requires continuous, reliable, and high-precision positioning information to guarantee the safety of driving. To obtain effective positioning information, multiconstellation global navigation satellite system (multi-GNSS) real-time kinematics (RTK) and an inertial navigation system (INS) have been widely integrated into AVs. However, integrated multi-GNSS and INS applications cannot provide effective and seamless positioning results for AVs in indoor and outdoor environments due to limited satellite availability, multipath effects, frequent signal blockages, and the lack of GNSS signals indoors. In this contribution, multi-GNSS-tightly coupled (TC) RTK/INS technology is developed to solve the positioning problem for a challenging urban outdoor environment. In addition, ultrawideband (UWB)/INS technology is developed to provide accurate and continuous positioning results in indoor environments, and INS and map information are used to identify and eliminate UWB non-line-of-sight (NLOS) errors. Finally, an improved adaptive robust extended Kalman filter (AREKF) algorithm based on a TC integrated single-frequency multi-GNSS-TC RTK/UWB/INS/map system is studied to provide continuous, reliable, high-precision positioning information to AVs in indoor and outdoor environments. Experimental results show that the proposed scheme is capable of seamlessly guaranteeing the positioning accuracy of AVs in complex indoor and outdoor environments involving many measurement outliers and environmental interference effects.

THE MOBILE ROBOT DEVELOPMENT FOR AIR POLLUTION TELE DATA CAPTURE

2016 ◽  
Vol 7 (2) ◽  
Author(s):  
Dirman Hanafi ◽  
Khairul Azlan A.Rahman
Keyword(s):  
Air Pollution ◽  
Air Quality ◽  
Mobile Robot ◽  
Environmental Issues ◽  
Quality Parameters ◽  
Outdoor Environment ◽  
Target Area ◽  
Central Control ◽  
Modern Era ◽  
Indoor And Outdoor

In the Modern era, the environmental issues have given significant impact to the human live. The air pollution indoor and outdoor environment sometimes dangerous to the human health and it needs to be justified. To fulfill this purpose, in this research tele-measurement process and technique based on the mobile robot with equipped by several air quality parameters sensors is developed. The robot is controlled using remote control and wireless communication system. The air quality in target area will be monitored by using sensors which will capture data and send it to the Central Control (laptop) for analyzing. And then to be able to monitor the certain area investigation, the mobile robot is guided by using wireless camera. From the experimental test, the robot able move to target area, capture the area condition and the air parameters monitor. Keywords: air pollution, tele-measured, mobile robot

scholarly journals Moving Target Positioning Based on a Distributed Camera Network

2014 ◽  
Vol 2014 ◽  
pp. 1-11
Author(s):  
Long Zhao ◽  
Zhen Liu ◽  
Tiejun Li ◽  
Baoqi Huang ◽  
Lihua Xie
Keyword(s):  
Low Cost ◽  
Satellite System ◽  
Outdoor Environment ◽  
Moving Target ◽  
Camera Network ◽  
World Coordinate System ◽  
Outdoor Environments ◽  
Global Navigation Satellite ◽  
Systematic Framework ◽  
Indoor And Outdoor

We propose a systematic framework for moving target positioning based on a distributed camera network. In the proposed framework, low-cost static cameras are deployed to cover a large region, moving targets are detected and then tracked using corresponding algorithms, target positions are estimated by making use of the geometrical relationships among those cameras after calibrating those cameras, and finally, for each target, its position estimates obtained from different cameras are unified into the world coordinate system. This system can function as complementary positioning information sources to realize moving target positioning in indoor or outdoor environments when global navigation satellite system (GNSS) signals are unavailable. The experiments are carried out using practical indoor and outdoor environment data, and the experimental results show that the systematic framework and inclusive algorithms are both effective and efficient.

scholarly journals Gas distribution mapping of multiple odour sources using a mobile robot

Robotica ◽  
2009 ◽  
Vol 27 (2) ◽  
pp. 311-319 ◽  
Author(s):  
Amy Loutfi ◽  
Silvia Coradeschi ◽  
Achim J. Lilienthal ◽  
Javier Gonzalez
Keyword(s):  
Mobile Robot ◽  
Spatial Information ◽  
Gas Distribution ◽  
Outdoor Environments ◽  
Distribution Mapping ◽  
Multi Level ◽  
Indoor And Outdoor Environments ◽  
Gas Distribution Mapping ◽  
Indoor And Outdoor

SUMMARYMobile olfactory robots can be used in a number of relevant application areas where a better understanding of a gas distribution is needed, such as environmental monitoring and safety and security related fields. In this paper, we present a method to integrate the classification of odours together with gas distribution mapping. The resulting odour map is then correlated with the spatial information collected from a laser range scanner to form a combined map. Experiments are performed using a mobile robot in large and unmodified indoor and outdoor environments. Multiple odour sources are used and are identified using only transient information from the gas sensor response. The resulting multi-level map can be used as a representation of the collected odour data.

scholarly journals Reliability Validation of a Low-Cost Particulate Matter IoT Sensor in Indoor and Outdoor Environments Using a Reference Sampler

2019 ◽  
Vol 11 (24) ◽  
pp. 7220 ◽  
Author(s):  
Sergio Trilles ◽  
Ana Belen Vicente ◽  
Pablo Juan ◽  
Francisco Ramos ◽  
Sergi Meseguer ◽  
...  
Keyword(s):  
Particulate Matter ◽  
Air Quality ◽  
Linear Model ◽  
Low Cost ◽  
Additive Model ◽  
Quality Data ◽  
Outdoor Environments ◽  
Pm2.5 And Pm10 ◽  
Indoor And Outdoor Environments ◽  
Indoor And Outdoor

A suitable and quick determination of air quality allows the population to be alerted with respect to high concentrations of pollutants. Recent advances in computer science have led to the development of a high number of low-cost sensors, improving the spatial and temporal resolution of air quality data while increasing the effectiveness of risk assessment. The main objective of this work is to perform a validation of a particulate matter (PM) sensor (HM-3301) in indoor and outdoor environments to study PM2.5 and PM10 concentrations. To date, this sensor has not been evaluated in real-world situations, and its data quality has not been documented. Here, the HM-3301 sensor is integrated into an Internet of things (IoT) platform to establish a permanent Internet connection. The validation is carried out using a reference sampler (LVS3 of Derenda) according to EN12341:2014. It is focused on statistical insight, and environmental conditions are not considered in this study. The ordinary Linear Model, the Generalized Linear Model, Locally Estimated Scatterplot Smoothing, and the Generalized Additive Model have been proposed to compare and contrast the outcomes. The low-cost sensor is highly correlated with the reference measure ( R 2 greater than 0.70), especially for PM2.5, with a very high accuracy value. In addition, there is a positive relationship between the two measurements, which can be appropriately fitted through the Locally Estimated Scatterplot Smoothing model.

scholarly journals Indoor and Outdoor Low-Cost Seamless Integrated Navigation System Based on the Integration of INS/GNSS/LIDAR System

2020 ◽  
Vol 12 (19) ◽  
pp. 3271
Author(s):  
Ningbo Li ◽  
Lianwu Guan ◽  
Yanbin Gao ◽  
Shitong Du ◽  
Menghao Wu ◽  
...  
Keyword(s):  
Navigation System ◽  
Low Cost ◽  
Dead Reckoning ◽  
Satellite System ◽  
Outdoor Environment ◽  
Mode Switching ◽  
Integrated Navigation ◽  
Switching Algorithm ◽  
Navigation Algorithm ◽  
Indoor And Outdoor

Global Navigation Satellite System (GNSS) provides accurate positioning data for vehicular navigation in open outdoor environment. In an indoor environment, Light Detection and Ranging (LIDAR) Simultaneous Localization and Mapping (SLAM) establishes a two-dimensional map and provides positioning data. However, LIDAR can only provide relative positioning data and it cannot directly provide the latitude and longitude of the current position. As a consequence, GNSS/Inertial Navigation System (INS) integrated navigation could be employed in outdoors, while the indoors part makes use of INS/LIDAR integrated navigation and the corresponding switching navigation will make the indoor and outdoor positioning consistent. In addition, when the vehicle enters the garage, the GNSS signal will be blurred for a while and then disappeared. Ambiguous GNSS satellite signals will lead to the continuous distortion or overall drift of the positioning trajectory in the indoor condition. Therefore, an INS/LIDAR seamless integrated navigation algorithm and a switching algorithm based on vehicle navigation system are designed. According to the experimental data, the positioning accuracy of the INS/LIDAR navigation algorithm in the simulated environmental experiment is 50% higher than that of the Dead Reckoning (DR) algorithm. Besides, the switching algorithm developed based on the INS/LIDAR integrated navigation algorithm can achieve 80% success rate in navigation mode switching.

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