Position Uncertainty Reduction of Mobile Robot Based on DINDs in Intelligent Space

2008 ◽  
Vol 12 (6) ◽  
pp. 488-493
Author(s):  
TaeSeok Jin ◽  
◽  
Hideki Hashimoto ◽  
Keyword(s):  
Mobile Robot ◽  
A Priori ◽  
Dead Reckoning ◽  
Constraint Equation ◽  
Image Plane ◽  
Moving Object ◽  
Camera Model ◽  
Intelligent Space ◽  
Point Object ◽  
Position Data

This paper proposes a localization of mobile robot using the images by distributed intelligent networked devices (DINDs) in intelligent space (ISpace). This scheme combines data from the observed position using dead-reckoning sensors and the estimated position using images of moving object, such as those of a walking human, used to determine the moving location of a mobile robot. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Using the a-priori known path of a moving object and a perspective camera model, the geometric constraint equations that represent the relation between image frame coordinates of a moving object and the estimated position of the robot are derived. The proposed approach is applied for a mobile robot in ISpace to show the reduction of uncertainty in the determining of the location of the mobile robot.

scholarly journals Autonomous navigation of indoor mobile robots using a global ultrasonic system

Robotica ◽  
2004 ◽  
Vol 22 (4) ◽  
pp. 369-374 ◽  
Author(s):  
Soo-Yeong Yi ◽  
Byoung-Wook Choi
Keyword(s):  
Mobile Robot ◽  
Autonomous Navigation ◽  
A Priori ◽  
Dead Reckoning ◽  
The Self ◽  
Localization Algorithm ◽  
Ground Vehicles ◽  
Trajectory Error ◽  
Indoor Mobile Robot ◽  
Embedded Controller

Autonomous navigation of an indoor mobile robot, using the global ultrasonic system, is presented in this paper. Since the trajectory error of the dead-reckoning navigation increases significantly with time and distance, the autonomous navigation system of a mobile robot requires self-localization capa-bility in order to compensate for trajectory error. The global ultrasonic system, consisting of four ultrasonic generators fixed at a priori known positions in the work space and two receivers mounted on the mobile robot, has a similar structure to the well-known satellite GPS(Global Positioning System), which is used for the localization of ground vehicles. The EKF (Extended Kalman Filter) algorithm is utilized for self-localization and autonomous navigation, based on the self-localization algorithm is verified by experiments performed in this study. Since the self-localization algorithm is efficient and fast, it is appropriate for an embedded controller of a mobile robot.

scholarly journals Many Ways Lead to the Goal—Possibilities of Autonomous and Infrastructure-Based Indoor Positioning

Electronics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 397
Author(s):  
Hossein Shoushtari ◽  
Thomas Willemsen ◽  
Harald Sternberg
Keyword(s):  
Mobile Networks ◽  
Dead Reckoning ◽  
Simulated Data ◽  
Minimum Cost ◽  
Cost Effective ◽  
Satellite System ◽  
Position Estimation ◽  
Robust Solution ◽  
Position Data ◽  
Global Navigation Satellite

There are many ways to navigate in Global Navigation Satellite System-(GNSS) shaded areas. Reliable indoor pedestrian navigation has been a central aim of technology researchers in recent years; however, there still exist open challenges requiring re-examination and evaluation. In this paper, a novel dataset is used to evaluate common approaches for autonomous and infrastructure-based positioning methods. The autonomous variant is the most cost-effective realization; however, realizations using the real test data demonstrate that the use of only autonomous solutions cannot always provide a robust solution. Therefore, correction through the use of infrastructure-based position estimation based on smartphone technology is discussed. This approach invokes the minimum cost when using existing infrastructure, whereby Pedestrian Dead Reckoning (PDR) forms the basis of the autonomous position estimation. Realizations with Particle Filters (PF) and a topological approach are presented and discussed. Floor plans and routing graphs are used, in this case, to support PDR positioning. The results show that the positioning model loses stability after a given period of time. Fifth Generation (5G) mobile networks can enable this feature, as well as a massive number of use-cases, which would benefit from user position data. Therefore, a fusion concept of PDR and 5G is presented, the benefit of which is demonstrated using the simulated data. Subsequently, the first implementation of PDR with 5G positioning using PF is carried out.

scholarly journals Space-Time Hierarchical Clustering for Identifying Clusters in Spatiotemporal Point Data

2020 ◽  
Vol 9 (2) ◽  
pp. 85 ◽  
Author(s):  
David Lamb ◽  
Joni Downs ◽  
Steven Reader
Keyword(s):  
Hierarchical Clustering ◽  
A Priori ◽  
Space Time ◽  
Moving Object ◽  
Agglomerative Hierarchical Clustering ◽  
Movement Data ◽  
Clustering Approach ◽  
Nested Structure ◽  
Point Data ◽  
Traditional Approaches

Finding clusters of events is an important task in many spatial analyses. Both confirmatory and exploratory methods exist to accomplish this. Traditional statistical techniques are viewed as confirmatory, or observational, in that researchers are confirming an a priori hypothesis. These methods often fail when applied to newer types of data like moving object data and big data. Moving object data incorporates at least three parts: location, time, and attributes. This paper proposes an improved space-time clustering approach that relies on agglomerative hierarchical clustering to identify groupings in movement data. The approach, i.e., space–time hierarchical clustering, incorporates location, time, and attribute information to identify the groups across a nested structure reflective of a hierarchical interpretation of scale. Simulations are used to understand the effects of different parameters, and to compare against existing clustering methodologies. The approach successfully improves on traditional approaches by allowing flexibility to understand both the spatial and temporal components when applied to data. The method is applied to animal tracking data to identify clusters, or hotspots, of activity within the animal’s home range.

An Introductory Tutorial for Developing Multiuser Virtual Environments

1994 ◽  
Vol 3 (4) ◽  
pp. 255-264 ◽  
Author(s):  
Rich Gossweiler ◽  
Robert J. Laferriere ◽  
Michael L. Keller ◽  
Randy Pausch
Keyword(s):  
Virtual Environments ◽  
Virtual Environment ◽  
Source Code ◽  
Dead Reckoning ◽  
Distributed Applications ◽  
The Internet ◽  
Improve Performance ◽  
Distributed Application ◽  
Broadcast Communication ◽  
Position Data

This paper is an introductory level tutorial describing how to implement a distributed multiparticipant virtual environment (VE). This tutorial is intended for students who are competent programmers and who now wish to implement a distributed multiparticipant application. We describe the fundamental concepts of distributed computing for multiplayer simulations and provide a concrete example, including C source code available via the Internet. The template program demonstrates a simple multiplayer, distributed application, where each player controls the position of a space ship, and communicates the ship's position data over the network. The template uses broadcast communication and a technique called dead-reckoning to improve performance. We give detailed instructions on how to obtain and modify the template, so that students can quickly create their own distributed applications. We conclude by briefly discussing advanced issues that are important when constructing more sophisticated multiparticipant VEs.

scholarly journals Adaptive Visually Servoed Tracking Control for Wheeled Mobile Robot with Uncertain Model Parameters in Complex Environment

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Fujie Wang ◽  
Yi Qin ◽  
Fang Guo ◽  
Bin Ren ◽  
John T. W. Yeow
Keyword(s):  
Mobile Robot ◽  
Visual Servoing ◽  
Dynamic Control ◽  
Kinematic Model ◽  
Image Plane ◽  
Adaptive Controller ◽  
Wheeled Mobile Robot ◽  
General Situation ◽  
Model Parameters ◽  
Complex Environment

This paper investigates the stabilization and trajectory tracking problem of wheeled mobile robot with a ceiling-mounted camera in complex environment. First, an adaptive visual servoing controller is proposed based on the uncalibrated kinematic model due to the complex operation environment. Then, an adaptive controller is derived to provide a solution of uncertain dynamic control for a wheeled mobile robot subject to parametric uncertainties. Furthermore, the proposed controllers can be applied to a more general situation where the parallelism requirement between the image plane and operation plane is no more needed. The overparameterization of regressor matrices is avoided by exploring the structure of the camera-robot system, and thus, the computational complexity of the controller can be simplified. The Lyapunov method is employed to testify the stability of a closed-loop system. Finally, simulation results are presented to demonstrate the performance of the suggested control.

Sign in / Sign up

Export Citation Format

Share Document