Design and Realization of 2-Dimensional Optical Range Sensor for Environment Recognition in Mobile Robots

2005 ◽  
Vol 17 (2) ◽  
pp. 116-120 ◽  
Author(s):  
Hirohiko Kawata ◽  
◽  
Toshihiro Mori ◽  
Shin’ichi Yuta ◽  
Keyword(s):  
High Resolution ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Amplitude Modulation ◽  
Low Power Consumption ◽  
Optical Range ◽  
Laser Range ◽  
Range Sensor ◽  
Environment Recognition ◽  
Robot Platform

We developed a 2-D laser range sensor suitable for different mobile robot platform sizes. The sensor features compactness, lightweight, high precision and low power consumption and has wide scan angle with high resolution essential for environment recognition in mobile robots. The principle applied to calculate the distance between the sensor and the object involves, applying amplitude modulation to the wave of light and detecting the phase difference between transmitted and received light. In this paper we explain the sensor specifications, the principle of distance measurement and experimental results.

Development of a Laser Range Sensor for a Mobile Robot

1991 ◽  
Vol 3 (5) ◽  
pp. 373-378 ◽  
Author(s):  
Kiyoshi Komoriya ◽  
◽  
Kazuo Tani
Keyword(s):  
Mobile Robot ◽  
Autonomous Navigation ◽  
Ccd Camera ◽  
Sensor System ◽  
Beam Spot ◽  
Laser Range ◽  
Range Sensor ◽  
Good Spatial Resolution ◽  
Indoor Mobile Robot ◽  
Robot Position

External sensors which can detect environmental information are important for a mobile robot to recognize its surroundings and location. Among external sensors, range sensors are fundamental because they can directly detect the free space in which the mobile robot can move without colliding with the surrounding objects. A laser range sensor provides good spatial resolution, and it is expected to detect characteristic parts of the environment used as landmarks for recognizing robot position. This paper presents the construction of a laser range sensor system which can be implemented in a small mobile robot. The system consists of several components including laser diode, CCD camera, and mark detection hardware. Based on triangulation method, the system can detect the distance to the object's surface on which the beam spot is directed. In order to detect a landmark, such as a wall edge, the sensor system is mounted on a rotary table. By horizontally scanning, the sensor can detect wall edges with an accuracy of approximately 5mm and an orientation accuracy of approximately 1 degree within 3m. This system has been installed in an indoor mobile robot and is used for autonomous navigation control along corridors.

Development of Ultra-Wide-Angle Laser Range Sensor and Navigation of a Mobile Robot in a Corridor Environment

1999 ◽  
Vol 11 (1) ◽  
pp. 25-32 ◽  
Author(s):  
Yoshinobu Ando ◽  
◽  
Takashi Tsubouchi ◽  
Shin’ichi Yuta
Keyword(s):  
Mobile Robot ◽  
Range Data ◽  
Wide Angle ◽  
Ccd Cameras ◽  
Angle Sensor ◽  
Laser Range ◽  
Range Sensor ◽  
Plane Parallel ◽  
Navigation Scheme

The present authors developed a laser range sensor with an ultra-wide view angle and a navigation scheme for a mobile robot to move along a corridor. Although the range sensor uses orthodox triangulation in measurement, the detectable angle is extended to 260 degrees. This ultra-wide-angle sensor consists of 5 laser fan beam projectors and 3 CCD cameras. All fan beams from laser projectors are aligned in one plane parallel to the floor, and beam reflections on objects are detected by CCD cameras with super-wide-angle lenses. This paper presents schemes for obtaining range data with the sensor and for following along a corridor and some results on long corridor navigation.

2P2-C05 Human following of mobile robot by local map from laser range sensor information

2008 ◽  
Vol 2008 (0) ◽  
pp. _2P2-C05_1-_2P2-C05_3
Author(s):  
Takashi OGINO ◽  
Toshinari AKIMOTO ◽  
Masahiro TOMONO ◽  
Akihiro MATSUMOTO
Keyword(s):  
Mobile Robot ◽  
Laser Range ◽  
Range Sensor ◽  
Sensor Information ◽  
Local Map

scholarly journals Furniture Model Creation Through Direct Teaching to a Mobile Robot

2008 ◽  
Vol 20 (2) ◽  
pp. 213-220 ◽  
Author(s):  
Kimitoshi Yamazaki ◽  
◽  
Takashi Tsubouchi ◽  
Masahiro Tomono ◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Real Life ◽  
Experimental Results ◽  
Sensor Data ◽  
Small Object ◽  
Laser Range Finder ◽  
Range Finder ◽  
Laser Range ◽  
Direct Teaching

In this paper, a modeling method to handle furniture is proposed. Real-life environments are crowded with objects such as drawers and cabinets that, while easily dealt with by people, present mobile robots with problems. While it is to be hoped that robots will assist in multiple daily tasks such as putting objects in into drawers, the major problems lies in providing robots with knowledge about the environment efficiently and, if possible, autonomously.If mobile robots can handle these furniture autonomously, it is expected that multiple daily jobs, for example, storing a small object in a drawer, can be performed by the robots. However, it is a perplexing process to give several pieces of knowledge about the furniture to the robots manually. In our approach, by utilizing sensor data from a camera and a laser range finder which are combined with direct teaching, a handling model can be created not only how to handle the furniture but also an appearance and 3D shape. Experimental results show the effectiveness of our methods.

scholarly journals A Distributed Vision-Based Navigation System for Khepera IV Mobile Robots

Sensors ◽  
2020 ◽  
Vol 20 (18) ◽  
pp. 5409
Author(s):  
Gonzalo Farias ◽  
Ernesto Fabregas ◽  
Enrique Torres ◽  
Gaëtan Bricas ◽  
Sebastián Dormido-Canto ◽  
...  
Keyword(s):  
Object Recognition ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Navigation System ◽  
Autonomous System ◽  
Traffic Signals ◽  
Vision Based Navigation ◽  
Vision Algorithm ◽  
Distributed Vision ◽  
Robot Platform

This work presents the development and implementation of a distributed navigation system based on object recognition algorithms. The main goal is to introduce advanced algorithms for image processing and artificial intelligence techniques for teaching control of mobile robots. The autonomous system consists of a wheeled mobile robot with an integrated color camera. The robot navigates through a laboratory scenario where the track and several traffic signals must be detected and recognized by using the images acquired with its on-board camera. The images are sent to a computer server that performs a computer vision algorithm to recognize the objects. The computer calculates the corresponding speeds of the robot according to the object detected. The speeds are sent back to the robot, which acts to carry out the corresponding manoeuvre. Three different algorithms have been tested in simulation and a practical mobile robot laboratory. The results show an average of 84% success rate for object recognition in experiments with the real mobile robot platform.

scholarly journals Development of a Portable IP-Based Remote Controlled System for Mobile Robot

2021 ◽  
pp. 21-33
Author(s):  
Daramola O. A. ◽  
Obe O. O. ◽  
Oriolowo A.
Keyword(s):  
Remote Control ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Controlled System ◽  
Loosely Coupled ◽  
Control Interface ◽  
Working Together ◽  
High Degree ◽  
To Receive ◽  
Robot Platform

The use of Mobile Robots to interact with objects in remote locations has proved to be useful in areas not easily accessible or too dangerous for humans. Various means have been used to remotely operate or control Mobile Robots. These range from wired connection to Wireless connection like radio frequency signal and more recently internet controlled Mobile Robot using the TCP/IP protocol stack. However, the problem of remote control dependence on the Mobile Robot Platform or configuration has made it difficult to switch controllers between Mobile Robots. In this work, a portable IP based remote control system has been designed and implemented to remove the constraint imposed by the Mobile Robot's platform in choosing the control interface. The system developed was built on three loosely coupled components working together to ensure a high degree of Control interface portability. The Mobile Robot Gateway component was used to receive and send data from the Mobile Robot.

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