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

2020 ◽  
Author(s):  
Gonzalo Farias ◽  
Ernesto Fabregas ◽  
Enrique Torres ◽  
Gaetan Bricas ◽  
Sebastián Dormido-Canto ◽  
...  
Keyword(s):  
Computer Vision ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Navigation System ◽  
Autonomous System ◽  
Traffic Signals ◽  
Training Stage ◽  
Negative Images ◽  
Vision Based Navigation ◽  
Distributed Vision

This work presents the development and implementation of a distributed navigation system based on computer vision. The autonomous system consists of a wheeled mobile robot with an integrated colour 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 processes them and calculates the corresponding speeds of the robot using a cascade of trained classifiers. These speeds are sent back to the robot, which acts to carry out the corresponding manoeuvre. The classifier cascade should be trained before experimentation with two sets of positive and negative images. The number of images in these sets should be considered to limit the training stage time and avoid overtraining the system.

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.

scholarly journals A topological navigation system for indoor environments based on perception events

2016 ◽  
Vol 14 (1) ◽  
pp. 172988141667813 ◽  
Author(s):  
Clara Gomez ◽  
Alejandra Carolina Hernandez ◽  
Jonathan Crespo ◽  
Ramon Barber
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Navigation System ◽  
Indoor Environment ◽  
Mobile Systems ◽  
Indoor Environments ◽  
Human Navigation ◽  
Multiple Events ◽  
Topological Navigation ◽  
Detection And Recognition

The aim of the work presented in this article is to develop a navigation system that allows a mobile robot to move autonomously in an indoor environment using perceptions of multiple events. A topological navigation system based on events that imitates human navigation using sensorimotor abilities and sensorial events is presented. The increasing interest in building autonomous mobile systems makes the detection and recognition of perceptions a crucial task. The system proposed can be considered a perceptive navigation system as the navigation process is based on perception and recognition of natural and artificial landmarks, among others. The innovation of this work resides in the use of an integration interface to handle multiple events concurrently, leading to a more complete and advanced navigation system. The developed architecture enhances the integration of new elements due to its modularity and the decoupling between modules. Finally, experiments have been carried out in several mobile robots, and their results show the feasibility of the navigation system proposed and the effectiveness of the sensorial data integration managed as events.

Development of Sensor-Based Navigation for Mobile Robots Using Target Direction Sensor

1999 ◽  
Vol 11 (1) ◽  
pp. 39-44 ◽  
Author(s):  
Motoji Yamamoto ◽  
◽  
Nobuhiro Ushimi ◽  
Akira Mohri
Keyword(s):  
Measurement Error ◽  
Mobile Robot ◽  
Motion Planning ◽  
Mobile Robots ◽  
Navigation System ◽  
Location Information ◽  
Work Space ◽  
Target Direction ◽  
Navigation Algorithm ◽  
Direction Information

Sensor-based navigation used a target direction sensor for mobile robots among unknown obstacles in work space is discussed. The advantage of target direction information is robustness of measurement error for online navigation, compared to robot location information. Convergence of navigation using target direction information is discussed. An actual sensor system using two CdS sensors to measure target direction is proposed. Using target direction information, we present a new sensor based navigation algorithm in unknown obstacle environment. The navigation algorithm is based on target direction information, unlike sensor-based motion planning algorithms based on mobile robot location information. Using a sensor-based navigation system, we conducted a navigation experiment and simulations in unknown obstacle environment.

scholarly journals First results in the development of a mobile robot with trajectory planning and object recognition capabilities

2016 ◽  
Vol 6 (1) ◽  
Author(s):  
Talgat Islamgozhayev ◽  
Maksat Kalimoldayev ◽  
Arman Eleusinov ◽  
Shokan Mazhitov ◽  
Orken Mamyrbayev
Keyword(s):  
Image Processing ◽  
Object Recognition ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Educational Research ◽  
Trajectory Planning ◽  
Template Matching ◽  
Processing Unit ◽  
First Results ◽  
Recognition Systems

Abstract The use of mobile robots is becoming popular in many areas of service because they ensure safety and good performance while working in dangerous or unreachable locations. Areas of application of mobile robots differ from educational research to detection of bombs and their disposal. Based on the mission of the robot they have different configurations and abilities – some of them have additional arms, cranes and other tools, others use sensors and built-in image processing and object recognition systems to perform their missions. The robot that is described in this paper is mobile robot with a turret mounted on top of it. Different approaches have been tested while searching for best method suitable for image processing and template matching goals. Based on the information from image processing unit the system executes appropriate actions for planning motions and trajectory of the mobile robot.

scholarly journals Intelligent vision-based navigation system for mobile robot: A technological review

2018 ◽  
Vol 6 (2) ◽  
pp. 47
Author(s):  
Muhammad Hafidz Fazli Md Fauadi ◽  
Suriati Akmal ◽  
Mahasan Mat Ali ◽  
Nurul Izah Anuar ◽  
Samad Ramlan ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Navigation System ◽  
Vision Based Navigation

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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