Mobile Robots Navigation, Mapping, and Localization Part I

2011 ◽  
pp. 1072-1079
Author(s):  
Lee Gim Hee ◽  
Marcelo H. Ang Jr.
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Material Handling ◽  
Robot Navigation ◽  
Emerging Market ◽  
Autonomous Mobile Robots ◽  
Mobile Robot Navigation ◽  
The Military ◽  
The Given ◽  
Fundamental Requirement

The development of autonomous mobile robots is continuously gaining importance particularly in the military for surveillance as well as in industry for inspection and material handling tasks. Another emerging market with enormous potential is mobile robots for entertainment. A fundamental requirement for autonomous mobile robots in most of its applications is the ability to navigate from a point of origin to a given goal. The mobile robot must be able to generate a collision-free path that connects the point of origin and the given goal. Some of the key algorithms for mobile robot navigation will be discussed in this article.

scholarly journals Dedicated Filter for Robust Occupancy Grid Mapping

2014 ◽  
Vol 4 (1) ◽  
pp. 82
Author(s):  
KS Nagla ◽  
Moin Uddin ◽  
Dilbag Singh
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Internal Representation ◽  
Optimal Solution ◽  
Autonomous Mobile Robots ◽  
Infrared Sensors ◽  
Occupancy Grid ◽  
Frame Work ◽  
High Level ◽  
Fundamental Requirement

<p>Sensor based perception of the environment is an emerging area of the mobile robot research where sensors play a pivotal role. For autonomous mobile robots, the fundamental requirement is the convergent of the range information in to high level internal representation. Internal representation in the form of occupancy grid is commonly used in autonomous mobile robots due to its various advantages. There are several sensors such as vision sensor, laser rage finder, and ultrasonic and infrared sensors etc. play roles in mapping. However the sensor information failure, sensor inaccuracies, noise, and slow response are the major causes of an error in the mapping. To improve the reliability of the mobile robot mapping multisensory data fusion is considered as an optimal solution. This paper presents a novel architecture of sensor fusion frame work in which a dedicated filter (DF) is proposed to increase the robustness of the occupancy grid for indoor environment. The technique has been experimentally verified for different indoor test environments. The proposed configuration shows improvement in the occupancy grid with the implementation of dedicated filters.</p>

Virtual Reality based Mobile Robot Navigation in Greenhouse Environment

2017 ◽  
Vol 8 (2) ◽  
pp. 854-859
Author(s):  
M. Saiful Azimi ◽  
Z. A. Shukri ◽  
M. Zaharuddin
Keyword(s):  
Virtual Reality ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Virtual Environment ◽  
Robot Navigation ◽  
Tracking Error ◽  
Mobile Robot Navigation ◽  
Probabilistic Roadmap ◽  
Time Distance ◽  
Simulation Results

The difficulties of transporting heavy mobile robots limit robotic experiments in agriculture. Virtual reality however, offers an alternative to conduct experiments in agriculture. This paper presents an application of virtual reality in a robot navigational experiment using SolidWorks and simulated into MATLAB. Trajectories were initiated using Probabilistic Roadmap and compared based on travel time, distance and tracking error, and the efficiency was calculated. The simulation results showed that the proposed method was able to conduct the navigational experiment inside the virtual environment. U-turn trajectory was chosen as the best trajectory for crop inspection with 82.7% efficiency.

scholarly journals Hexagonal Grid-Based Framework for Mobile Robot Navigation

2021 ◽  
Vol 13 (21) ◽  
pp. 4216
Author(s):  
Piotr Duszak ◽  
Barbara Siemiątkowska ◽  
Rafał Więckowski
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Robot Navigation ◽  
Hexagonal Lattice ◽  
Planning Method ◽  
Experimental Results ◽  
Mobile Robot Navigation ◽  
Rectangular Grid ◽  
Grid Based

The paper addresses the problem of mobile robots’ navigation using a hexagonal lattice. We carried out experiments in which we used a vehicle equipped with a set of sensors. Based on the data, a traversable map was created. The experimental results proved that hexagonal maps of an environment can be easily built based on sensor readings. The path planning method has many advantages: the situation in which obstacles surround the position of the robot or the target is easily detected, and we can influence the properties of the path, e.g., the distance from obstacles or the type of surface can be taken into account. A path can be smoothed more easily than with a rectangular grid.

Design and Implementation of a 3D Range Scanner for Mobile Robots

2013 ◽  
Vol 572 ◽  
pp. 644-647
Author(s):  
Gökhan Aslan ◽  
Erhan Ilhan Konukseven ◽  
Buğra Koku
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Autonomous Navigation ◽  
Robot Navigation ◽  
Low Cost ◽  
Vertical Axis ◽  
Field Of View ◽  
Mobile Robot Navigation ◽  
Design And Implementation ◽  
Speed Accuracy

In an efficient autonomous navigation and exploration, the robots should sense the environment as exactly as possible in real-time and act correctly on the basis of the acquired 3D data. Laser scanners have been used for the last 30 years for mobile robot navigation. However, they often did not enough speed, accuracy and field of view. In this paper we present the design and implementation of a scanning platform, which can be used for both outdoor and indoor mobile robot navigation and mapping. A 3D scanning platform based on a 2D laser rangefinder was designed in compact way for fast and accurate mapping with maximum field of view. The range finder is rotated around the vertical axis to extract the 3D indoor information. However, the scanner is designed to be placed in any direction on a mobile robot. The designed mechanism provides 360º degree horizontal by 240º degree vertical field of view. The maximum resolution is 0.36º degrees in elevation and variable in azimuth (0.1 degrees if scanning platform is set to complete a 360º degree rotation in 3.6 seconds). The proposed low cost compact design is tested by scanning a physical environment with known dimensions to show that it can be used as a precise and reliable high quality 3D sensor for autonomous mobile robots.

scholarly journals GA-based Optimisation of a LiDAR Feedback Autonomous Mobile Robot Navigation System

2018 ◽  
Vol 7 (3) ◽  
pp. 433-441
Author(s):  
Siti Nurhafizah Anual ◽  
Mohd Faisal Ibrahim ◽  
Nurhana Ibrahim ◽  
Aini Hussain ◽  
Mohd Marzuki Mustafa ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Navigation System ◽  
Robot Navigation ◽  
Fitness Function ◽  
Autonomous Mobile Robots ◽  
Mobile Robot Navigation ◽  
Autonomous Mobile Robot ◽  
Indoor Mobile Robot ◽  
Real Hardware ◽  
Autonomous Robot Navigation

Autonomous mobile robots require an efficient navigation system in order to navigate from one location to another location fast and safe without hitting static or dynamic obstacles. A light-detection-and-ranging (LiDAR) based autonomous robot navigation is a multi-component navigation system consists of various parameters to be configured. With such structure and sometimes involving conflicting parameters, the process of determining the best configuration for the system is a non-trivial task. This work presents an optimisation method using Genetic algorithm (GA) to configure such navigation system with tuned parameters automatically. The proposed method can optimise parameters of a few components in a navigation system concurrently. The representation of chromosome and fitness function of GA for this specific robotic problem are discussed. The experimental results from simulation and real hardware show that the optimised navigation system outperforms a manually-tuned navigation system of an indoor mobile robot in terms of navigation time.

A Human-Inspired Method for Mobile Robot Navigation

2013 ◽  
Author(s):  
Fatemeh Heidari ◽  
Reza Fotouhi
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Real Time ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Laser Range Finder ◽  
Deadlock Detection ◽  
Sensory Data ◽  
Unstructured Environment ◽  
And Coping

A new method for real-time navigation of mobile robots in complex and mostly unstructured environment is presented. This novel human-inspired method (HIM) uses distance-based sensory data from a laser range finder for real-time navigation of a wheeled mobile robot in unknown and cluttered settings. The approach requires no prior knowledge from the environment and is easy to be implemented for real-time navigation of mobile robots. HIM endows the robot a human-like ability for reasoning about the situations to reach a predefined goal point while avoiding static and moving or unforeseen obstacles; this makes the proposed strategy efficient and effective. Results indicate that HIM is capable of creating smooth (no oscillations) paths for safely navigating the mobile robot, and coping with fluctuating and imprecise sensory data from uncertain environment. HIM specifies the best path ahead, according to the situation of encountered obstacles, preventing the robot to get trapped in deadlock and impassable conditions. This deadlock detection and avoidance is a significant ability of HIM. Also, this algorithm is designed to analyze the environment for detecting both negative and positive obstacles in off-road terrain. The simulation and experimental results of HIM is compared with a fuzzy logic based (FLB) approach.

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.

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