The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Mobile robots need to plan an optimal and collision-free path in complex environments to the various service locations in the map. Robot perception is limited to sensor range and hence robots are only aware of the obstacles within the range of its sensor. Moreover, the knowledge of new obstacles observed by each robot is kept local to itself. Due to these limitations, robots are often unaware of the...
In this paper, we present a hybrid topological mapping and navigation method for mobile robots. The proposed method combines metric and topological information to create map and generate navigation plan for the robot. As compared to traditional approaches of robot mapping, the method is lightweight and can be used for mapping and navigation in large areas which is particularly useful for service robots...
Many path planning algorithms have previously been proposed for mobile robots to navigate from a start to a goal location in a given map. These planners generate a path which keeps a safe distance from the obstacles in the map. However, most of the global path planners generate a path with sharp and angular turns which is not desired for robot motion as robots must stop at these turns. A smooth path...
This paper presents a novel bio-inspired hybrid communication framework that incorporates the repelling behaviour of anti-aphrodisiac pheromones and attractive behaviour of pheromones for efficient map exploration of multiple mobile service robots. The proposed communication framework presents a scheme for robots to efficiently serve large areas of map, while cooperating with each other through proper...
This paper presents an efficient solution to fulfill the Simultaneous Localization and Mapping (SLAM) in indoor environment where there are monotonous areas and large loops. The proposed approach works on Split Sparse Points Maps (SSPM) and is mainly based on incremental scan registration by using the Point-to-Line Iterative Closest Point (PLICP) algorithm. To enhance the robustness of scan registration...
This paper proposes an algorithm for estimating the position and trajectory of a flying ball in 3-D space with a RGBD (RGB and Depth) sensor. An integrated ball and its trajectory detection using color-based back projection method is proposed. The k-means clustering is also employed to make the detector more robust even with noise in the background. The integrated detector does not need any type of...
Robot docking stations are of utmost important for service robots like security robots and automated guided vehicles in warehouses which are in continuous operation, and hence require frequent recharging. While a lot of research has been done on designing the actual hardware of the docking station itself, a practical situation of intelligently managing a limited number of docking stations in case...
In a sensor network, there are scenarios when the distance between the transmitting node and the receiving node is not fixed, but varies with time. Such scenarios can arise, for example, when both the transmitting node and receiving node are mounted on mobile robots. Such scenarios could also arise when the transmitting node is fixed (for example, mounted on the ceiling), and the receiving node is...
This paper presents an Iterative Closest Point (ICP) preprocessor named Iterative Closest Normal (ICN). The proposed ICN algorithm is mainly focused on the estimation of large rotation between two successive scans during the robot motion in the indoor environment. After the large rotation has been reduced, the standard ICP and point-to-line metric based ICP algorithm (PLICP) is applied to estimate...
This paper proposes an extended connected-components labeling algorithm for sparse Lidar (Light detection and ranging) sensor data. It is difficult to label sparse Lidar data using the general connected-component labeling algorithm. The proposed technique first increases the density of the sparse data by performing mathematical morphological operation of dilation. Next, labeling is performed on the...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.