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The mobile robots have received considerable attention in the scientific literature. One of the fundamental problems in mobile robotics is motion planning. Motion planning has several constraints, such as: knowledge of the scene, the existence of obstacles, their dimensions, the types of obstacles (static or dynamic), and the metric under consideration. Many existent solutions are based on cell decomposition...
The robotic domain is in a continuous and highly ascending development. Robots can be found in industry, in medicine, in the military domain, in domestic appliances, in research, in education and so on. Robots are situated at the intersection of several scientific and technological domains. Robots need mechanics (clamping systems, arms, dynamical behavior etc.), electromechanics (dc motors, ac motors,...
We presents some preliminary results of the ongoing research with the final goal of building an autonomous mobile robot. To achieve this scope the mapping problem is an ineluctable one. This paper presents a visual mapping system which detects the same Speeded Up Robust Features (SURF) on the stereo pair images in order to obtain three dimensional point clouds at every robot location. The algorithm...
Autonomous navigation is an important problem in mobile robotics. Various solutions have been proposed part of them being sensor based. The use of the sensors offers flexibility and adaptability to the robot but has also disadvantages: it may need powerful processing units, mounted on the robot and it is difficult to represent correctly and in all details the environment and the position of the robot...
This paper presents a method for detecting people from images taken with a camera mounted on a robot. The purpose of the detection is avoiding people collision while robot is moving within an unknown environment. It combines two algorithms for this purpose. First, the appearance of people is learned using a set of Haar-like features and the Adaboost algorithm. This information is embedded by building...
The localization problem in indoor environment based on LIDAR measurements is analyzed in this paper. Practical aspects of the localization are discussed including the implementations of the state estimation and registration algorithms. The localization framework developed is sufficient generic to be used in a variety of other autonomous vehicles. The results of the proposed navigation algorithms...
Various solutions have been proposed for controlling the motion of mobile robots. They are generally classified into two categories: global or explicit planning and local or implicit planning. The local solutions are mainly used in unknown environments and are completely based on information provided by sensors. This paper presents a solution for controlling the motion of a mobile robot through sensors...
This paper describes the path planning for the mobile robots, based on the Markov decision problems and the detection of dynamic objects using stereo-vision. The presented algorithms are developed for resolving problems with partially observable states. The algorithm is applied in an office environment and tested with a skid-steered robot. The created map combines two mapping theory, the topological...
Mobile robots are a very dynamic part of the robotics domain. Their navigation requires solutions for: establishment of the current position, motion planning and avoidance of obstacles. The paper describes a solution for mobile robot navigation with obstacle avoidance capability based on the X80 robot from Dr. Robot. The map and the trajectory are computed on a PC which will wirelessly control the...
Important advances have been made in the last period in the robotic domain. Mobile robots are in an accentuated development. The navigation of the mobile robots requires solutions for the following problems: the establishment of the current position, the motion planning and the avoidance of obstacles. This paper approaches the problem of indoor navigation of a wheeled mobile robot. The X80 robot from...
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