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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...
To correspond to current trend in the international society which is rapidly adopting to the notion of globalization, the graduate education plays a key role in development of human resources for the future. A new trans-graduate-school education program called Nitobe School was launched in 2015 as one of the main education projects of Top Global University Project at Hokkaido University, Japan. To...
In developed countries the life expectancy of hard structures is about 50 years, therefore there are a large number of structures currently needing replacement and repair. Such a large task requires considerable resources. In order to reduce the work-load and speed up this task, autonomous robotic inspection has been proposed. Of all the different kinds of robots the UAV (Unmanned Aerial Vehicle)...
An important characteristic of the omnidirectional robot is that it can move in all directions and does not require large space to turn. There are numerous applications of omniwheeled robots, for eg. to carry load or objects in indoor environments, omnidirectional wheelchair for medical care and assistance, navigation in tight spaces such as industrial warehouses and omnidirectional walker for rehabilitation...
This paper presents a straightforward way to fully calibrate low-cost IMU sensor in field. In this approach, a plastic cube that is made by 3D printer is introduced as the body carrier of IMU. The accelerometer is firstly calibrated by using famous multi-position method and then followed with the correction of misalignment between sensor frame and body frame. A normal swivel chair is reformed as an...
For a mobile robot to explore in an unknown environment, the robot needs to do Simultaneous Localization and Mapping (SLAM). Recently, RGB-D sensor such as the Microsoft Kinect has been extensively used as a low cost 3D sensor measurement and mapping the environment. The advantage of RGB-D sensor is that it can capture RGB image with per-pixel depth information. One disadvantage for this sensor is...
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...
The present university education system has been designed to make graduate students good problem solvers such that they can contribute to society through the skills acquired in the graduate schools. With focus on developing critical thinking and reasoning to solve local and global problems such programs have gained immense popularity among teachers and professors in schools and universities and termed...
This is a report the change of postgraduate student's English ability through the new trans-graduate-school education program "Nitobe School" in Hokkaido University. In the Nitobe School program, students need to take English placement test before and after the program. Students choose TOEIC or TOEFL as a placement test at the beginning and take same test after the program. Also...
The new graduate school education program Nitobe School was launched in 2015 as one of main education projects of "Top Global University Project" in Hokkaido University. This new graduate program is aimed to supply currently undermined skill-set to students from different home graduate or professional school. The scope of the Nitobe School program is to foster students to be...
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 presents an embarrassingly parallel hopping window algorithm to remove noise from Lidar (Light detection and ranging) sensor for robot mapping applications. The algorithm works by analyzing the density of Lidar data inside a window which hops over the entire input sensor data. For faster execution of the algorithm, multiple window hopping is done intelligently without omitting the processing...
Simultaneous Localization and Mapping(SLAM) is an important technique to realize autonomous navigation of a mobile robot in an unknown environment. The SLAM problem involves a mobile robot to continuously take measurements using sensors, localize its position in the environment and simultaneously built a map of the environment it has visited. For any previously visited environment the system must...
This paper presents the results of using mixed clustering (k-means and DBSCAN clustering) with singular value decomposition to build map in a noisy environment from laser range sensor information. Sensors are prone to errors, moreover, environmental and other factors may affect the sensor sensitivity. This may generate a lot of noise which must be removed before building the map. The study shows how...
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