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Intelligent Wheelchair Bed (IWB) is an important direction. And it is also one of the most active research direction in the robot field. In this work, the obstacle avoidance algorithm based on the Artificial Potential Field (APF) using ultrasonic sensors is proposed and realized in order to achieve the real-time and continuing obstacle avoidance for the IWB. The IWB can keep on detecting the environment...
Real-time obstacle avoidance is one of the key issues to successful applications of mobile robot in the complex and unknown environment. However, now commonly used local obstacle avoidance strategies have some deficiencies. For example, VFH is superior to path planning, but it is not optimal when encountering with a obstacle which suddenly appears in front of the mobile robot. By the development of...
In frontier-based exploration, the primary work is to iteratively detect frontiers and generate frontier points to guide the mobile robot to explore the unknown environment. However, most frontier detection algorithms detect the frontiers by processing the entire map data. This is a time-consuming process. In this work, we present a novel approach to dynamically generate safe and reachable frontier...
To obtain the information of unknown environment as sufficient and fast as possible, this paper proposed an effective approach to build a local topological map of unknown environment. The laser data obtained by laser sensor is successfully transformed into a local grid map refined by Bayesian rule and subsequently a skeleton of the free area in the generated local grid map is extracted via an improved...
This paper presents a person detection and tracking method for a mobile robot by fusing the data from Radio Frequency Identification (RFID) and stereo camera. The RFID system detects a person wearing an ID tag and a course position estimate of the person is obtained. The stereo camera is used for person detection based on the compressive sensing theory. Less Haar-like features are extracted from compressed...
This paper presents a mobile robot guidance approach based on tracking of straight line marked on the ground. To accurately and robustly extract the ground line, a senior line detector, with sub-pixel centre localization of capability for a stripe like narrow region, is successfully presented. PD and PID are designed for mobile robot tracking control and their performances are compared in experiment...
This article proposed a simple and effective methodology for improving diversity of samples in Particle Filter (PF). The motivation lies in the situation that resampling procedure which aims for amending particle degeneracy always leads to particle depletion and less diversity of particles has severe consequence on the filter estimation accuracy. Various resample approaches have been developed in...
In this paper, an effective RBPF-based map generation approach for an indoor mobile robot based on Laser Range Finder is introduced in detail. We use Particle Filter (PF) for sake of its advantage of not being subject to linearity and Gaussianity constraints on the system model. Compared with the other SLAM approach, RBPF framework requires less demanding and its computation complex can be reduced...
This paper presents an effective Simultaneous Localization and Map-Building (SLAM) technique for indoor mobile robot navigation based on laser scan-matching and Rao-Blackwellized Particle Filter (RBPF). Although the Extended Kalman Filter (EKF) solution exhibits some desirable properties, the associated geometric feature map itself fails to cope with senor noise mingled in the incoming laser reading...
This paper presents a new method of localization and map building of mobile robot based on mixed map model using LRF (Laser Range Finder). The mixed model composed of occupancy grids and line character maps is utilized to represent the environment map. Firstly, the LRF models and Bayes rules are used to construct a local occupancy grid map. Then, we extract obstacles points to get a precise geometry...
As we all know that, SLAM (Simultaneous Localization and Mapping) are vital for mobile robot. This paper presents a method of map building using interactive GUI (Graphical User Interface) for an indoor service mobile robot because of the uncertainty of the sensors. What's more, the operator can modify the map compared with the real-time video from the web camera of the mobile robot. In the proposed...
As we all know that, it is vital to process environment data in map building of mobile robot. This paper presented two algorithms of map building using LRF for an indoor service mobile robot. Then we find their advantages and disadvantages, and the scope of application by comparing them in model and experiment in order to utilize effectively in practice. Experiments in indoor environment prove that...
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