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This paper presents a novel multi-sensor-based robot localization framework inspired by human coarse-to-fine recognition mechanism to realize fast and robust localization in the process of robot navigation. This localization framework consists of two parts: coarse place recognition and accurate location estimation. The coarse place recognition is realized using an onboard camera, whereas an image...
To achieve better monitoring for small-scaled mobile robot, a real-time status monitoring platform is developed in this paper. The communication method between the MCU and the host computer is discussed and the formulation principles and rules of communication protocols are given. The main framework for the debugging software, the display measures of real-time monitoring data curves, and the insert...
Vision-based motion estimation is a key technique in autonomously mobile robot. This paper presents an integrated method for motion estimation of the mobile robot based on floor plane extraction. The whole processes include floor plane extraction, pose estimation of the onboard stereo vision system and motion estimation of the mobile robot. First, based on disparity map obtained from the onboard real-time...
A new theoretical control method based on the dynamic behavior of wheeled robot is developed, and a mechanism of fuzzy inference for designing a robust control system is present. The inputs are obtained from mounted ultrasonic sensors. A fuzzy logic controller is used to control the robot's motion along the predefined path. The robot control system is first modeled in Matlab Simulink and then the...
Aiming at the existent problem of global path planning for mobile robot, a path planning for mobile robot based on chaos genetic algorithm is proposed in this paper. Reasonable coding way and fitness function are used in the chaos genetic algorithm, and the chaos operation is added to the genetic algorithm (GA), the convergence rate of genetic algorithm is improved, and the local optimization can...
Autonomous mobile robots are required to know precisely their position and orientation in order to successfully perform their mission. Since multi-robots collaboration has outstanding advantages, multi-robot collaborative localization method has been studied widely in recent years, but robots should have high performance in this method. As wireless sensors became smaller and cheaper in the recent...
An algorithm named the optimized region partition coverage algorithm (ORPCA) are proposed to accomplish multi-robotspsila coverage task fast for an unknown area. For mobile robotpsilas study of covering whole region, the numbers of robots, the groups of robots and their initial locations are ensured with the limit of each robotpsilas energy, velocity and working time constraints. This algorithm uses...
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