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In the past decade, a lot of efforts are devoted to the researches of trajectory tracking of underactuated water surface robots (or boats, surface vessels, etc.), and a batch of controllers are available now for this challenging problem. However, most, if not all, of the existing trajectory tracking controllers of the underactuated water surface robots assume the global positions of the robots can...
Path planning is a core problem of the mobile robot navigation technology. However, few path plan methods that have been proposed consider the path smoothness and the robot attitude in the path. In this paper, a novel path planning method is proposed which considers three optimizing targets, including the path length, the path smoothness and the distance between the path and the obstacles. Firstly,...
A bi-branchiate robot is presented for the inspection of the high-voltage power transmission lines. With a symmetrical mechanical structure, the robot can roll along the power lines and negotiating all the obstacles in the lines to complete the inspection work. A hierarchical structure based on modular approach are used to design the control system of the robot. A combination mode composed of teleoperation...
A vision-based method is proposed in this paper for mobile robot localization. The proposed method mainly consists of two parts: mapping and localization. First, to build the map, robot moves randomly in the target enviroment and captures images using its camera. The SURF descriptor is used to extract the features of each image. Then map can be built with the SURF features and their positions. For...
This paper proposes a new approach of monocular ceiling vision based simultaneous localization and mapping (SLAM) by utilizing an improved Square Root Unscented Kalman Filter (SRUKF). With a monocular camera mounted on the top of a mobile robot and looking upward to the ceiling, the robot only needs to process salient features, which greatly reduce the computational complexity and have a high accuracy...
This paper presents the experimental study on the quantization error of stereo vision camera with the help of VICON motion capture system and its application to vision based navigation for a mobile robot. An experimental system is developed to obtain the quantization measurement error of stereo vision camera in different depth. The measurement error model is utilized to help to design the extended...
In industrial robot applications, to adapt the environmental changes the robot teaching process has to be performed frequently by operators. This process increases the operational cost and reduces the manufacturing efficiency. This paper proposes to use a smart robot(named “adult” robot) with advanced sensing and decision-making capabilities to teach “child” robots in the production line. A Markov...
The SAI method is a simple and flexible calibration method for robot calibration using twist parameters. The theodolite is usually used in the calibration process, which is expensive and inconvenient to be utilized. This paper aims to investigate how to take advantage of visual measuring system for robot calibration effectively. The main idea of the SAI method is to measure the coordinates of robot...
This paper proposes a stereo calibration method using mirrored images that contain a camera and measurement objects. In stereo methods, the measurement accuracy can be seriously affected by rotational errors in the calibration between cameras. Our method performs the calibration by using the geometrical relationship between a reference point on the camera and the reference point in its mirrored image...
Depth Cameras are widely used in mobile robotics recently. Combining two frames is the key step to construct a complete 3D map, and the relative pose between two views w.r.t two frames is needed. 3D point pairs are necessary for computing 6DOF pose transformation. In this paper, a method for finding correspondences of two point clouds is proposed, and the advantages of depth camera are taken fully...
Detection and Tracking of human being is a very important problem in Computer Vision. Human robot interaction is a very essential need for service robots where robots are required to detect and track human beings in order to provide the required service. In this paper we present an improved novel approach for tracking a target person in crowded environment. We used multi-sensor data fusion approach...
We present a 6-degree-of-freedom (6-DoF) pose localization method for a monocular camera in a 3D point-cloud dense map prebuilt by depth sensors (e.g., RGB-D sensor, laser scanner, etc.). We employ fast and robust 2D feature detection on the real camera to be matched against features from a virtual view. The virtual view (color and depth images) is constructed by projecting the map's 3D points onto...
This paper presents a fuzzy-based intelligent control strategy allowing a mobile robot to safely follow a given person. The robot is embedded with two sensors: a RFID and a stereo camera. The RFID can locate the given person with an ID tag, and the stereo camera can be used to detect the target. Based on the two sensors, a robust control strategy is designed according to the target's speed and his...
This paper presents two strategies for simultaneous localization and uncertainty reduction on maps for a team of robots. The proposed strategies differentiate between homogeneous and heterogeneous multi-robot teams assigning different roles based on risk and/or capabilities. We apply the proposed algorithms to the Robot-Camera Sensor Network localization problem, where a team of robots moves through...
A Personal Robot should be able to handle possible unknown objects in unknown environments. For a manipulation task the question what to do with an object once it had been grasped is one of the most essential ones beside the grasping task itself. We propose a placement planner for sensor-modelled objects in complex environments. The planner computes a stable position and orientation for the object...
We propose an efficient 3D global localization and tracking technique for a mobile robot in a large-scale environment using 3D geometrical map and a RGB-D camera. With the rapid development of high-resolution 3D range sensors, high-speed processing of a large amount of 3D data is becoming an urgent challenge in robotic applications such as localization. To tackle this problem, the proposed technique...
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