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Intelligent wheelchair is a paradigm of assisted living applications for elderly and disabled people. Its autonomous navigation and human-robot interaction is the major challenge. The previous intelligent wheelchair research has been mainly focused on geometric map based navigation, which is computational expensive in a large scale environment. This paper proposes the use of multi-layered maps for...
This paper tries to alleviate some challenges facing blind and visually impaired people in public transportation systems by providing them with in-station navigation information and real-time schedule information. Novel system architecture for the Intelligent Transportation Systems (ITS) navigation for blind and visually impaired people based on recent Radio Frequency Identification (RFID) localization...
Unstructured domestic environments present a substantial challenge to effective robotic operation. Domestic environment requires service robots to deal with unexpected environment changes, novel objects, and user manipulations. We present an approach to enable service robots to actively learn high-level skills in an unstructured environment. This involves using a combination of processing environment...
Aiming at recognizing the complex terrain of coal mines, in order to perform path planning and safe navigation, the first thing is to solve the problem of traversability analysis for coal mine exploring robots. This paper designed a model for traversability analysis on uneven terrain based on rough sets. By comprehensively analyzing the terrain features and classification features etc., this model...
In this paper ceiling affixed ARToolKitPlus 2D code artificial landmarks are evaluated for purposes of robot localization and navigation. Ceiling affixed codes rarely come in contact with people, equipment or robots, and for this reason they are more likely to stay detectable over a longer period of time. Multi threshold averaging, light gradient compensation and neighbourhood search techniques further...
This paper proposes a vision-based behavior selection system using biologically-inspired visual attention selection mechanisms, i.e., Bottom-Up attention and Top-Down attention. We adopt purely Bottom-Up attention selection to identify conspicuous regions for obtaining the salient landmarks, while propose an object-based Top-Down attention method using low dimensional task-relevant feature for searching...
A solution by hybrid algorithms is proposed in this paper for real-time map building and navigation for multiple goals purpose. In real world applications, an intelligent mobile vehicle is required to reach multiple goals with a shortest path that, in this paper, is capable of being implemented in TSP (Traveling Salesman Problem) by a Genetic Algorithm (GA) with minimized overall distance. A D∗-Lite-based...
A coordinated relative navigation strategy is proposed in this paper. Firstly, the relative dynamics of clustered space robots are presented. Then, based on the linear Kalman filter theorem, different coordinated relative navigation filters are designed, and a linear time-invariant system observability analysis method is used to qualitatively evaluate the performance of the corresponding filters....
As a new pattern of navigation approach with the characteristics of high robustness, autonomous characteristics and anti-interference ability, polarization navigation attracts the attention of the experts to perform further researches. A relatively stable skylight polarization pattern exists in a certain time period at a specific place, which acts as the precondition for the completion of the polarization...
One of the challenges of Autonomous Systems navigating in real world is to deal with the large amounts of uncertainties which are inherent in such environment while maintaining stability. Higher order Fuzzy Logic Systems (FLS), such as Interval Type-2 Fuzzy Logic Systems (IT2FLS), that use type-2 fuzzy sets, can model and handle such uncertainties, and give good performances that outperform their...
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...
This paper presents a bio-inspired search behavior model for navigating using geomagnetic information in unknown environments. A multi-objective search navigation framework combining random walk movement model and stress evolution algorithm is applied to the navigation. Firstly, motivated by animal geomagnetic navigation behavior, we generalize the bio-inspired navigation process as the convergence...
This paper presents a new Automatic Guided Vehicle (AGV) system, in which unique compact and heavy-payload under-cart design, high precision hybrid-mode stopping, modularized software and distributed AGV-caller system, are integrated to provide a reliable and worker-friendly AGV system for the flexible production Une. Besides, the results of a series of in-field tests validate the payload and precise...
A 2D simulator for vision based autonomous road following is designed using MATLAB. The simulator provides options for selecting road image, placing hurdles on road and the algorithm for following the road autonomously. With the road image containing hurdles and algorithm selected, the simulator draws the robot trajectory and also plots the error curves. A real time implementation of simulated algorithms...
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