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This paper presents a method to incorporate measurement of local magnetic field anomalies into the SLAM (Simultaneous Localization And Mapping) algorithm. One of the key problems of SLAM is loop closure, which means to map the same place into the same location on the generated map when the place is revisited by the robot. It is particularly important for large area map consistency. Steel structures,...
Localization and map building in an indoor environment are important problems for a mobile robot. There are two approaches to these problems: a metric approach and a topological approach. The metric approach uses various range sensors to determine the distance between an obstacle and the robot for the precise localization of a robot; the topological approach gives the robot its state on the basis...
Investigate mobile robot's history, obstacle avoidance is one of most important research area and also the foundation of building robot's successful behaviors. This paper proposes a Neural Network control system that is able to guide the mobile robots (AmigoBot and P3DX) traverse through a maze with arbitrary obstacles. The pattern is trained by using Matlab toolbox and Aria library for motion control...
This paper presents a local/global frames switching in outdoor navigation of a four-wheeled mobile robot in an obstructed environment. Two laser range finders are equipped on the mobile robot in order to perform sensor-based obstacle avoidance without any a priori knowledge about its environment. Also, a GPS is mounted on the top of the robot so that the absolute location and the heading angle of...
This paper shows that a laser range finder and four artificial reflectors can be used to determine the position of a mobile robot in a three-dimensional (3D) working space provided that the four reflectors are not installed in the same plane. Moreover, a particle swarm optimization (PSO) algorithm is used to filter possible measuring errors. To show the feasibility and accuracy of the proposed method,...
This paper presents a novel autonomous relative navigation approach for uncooperative spacecraft rendezvous. The relative navigation algorithm of calculating the relative velocity and position in the inertial frame by using the inertial sensor output is developed. The Kalman filter with the feedback compensation is studied to estimate the error of the calculated relative velocity and position and...
This paper presents a map based robot navigation and localization algorithm using laser range finder for indoor environments. A navigation path is given by the sequence of grids and global map information is represented by the list of vertexes. The grid based navigation facilities path planning as well as complements localization with priori information of the grid sequence. The pattern of vertexes...
The authors have been developing an outdoor mobile robot intended to provide increased traveling distance by autonomously negotiating and crossing a road crossing intersection while traveling along pedestrian sidewalks in an urban environment. In this paper, high precision navigation towards a pedestrian push-button box by a mobile robot for the autonomous activation of the button is presented. We...
Research in the areas of localization, mapping and path planning for single mobile robots has been carried out extensively. Nevertheless, relatively little of its work is applied to multiple robot systems. Moreover, when these robots coexist with human, complex and unpredictable human environments make the above navigational tasks even more challenging. To address this problem we propose intelligent...
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...
We have developed a mobile assistive companion robot by combining a vision sensor and a laser range sensor to track and follow a target person. Although it works well in most cases, robot might lose target occasionally due to external factors such as bad view conditions or unconstructed environments. To solve this problem, we develop a speech system and sound source detection system to achieve sound...
In urban environment, the Global Positioning System (GPS), including differential variant of it, does not have sufficient accuracy for unmanned autonomous robot to drive along a lane because of tall buildings and trees. It is required to keep the variance of the distance between the robot and the boundary of the road less than 10-20cm to safely follow the road, as human beings drive. To comply the...
A comparative survey between the two basic strategies used to combine partial landmark based maps in multi-robot systems, data association and inter-robot observations (Rendezvous), is presented. The simulated environment is a flat place populated by trees, which are going to be mapped by a two-mobile robot team equipped with laser range finders in order to measure every tree (landmark) location and...
Volumetric mapping is essential for recognizing the 3D environment and consequentially for the decision making process for special-task mobile robots (such as stair climbing, inspection, or search and rescue). In this paper, we propose a fast surface detection algorithm based on point cloud data from a small pitch-actuated laser range finder mounted on a mobile manipulator arm. The developed algorithm...
This paper describes a probabilistic online map merging system for a single mobile robot. It performs intermittent exploration by fusing laser scan matching and omnidirectional vision. Moreover, it can also be adapted to a multi-robot system for large scale environments. Map merging is achieved by means of a probabilistic Haar-based place recognition system using omnidirectional images and is capable...
Laser range finder and camera have different abilities to capture external information, and combining these abilities of the two can greatly improve the environment perception ability of Autonomous Land Vehicle. This paper realized direct calibration of camera and Laser Range Finder on the vehicle based on the research of extrinsic calibration technique. This paper took the chessboard calibration...
In this paper, we propose a view planning method that plans view points for efficient 3D map building by a mobile robot equipped with two LRFs (laser range finders). The robot searches for effective view points by predicting new measurement domains in the next view points, and then measures distances to obstacles around the robot with LRFs. The 3D map is generated by integrating range information...
By analyzing the influence factors of the laser range finder LMS200 based on the robot navigation, this paper researches the range finder application with LMS200 respectively from two aspects of indoor and outdoor under different conditions. The index of reflection, the target surface properties, the mix picture element, and the visibility as well as the laser transmission atmospheric effect and so...
Laser based environment recognition technologies have been developed recently. Especially moving objects detection and classification by laser scanners mounted on a mobility is required for mobile robots and autonomous cars. In this paper, we propose a moving objects detection and classification method based on grid trajectories acquired from sequential laser scan data. Grid trajectories are obtained...
Automated Guided Vehicles (AGVs) are used in warehouses, distribution centers and manufacturing plants in order to automate the internal material flow. Usually AGVs are designed to transport large and heavy transport units such as Euro-pallets or mesh pallets. Just-in-time inventory management and lean production requires small transportation units to enable one-piece-flow. Furthermore short production...
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