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This paper aims at developing a sensor-based Co-Active adaptive neuro-fuzzy inference system (CANFIS) for solving navigation problems of the mobile robot in an uncertain environment. The infrared sensor reads the distances of right, front and left obstacle. The collision-free path is accomplished by CANFIS controller which selects the desired steering angle by construing the obstacle distance information...
Urbanization and changes in modern infrastructure have introduced new challenges to current firefighting practices. The current manual operations and training including fire investigation, hazardous chemicals detection, fire and rescue are insufficient to protect the firefighter's safety and life. The firefighting and rescue functions of the existing equipment and apparatus and their dexterity are...
Robots functioning as a society can be called as a swarm. Coordinating a class of robots on an unexplored surrounding in the process of finding the shortest pathway is aided with a proper channel of communication and along with that the robots operate under a structurally associated procedure. The surrounding in which the robots move includes dynamic obstacles which are averted with the guidance of...
This paper provides an overview of the sensor network and mounting hardware used to convert a commercially available powered wheelchair into a semi-autonomous wheelchair. Emphasis is placed on modular design and ease of use. Although the sensor packages are used for the semi-autonomous navigation of a powered wheelchair, the sensor network presented has the potential to be used in a number of different...
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...
The main goal of the project described in this paper is to create a security system using autonomous surveillance robots that use SODAR-like detection system sensors, working with acoustic signals in air environment and navigation base on Geographic Information System and Markov's models. The surveillance system based on SONAR provides great information from the environment, even lets you see behind...
Many laboratories and companies are developing a mobile robot with various sensors and actuators. They implement navigation techniques usually tailored to their own robot. In this paper, we introduce a novel robot navigation library, Universal Robot Navigation (uRON). uRON is designed to be portable and independent from robot hardware and operating systems. Users can apply uRON to their robots with...
One of the fundamental requirements of an autonomous mobile robot is that it must not collide with obstacles. This paper addresses the problem of controlling an autonomous robot to avoid obstacles for reactive route following navigation. The four-wheeled mobile robot is equipped with three monocular cameras for route following and a range sensor for obstacle avoidance. The equipped robot moves route...
Terrain Based Navigation (TBN) is a method rooted to the early cruise missile navigation systems, when GPS was not yet available. For decades, TBN has been applied as a complementary system to INS navigation for Unmanned Aerial Vehicles (UAV). In the field of Autonomous Underwater Vehicles (AUVs), it has the potential to bound the drift inherent to dead reckoning navigation, based on INS and/or Doppler...
The purpose of this research is to construct a system that can navigate arm robot adopting Kukanchi (Interactive Human-Space Design and Intelligence). This system gets ID and place of objects on work area form database that lumps information of objects in the intelligent space. The database is built up by sensors that implanted in several places. And then, this system generates object position map...
We consider a single Dubins-like mobile robot traveling with a constant longitudinal speed in a planar region supporting an unknown field distribution. A single sensor provides the distribution value at the current vehicle location. We present a new sliding mode control method for tracking environmental level sets: the controller drives the vehicle to the set where the distribution assumes a pre-specified...
There have been two major streams for the motion control of mobile robots. The first is the model-based deliberate control and the second is the sensor-based reactive control. Since two schemes have complementary advantages and disadvantages, one cannot completely replace the other. There are a variety of environmental conditions which affect the navigation performances. The main idea of this paper...
This paper is devoted to design and implement an intelligent scaled car-like mobile robot that possesses the capability of autonomous driving in an extra-road environment and fully autonomous parking on standard parking lots. The final goal is to design a robotized system that is able to process in real-time large amounts of sensor based data, to choose a collision free drivable trajectory thru detected...
This paper shows the capability of our environmental testbed to validate novel cooperative control algorithms that rely on measurements from the environment. Through the design of our mounting plates, the testbed can accommodate multiple environmental sensors as well as different configurations of robot accessories. Also, our environmental sensor suite provides the ability to integrate a variety of...
Next generation planetary rovers will require greater autonomous navigation capabilities. Such requirements imply the management of potentially large and rich geo-referenced data sets stored in the form of maps. This paper presents the design of a data management system that can be used in the implementation of autonomous navigation schemes for planetary rovers. It also outlines an approach that dynamically...
A navigation system of mobile robots which works in the acoustic environment is studied based on auditory perception mode in this paper. In this kind of application, if the target is outside the scope of the visual sensor, only the auditory sensor can be used for robot to detect the target. The navigation model proposed by this paper has five units which are sensor unit, map establishing unit, information...
Disasters are inevitable part of the modern World. This paper introduces an easy to build, economical mobile robot that has been developed to aid the rescue effort by building a map automatically in such situations. The robot navigates in an unknown environment in which the only information it can obtain comes from onboard sensors and it needs to not only map the environment but to estimate its own...
Robotic wheelchairs are assistive navigation systems for people with limited mobility. A big number of the people with limited mobility find it extremely difficult or impossible to use conventional wheelchairs independently. To improve the mobility of this population, technologies that have been developed for mobile robots are currently being applied to develop "robotic wheelchairs" that...
This paper presents a decentralized coordination algorithm that allows a team of sensor-enabled robots to navigate a region containing non-convex obstacles and take measurements within the region that contain the highest probability of having ??good?? information first. This approach is motivated by scenarios where prior knowledge of the search space is known or when time constraints are present that...
Autonomous robotic navigation and mapping have been of tremendous interest during the last decade. While several approaches have been presented, little is known about performing these tasks when constraints are placed on the processing resources and sensors. This paper studies the effectiveness in performing a few high level tasks when a mobile robot is equipped merely with a low-end microcontroller...
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