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Autonomous Indoor Vehicle (AIV) is used for various purposes so it can reduce human workload. This study aims to develop a corridor navigation system for AIV that utilizes vision-based multi point sensing. Multi-point sensing techniques on floor and corridor areas are used to detect obstacle-free areas and estimate the direction of AIV. Area detection and direction estimation are used as input information...
A Survey of Disabled Persons by NSSO (2011) reported that Disability is an important public health problem in India. The wheelchair is topmost used assistive devices for enhancing the personal mobility of disabled people. Power wheelchairs are useful for those unable to propel a manual wheelchair. The disabled people with visual acuity, lack of motor skills and strength find difficult to use a power...
For many navigation scenarios, it is known that the accuracy of navigation state estimates depends on the path traveled, particularly when access to external navigation aids such as the Global Positioning System (GPS) is not available. In this work, we present a path planning method that attempts to minimize the navigation uncertainty of a pair of autonomous vehicles traveling from known initial locations...
This paper presents the gait generation and navigation algorithms of an autonomous self-reconfiguring mobile robot platform, Chaser, which is capable of changing its configuration according to its surroundings. This robot attains selftransforming capability due to multiple degrees of freedom in its structure and the on-board range-sensing ability. The proposed gait generation and navigation algorithms...
Mapping the environment is crucial to enable path planning and obstacle avoidance for self-driving vehicles and other robots. In this paper, we concentrate on ground-based vehicles and present an approach which extracts static obstacles from depth maps computed out of multiple consecutive images. In contrast to existing approaches, our system does not require accurate visual inertial odometry estimation...
The development of an intelligent wheelchair (IW) platform that may be easily adapted to any commercial wheelchair and aid any person with special mobility needs is the main objective of this project. To be able to achieve this main objective, three distinct control methods were implemented in the IW: manual, shared and automatic. Several manual, shared and automatic control algorithms were developed...
Mobility is one of the greatest challenges faced by elderly and physically challenged people. The immediate solution to their problem is powered wheelchairs with automatic navigation systems. However, effective low cost automatic navigation systems have not been developed and implemented. We propose a low cost navigation system which incorporates indoor automatic navigation system using LARN Algorithm,...
GPS receiver performance can suffer in difficult environments such as urban canyons and heavy foliage. Inertial sensors provide information between GPS updates and can enhance the position solution in a GPS/INS architecture. Additional information from safety sensors already on the vehicle, such as lane departure warning (LDW) sensors, can enhance the navigation solution further by constraining inertial...
To break out of a debilitating cycle caused by his deterioration of his ability, a patient participates in rehabilitation programs and actively rehearses his degraded abilities. A Cycling Wheel Chair (CWC) provides a rehabilitation option for preventing one's legs weakening and/or nervous system atrophy. This paper discusses desired functionalities on the CWC for effectively supporting patients becoming...
We propose a new mechanism, with an intuitive interface, for a walking guidance system for the visually impaired. The user pushes the mechanism using a long handle like walking stick, and the mechanism steers to navigate along a given route using environmental sensors, communicating the steering angle to the user by twisting the handle. Using the interface, users are aware of their direction to go...
This paper presents a novel approach for a modular robotic platform to support power plant inspection. In a first part the paper gives an overview over the challenges and benefits of robotic inspection on power generation equipment. The industry requirements are presented and discussed on a general level. The second part of the paper focus on the modular platform itself. The overall modular architecture...
A vehicle localization system can be extremely useful for intelligent transformation systems (ITS) such as advanced driver assistance systems (ADASs), emergency vehicle notification systems, and collision avoidance systems. To optimize the performance of vehicle localization systems, localization algorithms that analyze multi-sensor data processed using a Kalman filter have been developed. However,...
The Unmanned Ground Vehicle (UGV) is a robot that uses all sorts of sensors to recognize the external environment and acts voluntarily on its own, based on its judgments of the environment. It consists of the navigation system, vehicle control system, arbiter system and the obstacle detecting system. For the UGV to run safely, it is utterly important to have a correct understanding of the Current...
Orientation and position information are indispensable in mobile robot navigation. In this paper, a novel polarization sensor for getting orientation information is introduced. It exports an absolute azimuth angle. To take it effect in mobile robot navigation, a fuzzy logic controller is designed. It can direct the robot walking along the designed trajectory according to the information from the polarization...
With this work, we encourage the application of smart driving assistance algorithms to support the operator of an automated wheelchair in complex navigational situations. On the basis of an empirical study in which eight untrained subjects performed a given course using a conventional joystick and a proportional head-joystick respectively, we are able to prove benefits resulting from the application...
Intelligent vehicle is the vehicle which has ability to drive itself autonomously and purposefully. The vehicle is expected to facilitate the people who cannot drive. Some modules of the vehicle; steering control, for instances, can assist the driver to make the driver drive more comfortable and safely. This paper proposes an autonomous navigation and control algorithm which is capable to travel around...
We consider the problem of navigation of wheeled mobile robot (WMR) towards an unknown target in a cluttered environment. The biologically inspired navigation algorithm is the equiangular navigation guidance (ENG) combined with a local obstacle avoidance technique. The collision avoidance technique uses a system of active sensors which provides the necessary information about the obstacles in the...
In order to realize automatic navigation for agricultural robot, a fuzzy control method for automatic steering and a method for line tracking are conveyed in the article. The principal for fuzzy control steering and the construction of fuzzy controller are described in detail. In order to validate these two methods, agricultural robot was developed, which are refitted from a storage battery car. Navigation...
This paper addresses the problem of planning paths for a vehicle that are guaranteed to be safe in the presence of bounded uncertainty on the model of the vehicle, its sensors, and on the initial configuration. A new conceptual path planner based on rapidly-exploring random trees is proposed, which uses a set description of the uncertain configurations. A practical implementation of this path planner...
Autonomous and automatic home Mess-Cleanup Robot (Mcbot) is newly developed in this paper. So far, the vacuum-cleaner had made the burden of house chore lighten but the operational labor of a vacuum-cleaner had been so severe. Recently, the cleaning robot was commercialized to solve home cleaning labor problem but it also was not successful because it still had a problem of mess-cleanup, which was...
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