Relevant bibliographies by topics / Autonomous mobile robot indoor navigation / Journal articles
To see the other types of publications on this topic, follow the link: Autonomous mobile robot indoor navigation.

Journal articles on the topic 'Autonomous mobile robot indoor navigation'

Author: Grafiati
Published: 4 June 2021
Last updated: 1 February 2022

Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles

Select a source type:

Consult the top 50 journal articles for your research on the topic 'Autonomous mobile robot indoor navigation.'

Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.

You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.

Browse journal articles on a wide variety of disciplines and organise your bibliography correctly.

1

Valliappan, Karthik C*, and Vikram R. "Autonomous Indoor Navigation for Mobile Robots." Regular issue 10, no. 7 (May 30, 2021): 122–26. http://dx.doi.org/10.35940/ijitee.g9038.0510721.

Full text
Abstract:
An autonomous navigation system for a robot is key for it to be self-reliant in any given environment. Precise navigation and localization of robots will minimize the need for guided work areas specifically designed for the utilization of robots. The existing solution for autonomous navigation is very expensive restricting its implementation to satisfy a wide variety of applications for robots. This project aims to develop a low-cost methodology for complete autonomous navigation and localization of the robot. For localization, the robot is equipped with an image sensor that captures reference points in its field of view. When the robot moves, the change in robot position is estimated by calculating the shift in the location of the initially captured reference point. Using the onboard proximity sensors, the robot generates a map of all the accessible areas in its domain which is then used for generating a path to the desired location. The robot uses the generated path to navigate while simultaneously avoiding any obstacles in its path to arrive at the desired location.
APA, Harvard, Vancouver, ISO, and other styles
2

Sleaman, Walead Kaled, and Sırma Yavuz. "Indoor mobile robot navigation using deep convolutional neural network." Journal of Intelligent & Fuzzy Systems 39, no. 4 (October 21, 2020): 5475–86. http://dx.doi.org/10.3233/jifs-189030.

Full text
Abstract:
Robot can help human in their everyday life and routine. These are not an indoor robot which was designed to perform desired task, but they can adapt to our environment by themselves and to learn from their own experiences. In this research we focus on high degree of autonomy, which is a must for social robots. For training purpose autonomous exploration and unknown environments is used along with proper algorithm so that robot can adapt to unknown environments. For testing purpose, simulation is carried with sensor fusion method, so that real world noise can be reduced and accuracy can be increased. This dissertation focuses on the intelligent robot control in autonomous navigation tasks and investigates the robot learning in following aspects. This method is based on human instinct of imitation. In this standard real time data set is provided to the robot for training purpose, it gets train from these data and generalize over all unseen potential situations and environments. Convolutional Neural Network is used to determine the probability and based on that robot can act. After acceptable number of demonstrations, robot can predict output with high accuracy and hence can acquire the independent navigation skills. State-of-the-art reinforcement learning techniques is used to train the robot via interaction with the robots. Convolutional Neural Network is also incorporated for fast generalization. Robot is train based on all past state-action pairs collected during interaction. This training model can predict output which helps robot for autonomous navigation.
APA, Harvard, Vancouver, ISO, and other styles
3

Yi, Soo-Yeong, and Byoung-Wook Choi. "Autonomous navigation of indoor mobile robots using a global ultrasonic system." Robotica 22, no. 4 (August 2004): 369–74. http://dx.doi.org/10.1017/s0263574704000335.

Full text
Abstract:
Autonomous navigation of an indoor mobile robot, using the global ultrasonic system, is presented in this paper. Since the trajectory error of the dead-reckoning navigation increases significantly with time and distance, the autonomous navigation system of a mobile robot requires self-localization capa-bility in order to compensate for trajectory error. The global ultrasonic system, consisting of four ultrasonic generators fixed at a priori known positions in the work space and two receivers mounted on the mobile robot, has a similar structure to the well-known satellite GPS(Global Positioning System), which is used for the localization of ground vehicles. The EKF (Extended Kalman Filter) algorithm is utilized for self-localization and autonomous navigation, based on the self-localization algorithm is verified by experiments performed in this study. Since the self-localization algorithm is efficient and fast, it is appropriate for an embedded controller of a mobile robot.
APA, Harvard, Vancouver, ISO, and other styles
4

Wang, Chaoqun, Jiankun Wang, Chenming Li, Danny Ho, Jiyu Cheng, Tingfang Yan, Lili Meng, and Max Q. H. Meng. "Safe and Robust Mobile Robot Navigation in Uneven Indoor Environments." Sensors 19, no. 13 (July 7, 2019): 2993. http://dx.doi.org/10.3390/s19132993.

Full text
Abstract:
Complex environments pose great challenges for autonomous mobile robot navigation. In this study, we address the problem of autonomous navigation in 3D environments with staircases and slopes. An integrated system for safe mobile robot navigation in 3D complex environments is presented and both the perception and navigation capabilities are incorporated into the modular and reusable framework. Firstly, to distinguish the slope from the staircase in the environment, the robot builds a 3D OctoMap of the environment with a novel Simultaneously Localization and Mapping (SLAM) framework using the information of wheel odometry, a 2D laser scanner, and an RGB-D camera. Then, we introduce the traversable map, which is generated by the multi-layer 2D maps extracted from the 3D OctoMap. This traversable map serves as the input for autonomous navigation when the robot faces slopes and staircases. Moreover, to enable robust robot navigation in 3D environments, a novel camera re-localization method based on regression forest towards stable 3D localization is incorporated into this framework. In addition, we utilize a variable step size Rapidly-exploring Random Tree (RRT) method which can adjust the exploring step size automatically without tuning this parameter manually according to the environment, so that the navigation efficiency is improved. The experiments are conducted in different kinds of environments and the output results demonstrate that the proposed system enables the robot to navigate efficiently and robustly in complex 3D environments.
APA, Harvard, Vancouver, ISO, and other styles
5

Daza, Marcos, Dennis Barrios-Aranibar, José Diaz-Amado, Yudith Cardinale, and João Vilasboas. "An Approach of Social Navigation Based on Proxemics for Crowded Environments of Humans and Robots." Micromachines 12, no. 2 (February 13, 2021): 193. http://dx.doi.org/10.3390/mi12020193.

Full text
Abstract:
Nowadays, mobile robots are playing an important role in different areas of science, industry, academia and even in everyday life. In this sense, their abilities and behaviours become increasingly complex. In particular, in indoor environments, such as hospitals, schools, banks and museums, where the robot coincides with people and other robots, its movement and navigation must be programmed and adapted to robot–robot and human–robot interactions. However, existing approaches are focused either on multi-robot navigation (robot–robot interaction) or social navigation with human presence (human–robot interaction), neglecting the integration of both approaches. Proxemic interaction is recently being used in this domain of research, to improve Human–Robot Interaction (HRI). In this context, we propose an autonomous navigation approach for mobile robots in indoor environments, based on the principles of proxemic theory, integrated with classical navigation algorithms, such as ORCA, Social Momentum, and A*. With this novel approach, the mobile robot adapts its behaviour, by analysing the proximity of people to each other, with respect to it, and with respect to other robots to decide and plan its respective navigation, while showing acceptable social behaviours in presence of humans. We describe our proposed approach and show how proxemics and the classical navigation algorithms are combined to provide an effective navigation, while respecting social human distances. To show the suitability of our approach, we simulate several situations of coexistence of robots and humans, demonstrating an effective social navigation.
APA, Harvard, Vancouver, ISO, and other styles
6

Tang, Lixin, and Shin'ichi Yuta. "Mobile Robot Playback Navigation Based on Robot Pose Calculation Using Memorized Omnidirectional Images." Journal of Robotics and Mechatronics 14, no. 4 (August 20, 2002): 366–74. http://dx.doi.org/10.20965/jrm.2002.p0366.

Full text
Abstract:
We propose a method of autonomous navigation for mobile robots in indoor environments by a teaching and playback scheme. During teaching, an operator guides a robot to move by manual control. While moving, the robot memorizes its motion measured by odometry and an environmental image taken by an omnidirectional camera at each time interval, and regards places where images were taken as target positions. When navigating autonomously, the robot plays back memorized motion to track each target position and corrects its position by calculating its relative pose using current and memorized images, to follow the taught route. In this method, vertical edges existing in the environment are used as landmarks to calculate robot position, and an evaluation function defined by us is used to find corresponding vertical edges between two images. The robot thus can navigate robustly in real building environments. The system can avoid the problem of the operator covering a part of the environment in images during the teaching stage.
APA, Harvard, Vancouver, ISO, and other styles
7

Cheng, Hongtai, Heping Chen, and Yong Liu. "Topological Indoor Localization and Navigation for Autonomous Mobile Robot." IEEE Transactions on Automation Science and Engineering 12, no. 2 (April 2015): 729–38. http://dx.doi.org/10.1109/tase.2014.2351814.

Full text
APA, Harvard, Vancouver, ISO, and other styles
8

Nurhafizah Anual, Siti, Mohd Faisal Ibrahim, Nurhana Ibrahim, Aini Hussain, Mohd Marzuki Mustafa, Aqilah Baseri Huddin, and Fazida Hanim Hashim. "GA-based Optimisation of a LiDAR Feedback Autonomous Mobile Robot Navigation System." Bulletin of Electrical Engineering and Informatics 7, no. 3 (September 1, 2018): 433–41. http://dx.doi.org/10.11591/eei.v7i3.1275.

Full text
Abstract:
Autonomous mobile robots require an efficient navigation system in order to navigate from one location to another location fast and safe without hitting static or dynamic obstacles. A light-detection-and-ranging (LiDAR) based autonomous robot navigation is a multi-component navigation system consists of various parameters to be configured. With such structure and sometimes involving conflicting parameters, the process of determining the best configuration for the system is a non-trivial task. This work presents an optimisation method using Genetic algorithm (GA) to configure such navigation system with tuned parameters automatically. The proposed method can optimise parameters of a few components in a navigation system concurrently. The representation of chromosome and fitness function of GA for this specific robotic problem are discussed. The experimental results from simulation and real hardware show that the optimised navigation system outperforms a manually-tuned navigation system of an indoor mobile robot in terms of navigation time.
APA, Harvard, Vancouver, ISO, and other styles
9

Omrane, Hajer, Mohamed Slim Masmoudi, and Mohamed Masmoudi. "Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation." Computational Intelligence and Neuroscience 2016 (2016): 1–10. http://dx.doi.org/10.1155/2016/9548482.

Full text
Abstract:
This paper describes the design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot to navigate in indoor environments. Most of the previous works used two independent controllers for navigation and avoiding obstacles. The main contribution of the paper can be summarized in the fact that we use only one fuzzy controller for navigation and obstacle avoidance. The used mobile robot is equipped with DC motor, nine infrared range (IR) sensors to measure the distance to obstacles, and two optical encoders to provide the actual position and speeds. To evaluate the performances of the intelligent navigation algorithms, different trajectories are used and simulated using MATLAB software and SIMIAM navigation platform. Simulation results show the performances of the intelligent navigation algorithms in terms of simulation times and travelled path.
APA, Harvard, Vancouver, ISO, and other styles
10

Gomez, Clara, Alejandra Carolina Hernandez, Jonathan Crespo, and Ramon Barber. "A topological navigation system for indoor environments based on perception events." International Journal of Advanced Robotic Systems 14, no. 1 (December 22, 2016): 172988141667813. http://dx.doi.org/10.1177/1729881416678134.

Full text
Abstract:
The aim of the work presented in this article is to develop a navigation system that allows a mobile robot to move autonomously in an indoor environment using perceptions of multiple events. A topological navigation system based on events that imitates human navigation using sensorimotor abilities and sensorial events is presented. The increasing interest in building autonomous mobile systems makes the detection and recognition of perceptions a crucial task. The system proposed can be considered a perceptive navigation system as the navigation process is based on perception and recognition of natural and artificial landmarks, among others. The innovation of this work resides in the use of an integration interface to handle multiple events concurrently, leading to a more complete and advanced navigation system. The developed architecture enhances the integration of new elements due to its modularity and the decoupling between modules. Finally, experiments have been carried out in several mobile robots, and their results show the feasibility of the navigation system proposed and the effectiveness of the sensorial data integration managed as events.
APA, Harvard, Vancouver, ISO, and other styles
11

Park, JaeHyun, MunGyu Choi, YunFei Zu, and JangMyung Lee. "Indoor localization system in a multi-block workspace." Robotica 28, no. 3 (May 22, 2009): 397–403. http://dx.doi.org/10.1017/s0263574709005712.

Full text
Abstract:
SUMMARYThis paper proposes methodologies and techniques for multi-block navigation of an indoor localization system with active beacon sensors. As service robots and ubiquitous technology have evolved, there is an increasing need for autonomous indoor navigation of mobile robots. In a large number of indoor localization schemes, the absolute position estimation method, relying on navigation beacons or landmarks, has been widely used due to its low cost and high accuracy. However, few of these schemes have managed to expand the applications for use in complicated workspaces involving many rooms or blocks that cover a wide region, such as airports and stations. Since the precise and safe navigation of mobile robots in complicated workspaces is vital for the ubiquitous technology, it is necessary to develop a multi-block navigation scheme. This new design of an indoor localization system includes ultrasonic attenuation compensation, dilution of both the precision analysis and fault detection, and an isolation algorithm using redundant measurements. These ideas are implemented on actual mobile robot platforms and beacon sensors, and experimental results are presented to test and demonstrate the new methods.
APA, Harvard, Vancouver, ISO, and other styles
12

Komoriya, Kiyoshi. "Special Issue on Mobile Robot." Journal of Robotics and Mechatronics 11, no. 1 (February 20, 1999): 1. http://dx.doi.org/10.20965/jrm.1999.p0001.

Full text
Abstract:
Mobility, or locomotion, is as important a function for robots as manipulation. A robot can enlarge its work space by locomotion. It can also recognize its environment well with its sensors by moving around and by observing its surroundings from various directions. Much researches has been done on mobile robots and the research appears to be mature. Research activity on robot mobility is still very active; for example, 22% of the sessions at ICRA'98 - the International Conference on Robotics and Automation - and 24% of the sessions at IROS'98 - the International Conference on Intelligent Robots and Systems - dealt with issues directly related to mobile robots. One of the main reasons may be that intelligent mobile robots are thought to be the closest position to autonomous robot applications. This special issue focuses on a variety of mobile robot research from mobile mechanisms, localization, and navigation to remote control through networks. The first paper, entitled ""Control of an Omnidirectional Vehicle with Multiple Modular Steerable Drive Wheels,"" by M. Hashimoto et al., deals with locomotion mechanisms. They propose an omnidirectional mobile mechanism consisting of modular steerable drive wheels. The omnidirectional function of mobile mechanisms will be an important part of the human-friendly robot in the near future to realize flexible movements in indoor environments. The next three papers focus on audiovisual sensing to localize and navigate a robot. The second paper, entitled ""High-Speed Measurement of Normal Wall Direction by Ultrasonic Sensor,"" by A. Ohya et al., proposes a method to measure the normal direction of walls by ultrasonic array sensor. The third paper, entitled ""Self-Position Detection System Using a Visual-Sensor for Mobile Robots,"" is written by T. Tanaka et al. In their method, the position of the robot is decided by measuring marks such as name plates and fire alarm lamps by visual sensor. In the fourth paper, entitled ""Development of Ultra-Wide-Angle Laser Range Sensor and Navigation of a Mobile Robot in a Corridor Environment,"" written by Y Ando et al., a very wide view-angle sensor is realized using 5 laser fan beam projectors and 3 CCD cameras. The next three papers discussing navigation problems. The fifth paper, entitled ""Autonomous Navigation of an Intelligent Vehicle Using 1-Dimensional Optical Flow,"" by M. Yamada and K. Nakazawa, discusses navigation based on visual feedback. In this work, navigation is realized by general and qualitative knowledge of the environment. The sixth paper, entitled ""Development of Sensor-Based Navigation for Mobile Robots Using Target Direction Sensor,"" by M. Yamamoto et al., proposes a new sensor-based navigation algorithm in an unknown obstacle environment. The seventh paper, entitled ""Navigation Based on Vision and DGPS Information for Mobile Robots,"" S. Kotani et al., describes a navigation system for an autonomous mobile robot in an outdoor environment. The unique point of their paper is the utilization of landmarks and a differential global positioning system to determine robot position and orientation. The last paper deals with the relationship between the mobile robot and computer networks. The paper, entitled ""Direct Mobile Robot Teleoperation via Internet,"" by K. Kawabata et al., proposes direct teleoperation of a mobile robot via the Internet. Such network-based robotics will be an important field in robotics application. We sincerely thank all of the contributors to this special issue for their cooperation from the planning stage to the review process. Many thanks also go to the reviewers for their excellent work. We will be most happy if this issue aids readers in understanding recent trends in mobile robot research and furthers interest in this research field.
APA, Harvard, Vancouver, ISO, and other styles
13

Aslan, Gökhan, Erhan Ilhan Konukseven, and Buğra Koku. "Design and Implementation of a 3D Range Scanner for Mobile Robots." Key Engineering Materials 572 (September 2013): 644–47. http://dx.doi.org/10.4028/www.scientific.net/kem.572.644.

Full text
Abstract:
In an efficient autonomous navigation and exploration, the robots should sense the environment as exactly as possible in real-time and act correctly on the basis of the acquired 3D data. Laser scanners have been used for the last 30 years for mobile robot navigation. However, they often did not enough speed, accuracy and field of view. In this paper we present the design and implementation of a scanning platform, which can be used for both outdoor and indoor mobile robot navigation and mapping. A 3D scanning platform based on a 2D laser rangefinder was designed in compact way for fast and accurate mapping with maximum field of view. The range finder is rotated around the vertical axis to extract the 3D indoor information. However, the scanner is designed to be placed in any direction on a mobile robot. The designed mechanism provides 360º degree horizontal by 240º degree vertical field of view. The maximum resolution is 0.36º degrees in elevation and variable in azimuth (0.1 degrees if scanning platform is set to complete a 360º degree rotation in 3.6 seconds). The proposed low cost compact design is tested by scanning a physical environment with known dimensions to show that it can be used as a precise and reliable high quality 3D sensor for autonomous mobile robots.
APA, Harvard, Vancouver, ISO, and other styles
14

Donoso-Aguirre, F., J. P. Bustos-Salas, M. Torres-Torriti, and A. Guesalaga. "Mobile robot localization using the Hausdorff distance." Robotica 26, no. 2 (March 2008): 129–41. http://dx.doi.org/10.1017/s0263574707003657.

Full text
Abstract:
SUMMARYThis paper presents a novel method for localization of mobile robots in structured environments. The estimation of the position and orientation of the robot relies on the minimisation of the partial Hausdorff distance between ladar range measurements and a floor plan image of the building. The approach is employed in combination with an extended Kalman filter to obtain accurate estimates of the robot's position, heading and velocity. Good estimates of these variables were obtained during tests performed using a differential drive robot, thus demonstrating that the approach provides an accurate, reliable and computationally feasible alternative for indoor robot localization and autonomous navigation.
APA, Harvard, Vancouver, ISO, and other styles
15

Sunhong Park and S. Hashimoto. "Autonomous Mobile Robot Navigation Using Passive RFID in Indoor Environment." IEEE Transactions on Industrial Electronics 56, no. 7 (July 2009): 2366–73. http://dx.doi.org/10.1109/tie.2009.2013690.

Full text
APA, Harvard, Vancouver, ISO, and other styles
16

Ma, Xi Pei, Bing Feng Qian, Song Jie Zhang, and Ye Wang. "Research on Technology and Application of Multi-Sensor Data Fusion for Indoor Service Robots." Applied Mechanics and Materials 651-653 (September 2014): 831–34. http://dx.doi.org/10.4028/www.scientific.net/amm.651-653.831.

Full text
Abstract:
The autonomous navigation process of a mobile service robot is usually in uncertain environment. The information only given by sensors has been unable to meet the demand of the modern mobile robots, so multi-sensor data fusion has been widely used in the field of robots. The platform of this project is the achievement of the important 863 Program national research project-a prototype nursing robot. The aim is to study a mobile service robot’s multi-sensor information fusion, path planning and movement control method. It can provide a basis and practical use’s reference for the study of an indoor robot’s localization.
APA, Harvard, Vancouver, ISO, and other styles
17

Hentschel, M., and B. Wagner. "An Adaptive Memory Model for Long-Term Navigation of Autonomous Mobile Robots." Journal of Robotics 2011 (2011): 1–9. http://dx.doi.org/10.1155/2011/506245.

Full text
Abstract:
This paper introduces an environmental representation for autonomous mobile robots that continuously adapts over time. The presented approach is inspired by human memory information processing and stores the current as well as past knowledge of the environment. In this paper, the memory model is applied to time-variant information about obstacles and driveable routes in the workspace of the autonomous robot and used for solving the navigation cycle of the robot. This includes localization and path planning as well as vehicle control. The presented approach is evaluated in a real-world experiment within changing indoor environment. The results show that the environmental representation is stable, improves its quality over time, and adapts to changes.
APA, Harvard, Vancouver, ISO, and other styles
18

Munguía, Rodrigo, Carlos López-Franco, Emmanuel Nuño, and Adriana López-Franco. "Method for SLAM Based on Omnidirectional Vision: A Delayed-EKF Approach." Journal of Sensors 2017 (2017): 1–14. http://dx.doi.org/10.1155/2017/7342931.

Full text
Abstract:
This work presents a method for implementing a visual-based simultaneous localization and mapping (SLAM) system using omnidirectional vision data, with application to autonomous mobile robots. In SLAM, a mobile robot operates in an unknown environment using only on-board sensors to simultaneously build a map of its surroundings, which it uses to track its position. The SLAM is perhaps one of the most fundamental problems to solve in robotics to build mobile robots truly autonomous. The visual sensor used in this work is an omnidirectional vision sensor; this sensor provides a wide field of view which is advantageous in a mobile robot in an autonomous navigation task. Since the visual sensor used in this work is monocular, a method to recover the depth of the features is required. To estimate the unknown depth we propose a novel stochastic triangulation technique. The system proposed in this work can be applied to indoor or cluttered environments for performing visual-based navigation when GPS signal is not available. Experiments with synthetic and real data are presented in order to validate the proposal.
APA, Harvard, Vancouver, ISO, and other styles
19

Chen, Xi Yuan, Jing Peng Gao, Yuan Xu, and Qing Hua Li. "Optical Flow-Based Monocular Vision/INS Integrated Navigation for Mobile Robot Indoors." Applied Mechanics and Materials 538 (April 2014): 375–78. http://dx.doi.org/10.4028/www.scientific.net/amm.538.375.

Full text
Abstract:
This paper proposed a new algorithm for optical flow-based monocular vision (MV)/ inertial navigation system (INS) integrated navigation. In this mode, a downward-looking camera is used to get the image sequences, which is used to estimate the velocity of the mobile robot by using optical flow algorithm. INS is employed for the yaw variation. In order to evaluate the performance of the proposed method, a real indoor test has done. The result shows that the proposed method has good performance for velocity estimation. It can be applied to the autonomous navigation of mobile robots when the Global Positioning System (GPS) and code wheel is unavailable.
APA, Harvard, Vancouver, ISO, and other styles
20

Al-Jumaily, Adel, and Cindy Leung. "Wavefront Propagation and Fuzzy Based Autonomous Navigation." International Journal of Advanced Robotic Systems 2, no. 2 (June 1, 2005): 10. http://dx.doi.org/10.5772/5799.

Full text
Abstract:
Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its destination. This paper presents the approach and results in implementing an autonomous navigation system for an indoor mobile robot. The system developed is based on a laser sensor used to retrieve data to update a two dimensional world model of therobot environment. Waypoints in the path are incorporated into the obstacle avoidance. Features such as ageing of objects and smooth motion planning are implemented to enhance efficiency and also to cater for dynamic environments.
APA, Harvard, Vancouver, ISO, and other styles
21

Teso-Fz-Betoño, Daniel, Ekaitz Zulueta, Ander Sánchez-Chica, Unai Fernandez-Gamiz, and Aitor Saenz-Aguirre. "Semantic Segmentation to Develop an Indoor Navigation System for an Autonomous Mobile Robot." Mathematics 8, no. 5 (May 25, 2020): 855. http://dx.doi.org/10.3390/math8050855.

Full text
Abstract:
In this study, a semantic segmentation network is presented to develop an indoor navigation system for a mobile robot. Semantic segmentation can be applied by adopting different techniques, such as a convolutional neural network (CNN). However, in the present work, a residual neural network is implemented by engaging in ResNet-18 transfer learning to distinguish between the floor, which is the navigation free space, and the walls, which are the obstacles. After the learning process, the semantic segmentation floor mask is used to implement indoor navigation and motion calculations for the autonomous mobile robot. This motion calculations are based on how much the estimated path differs from the center vertical line. The highest point is used to move the motors toward that direction. In this way, the robot can move in a real scenario by avoiding different obstacles. Finally, the results are collected by analyzing the motor duty cycle and the neural network execution time to review the robot’s performance. Moreover, a different net comparison is made to determine other architectures’ reaction times and accuracy values.
APA, Harvard, Vancouver, ISO, and other styles
22

Jeong, Jae-Hoon, and Kiwon Park. "Numerical Analysis of 2-D Positioned, Indoor, Fuzzy-Logic, Autonomous Navigation System Based on Chromaticity and Frequency-Component Analysis of LED Light." Sensors 21, no. 13 (June 25, 2021): 4345. http://dx.doi.org/10.3390/s21134345.

Full text
Abstract:
Topics concerning autonomous navigation, especially those related to positioning systems, have recently attracted increased research attention. The commonly available global positioning system (GPS) is unable to determine the positions of vehicles in GPS-shaded regions. To address this concern, this paper presents a fuzzy-logic system capable of determining the position of a moving robot in a GPS-shaded indoor environment by analyzing the chromaticity and frequency-component ratio of LED lights installed under the ceiling. The proposed system’s performance was analyzed by performing a MATLAB simulation of an indoor environment with obstacles. During the simulation, the mobile robot utilized a fuzzy autonomous navigation system with behavioral rules to approach targets successfully in a variety of indoor environments without colliding with obstacles. The robot utilized the x and y coordinates of the fuzzy positioning system. The results obtained in this study confirm the suitability of the proposed method for use in applications involving autonomous navigation of vehicles in areas with poor GPS-signal reception, such as in tunnels.
APA, Harvard, Vancouver, ISO, and other styles
23

Singh, Ravinder, and Kuldeep Singh Nagla. "Error analysis of laser scanner for robust autonomous navigation of mobile robot in diverse illumination environment." World Journal of Engineering 15, no. 5 (October 1, 2018): 626–32. http://dx.doi.org/10.1108/wje-08-2017-0228.

Full text
Abstract:
Purpose Modern service robots are designed to work in a complex indoor environment, in which the robot has to interact with the objects in different ambient light intensities (day light, tube light, halogen light and dark ambiance). The variations in sudden ambient light intensities often cause an error in the sensory information of optical sensors like laser scanner, which reduce the reliability of the sensor in applications such as mapping, path planning and object detection of a mobile robot. Laser scanner is an optical sensor, so sensory information depends upon parameters like surface reflectivity, ambient light condition, texture of the targets, etc. The purposes of this research are to investigate and remove the effect of variation in ambient light conditions on the laser scanner to achieve robust autonomous mobile robot navigation. Design/methodology/approach The objective of this study is to analyze the effect of ambient light condition (dark ambiance, tube light and halogen bulb) on the accuracy of the laser scanner for the robust autonomous navigation of mobile robot in diverse illumination environments. A proposed AIFA (Adaptive Intensity Filter Algorithm) approach is designed in robot operating system (ROS) and implemented on a mobile robot fitted with laser scanner to reduce the effect of high-intensity ambiance illumination of the environment. Findings It has been experimentally found that the variation in the measured distance in dark is more consistent and accurate as compared to the sensory information taken in high-intensity tube light/halogen bulbs and in sunlight. The proposed AIFA approach is implement on a laser scanner fitted on a mobile robot which navigates in the high-intensity ambiance-illuminating complex environment. During autonomous navigation of mobile robot, while implementing the AIFA filter, the proportion of cession with the obstacles is reduce to 23 per cent lesser as compared to conventional approaches. Originality/value The proposed AIFA approach reduced the effect of the varying ambient light conditions in the sensory information of laser scanner for the applications such as autonomous navigation, path planning, mapping, etc. in diverse ambiance environment.
APA, Harvard, Vancouver, ISO, and other styles
24

Arkin, Ronald C. "Navigational path planning for a vision-based mobile robot." Robotica 7, no. 1 (January 1989): 49–63. http://dx.doi.org/10.1017/s0263574700005038.

Full text
Abstract:
SUMMARYThe Autonomous Robot Architecture (AuRA) provides multi-level representation and planning capabilities. This paper addresses the task of navigational path-planning, which provides the robot with a path guaranteed to be free of collisions with any modeled obstacles. Knowledge supporting visual perception can also be embedded, facilitating the actual path traversal by the vehicle.A multi-level representation and architecture to support multi-sensor navigation (predominantly visual) are described. A hybrid vertex-graph free-space representation based upon the decomposition of free space into convex regions capable for use in both indoor and limited outdoor navigation is discussed. This “meadow map” is produced via the recursive decomposition of the initial bounding area of traversability and its associated modeled obstacles. Of particular interest is the ability to handle diverse terrain types (sidewalks, grass, gravel, etc.) “Transition zones” ease the passage of the robot from one terrain type to another.The navigational planner that utilizes the data available in the above representational scheme is described. An A* search algorithm incorporates appropriate cost functions for multi-terrain navigation. Consideration is given to just what constitutes an “optimal” path in this context.
APA, Harvard, Vancouver, ISO, and other styles
25

Kurashiki, Keita, Mareus Aguilar, and Sakon Soontornvanichkit. "Visual Navigation of a Wheeled Mobile Robot Using Front Image in Semi-Structured Environment." Journal of Robotics and Mechatronics 27, no. 4 (August 20, 2015): 392–400. http://dx.doi.org/10.20965/jrm.2015.p0392.

Full text
Abstract:
<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270004/09.jpg"" width=""300"" /> Mobile robot with a stereo camera</div> Autonomous mobile robots has been an active research recently. In Japan, the Tsukuba Challenge is held annually since 2007 in order to realize autonomous mobile robots that coexist with human beings safely in society. Through technological incentives of such effort, laser range finder (LRF) based navigation has rapidly improved. A technical issue of these techniques is the reduction of the prior information because most of them require precise 3D model of the environment, that is poor in both maintainability and scalability. On the other hand, in spite of intensive studies on vision based navigation using cameras, no robot in the Challenge could achieve full camera navigation. In this paper, an image based control law to follow the road boundary is proposed. This method is a part of the topological navigation to reduce prior information and enhance scalability of the map. As the controller is designed based on the interaction model of the robot motion and image feature in the front image, the method is robust to the camera calibration error. The proposed controller is tested through several simulations and indoor/outdoor experiments to verify its performance and robustness. Finally, our results in Tsukuba Challenge 2014 using the proposed controller is presented. </span>
APA, Harvard, Vancouver, ISO, and other styles
26

MOHARERI, OMID, and AHMAD B. RAD. "A VISION-BASED LOCATION POSITIONING SYSTEM VIA AUGMENTED REALITY: AN APPLICATION IN HUMANOID ROBOT NAVIGATION." International Journal of Humanoid Robotics 10, no. 03 (September 2013): 1350019. http://dx.doi.org/10.1142/s0219843613500199.

Full text
Abstract:
In this paper, we present a vision-based localization system using mobile augmented reality (MAR) and mobile audio augmented reality (MAAR) techniques, applicable to both humans and humanoid robots navigation in indoor environments. In the first stage, we propose a system that recognizes the location of a user from the image sequence of an indoor environment using its onboard camera. The location information is added to the user's view in the form of 3D objects and audio sounds with location information and navigation instruction content via augmented reality (AR). The location is recognized by using the prior knowledge about the layout of the environment and the location of the AR markers. The image sequence can be obtained using a smart phone's camera and the marker detection, 3D object placement and audio augmentation will be performed by the phone's operating processor and graphical/audio modules. Using this system will majorly reduce the hardware complexity of such navigation systems, as it replaces a system consisting of a mobile PC, wireless camera, head-mounted displays (HMD) and a remote PC with a smart phone with camera. In the second stage, the same algorithm is employed as a novel vision-based autonomous humanoid robot localization and navigation approach. The proposed technique is implemented on a humanoid robot NAO and improves the robot's navigation and localization performance previously done using an extended Kalman filter (EKF) by presenting location-based information to the robot through different AR markers placed in the robot environment.
APA, Harvard, Vancouver, ISO, and other styles
27

Tan, Bin. "Soccer-Assisted Training Robot Based on Image Recognition Omnidirectional Movement." Wireless Communications and Mobile Computing 2021 (August 16, 2021): 1–10. http://dx.doi.org/10.1155/2021/5532210.

Full text
Abstract:
With the continuous emergence and innovation of computer technology, mobile robots are a relatively hot topic in the field of artificial intelligence. It is an important research area of more and more scholars. The core of mobile robots is to be able to realize real-time perception of the surrounding environment and self-positioning and to conduct self-navigation through this information. It is the key to the robot’s autonomous movement and has strategic research significance. Among them, the goal recognition ability of the soccer robot vision system is the basis of robot path planning, motion control, and collaborative task completion. The main recognition task in the vision system is the omnidirectional vision system. Therefore, how to improve the accuracy of target recognition and the light adaptive ability of the robot omnidirectional vision system is the key issue of this paper. Completed the system construction and program debugging of the omnidirectional mobile robot platform, and tested its omnidirectional mobile function, positioning and map construction capabilities in the corridor and indoor environment, global navigation function in the indoor environment, and local obstacle avoidance function. How to use the local visual information of the robot more perfectly to obtain more available information, so that the “eyes” of the robot can be greatly improved by relying on image recognition technology, so that the robot can obtain more accurate environmental information by itself has always been domestic and foreign one of the goals of the joint efforts of scholars. Research shows that the standard error of the experimental group’s shooting and dribbling test scores before and the experimental group’s shooting and dribbling test results after the standard error level is 0.004, which is less than 0.05, which proves the use of soccer-assisted robot-assisted training. On the one hand, we tested the positioning and navigation functions of the omnidirectional mobile robot, and on the other hand, we verified the feasibility of positioning and navigation algorithms and multisensor fusion algorithms.
APA, Harvard, Vancouver, ISO, and other styles
28

Melo, Leonimer Flávio de, João Mauricio Rosário, and Almiro Franco da Silveira Junior. "Mobile Robot Indoor Autonomous Navigation with Position Estimation Using RF Signal Triangulation." Positioning 04, no. 01 (2013): 20–35. http://dx.doi.org/10.4236/pos.2013.41004.

Full text
APA, Harvard, Vancouver, ISO, and other styles
29

Gilg, Anton, and Günther Schmidt. "Landmark-Oriented Visual Navigation of an Autonomous Mobile Robot in Indoor Environments." IFAC Proceedings Volumes 26, no. 1 (April 1993): 217–22. http://dx.doi.org/10.1016/s1474-6670(17)49302-5.

Full text
APA, Harvard, Vancouver, ISO, and other styles
30

Murugan, Mahalingam, B. Sheela Rani, and Rahul Pol. "Socio-realistic optimal path planning for indoor realtime autonomous mobile robot navigation." International Journal of Vehicle Autonomous Systems 1, no. 1 (2019): 1. http://dx.doi.org/10.1504/ijvas.2019.10021918.

Full text
APA, Harvard, Vancouver, ISO, and other styles
31

Wei, Sek Sze, and R. M. Kuppan Chetty. "RFID based Intelligent Navigation Methodology of a Nonholonomic Indoor Autonomous Mobile Robot." Journal of Applied Sciences 12, no. 23 (November 15, 2012): 2376–82. http://dx.doi.org/10.3923/jas.2012.2376.2382.

Full text
APA, Harvard, Vancouver, ISO, and other styles
32

Yi, Soo-Yeong. "Global ultrasonic system with selective activation for autonomous navigation of an indoor mobile robot." Robotica 26, no. 3 (May 2008): 277–83. http://dx.doi.org/10.1017/s0263574707003888.

Full text
Abstract:
SUMMARYThis paper presents a global ultrasonic system with selective activation algorithm for autonomous navigation of an indoor mobile robot. The global ultrasonic system consists of several ultrasonic transmitters fixed at reference positions in global coordinates and two receivers at moving coordinates of a mobile robot. By activating the ultrasonic transmitters through an radiofrequency (RF) channel, the robot is able to obtain distance information to the reference positions and localize itself in the global coordinates. Due to limitations in signal strength and beam width, the ultrasonic signals from some transmitters may not be delivered to the robot and the ultrasonic data become invalid. In order to improve the effectiveness of the global ultrasonic system, a so-called selective activation algorithm is developed. Based on the current position of the robot, the selective activation calls a proper ultrasonic transmitter and generates valid ultrasonic data at every sampling instant, resulting in faster, more accurate response for self-localization than does simple sequential activation. Path-following control experiments are conducted to verify the effectiveness of the self-localization based on the proposed selective activation algorithm with the global ultrasonic system.
APA, Harvard, Vancouver, ISO, and other styles
33

Gîrbacia, Teodora. "Comparative Study on Autonomous Robot Trajectory Determination in an Unknown Indoor Environment." Applied Mechanics and Materials 555 (June 2014): 327–33. http://dx.doi.org/10.4028/www.scientific.net/amm.555.327.

Full text
Abstract:
In this paper is presented a comparative study between using extended Kalman filter and particle filter applied on SLAM algorithm for an autonomous mobile robot. The robot navigates through an unknown indoor environment in which are placed 80 landmarks and it creates the map of the environment. Because the sensors placed on the robots produce measurement errors it is necessary to use Bayesian filters as the Kalman filter or the particle filter. An application was implemented that shows the estimated measurement errors produced while using both filters in order to create the estimated map of the closed environment in which the autonomous mobile robot is navigating.
APA, Harvard, Vancouver, ISO, and other styles
34

Pradel, Gilbert, and Philippe Hoppenot. "Symbolic environment representation by means of frescoes in mobile robotics." Robotica 23, no. 4 (June 14, 2005): 527–37. http://dx.doi.org/10.1017/s026357470400102x.

Full text
Abstract:
Autonomous mobile robot navigation systems are based on three principal kinds of techniques: map-based navigation, map-building-based navigation and mapless navigation. We propose a mapless method for trajectory description in unknown indoor environments. The method uses distance measurements from a 2D laser range finder, digitises the robot's visibility area, eliminates superfluous data and reorients their presentation with laws similar to those used in cellular automata. The landmarks are extracted and organised in a panoramic description called fresco. The frescoes which are validated by means of neighbourhood rules. The most informative frescoes are detected by means of two criteria and stored. The stored frescoes are considered as a human-like descritption of the robot's route and could be used by the robot to retrieve its route to its starting point.
APA, Harvard, Vancouver, ISO, and other styles
35

Huo, Jianwen, Manlu Liu, Konstantin A. Neusypin, Haojie Liu, Mingming Guo, and Yufeng Xiao. "Autonomous Search of Radioactive Sources through Mobile Robots." Sensors 20, no. 12 (June 19, 2020): 3461. http://dx.doi.org/10.3390/s20123461.

Full text
Abstract:
The research of robotic autonomous radioactivity detection or radioactive source search plays an important role in the monitoring and disposal of nuclear safety and biological safety. In this paper, a method for autonomously searching for radioactive sources through mobile robots was proposed. In the method, by using a partially observable Markov decision process (POMDP), the search of autonomous unknown radioactive sources was realized according to a series of radiation information measured by mobile robot. First, the factors affecting the accuracy of radiation measurement during the robot’s movement were analyzed. Based on these factors, the behavior set of POMDP was designed. Secondly, the parameters of the radioactive source were estimated in the Bayesian framework. In addition, through the reward strategy, autonomous navigation of the robot to the position of the radiation source was achieved. The search algorithm was simulated and tested, and the TurtleBot robot platform was used to conduct a real search experiment on the radio source Cs-137 with an activity of 37 MBq indoors. The experimental results showed the effectiveness of the method. Additionally, from the experiments, it could been seen that the robot was affected by the linear velocity, angular velocity, positioning accuracy and the number of measurements in the process of autonomous search for the radioactive source. The proposed mobile robot autonomous search method can be applied to the search for lost radioactive sources, as well as for the leakage of substances (nuclear or chemical) in nuclear power plants and chemical plants.
APA, Harvard, Vancouver, ISO, and other styles
36

Nakagawa, M., T. Kamio, H. Yasojima, and T. Kobayashi. "GEOFENCING-BASED LOCALIZATION FOR 3D DATA ACQUISITION NAVIGATION." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B4 (June 13, 2016): 319–24. http://dx.doi.org/10.5194/isprsarchives-xli-b4-319-2016.

Full text
Abstract:
Users require navigation for many location-based applications using moving sensors, such as autonomous robot control, mapping route navigation and mobile infrastructure inspection. In indoor environments, indoor positioning systems using GNSSs can provide seamless indoor-outdoor positioning and navigation services. However, instabilities in sensor position data acquisition remain, because the indoor environment is more complex than the outdoor environment. On the other hand, simultaneous localization and mapping processing is better than indoor positioning for measurement accuracy and sensor cost. However, it is not easy to estimate position data from a single viewpoint directly. Based on these technical issues, we focus on geofencing techniques to improve position data acquisition. In this research, we propose a methodology to estimate more stable position or location data using unstable position data based on geofencing in indoor environments. We verify our methodology through experiments in indoor environments.
APA, Harvard, Vancouver, ISO, and other styles
37

Nakagawa, M., T. Kamio, H. Yasojima, and T. Kobayashi. "GEOFENCING-BASED LOCALIZATION FOR 3D DATA ACQUISITION NAVIGATION." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B4 (June 13, 2016): 319–24. http://dx.doi.org/10.5194/isprs-archives-xli-b4-319-2016.

Full text
Abstract:
Users require navigation for many location-based applications using moving sensors, such as autonomous robot control, mapping route navigation and mobile infrastructure inspection. In indoor environments, indoor positioning systems using GNSSs can provide seamless indoor-outdoor positioning and navigation services. However, instabilities in sensor position data acquisition remain, because the indoor environment is more complex than the outdoor environment. On the other hand, simultaneous localization and mapping processing is better than indoor positioning for measurement accuracy and sensor cost. However, it is not easy to estimate position data from a single viewpoint directly. Based on these technical issues, we focus on geofencing techniques to improve position data acquisition. In this research, we propose a methodology to estimate more stable position or location data using unstable position data based on geofencing in indoor environments. We verify our methodology through experiments in indoor environments.
APA, Harvard, Vancouver, ISO, and other styles
38

Flávio de Melo, Leonimer, Felipe Andrade Allemand Borges, and João Maurício Rosário. "Wheelchairs Embedded Control System Design for Secure Navigation with RF Signal Triangulation." Journal of Information Technology Research 6, no. 2 (April 2013): 60–92. http://dx.doi.org/10.4018/jitr.2013040104.

Full text
Abstract:
In the mobile robotic systems a precise estimate of the robot pose (Cartesian [x y] position plus orientation angle ?) with the intention of the path planning optimization is essential for the correct performance, on the part of the robots, for tasks that are destined to it, especially when intention is for mobile robot autonomous navigation. This work uses a ToF (Time-of-Flight) of the RF digital signal interacting with beacons for computational triangulation in the way to provide a pose estimative at bi-dimensional indoor environment, where GPS system is out of range. It's a new technology utilization making good use of old ultrasonic ToF methodology that takes advantage of high performance multicore DSP processors to calculate ToF of the order about ns. A mobile robot platform with differential drive and nonholonomic constraints is used as base for state space, plants and measurements models that are used in the simulations and for validation the experiments. After being tested and validated in the simulator, the control system is programmed in the control board memory of the mobile robot or wheelchair. Thus, the use of material is optimized, firstly validating the entire model virtually and afterwards operating the physical implementation of the navigation system.
APA, Harvard, Vancouver, ISO, and other styles
39

SHINADA, Kazuhiro, and Shinichi YUTA. "2A2-F05 Mobile Robot Autonomous Navigation by Simple Map Instruction in Indoor Environments." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2009 (2009): _2A2—F05_1—_2A2—F05_4. http://dx.doi.org/10.1299/jsmermd.2009._2a2-f05_1.

Full text
APA, Harvard, Vancouver, ISO, and other styles
40

Maaref, H., and C. Barret. "Sensor-based fuzzy navigation of an autonomous mobile robot in an indoor environment." Control Engineering Practice 8, no. 7 (July 2000): 757–68. http://dx.doi.org/10.1016/s0967-0661(99)00200-2.

Full text
APA, Harvard, Vancouver, ISO, and other styles
41

Pol, Rahul Shivaji, B. Sheela Rani, and M. Murugan. "Socio-realistic optimal path planning for indoor real-time autonomous mobile robot navigation." International Journal of Vehicle Autonomous Systems 15, no. 2 (2020): 101. http://dx.doi.org/10.1504/ijvas.2020.108399.

Full text
APA, Harvard, Vancouver, ISO, and other styles
42

Taha, Mohammed Yaseen, and Qahhar Muhammad Qadir. "Cost Effective and Easily Configurable Indoor Navigation System." UKH Journal of Science and Engineering 5, no. 1 (June 30, 2021): 60–72. http://dx.doi.org/10.25079/ukhjse.v5n1y2021.pp60-72.

Full text
Abstract:
With the advent of Industry 4.0, the trend of its implementation in current factories has increased tremendously. Using autonomous mobile robots that are capable of navigating and handling material in a warehouse is one of the important pillars to convert the current warehouse inventory control to more automated and smart processes to be aligned with Industry 4.0 needs. Navigating a robot’s indoor positioning in addition to finding materials are examples of location-based services (LBS), and are some major aspects of Industry 4.0 implementation in warehouses that should be considered. Global positioning satellites (GPS) are accurate and reliable for outdoor navigation and positioning while they are not suitable for indoor use. Indoor positioning systems (IPS) have been proposed in order to overcome this shortcoming and extend this valuable service to indoor navigation and positioning. This paper proposes a simple, cost effective and easily configurable indoor navigation system with the help of an optical path following, unmanned ground vehicle (UGV) robot augmented by image processing and computer vision deep machine learning algorithms. The proposed system prototype is capable of navigating in a warehouse as an example of an indoor area, by tracking and following a predefined traced path that covers all inventory zones in a warehouse, through the usage of infrared reflective sensors that can detect black traced path lines on bright ground. As metionded before, this general navigation mechanism is augmented and enhanced by artificial intelligence (AI) computer vision tasks to be able to select the path to the required inventory zone as its destination, and locate the requested material within this inventory zone. The adopted AI computer vision tasks that are used in the proposed prototype are deep machine learning object recognition algorithms for path selection and quick response (QR) detection.
APA, Harvard, Vancouver, ISO, and other styles
43

Irie, K., and S. Yuta. "Autonomous Navigation of Mobile Robots through Indoor and Outdoor Environment." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2003 (2003): 37. http://dx.doi.org/10.1299/jsmermd.2003.37_5.

Full text
APA, Harvard, Vancouver, ISO, and other styles
44

Wu, Long Hui, Shi Gang Cui, and Li Zhao. "Map Building in Indoor Environment for Service Robot Based on Laser Sensor." Advanced Materials Research 461 (February 2012): 671–76. http://dx.doi.org/10.4028/www.scientific.net/amr.461.671.

Full text
Abstract:
Map building is an essential problem in the field of mobile robot research. The accurate environmental map provides the important safeguard for the robot autonomous navigation and localization. In this paper, the two-dimensional environment map based on geometric features information was built by laser data when service robot worked in indoor structured environment. However, this article focused on analyzing the method of line fitting in the process of building local map and the method of global map updating. The experiment indicated that this method has the high accuracy and effectiveness, also reduces error caused by the uncertain information in the process of map building, which makes the indoor environment map update in real time.
APA, Harvard, Vancouver, ISO, and other styles
45

Hayashi, Eiji, and Tomoyuki Kinoshita. "Development of an indoor navigation system for a monocular-vision-based autonomous mobile robot." Artificial Life and Robotics 14, no. 3 (December 2009): 324–28. http://dx.doi.org/10.1007/s10015-009-0671-4.

Full text
APA, Harvard, Vancouver, ISO, and other styles
46

Lo, Shih-Yun, Shiqi Zhang, and Peter Stone. "The PETLON Algorithm to Plan Efficiently for Task-Level-Optimal Navigation." Journal of Artificial Intelligence Research 69 (October 13, 2020): 471–500. http://dx.doi.org/10.1613/jair.1.12181.

Full text
Abstract:
Intelligent mobile robots have recently become able to operate autonomously in large-scale indoor environments for extended periods of time. In this process, mobile robots need the capabilities of both task and motion planning. Task planning in such environments involves sequencing the robot’s high-level goals and subgoals, and typically requires reasoning about the locations of people, rooms, and objects in the environment, and their interactions to achieve a goal. One of the prerequisites for optimal task planning that is often overlooked is having an accurate estimate of the actual distance (or time) a robot needs to navigate from one location to another. State-of-the-art motion planning algorithms, though often computationally complex, are designed exactly for this purpose of finding routes through constrained spaces. In this article, we focus on integrating task and motion planning (TMP) to achieve task-level-optimal planning for robot navigation while maintaining manageable computational efficiency. To this end, we introduce TMP algorithm PETLON (Planning Efficiently for Task-Level-Optimal Navigation), including two configurations with different trade-offs over computational expenses between task and motion planning, for everyday service tasks using a mobile robot. Experiments have been conducted both in simulation and on a mobile robot using object delivery tasks in an indoor office environment. The key observation from the results is that PETLON is more efficient than a baseline approach that pre-computes motion costs of all possible navigation actions, while still producing plans that are optimal at the task level. We provide results with two different task planning paradigms in the implementation of PETLON, and offer TMP practitioners guidelines for the selection of task planners from an engineering perspective.
APA, Harvard, Vancouver, ISO, and other styles
47

Bačík, Ján, Peter Tkáč, Ladislav Hric, Stanislav Alexovič, Karol Kyslan, Richard Olexa, and Daniela Perduková. "Phollower—The Universal Autonomous Mobile Robot for Industry and Civil Environments with COVID-19 Germicide Addon Meeting Safety Requirements." Applied Sciences 10, no. 21 (October 30, 2020): 7682. http://dx.doi.org/10.3390/app10217682.

Full text
Abstract:
This paper describes the development of Phollower—an autonomous mobile robot intended to perform various logistical tasks in both industrial and civil environments. Phollower is equipped with the latest types of industrial components and sensors. It also employs advanced embedded navigation and localization software to create its own virtual maps and thereby to navigate autonomously within the mapped area. The whole development process has been focused on building a device that meets European safety standards. Phollower is a universal mobile platform that can be quickly expanded with specialized add-ons. A germicidal add-on for disinfection of indoor areas using UV-C light is described as a technology that helps to battle with the ongoing COVID-19 pandemic crisis. The hardware topology combined with the proposed open Programmable Logic Controller (PLC) code and open-Powerlink communication bus creates a unique and easily extendable robot platform.
APA, Harvard, Vancouver, ISO, and other styles
48

Chen, Young Long, and Zhi Rong Chen. "An Efficient Positioning Algorithm Based on PID in Indoor Spaces Using RFID Technology." Applied Mechanics and Materials 284-287 (January 2013): 2027–31. http://dx.doi.org/10.4028/www.scientific.net/amm.284-287.2027.

Full text
Abstract:
In order to solve outdoor positioning problems, a global positioning system (GPS) seems to be the best solution. However, GPS is unable to accurately and precisely locate objects or humans indoors. Thus, in this paper, we propose an efficient method for localization and position estimation for mobile robot navigation using passive radio-frequency identification (RFID). With our method, it is possible to accurately locate autonomous entities such as robots and people within a defined area. In simulations, we use PID controllers to increase the efficiency of captured RFID tags. Experiment results show that the number of captured RFID tags using our proposed method is greater than that of the fixed power level method.
APA, Harvard, Vancouver, ISO, and other styles
49

Nam, Dinh Van, and Kim Gon-Woo. "Robust Stereo Visual Inertial Navigation System Based on Multi-Stage Outlier Removal in Dynamic Environments." Sensors 20, no. 10 (May 21, 2020): 2922. http://dx.doi.org/10.3390/s20102922.

Full text
Abstract:
Robotic mapping and odometry are the primary competencies of a navigation system for an autonomous mobile robot. However, the state estimation of the robot typically mixes with a drift over time, and its accuracy is degraded critically when using only proprioceptive sensors in indoor environments. Besides, the accuracy of an ego-motion estimated state is severely diminished in dynamic environments because of the influences of both the dynamic objects and light reflection. To this end, the multi-sensor fusion technique is employed to bound the navigation error by adopting the complementary nature of the Inertial Measurement Unit (IMU) and the bearing information of the camera. In this paper, we propose a robust tightly-coupled Visual-Inertial Navigation System (VINS) based on multi-stage outlier removal using the Multi-State Constraint Kalman Filter (MSCKF) framework. First, an efficient and lightweight VINS algorithm is developed for the robust state estimation of a mobile robot by practicing a stereo camera and an IMU towards dynamic indoor environments. Furthermore, we propose strategies to deal with the impacts of dynamic objects by using multi-stage outlier removal based on the feedback information of estimated states. The proposed VINS is implemented and validated through public datasets. In addition, we develop a sensor system and evaluate the VINS algorithm in the dynamic indoor environment with different scenarios. The experimental results show better performance in terms of robustness and accuracy with low computation complexity as compared to state-of-the-art approaches.
APA, Harvard, Vancouver, ISO, and other styles
50

Iqbal, Jawad, Rui Xu, Hunter Halloran, and Changying Li. "Development of a Multi-Purpose Autonomous Differential Drive Mobile Robot for Plant Phenotyping and Soil Sensing." Electronics 9, no. 9 (September 22, 2020): 1550. http://dx.doi.org/10.3390/electronics9091550.

Full text
Abstract:
To help address the global growing demand for food and fiber, selective breeding programs aim to cultivate crops with higher yields and more resistance to stress. Measuring phenotypic traits needed for breeding programs is usually done manually and is labor-intensive, subjective, and lacks adequate temporal resolution. This paper presents a Multipurpose Autonomous Robot of Intelligent Agriculture (MARIA), an open source differential drive robot that is able to navigate autonomously indoors and outdoors while conducting plant morphological trait phenotyping and soil sensing. For the design of the rover, a drive system was developed using the Robot Operating System (ROS), which allows for autonomous navigation using Global Navigation Satellite Systems (GNSS). For phenotyping, the robot was fitted with an actuated LiDAR unit and a depth camera that can estimate morphological traits of plants such as volume and height. A three degree-of-freedom manipulator mounted on the mobile platform was designed using Dynamixel servos that can perform soil sensing and sampling using off-the-shelf and 3D printed components. MARIA was able to navigate both indoors and outdoors with an RMSE of 0.0156 m and 0.2692 m, respectively. Additionally, the onboard actuated LiDAR sensor was able to estimate plant volume and height with an average error of 1.76% and 3.2%, respectively. The manipulator performance tests on soil sensing was also satisfactory. This paper presents a design for a differential drive mobile robot built from off-the-shelf components that makes it replicable and available for implementation by other researchers. The validation of this system suggests that it may be a valuable solution to address the phenotyping bottleneck by providing a system capable of navigating through crop rows or a greenhouse while conducting phenotyping and soil measurements.
APA, Harvard, Vancouver, ISO, and other styles
You might also be interested in the bibliographies on the topic 'Autonomous mobile robot indoor navigation' for other source types:
Dissertations / Theses
We offer discounts on all premium plans for authors whose works are included in thematic literature selections. Contact us to get a unique promo code!

To the bibliography