Topic
Mobile robot navigation
About: Mobile robot navigation is a research topic. Over the lifetime, 14713 publications have been published within this topic receiving 263092 citations.
Papers published on a yearly basis
Papers
More filters
05 Dec 2011
TL;DR: This work presents a communication based navigation algorithm for robotic swarms that lets robots guide each other's navigation by exchanging messages containing navigation information through the wireless network formed among the swarm.
Abstract: We present a communication based navigation algorithm for robotic swarms. It lets robots guide each other's navigation by exchanging messages containing navigation information through the wireless network formed among the swarm. We study the use of this algorithm in two different scenarios. In the first scenario, the swarm guides a single robot to a target, while in the second, all robots of the swarm navigate back and forth between two targets. In both cases, the algorithm provides efficient navigation, while being robust to failures of robots in the swarm. Moreover, we show that in the latter case, the system lets the swarm self-organize into a robust dynamic structure. This self-organization further improves navigation efficiency, and is able to find shortest paths in cluttered environments. We test our system both in simulation and on real robots.
79 citations
TL;DR: The proposed approach in this paper is using low-cost sensors in a multi-level fusion scheme to improve the accuracy and robustness of context-aware Navigation Systems (PNS) for outdoor personal navigation using a smartphone.
Abstract: Context-awareness is an interesting topic in mobile navigation scenarios where the context of the application is highly dynamic. Using context-aware computing, navigation services consider the situation of user, not only in the design process, but in real time while the device is in use. The basic idea is that mobile navigation services can provide different services based on different contexts—where contexts are related to the user’s activity and the device placement. Context-aware systems are concerned with the following challenges which are addressed in this paper: context acquisition, context understanding, and context-aware application adaptation. The proposed approach in this paper is using low-cost sensors in a multi-level fusion scheme to improve the accuracy and robustness of context-aware navigation system. The experimental results demonstrate the capabilities of the context-aware Personal Navigation Systems (PNS) for outdoor personal navigation using a smartphone.
79 citations
TL;DR: This paper designs and realizes a peer-to-peer navigation system (ppNav), on smartphones, which enables the fast-to -deploy navigation services, avoiding the requirements of pre-deployed location services and detailed floorplans.
Abstract: Most of existing indoor navigation systems work in a client/server manner, which needs to deploy comprehensive localization services together with precise indoor maps a prior . In this paper, we design and realize a peer-to-peer navigation system ( ppNav ), on smartphones, which enables the fast-to-deploy navigation services, avoiding the requirements of pre-deployed location services and detailed floorplans. ppNav navigates a user to the destination by tracking user mobility, promoting timely walking tips and alerting potential deviations, according to a previous traveller’s trace experience. Specifically, we utilize the ubiquitous WiFi fingerprints in a novel diagrammed form and extract both radio and visual features of the diagram to track relative locations and exploit fingerprint similarity trend for deviation detection. We further devise techniques to lock on a user to the nearest reference path in case he/she arrives at an uncharted place. Consolidating these techniques, we implement ppNav on commercial mobile devices and validate its performance in real environments. Our results show that ppNav achieves delightful performance, with an average relative error of 0.9 m in trace tracking and a maximum delay of nine samples (about 4.5 s) in deviation detection.
79 citations
Patent•
02 Oct 1995
TL;DR: In this article, a navigation system for an autonomous mobile robot within an environment which comprises coded signs at predetermined points comprising means for storing data regarding said environment, including data regarding the positions of said coded signs relative to the environment, passive vision systems for the image acquisition and automatic recognition of coded signs, a computer for estimating its own position and orientation relative to one of the coded signs and to its environment, means for acquiring the location of target positions, and means for planning a path to be covered within said environment to reach target positions.
Abstract: A navigation system for an autonomous mobile robot within an environment which comprises coded signs at predetermined points comprising means for storing data regarding said environment, including data regarding the positions of said coded signs relative to the environment, passive vision systems for the image acquisition and automatic recognition of said coded signs, a computer for estimating its own position and orientation relative to one of said coded signs and to the environment, means for acquiring the location of target positions, means for planning a path to be covered within said environment to reach target positions, and means for controlling the robot motion based on the stored path data.
79 citations
TL;DR: A new method for recognizing white line markings for navigation of an autonomous vehicle that operates in out-door environments is presented, implemented on the THMR-III mobile robot and experiments show that this method is robust to noise and environment changes.
79 citations