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.

Key Technologies in Robot Assistants: Motion Coordination Between a Human and a Mobile Robot

Abstract: In this paper we describe an approach to coordinating the motion of a human with a mobile robot moving in a populated, continuously changing, natural environment. Our test application is a wheelchair accompanying a person through the concourse of a railway station moving side by side with the person. Our approach is based on a method for motion planning amongst moving obstacles known as Velocity Obstacle approach. We extend this method by a method for tracking a virtual target which allows us to vary the robot's heading and velocity with the locomotion of the accompanied person and the state of the surrounding environment.

Magnetic field-based SLAM method for solving the localization problem in mobile robot floor-cleaning task

Abstract: In this paper we present a SLAM method based on indoor magnetic field anomalies and measure the acquired map quality in the context of the localization problem present in mobile robot floor-cleaning scenarios. According to our real-world robot experiments in different environments, it appears that most modern buildings have sufficient magnetic field variation to make the method applicable in mobile robot floor-cleaning tasks. We show that our method can be used to acquire maps that are accurate enough to be utilized in the robot coverage problem, thus reducing over-cleaning. We use Gaussian Processes to model the magnetic field and a Rao-Blackwellized Particle Filter to estimate the pose distribution of the robot. Because magnetic field anomalies are not correlated to typical features used in localization, our method can handle many situations in which other methods fail. The minimalistic sensory requirements of our method make it a very viable alternative for low-cost domestic robots.

Coordinaton of Action and Perception in a Surveillance Robot

Abstract: This paper describes a system in which twin hierarchies for navigation and perception are controlled by a knowledge based supervisor At the top level, these hierarchies contain collections procedures which implement the "skills" of the system in locomotion and spatial reasoning The structure of these hierarchies, and their integration is described Perception and navigation are controlled and monitored by a knowledge based "supervisor" The supervisor decomposes a mission plan into subgoals and then uses the perception and navigation procedures to accomplish these subgoals The organization of the rule base for the supervisor is described, and a mission planning is illustrated with a simple example

Dynamic Vision Systems for Autonomous Mobile Robots

Abstract: . the architecture of multi-processor computer systems The logical structure of robot vision systems is analyzed as a basis for designing such systems. Both sensor data fusion and knowledge representation in a vision system may be broken down into four hierarchical levels where at each level knowledge represen- .