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.
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TL;DR: A vision framework which enables feature-oriented appearance-based navigation in large outdoor environments containing other moving objects, based on a hybrid topological-geometrical environment representation constructed from a learning sequence acquired during a robot motion under human control.
77 citations
08 May 1994
TL;DR: This paper describes the latest stage in the development of a robot navigation system based on laying down and detecting trails of volatile chemicals based on a prototype olfactory sensor developed which showed the feasibility of having a mobile robot follow an odour trail on the floor.
Abstract: By monitoring or following trails layed on the ground a mobile robot can perform several useful navigation tasks. An example would be following a trail layed on an outward journey in order to later find the way back to the starting point. This paper describes the latest stage in the development of a robot navigation system based on laying down and detecting trails of volatile chemicals. Previously a prototype olfactory sensor was developed which showed the feasibility of having a mobile robot follow an odour trail on the floor. This prototype sensor has now been improved by managing airflow in the vicinity of the sensor. This has decreased the sensor response time and improved rejection of spurious odour signals carried by airflow in the room. A simple and effective applicator has also been developed for laying odour trails. >
77 citations
01 Jul 2015
TL;DR: This work presents a deadlock free APF based path planning algorithm that is capable of escaping from deadlock and non-reachability problems of mobile robot navigation and solves the deadlock problem that the T-APF algorithm often converges to local minima.
Abstract: Abstract Artificial Potential Filed (APF) is the most well-known method that is used in mobile robot path planning, however, the shortcoming is that the local minima. To overcome this issue, we present a deadlock free APF based path planning algorithm for mobile robot navigation. The Proposed-APF (P-APF) algorithm searches the goal point in unknown 2D environments. This method is capable of escaping from deadlock and non-reachability problems of mobile robot navigation. In this method, the effective front-face obstacle information associated with the velocity direction is used to modify the Traditional APF (T-APF) algorithm. This modification solves the deadlock problem that the T-APF algorithm often converges to local minima. The proposed algorithm is explained in details and to show the effectiveness of the proposed approach, the simulation experiments were carried out in the MATLAB environment. Furthermore, the numerical analysis of the proposed approach is given to prove a deadlock free motion of the mobile robot.
77 citations
Patent•
25 Jan 2013TL;DR: In this paper, an intelligent mobile robot has a robot base controller and an onboard navigation system that, in response to receiving a job assignment specifying a job location that is associated with one or more job operations, activates the onboard navigational system to automatically determine a path the mobile robot should use to drive to the job location, automatically determines that using an initially-selected path could cause the robot to run into stationary or non-stationary obstacles, such as people or other mobile robots, in the physical environment, automatically determined a new path to avoid the stationary and non-stable
Abstract: An intelligent mobile robot having a robot base controller and an onboard navigation system that, in response to receiving a job assignment specifying a job location that is associated with one or more job operations, activates the onboard navigation system to automatically determine a path the mobile robot should use to drive to the job location, automatically determines that using an initially-selected path could cause the mobile robot to run into stationary or non-stationary obstacles, such as people or other mobile robots, in the physical environment, automatically determines a new path to avoid the stationary and non-stationary obstacles, and automatically drives the mobile robot to the job location using the new path, thereby avoiding contact or collisions with those obstacles. After the mobile robot arrives at the job location, it automatically performs said one or more job operations associated with that job location.
77 citations
05 Dec 2005
TL;DR: A multi-modal object attention system that is able to identify objects referenced by the user with gestures and verbal instructions is presented that can detect known and unknown objects and stores newly acquired object information in a scene model for later retrieval.
Abstract: Robot companions are intended for operation in private homes with naive users. For this purpose, they need to be endowed with natural interaction capabilities. Additionally, such robots will need to be taught unknown objects that are present in private homes. We present a multi-modal object attention system that is able to identify objects referenced by the user with gestures and verbal instructions. The proposed system can detect known and unknown objects and stores newly acquired object information in a scene model for later retrieval. This way, the growing knowledge base of the robot companion improves the interaction quality as the robot can more easily focus its attention on objects it has been taught previously.
77 citations