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.

Robot navigation with model predictive equilibrium point control

Abstract: An autonomous vehicle intended to carry passengers must be able to generate trajectories on-line that are safe, smooth and comfortable. Here, we propose a strategy for robot navigation in a structured, dynamic indoor environment, where the robot reasons about the near future and makes a locally optimal decision at each time step.

Fuzzy knowledge-based controller design for autonomous robot navigation

Abstract: In this study a fuzzy logic controller for mobile robot navigation has been designed. The designed controller deals with the uncertainty and ambiguity of the information the system receives. The technique has been used on an experimental mobile robot which uses a set of seven ultrasonic sensors to perceive the environment. The designed fuzzy controller maps the input space (information coming from ultrasonic sensors) to a safe collision-avoidance trajectory (output space) in real time. This is accomplished by an inference process based on rules (a list of IF-THEN statements) taken from a knowledge base. The technique generates satisfactory direction and velocity maneuvers of the autonomous vehicle which are used by the robot to reach its goal safely. Simulation and experimental results show the method can be used satisfactorily by wheeled mobile robots moving on unknown static terrains.

Robot oriented state space construction

Abstract: The state space of a sensor-based robot in the most previous works has been determined based on human intuitions, however the state space constructed from human viewpoints is not always appropriate for the robot. The robot has a different body, sensors, and tasks, therefore, we consider the robot should have an original internal state space determined based on actions, sensors, and tasks. This paper proposes an approach to construct such a robot oriented state space by statistically analyzing the actions, sensor patterns, and rewards given, as results of task executions. In the state space construction, the robot creates sensor pattern classifiers called empirically obtained perceivers (EOPs) the combinations of which represents internal states of the robot. We have confirmed that the robot can construct original state spaces through its vision sensor and achieve navigation tasks with the obtained state spaces in a complicated simulated world.

A multi-objective optimal mobile robot path planning based on whale optimization algorithm

Abstract: Due to the complex physical constraints in working space of robot, optimization for mobile robot operations satisfies not only one criterion but also several criteria. In this paper, a novel multi-objective method for optimal mobile robot path planning based on Whale optimization algorithm (WOA) is proposed. In the proposed method, two criteria of distance and smooth path of the robot path planning issue are transformed into a minimization one. The positions of the target and the obstacles in the environment are considered the fitness for the solution in WOA. The position of the globally best whale in each iteration is selected, and reached by the robot in sequence. In addition, the robot processor updates its information during the motion, and the environment is partially unknown for the robot due to the limit of the detection range of its sensors. Series of simulations are implemented in different static environments for the optimal path when the robot reaches its target. The results show that the proposed method provides the robot reaches its target with colliding free obstacles, and the proposed method may be the alternative method of optimization for robot planning.

Providing navigation instructions while operating navigation application in background

Abstract: A method of displaying navigational instructions when a navigation application is running in a background mode of an electronic device is provided. The method displays a non-navigation application in the foreground on a display screen of the electronic device. The method displays a navigation bar without a navigation instruction when the device is not near a navigation point. The method displays the navigation bar with a navigation instruction when the device is near a navigation point. In some embodiments, the method receives a command to switch from running the navigation application in the foreground to running another screen view in the foreground. The method then runs the other screen view in the foreground while displaying a navigation status display on an electronic display of the device.