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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01 Jan 2008
TL;DR: This work considers the problem of autonomous navigation in an unstructured outdoor environment, and uses stereo vision as the main sensor to use more distant objects as landmarks for navigation, and to learn and use color and texture models of the environment.
Abstract: We consider the problem of autonomous navigation in an unstructured outdoor environment. The goal is for a small outdoor robot to come into a new area, learn about and map its environment, and move to a given goal at modest speeds (1 m/s). This problem is especially difficult in outdoor, off-road environments, where tall grass, shadows, deadfall, and other obstacles predominate. Not surprisingly, the biggest challenge is acquiring and using a reliable map of the new area. Although work in outdoor navigation has preferentially used laser rangefinders [14,2,6], we use stereo vision as the main sensor. Vision sensors allow us to use more distant objects as landmarks for navigation, and to learn and use color and texture models of the environment, in looking further ahead than is possible with range sensors alone.
215 citations
TL;DR: Sonar and infrared sensors are used here in a complementary fashion, where the advantages of one compensate for the disadvantages of the other, to build a more accurate map.
Abstract: Multiple sensors can be used on a mobile robot so that it can perceive its environment with better accuracy than if either sensor were used alone. Sonar and infrared sensors are used here in a comp...
214 citations
29 Oct 2001
TL;DR: A cooperative scheme for localizing the robots based on visual imagery that is more robust than decentralized localization and a set of control algorithms that allow the robots to maintain a prescribed formation are described.
Abstract: We describe a framework for coordinating multiple robots in cooperative manipulation tasks in which vision is used for establishing relative position and orientation and maintaining formation. The two key contributions are a cooperative scheme for localizing the robots based on visual imagery that is more robust than decentralized localization, and a set of control algorithms that allow the robots to maintain a prescribed formation (shape and size). The ability to maintain a prescribed formation allows the robots to "trap" objects in their midst, and to "flow" the formation to a desired position. We derive the cooperative localization and control algorithms and present experimental results that illustrate the implementation and the performance of these algorithms.
211 citations
01 Nov 2013
TL;DR: A new model of robot-person interaction is obtained using the so-called Social Force Model (SFM) which is suited for the authors' robots Tibi and Dabo and an interactive scheme for robot's human-awareness navigation using the SFM and prediction information is proposed.
Abstract: Robots accompanying humans is one of the core capacities every service robot deployed in urban settings should have. We present a novel robot companion approach based on the so-called Social Force Model (SFM). A new model of robot-person interaction is obtained using the SFM which is suited for our robots Tibi and Dabo. Additionally, we propose an interactive scheme for robot's human-awareness navigation using the SFM and prediction information. Moreover, we present a new metric to evaluate the robot companion performance based on vital spaces and comfortableness criteria. Also, a multimodal human feedback is proposed to enhance the behavior of the system. The validation of the model is accomplished throughout an extensive set of simulations and real-life experiments.
209 citations
Patent•
13 Dec 1996
TL;DR: In this article, a panoramic image collector gathers and focuses electromagnetic radiation from each navigation beacon on an electronic camera to form at least seven beam spots, depending on the robot's three-dimensional position (x,y,z) and orientation (heading, pitch, and roll).
Abstract: A precise automated work system and method is provided One or more self-navigating robots can perform automated work operations with precision given six degrees of freedom in a undulating, sloping or irregular terrain, such as, a commercial truck garden A self-propelled robot moves through the garden and performs gardening tasks following a specified course by dead-reckoning and periodically determining its position and orientation by a navigation fix At least seven navigation beacons are positioned around a perimeter of a garden work area Each beacon emits electromagnetic radiation across the garden for detection by the self-propelled robot A panoramic image collector gathers and focuses electromagnetic radiation from each navigation beacon on an electronic camera to form at least seven beam spots The relative position of the detected beam spots in the focal plane vary depending upon the six degrees of freedom for robot movement in a garden: the robot's three-dimensional position (x,y,z) and the robot's orientation (heading, pitch, and roll) A navigation module determines the position and orientation of the robot within the garden based on the output of the imaging camera A self-propelled gardening robot performs many varied automated farming tasks from tillage, to planting, to harvesting by controlling the point of impact of a implement carried by a robot with precision, that is, to within an inch on average for any given position coordinate Commercial feasibility of small truck gardens is improved as automation is comprehensive and accessible to the solitary farmer
209 citations