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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08 Dec 2001
TL;DR: This work introduces sample-based joint probabilistic data association filters to track multiple moving objects with a mobile robot and demonstrates that the approach is able to robustly keep track of multiple persons even in situations in which people are temporarily occluded.
Abstract: One of the goals in the field of mobile robotics is the development of mobile platforms which operate in populated environments. For many tasks it is therefore highly desirable that a robot can determine the positions of the humans in its surrounding. We introduce sample-based joint probabilistic data association filters to track multiple moving objects with a mobile robot. Our technique uses the robot's sensors and a motion model of the objects being tracked. A Bayesian filtering technique is applied to adapt the tracking process to the number of objects in the sensor range of the robot. Our approach to tracking multiple moving objects has been implemented and tested on a real robot. We present experiments illustrating that our approach is able to robustly keep track of multiple persons even in situations in which people are temporarily occluded. The experiments furthermore show that the approach outperforms other techniques developed so far.
160 citations
TL;DR: This paper consists on a comprehensive survey on the recent developments for Terrain Based Navigation methods proposed for AUVs, including a brief introduction to the original Terrain based Navigation formulations, as well as a description of the algorithms, and a list of the different implementation alternatives found in the literature.
159 citations
12 May 1992
TL;DR: The authors suggest that this methodology must reach a point of diminishing returns, and hence focus on explicit error detection and correction, and suggest that robust mapping requires little overhead beyond that needed for nonrobust mapping.
Abstract: An issue that must be addressed in map-learning systems is that of error accumulation. The primary emphasis in the literature has been on reducing errors entering the map. The authors suggest that this methodology must reach a point of diminishing returns, and hence focus on explicit error detection and correction. By identifying the possible types of mapping errors, structural constraints can be exploited to detect and diagnose mapping errors. Such robust mapping requires little overhead beyond that needed for nonrobust mapping. A mapping system was implemented based on those ideas. Extensive testing in simulation demonstrated the effectiveness of the proposed error-correction strategies. >
158 citations
TL;DR: The potential field method is applied for both path and speed planning, or the velocity planning, for a mobile robot in a dynamic environment where the target and the obstacles are moving.
158 citations
18 Apr 2005
TL;DR: A navigation function through which a group of mobile agents can be coordinated to achieve a particular formation, both in terms of shape and orientation, while avoiding collisions between themselves and with obstacles in the environment is presented.
Abstract: We present a navigation function through which a group of mobile agents can be coordinated to achieve a particular formation, both in terms of shape and orientation, while avoiding collisions between themselves and with obstacles in the environment. Convergence is global and complete, subject to the constraints of the navigation function methodology. Algebraic graph theoretic properties associated with the interconnection graph are shown to affect the shape of the navigation function. The approach is centralized but the potential function is constructed in a way that facilitates complete decentralization. The strategy presented will also serve as a point of reference and comparison in quantifying the cost of decentralization in terms of performance.
158 citations