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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24 Apr 1988
TL;DR: A description is given of the first cross-country map and sensor-based autonomous operation of a robotic vehicle and two key experiments in which the vehicle avoided known and unknown obstacles in its path.
Abstract: A description is given of the first cross-country map and sensor-based autonomous operation of a robotic vehicle. Experiments on the autonomous land vehicle (ALV) in natural terrain were performed. An overview of the software architecture is provided, and details of the perception and planning techniques are presented. Two key experiments in which the vehicle avoided known and unknown obstacles in its path are described. >
158 citations
Journal Article•
TL;DR: This work attempts to characterize the types of control tasks which can be achieved using only quantities directly measurable in the image, bypassing the pose estimation phase, and presents stabilizing control laws for tracking piecewise analytic curves.
156 citations
01 Oct 2014
TL;DR: An open-source wireless foot-mounted inertial navigation module with an intuitive and significantly simplified dead reckoning interface that provides a modularization of the foot- mounted inertial Navigation and makes the technology significantly easier to use.
Abstract: Despite being around for almost two decades, foot-mounted inertial navigation only has gotten a limited spread. Contributing factors to this are lack of suitable hardware platforms and difficult system integration. As a solution to this, we present an open-source wireless foot-mounted inertial navigation module with an intuitive and significantly simplified dead reckoning interface. The interface is motivated from statistical properties of the underlying aided inertial navigation and argued to give negligible information loss. The module consists of both a hardware platform and embedded software. Details of the platform and the software are described, and a summarizing description of how to reproduce the module are given. System integration of the module is outlined and finally, we provide a basic performance assessment of the module. In summary, the module provides a modularization of the foot-mounted inertial navigation and makes the technology significantly easier to use.
156 citations
04 Jul 2010
TL;DR: A robotic wheelchair navigation system which is specially designed for confined spaces is proposed and uses the Monte Carlo technique to find a minimum path within the confined environment and takes into account the variance propagation in the predicted path for ensuring the safe driving of the robot.
Abstract: In the present work, a robotic wheelchair navigation system which is specially designed for confined spaces is proposed. In confined spaces, the movements of wheelchairs are restricted by the environment more than other unicycle type vehicles. For example, if the wheelchair is too close to a wall, it can not rotate freely because the front or back may collide with the wall. The navigation system is composed by a path planning module and a control module; both use the environment and robot information provided by a SLAM algorithm to attain their objectives. The planning strategy uses the Monte Carlo technique to find a minimum path within the confined environment and takes into account the variance propagation in the predicted path for ensuring the safe driving of the robot. The objective of the navigation system is to drive the robotic wheelchair within the confined environment in order to reach a desired orientation or posture.
156 citations
TL;DR: The science and technology for positioning and navigation has experienced a dramatic evolution and the observation of celestial bodies for navigation purposes has been replaced today by the use of electromagnetic waveforms emitted from reference sources.
Abstract: Accurately determining one's position has been a recurrent problem in history [1]. It even precedes the first deep-sea navigation attempts of ancient civilizations and reaches the present time with the issue of legal mandates for the location identification of emergency calls in cellular networks and the emergence of location-based services. The science and technology for positioning and navigation has experienced a dramatic evolution [2]. The observation of celestial bodies for navigation purposes has been replaced today by the use of electromagnetic waveforms emitted from reference sources [3].
155 citations