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: This paper deals with the autonomous climbing robot which uses the “caterpillar” concept to climb in complex 3D metallic-based structures to ensure stable self-support and to optimise the robot consumption during the inspection.
Abstract: Often inspection and maintenance work involve a large number of highly dangerous manual operations, especially within industrial fields such as shipbuilding and construction. This paper deals with the autonomous climbing robot which uses the “caterpillar” concept to climb in complex 3D metallic-based structures. During its motion the robot generates in real-time the path and grasp planning in order to ensure stable self-support to avoid the environment obstacles, and to optimise the robot consumption during the inspection. The control and monitoring of the robot is achieved through an advanced Graphical User Interface to allow an effective and user friendly operation of the robot. The experiments confirm its advantages in executing the inspection operations.
155 citations
14 May 1989
TL;DR: A general methodology is described which extends the construction of navigation functions on sphere worlds to any smoothly deformable space and yields automatically a bounded torque feedback control law which is guaranteed to guide the robot to destination point from almost every initial position without hitting any obstacle.
Abstract: The authors consider the construction of navigation functions on configuration spaces whose geometric expressiveness is rich enough for navigation amidst real-world obstacles. They describe a general methodology which extends the construction of navigation functions on sphere worlds to any smoothly deformable space. According to this methodology, the problem of constructing a navigation function is reduced to the construction of a transformation mapping a given space into its model sphere world. The transformation must satisfy certain regularity conditions guaranteeing invariance of the navigation function properties. The authors demonstrate this idea by constructing navigation functions on star worlds: n-dimensional star shaped subsets of E/sup n/ punctured by any finite number of smaller disjoint n-dimensional stars. This construction yields automatically a bounded torque feedback control law which is guaranteed to guide the robot to destination point from almost every initial position without hitting any obstacle. >
155 citations
01 Jan 2001
TL;DR: With the proposed approach a cheap, precise, reliable and real-time capable 3D sensor for autonomous mobile robots is available and the robot navigation and recognition in real- time is improved.
Abstract: This paper presents a high quality, low cost 3D laser range finder designed for autonomous mobile systems. The 3D laser is built on the base of a 2D range finder by the extension with a standard servo. The servo is controlled by a computer running RT-Linux. The scan resolution ( 5 cm) for a complete 3D scan of an area of 150 (h) 90 (v) degree is up to 115000 points and can be grabbed in 12 seconds. Standard resolutions e.g. 150 (h) 90 (v) degree with 22500 points are grabbed in 4 seconds. While scanning, different online algorithms for line and surface detection are applied to the data. Object segmentation and detection are done offline after the scan. The implemented software modules detect overhanging objects blocking the path of the robot. With the proposed approach a cheap, precise, reliable and real-time capable 3D sensor for autonomous mobile robots is available and the robot navigation and recognition in real-time is improved.
155 citations
19 Jun 1989
TL;DR: It is shown how sensors data inaccuracies can be processed to produce a consistent environment model and an as precise as possible robot positioning.
Abstract: Incremental map-making is a necessary function of an autonomous mobile robot Sensor data are always imprecise, and in the case of a mobile robot, sensor location is itself imprecise and even sometimes false (eg in case of slippage) We show how sensors data inaccuracies can be processed to produce a consistent environment model and an as precise as possible robot positioning The experimental system (a mobile robot with a laser range finder and odometry) is presented and the theoretical approach is applied on actual data
154 citations
01 Oct 1995
TL;DR: A method for navigating a robot by detecting the azimuth of each object in the omnidirectional image, in real-time (at the frame rate of a TV camera), using a conic mirror is reported here.
Abstract: We designed a new omnidirectional image sensor COPIS (Conic Projection Image Sensor) to guide the navigation of a mobile robot. The feature of COPIS is passive sensing of the omnidirectional image of the environment, in real-time (at the frame rate of a TV camera), using a conic mirror. COPIS is a suitable sensor for visual navigation in a real world environment. We report here a method for navigating a robot by detecting the azimuth of each object in the omnidirectional image. The azimuth is matched with the given environmental map. The robot can precisely estimate its own location and motion (the velocity of the robot) because COPIS observes a 360/spl deg/ view around the robot, even when all edges are not extracted correctly from the omnidirectional image. The robot can avoid colliding against unknown obstacles and estimate locations by detecting azimuth changes, while moving about in the environment. Under the assumption of the known motion of the robot, an environmental map of an indoor scene is generated by monitoring azimuth change in the image. >
154 citations