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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04 Aug 1996
TL;DR: This paper describes a real-time, three-dimensional gesture recognition system that resides on-board a mobile robot, capable of recognizing six distinct gestures made by an unadorned human in an unaltered environment, including the coarse model and the active vision approach.
Abstract: Gesture recognition is an important skill for robots that work closely with humans. Gestures help to clarify spoken commands and are a compact means of relaying geometric information. We have developed a real-time, three-dimensional gesture recognition system that resides on-board a mobile robot. Using a coarse three-dimensional model of a human to guide stereo measurements of body parts, the system is capable of recognizing six distinct gestures made by an unadorned human in an unaltered environment. An active vision approach focuses the vision system's attention on small, moving areas of space to allow for frame rate processing even when the person and/or the robot are moving. This paper describes the gesture recognition system, including the coarse model and the active vision approach. This paper also describes how the gesture recognition system is integrated with an intelligent control architecture to allow for complex gesture interpretation and complex robot action. Results from experiments with an actual mobile robot are given.
145 citations
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08 Dec 2003TL;DR: A general framework for distributed map building in the presence of uncertain communication is described and a technical solution to the key decision problem of determining relative location within partial maps is presented.
Abstract: A set of robots mapping an area can potentially combine their information to produce a distributed map more efficiently than a single robot alone. We describe a general framework for distributed map building in the presence of uncertain communication. Within this framework, we then present a technical solution to the key decision problem of determining relative location within partial maps.
145 citations
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TL;DR: Extensive experiments with a user population show that the added haptic feedback significantly improves operator performance in several ways (reduced collisions, increased minimum distance between the robot and obstacles) without a significant increase in navigation time.
Abstract: We address the problem of teleoperating a mobile robot using shared autonomy: an on-board controller performs obstacle avoidance while the operator uses the manipulandum of a haptic probe to designate the desired speed and rate of turn. Sensors on the robot are used to measure obstacle range information. We describe a strategy to convert such range information into forces, which are reflected to the operator's hand, via the haptic probe. This haptic information provides feedback to the operator in addition to imagery from a front-facing camera mounted on the mobile robot. Extensive experiments with a user population show that the added haptic feedback significantly improves operator performance in several ways (reduced collisions, increased minimum distance between the robot and obstacles) without a significant increase in navigation time.
144 citations
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22 Aug 1977TL;DR: The control structure of the JPL research robot and the operations of the navigation subsystem are discussed and the results of scene analysis are used to create a segmented terrain model in which surface regions are classified by traversibility.
Abstract: The control structure of the JPL research robot and the operations of the navigation subsystem are discussed The robot functions as a network of interacting concurrent processes distributed among several computers and coordinated by a central executive The results of scene analysis are used to create a segmented terrain model in which surface regions are classified by traversibility The model is used by a path-planning algorithm, PATH, which uses tree search methods to find the optimal path to a goal In PATH, the search space is defined dynamically as a consequence of node testing Maze-solving and the use of an associative data base for context-dependent node generation are also discussed Execution of a planned path is accomplished by a feedback guidance process with automatic error recovery
144 citations
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TL;DR: An algorithm for visual obstacle avoidance of autonomous mobile robot by balancing the amount of left and right side flow to avoid obstacles is developed, this technique allows robot navigation without any collision with obstacles.
Abstract: In this paper we try to develop an algorithm for visual obstacle avoidance of autonomous mobile robot. The input of the algorithm is an image sequence grabbed by an embedded camera on the B21r robot in motion. Then, the optical flow information is extracted from the image sequence in order to be used in the navigation algorithm. The optical flow provides very important information about the robot environment, like: the obstacles disposition, the robot heading, the time to collision and the depth. The strategy consists in balancing the amount of left and right side flow to avoid obstacles, this technique allows robot navigation without any collision with obstacles. The robustness of the algorithm will be showed by some
144 citations