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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15 Jul 2011
TL;DR: Simulation results prove the Dijkstra algorithm valid; it can effectively solve the maze robot path planning.
Abstract: In this paper, the robot is a maze robot. Dijkstra algorithm is used in the robot path planning. The shortest path is selected in the process of barrier. Simulation results prove the model valid; it can effectively solve the maze robot path planning.
140 citations
Proceedings Article•
20 Aug 1979TL;DR: The current state of HILARE: a modular progressively-built mobile robot aimed at general robotics research is described, which comprises of local mini and micro processors coupled with a remote time-shared system acting as a consulting facility.
Abstract: This paper describes the current state of HILARE: a modular progressively-built mobile robot aimed at general robotics research. The computer organization comprises of local mini and micro processors coupled with a remote time-shared system acting as a consulting facility. A multi-level decision-making system is presented with world models, inference rules, and algorithms particular to each level. The navigation planner uses a geometric model wherein 2-space is partitioned into polygonal areas based on perceptual and/or initial information. A cost function is proposed which provides support for optimal or E-optimal path finding.
139 citations
01 Aug 2001
TL;DR: An electrostatic potential field (EPF) path planner is combined with a two-layered fuzzy logic inference engine and implemented for real-time mobile robot navigation in a 2-D dynamic environment.
Abstract: An electrostatic potential field (EPF) path planner is combined with a two-layered fuzzy logic inference engine and implemented for real-time mobile robot navigation in a 2-D dynamic environment. The environment is first mapped into a resistor network; an electrostatic potential field is then created through current injection into the network. The path of maximum current through the network corresponds to the approximately optimum path in the environment. The first layer of the fuzzy logic inference engine performs sensor fusion from sensor readings into a fuzzy variable, collision, providing information about possible collisions in four directions, front, back, left and right. The second layer guarantees collision avoidance with dynamic obstacles while following the trajectory generated by the electrostatic potential field. The proposed approach is experimentally tested using the Nomad 200 mobile robot.
139 citations
01 Jan 2009
TL;DR: In this paper, a fuzzy logic controller with different membership functions is developed and used to navigate mobile robots in a totally unknown environment, which depicts that the robots are able to avoid obstacles as well as negotiate the dead ends and reach the targets efficiently.
Abstract: In this paper, navigation techniques for several mobile robots as many as one thousand robots using fuzzy logic are investigated in a totally unknown environment. Fuzzy logic controllers (FLC) using different membership functions are developed and used to navigate mobile robots. First a fuzzy controller has been used with four types of input members, two types of output members and three parameters each. Next two types of fuzzy controllers have been developed having same input members and output members with five parameters each. Each robot has an array of ultrasonic sensors for measuring the distances of obstacles around it and an infrared sensor for detecting the bearing of the target. These techniques have been demonstrated in various exercises, which depicts that the robots are able to avoid obstacles as well as negotiate the dead ends and reach the targets efficiently. Amongst the techniques developed, FLC having Gaussian membership function is found to be most efficient for mobile robots navigation.
139 citations
01 Jun 2012
TL;DR: A new motion planning approach is proposed, which uses springs to interconnect two robot modules and allows the modules to cooperatively navigate through difficult segments of the pipes.
Abstract: This paper deals with a design and motion planning algorithm of a caterpillar-based pipeline robot that can be used for inspection of 80-100-mm pipelines in an indoor pipeline environment. The robot system uses a differential drive to steer the robot and spring loaded four-bar mechanisms to assure that the robot expands to grip the pipe walls. Unique features of this robot are the caterpillar wheels, the analysis of the four-bar mechanism supporting the treads, a closed-form kinematic approach, and an intuitive user interface. In addition, a new motion planning approach is proposed, which uses springs to interconnect two robot modules and allows the modules to cooperatively navigate through difficult segments of the pipes. Furthermore, an analysis method of selecting optimal compliance to assure functionality and cooperation is suggested. Simulation and experimental results are used throughout the paper to highlight algorithms and approaches.
138 citations