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.
Papers published on a yearly basis
Papers
More filters
TL;DR: This paper describes in detail the computation of a specific SUF for a mobile robot equipped with a classical line-striping camera/laser range sensor and presents an implemented SUF-based motion planner for this robot and shows paths generated by this planner.
Abstract: Failures in mobile robot navigation are often caused by errors in localizing the robot relative to its environment This paper explores the idea that these errors can be considerably reduced by planning paths taking the robot through positions where pertinent features of the environment can be sensed It introduces the notion of a "sensory uncertainty field" (SUF) For every possible robot configuration q, this field estimates the distribution of possible errors in the robot configuration that would be computed by a localization function matching the data given by the sensors against an environment model, if the robot was at q A planner is proposed which uses a precomputed SUF to generate paths that minimize expected errors or any other criterion combining, say, path length and errors This paper describes in detail the computation of a specific SUF for a mobile robot equipped with a classical line-striping camera/laser range sensor It presents an implemented SUF-based motion planner for this robot and shows paths generated by this planner Navigation experiments were conducted with mobile robots using paths generated by the SUF-based planner and other paths The former paths were tracked with greater precision than the others The final section of the paper discusses additional research issues related to SUF-based planning >
109 citations
TL;DR: A simple approach for vision-based path following for a mobile robot based upon a novel concept called the funnel lane, the coordinates of feature points during the replay phase are compared with those obtained during the teaching phase in order to determine the turning direction.
Abstract: We present a simple approach for vision-based path following for a mobile robot. Based upon a novel concept called the funnel lane, the coordinates of feature points during the replay phase are compared with those obtained during the teaching phase in order to determine the turning direction. Increased robustness is achieved by coupling the feature coordinates with odometry information. The system requires a single off-the-shelf, forward-looking camera with no calibration (either external or internal, including lens distortion). Implicit calibration of the system is needed only in the form of a single controller gain. The algorithm is qualitative in nature, requiring no map of the environment, no image Jacobian, no homography, no fundamental matrix, and no assumption about a flat ground plane. Experimental results demonstrate the capability of real-time autonomous navigation in both indoor and outdoor environments and on flat, slanted, and rough terrain with dynamic occluding objects for distances of hundreds of meters. We also demonstrate that the same approach works with wide-angle and omnidirectional cameras with only slight modification.
109 citations
Patent•
18 Jun 2010
TL;DR: In this paper, a robotic system that includes a robot and a remote station is described, where the remote station can generate control commands that are transmitted to the robot through a broadband network.
Abstract: A robotic system that includes a robot and a remote station. The remote station can generate control commands that are transmitted to the robot through a broadband network. The control commands can be interpreted by the robot to induce action such as robot movement or focusing a robot camera. The robot can generate reporting commands that are transmitted to the remote station through the broadband network. The reporting commands can provide positional feedback or system reports on the robot.
109 citations
TL;DR: A biologically inspired strategy for the navigation of a unicycle-like robot towards a target while avoiding collisions with moving obstacles is presented.
Abstract: We present a simple biologically inspired strategy for the navigation of a unicycle-like robot towards a target while avoiding collisions with moving obstacles. A mathematically rigorous analysis of the proposed approach is provided. The performance of the algorithm is demonstrated via experiments with a real robot and extensive computer simulations.
109 citations
Patent•
01 Mar 1997
TL;DR: In this article, an autonomous mobile robot system is provided with a sensor-based and map-based navigation system for navigating in a pipe network, which is based on the classification of pre-existing natural landmarks.
Abstract: The autonomous mobile robot system is provided with a sensor-based and map-based navigation system for navigating in a pipe network. The navigation is based on the classification of pre-existing natural landmarks. The navigation system can compensate for inaccurate robot system's motion control, sensor information, and landmark classification.
109 citations