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.

The Detection and Following of Human Legs Through Inductive Approaches for a Mobile Robot With a Single Laser Range Finder

Abstract: The human-friendly navigation of mobile robots is a significant social and technological issue. There are many potential applications of human-following technology. Good examples are human-following shopping carts, porter robots at airports, and museum guide robots. In this paper, we propose detection and tracking schemes for human legs by the use of a single laser range finder. The leg detection algorithm takes an inductive approach by the application of a support vector data description scheme and simple attributes. We establish an efficient leg-tracking scheme by exploiting a human walking model to achieve robust tracking under occlusions. The proposed schemes are successfully verified through experiments.

Path planning of autonomous mobile robot

Abstract: this present work, we present an algorithm for path planning to a target for mobile robot in unknown environment. The proposed algorithm allows a mobile robot to navigate through static obstacles, and finding the path in order to reach the target without collision. This algorithm provides the robot the possibility to move from the initial position to the final position (target). The proposed path finding strategy is designed in a grid-map form of an unknown environment with static unknown obstacles. The robot moves within the unknown environment by sensing and avoiding the obstacles coming across its way towards the target. When the mission is executed, it is necessary to plan an optimal or feasible path for itself avoiding obstructions in its way and minimizing a cost such as time, energy, and distance. The proposed path planning must make the robot able to achieve these tasks: to avoid obstacles, and to make ones way toward its target. The algorithms are implemented in Borland C++, afterwards tested with visual basic and DELPHI programming language; whereby the environment is studied in a two dimensional coordinate system. The simulation part is an approach to the real expected result; this part is done using C++ to recognize all objects within the environment and since it is suitable for graphic problems. Taking the segmented environment issued from C++ development, the algorithm permit the robot to move from the initial position to the desired position following an estimated trajectory using visual basic and Delphi language.

Collective construction with multiple robots

Abstract: We study the problem of construction by autonomous mobile robots focusing on the coordination strategy employed by the robots to solve a simple construction problem efficiently. In particular we address the problem of constructing a linear 2D structure in a planar bounded environment. A "minimalist" single-robot solution to the problem is given, as well as two multi-robot solutions, which are natural extensions to the single-robot approach, with varying degrees of inter-robot communication. Results show that with minimal inter-robot communication (1 bit of state), there is a significant improvement in the system performance. This improvement is invariant with respect to the size of the environment.

GRACE: an autonomous robot for the AAAI Robot challenge

Abstract: In an attempt to solve as much of the AAAI Robot Challenge as possible, five research institutions representing academia, industry, and government integrated their research into a single robot named GRACE. This article describes this first-year effort by the GRACE team, including not only the various techniques each participant brought to GRACE but also the difficult integration effort itself.