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: A navigation strategy which requires minimum user assistance which first guides a mobile robot to a destination by remote control and a method of selecting effective viewing directions using the history of observation during the guided movement is developed.
106 citations
TL;DR: It is concluded that learning is necessary for a robust navigation system and fuzzy logic is an easy way to put some initial knowledge in the system to avoid learning from zero.
105 citations
TL;DR: The design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot to navigate in indoor environments using only one fuzzy controller for navigation and obstacle avoidance is described.
Abstract: This paper describes the design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot to navigate in indoor environments. Most of the previous works used two independent controllers for navigation and avoiding obstacles. The main contribution of the paper can be summarized in the fact that we use only one fuzzy controller for navigation and obstacle avoidance. The used mobile robot is equipped with DC motor, nine infrared range (IR) sensors to measure the distance to obstacles, and two optical encoders to provide the actual position and speeds. To evaluate the performances of the intelligent navigation algorithms, different trajectories are used and simulated using MATLAB software and SIMIAM navigation platform. Simulation results show the performances of the intelligent navigation algorithms in terms of simulation times and travelled path.
105 citations
01 Jan 1988
TL;DR: In this paper, the visual attentional demand requirements for specific tasks associated with the navigation system were compared with those of a wide variety of conventional (though modern) instrument panel tasks, and the purpose in gathering these data was to evaluate whether or not the navigation tasks created demands that were greater than those of conventional tasks.
Abstract: Two research studies were performed in which an operational in-car navigation display system was tested and evaluated. In the first study, the visual attentional demand requirements for specific tasks associated with the navigation system were compared with those of a wide variety of conventional (though modern) instrument panel tasks. The purpose in gathering these data was to evaluate whether or not the navigation tasks created demands that were greater than those of conventional tasks, and if so, by how much. The second study addressed the effectiveness, efficiency, and strategy associated with three different kinds of route guidance, memorized route, conventional paper map, and the navigation system. Results of the studies indicate that drivers are able to use the navigation system effectively and that it compares favorably with paper maps. However, visual scan patterns are changed when using the navigation system. Furthermore, drivers use a visual sample process which is quite different from that used for either paper maps or memorized route. Other findings indicate that the visual attentional demand of most navigator tasks is within the range of that for conventional tasks, however, a few tasks do have high visual attentional demand. These latter tasks could be modified to reduce their visual attentional demand.
105 citations
01 Jan 2001
TL;DR: An extensively tested low-complexity, robust and accurate pose tracking method is presented which utilizes the minimalistic model in combination with a laser sensor, based on the ideas of Multiple Hypothesis Tracking.
Abstract: This thesis deals with all aspects of mobile robot localization for indoor applications. The problems span from tracking the position given an initial estimate, over finding it without any prior position knowledge, to automatically building a representation of the environment while performing localization. The theme is the use of minimalistic models which capture the large scale structures of the environment, such as the dominant walls, to provide scalable and low-complexity solutions. In many cases it is enough to only maintain an estimate of the robot position. For such situation an extensively tested low-complexity, robust and accurate pose tracking method is presented which utilizes the minimalistic model in combination with a laser sensor. When the initial position is unknown the robot must perform global localization. Two different methods are investigated. The first one is a novel localization scheme, based on the ideas of Multiple Hypothesis Tracking. The second is an, experimentally verified, significant improvement of the standard Monte Carlo Localization technique. To automatically generate an environmental representation an hierarchical approach to simultaneous localization and mapping (SLAM) is presented. The map scaling issue is here addressed by dividing the environment into submaps, each representing a small area.
105 citations