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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01 Jun 1994
TL;DR: A methodology for integrating multiple perceptual algorithms within a reactive robotic control system is presented and a model using finite state accepters is developed as a means for expressing perceptual processing over space and time in the context of a particular motor behavior.
Abstract: A methodology for integrating multiple perceptual algorithms within a reactive robotic control system is presented A model using finite state accepters is developed as a means for expressing perceptual processing over space and time in the context of a particular motor behavior This model can be utilized for a wide range of perceptual sequencing problems The feasibility of this method is demonstrated in two separate implementations The first is in the context of mobile robot docking where the mobile robot uses four different vision and ultrasonic algorithms to position itself relative to a docking workstation over a long-range course The second uses vision, IR beacon, and ultrasonic algorithms to park the robot next to a desired plastic pole randomly placed within an arena >
100 citations
TL;DR: This innovative proposal integrates the original APF, evolutionary computation and parallel computation for taking advantages of novel processors architectures, to obtain a flexible path planning navigation method that takes all the advantages of using the APF and the EAPF, strongly reducing their disadvantages.
Abstract: In this paper, we introduce the concept of Parallel Evolutionary Artificial Potential Field (PEAPF) as a new method for path planning in mobile robot navigation. The main contribution of this proposal is that it makes possible controllability in complex real-world sceneries with dynamic obstacles if a reachable configuration set exists. The PEAPF outperforms the Evolutionary Artificial Potential Field (EAPF) proposal, which can also obtain optimal solutions but its processing times might be prohibitive in complex real-world situations. Contrary to the original Artificial Potential Field (APF) method, which cannot guarantee controllability in dynamic environments, this innovative proposal integrates the original APF, evolutionary computation and parallel computation for taking advantages of novel processors architectures, to obtain a flexible path planning navigation method that takes all the advantages of using the APF and the EAPF, strongly reducing their disadvantages. We show comparative experiments of the PEAPF against the APF and the EAPF original methods. The results demonstrate that this proposal overcomes both methods of implementation; making the PEAPF suitable to be used in real-time applications.
100 citations
TL;DR: This paper proposes a robot navigation system which works using a high accuracy localization scheme by dynamic triangulation by integrating two principal systems, 3D laser scanning technical vision system (TVS) and mobile robot (MR) navigation system.
100 citations
01 Jan 2012
TL;DR: The proposed fuzzy-based potential field motion planning approach was able to provide the robot with collision-free path to softly land on the moving target and solve the local minimum problem within any stationary or dynamic environment compared to other potential field-based approaches.
Abstract: A new fuzzy-based potential field method is presented in this paper for autonomous mobile robot motion planning with dynamic environments including static or moving target and obstacles. Two fuzzy Mamdani and TSK models have been used to develop the total attractive and repulsive forces acting on the mobile robot. The attractive and repulsive forces were estimated using four inputs representing the relative position and velocity between the target and the robot in the x and y directions, in one hand, and between the obstacle and the robot, on the other hand. The proposed fuzzy potential field motion planning was investigated based on several conducted MATLAB simulation scenarios for robot motion planning within realistic dynamic environments. As it was noticed from these simulations that the proposed approach was able to provide the robot with collision-free path to softly land on the moving target and solve the local minimum problem within any stationary or dynamic environment compared to other potential field-based approaches.
100 citations
07 Aug 2002
TL;DR: A system for topologically localizing a mobile robot using color histogram matching of omnidirectional images which are acquired from the robot's on-board camera is presented.
Abstract: We present a system for topologically localizing a mobile robot using color histogram matching of omnidirectional images. The system is intended for use as a navigational tool for the autonomous vehicle for exploration and navigation of urban environments (AVENUE) mobile robot. Our method makes use of omnidirectional images which are acquired from the robot's on-board camera. The method is fast and rotation invariant. Our tests have indicated that normalized color histograms are best for an outdoor environment while normalization is not required for indoor work. The system quickly narrows down the robot's location to one or two regions within the much larger test environment. Using this regional localization information, other vision systems that we have developed can further localize the robot.
100 citations