Author: Francisco Ferrer Sales
Publisher: University of Coimbra
ISBN:
Category :
Languages : en
Pages : 49

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Author: Luis Payá
Publisher: MDPI
ISBN: 3039286706
Category : Technology & Engineering
Languages : en
Pages : 298

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Book Description
The presence of mobile robots in diverse scenarios is considerably increasing to perform a variety of tasks. Among them, many developments have occurred in the fields of ground, underwater, and flying robotics. Independent of the environment where they move, navigation is a fundamental ability of mobile robots so that they can autonomously complete high-level tasks. This problem can be efficiently addressed through the following actions: First, it is necessary to perceive the environment in which the robot has to move, and extract some relevant information (mapping problem). Second, the robot must be able to estimate its position and orientation within this environment (localization problem). With this information, a trajectory toward the target points must be planned (path planning), and the vehicle must be reactively guided along this trajectory considering either possible changes or interactions with the environment or with the user (control). Given this information, this book introduces current frameworks in these fields (mapping, localization, path planning, and control) and, in general, approaches to any problem related to the navigation of mobile robots, such as odometry, exploration, obstacle avoidance, and simulation.

Author: Alejandra Barrera
Publisher: BoD – Books on Demand
ISBN: 9533073462
Category : Computers
Languages : en
Pages : 254

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Book Description
Robot navigation includes different interrelated activities such as perception - obtaining and interpreting sensory information; exploration - the strategy that guides the robot to select the next direction to go; mapping - the construction of a spatial representation by using the sensory information perceived; localization - the strategy to estimate the robot position within the spatial map; path planning - the strategy to find a path towards a goal location being optimal or not; and path execution, where motor actions are determined and adapted to environmental changes. This book integrates results from the research work of authors all over the world, addressing the abovementioned activities and analyzing the critical implications of dealing with dynamic environments. Different solutions providing adaptive navigation are taken from nature inspiration, and diverse applications are described in the context of an important field of study: social robotics.

Author: Andon Topalov
Publisher: IntechOpen
ISBN: 9789533079097
Category : Technology & Engineering
Languages : en
Pages : 466

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Book Description
Mobile robots are the focus of a great deal of current research in robotics. Mobile robotics is a young, multidisciplinary field involving knowledge from many areas, including electrical, electronic and mechanical engineering, computer, cognitive and social sciences. Being engaged in the design of automated systems, it lies at the intersection of artificial intelligence, computational vision, and robotics. Thanks to the numerous researchers sharing their goals, visions and results within the community, mobile robotics is becoming a very rich and stimulating area. The book Recent Advances in Mobile Robotics addresses the topic by integrating contributions from many researchers around the globe. It emphasizes the computational methods of programming mobile robots, rather than the methods of constructing the hardware. Its content reflects different complementary aspects of theory and practice, which have recently taken place. We believe that it will serve as a valuable handbook to those who work in research and development of mobile robots.

Author: Alejandra Barrera
Publisher: BoD – Books on Demand
ISBN: 9533070765
Category : Technology & Engineering
Languages : en
Pages : 684

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Book Description
Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described.

Author: Andon Topalov
Publisher: IntechOpen
ISBN: 9789533079097
Category : Technology & Engineering
Languages : en
Pages : 466

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Book Description
Mobile robots are the focus of a great deal of current research in robotics. Mobile robotics is a young, multidisciplinary field involving knowledge from many areas, including electrical, electronic and mechanical engineering, computer, cognitive and social sciences. Being engaged in the design of automated systems, it lies at the intersection of artificial intelligence, computational vision, and robotics. Thanks to the numerous researchers sharing their goals, visions and results within the community, mobile robotics is becoming a very rich and stimulating area. The book Recent Advances in Mobile Robotics addresses the topic by integrating contributions from many researchers around the globe. It emphasizes the computational methods of programming mobile robots, rather than the methods of constructing the hardware. Its content reflects different complementary aspects of theory and practice, which have recently taken place. We believe that it will serve as a valuable handbook to those who work in research and development of mobile robots.

Author: Wen Lik Dennis Lui
Publisher:
ISBN:
Category :
Languages : en
Pages : 532

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Book Description
The main focus of this research is to develop an autonomous robot capable of self-navigation in an unknown environment. The proposed system performs autonomous navigation primarily based on the following visually perceived information:1) Range Estimation: A novel variable single/multi baseline omnidirectional stereovision system with an option to automatically select the baseline that is adjusted to the environment with the establishment of stereo correspondences and triangulation offloaded to the Graphics Processing Unit (GPU). Additionally, as a safety measure, a low level reactive obstacle avoidance system using the disparity maps returned from a Bumblebee stereo camera range system provides a secondary source of pseudo range estimation to steer the mobile robot away from obstacles which the primary system has failed to detect. The two sensors complement one another due to the vertical stereo setup for the primary sensor and the horizontal stereo setup for the secondary sensor, where the former is more sensitive towards horizontal features whereas the latter is better for vertical features. 2) Motion Estimation: A 3DoF visual odometry system combining distance travelled estimated by a ground plane optical flow tracking system, with bearing estimated by the panoramic visual compass system. 3) Place Recognition: An appearance-based place recognition system using image signatures created from Haar decomposed omnidirectional images for loop closure detection. These components were integrated together into the mobile robot's navigation system which balances its effort amongst loop closing and exploration, decides its next course of action, performs path planning and executing the selected path. As the mobile robot engages the environment, the positional drift associated to the mobile robot's estimated location increases over time, thus, making it necessary to perform loop closing regularly by detecting it via the place recognition system and maintaining the global consistency of its internal representation of the environment (in the form of a topological map) by employing a relaxation technique. Due to the importance of performing loop closing regularly, an active loop closure detection and validation system, that enables the mobile robot to actively search for loop closures and to validate ambiguous loop closures, was proposed, developed and validated. A wide variety of experiments were conducted to verify and evaluate the performance of the entire system at both the system and subsystem levels. All experimental results were compared against ground truth where possible. Fully autonomous experiments combining all the above were conducted in indoor, semi-outdoor and outdoor environments. In addition, semi-autonomous experiments were conducted where the mobile robot, provided with a priori information in the form of a topological map built on a separate occasion in an offline manner, was required to reach a user specified destination (goal oriented). Finally, the proposed place recognition system was applied to the map merging problem where experimental results showed the improved robustness of loop closure and map merging detection when fused with a laser-based metric SLAM system.

Author: Rakesh Shrestha
Publisher:
ISBN:
Category :
Languages : en
Pages : 37

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Book Description
2D and 3D scene reconstruction are important topics in the field of robotics and computer vision. Mobile robots require a model of the environment to perform navigational tasks, and model acquisition is a useful application in itself . This thesis presents a) A 3D odometry and mapping system producing metric scale map and pose estimates using a minimal sensor-suite b) An autonomous ground robot for 2D mapping of an unknown environment using learned map prediction. The first application proposes a direct visual-inertial odometry method working with a monocular camera. This system builds upon the state-of-the-art in direct vision-only odometry. It demonstrates superior system robustness and camera tracking accuracy compared to the original method. Furthermore, the system is able to produce a 3D map in metric scale, addressing the well known scale ambiguity inherent in monocular SLAM systems.The second application demonstrates an autonomous ground robot capable of exploring unknown indoor environments for reconstructing their 2D maps. This method combines the strengths of traditional information-theoretic approaches towards solving this problem and more recent deep learning techniques. Specifically, it employs a state-of-the-art generative neural network to predict unknown regions of a partially explored map, and uses the prediction to enhance the exploration in an information-theoretic manner. The system is evaluated against traditional methods in simulation using floor plans of real buildings and demonstrates advantage in terms of exploration efficiency. We retain an advantage over end-to-end learned exploration methods in that the robot's behavior is easily explicable in terms of the predicted map.

Author: Ahmed S. Khusheef
Publisher: LAP Lambert Academic Publishing
ISBN: 9783659487552
Category :
Languages : en
Pages : 164

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Book Description
This book focuses on designing a mobile robot's navigation system. More specifically, it considers the challenges of designing and operating a mobile search robot used to search for, find and relocate a target object in an indoor environment. A step-by-step mobile robot construction approach guides us in the design and implementation of a mobile robot. This work proposes construction methods for two different types of mobile robots. For exploration of a path, we will develop an algorithmic strategy known as a 'bug navigation', in which, the robot navigates by following the walls or obstacle boundaries. The most common object detection and recognition techniques are presented in a simple style. This book also helps one to develop an efficient way to identify the location and orientation of a robot with an effective mechanism of control.

Author: Robert Mandelbaum
Publisher:
ISBN:
Category :
Languages : en
Pages : 400

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Book Description