Download or read book Automated Cartography by an Autonomous Mobile Robot Using Ultrasonic Range Finders written by David Leonard MacPherson and published by . This book was released on 1993 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The problem solved was for an autonomous mobile robot to generate a precise map of its orthogonal, indoor environment. The maps generated by the robot's sensors must be perfect so they can be used in subsequent navigation tasks using the same sensors. Our approach performed map-making incrementally with a partial world data structure describing incomplete polygons. A striking feature of the partial world data structure was they consist of 'real' and 'inferred' edges. Basically, in each learning step, the robot's sensors scan an unexplored region to obtain new 'real' and 'inferred' edges by eliminating at least one 'inferred' edge. The process continues until no 'inferred' edges remain in the partial world. In order to make this algorithm possible, linear fitting of sensor input, smooth vehicle motion control, dead reckoning error correction, and a mapping algorithm were developed. This algorithm was implemented on the autonomous mobile robot Yamabico-11. The results of this experiment using Yamabico-11 were threefold. (1) A smooth path tracking algorithm resulted in motion error of less than 2% in all experiments. (2) Dead reckoning error correction experiments revealed small, consistent vehicle odometry errors. The maximum observed error was 1.93 centimeters and 1.04 deg over a 9.14 meter course. (3) Precise mapping was demonstrated with a map accuracy in the worst case of 25 centimeters and 2 deg of hand measured maps. The ability to explore an indoor world space while correcting dead reckoning error is a significant improvement over previous work (Leonard 91) (Crowley 86) (Cox 91).
Download or read book Automated Cartography by an Autonomous Mobile Robot Using Ultrasonic Range Finders written by David Leonard MacPherson and published by . This book was released on 1993 with total page 373 pages. Available in PDF, EPUB and Kindle. Book excerpt: The problem solved was for an autonomous mobile robot to generate a precise map of its orthogonal, indoor environment. The maps generated by the robot's sensors must be perfect so they can be used in subsequent navigation tasks using the same sensors. Our approach performed map-making incrementally with a partial world data structure describing incomplete polygons. A striking feature of the partial world data structure was they consist of 'real' and 'inferred' edges. Basically, in each learning step, the robot's sensors scan an unexplored region to obtain new 'real' and 'inferred' edges by eliminating at least one 'inferred' edge. The process continues until no 'inferred' edges remain in the partial world. In order to make this algorithm possible, linear fitting of sensor input, smooth vehicle motion control, dead reckoning error correction, and a mapping algorithm were developed. This algorithm was implemented on the autonomous mobile robot Yamabico-11. The results of this experiment using Yamabico-11 were threefold. (1) A smooth path tracking algorithm resulted in motion error of less than 2% in all experiments. (2) Dead reckoning error correction experiments revealed small, consistent vehicle odometry errors. The maximum observed error was 1.93 centimeters and 1.04 deg over a 9.14 meter course. (3) Precise mapping was demonstrated with a map accuracy in the worst case of 25 centimeters and 2 deg of hand measured maps. The ability to explore an indoor world space while correcting dead reckoning error is a significant improvement over previous work (Leonard 91) (Crowley 86) (Cox 91).
Download or read book Automated Cartography by an Autonomous Mobile Robot written by Mark L. Merrell and published by . This book was released on 1999-03-01 with total page 73 pages. Available in PDF, EPUB and Kindle. Book excerpt: The major goal of this thesis was to create a map of a room by an autonomous mobile robot using the robot's internal odometry measurements and ultrasonic sensors. Yamabico, an autonomous mobile robot, will be controlled by Model-based Mobile robot Language (MML). The research for this thesis included the development of an algorithm to use information from the line-fitting capability of MML. It also included research about the inherent errors that are incurred using sonar for precise measurements. The results of this thesis are that it is possible for a map to be created by an autonomous robot using only ultrasonic sensors. However, the results would be much more accurate if an external source of navigation was used to correct the errors inherent in ultrasonic sensors and the robot's odometry.
Download or read book Robotic Mapping and Exploration written by Cyrill Stachniss and published by Springer. This book was released on 2009-05-06 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Robotic Mapping and Exploration" is an important contribution in the area of simultaneous localization and mapping (SLAM) for autonomous robots, which has been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the autonomous mapping learning problem. Solutions include uncertainty-driven exploration, active loop closing, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments. Results are accompanied by a rich set of experiments, revealing a promising outlook toward the application to a wide range of mobile robots and field settings, such as search and rescue, transportation tasks, or automated vacuum cleaning.
Download or read book Autonomous Navigation with Mobile Robot Using Ultrasonic Rangefinders written by Joseph F. Campion and published by . This book was released on 2015 with total page 27 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, I designed and implemented an autonomous navigation system for a four-wheeled mobile robot with ultrasonic sonar sensors and a National Instruments myRIO real-time controller. LabVIEW code was developed to control the motors with PWM signals based on sensor feedback. A low-pass filter was used to improve the signal to noise ratio since the signals from the ultrasonic sonar sensors were quite noisy. Finally, I developed two basic algorithms to maneuver the mobile robot: the first algorithm uses proportional control to maintain a specific distance from a target in front of the mobile robot; the second also uses proportional control to keep the robot at a specified distance away from a wall to its side as it travels forward.
Download or read book Autonomous Robot Vehicles written by Ingemar J. Cox and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 478 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous robot vehicles are vehicles capable of intelligent motion and action without requiring either a guide or teleoperator control. The recent surge of interest in this subject will grow even grow further as their potential applications increase. Autonomous vehicles are currently being studied for use as reconnaissance/exploratory vehicles for planetary exploration, undersea, land and air environments, remote repair and maintenance, material handling systems for offices and factories, and even intelligent wheelchairs for the disabled. This reference is the first to deal directly with the unique and fundamental problems and recent progress associated with autonomous vehicles. The editors have assembled and combined significant material from a multitude of sources, and, in effect, now conviniently provide a coherent organization to a previously scattered and ill-defined field.
Download or read book Robotic Navigation and Mapping with Radar written by Martin Adams and published by Artech House. This book was released on 2012 with total page 378 pages. Available in PDF, EPUB and Kindle. Book excerpt: A practical treatment of short-range radar processing for reliable object detection at ground level.
Download or read book Autonomous Mobile Robots Perception mapping and navigation written by S. Sitharama Iyengar and published by Institute of Electrical & Electronics Engineers(IEEE). This book was released on 1991 with total page 560 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Introduction to Autonomous Mobile Robots second edition written by Roland Siegwart and published by MIT Press. This book was released on 2011-02-18 with total page 473 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.
Download or read book Fuzzy Algorithms for Control written by H. B. Verbruggen and published by Springer Science & Business Media. This book was released on 2013-03-09 with total page 353 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fuzzy Algorithms for Control gives an overview of the research results of a number of European research groups that are active and play a leading role in the field of fuzzy modeling and control. It contains 12 chapters divided into three parts. Chapters in the first part address the position of fuzzy systems in control engineering and in the AI community. State-of-the-art surveys on fuzzy modeling and control are presented along with a critical assessment of the role of these methodologists in control engineering. The second part is concerned with several analysis and design issues in fuzzy control systems. The analytical issues addressed include the algebraic representation of fuzzy models of different types, their approximation properties, and stability analysis of fuzzy control systems. Several design aspects are addressed, including performance specification for control systems in a fuzzy decision-making framework and complexity reduction in multivariable fuzzy systems. In the third part of the book, a number of applications of fuzzy control are presented. It is shown that fuzzy control in combination with other techniques such as fuzzy data analysis is an effective approach to the control of modern processes which present many challenges for the design of control systems. One has to cope with problems such as process nonlinearity, time-varying characteristics for incomplete process knowledge. Examples of real-world industrial applications presented in this book are a blast furnace, a lime kiln and a solar plant. Other examples of challenging problems in which fuzzy logic plays an important role and which are included in this book are mobile robotics and aircraft control. The aim of this book is to address both theoretical and practical subjects in a balanced way. It will therefore be useful for readers from the academic world and also from industry who want to apply fuzzy control in practice.
Download or read book Where am I Sensors and Methods for Autonomous Mobile Robot Positioning written by L. Feng and published by . This book was released on with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Introduction to AI Robotics second edition written by Robin R. Murphy and published by MIT Press. This book was released on 2019-10-01 with total page 649 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive survey of artificial intelligence algorithms and programming organization for robot systems, combining theoretical rigor and practical applications. This textbook offers a comprehensive survey of artificial intelligence (AI) algorithms and programming organization for robot systems. Readers who master the topics covered will be able to design and evaluate an artificially intelligent robot for applications involving sensing, acting, planning, and learning. A background in AI is not required; the book introduces key AI topics from all AI subdisciplines throughout the book and explains how they contribute to autonomous capabilities. This second edition is a major expansion and reorganization of the first edition, reflecting the dramatic advances made in AI over the past fifteen years. An introductory overview provides a framework for thinking about AI for robotics, distinguishing between the fundamentally different design paradigms of automation and autonomy. The book then discusses the reactive functionality of sensing and acting in AI robotics; introduces the deliberative functions most often associated with intelligence and the capability of autonomous initiative; surveys multi-robot systems and (in a new chapter) human-robot interaction; and offers a “metaview” of how to design and evaluate autonomous systems and the ethical considerations in doing so. New material covers locomotion, simultaneous localization and mapping, human-robot interaction, machine learning, and ethics. Each chapter includes exercises, and many chapters provide case studies. Endnotes point to additional reading, highlight advanced topics, and offer robot trivia.
Download or read book Random Finite Sets for Robot Mapping SLAM written by John Stephen Mullane and published by Springer. This book was released on 2011-05-19 with total page 161 pages. Available in PDF, EPUB and Kindle. Book excerpt: The monograph written by John Mullane, Ba-Ngu Vo, Martin Adams and Ba-Tuong Vo is devoted to the field of autonomous robot systems, which have been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the problem of representing the environment and its uncertainty in terms of feature based maps. Random Finite Sets are adopted as the fundamental tool to represent a map, and a general framework is proposed for feature management, data association and state estimation. The approaches are tested in a number of experiments on both ground based and marine based facilities.
Download or read book Mobile Robot Localization and Map Building written by Jose A. Castellanos and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last decade, many researchers have dedicated their efforts to constructing revolutionary machines and to providing them with forms of artificial intelligence to perform some of the most hazardous, risky or monotonous tasks historically assigned to human beings. Among those machines, mobile robots are undoubtedly at the cutting edge of current research directions. A rough classification of mobile robots can be considered: on the one hand, mobile robots oriented to human-made indoor environments; on the other hand, mobile robots oriented to unstructured outdoor environments, which could include flying oriented robots, space-oriented robots and underwater robots. The most common motion mechanism for surface mobile robots is the wheel-based mechanism, adapted both to flat surfaces, found in human-made environments, and to rough terrain, found in outdoor environments. However, some researchers have reported successful developments with leg-based mobile robots capable of climbing up stairs, although they require further investigation. The research work presented here focuses on wheel-based mobile robots that navigate in human-made indoor environments. The main problems described throughout this book are: Representation and integration of uncertain geometric information by means of the Symmetries and Perturbations Model (SPmodel). This model combines the use of probability theory to represent the imprecision in the location of a geometric element, and the theory of symmetries to represent the partiality due to characteristics of each type of geometric element. A solution to the first location problem, that is, the computation of an estimation for the mobile robot location when the vehicle is completely lost in the environment. The problem is formulated as a search in an interpretation tree using efficient matching algorithms and geometric constraints to reduce the size of the solution space. The book proposes a new probabilistic framework adapted to the problem of simultaneous localization and map building for mobile robots: the Symmetries and Perturbations Map (SPmap). This framework has been experimentally validated by a complete experiment which profited from ground-truth to accurately validate the precision and the appropriateness of the approach. The book emphasizes the generality of the solutions proposed to the different problems and their independence with respect to the exteroceptive sensors mounted on the mobile robot. Theoretical results are complemented by real experiments, where the use of multisensor-based approaches is highlighted.
Download or read book Experimental Robotics VI written by Peter I. Corke and published by Springer Science & Business Media. This book was released on 1999-10-22 with total page 556 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the proceedings of the 6th International Symposium on Experimental Robotics held in Sydney in March 1999. The editors and contributors represent the leading robotics research efforts from around the world. Micro-machines, interplanetary exploration, minimally invasive surgery and emerging humanoid robots are among the most obvious attainments of leading robotics research teams reported in this volume. Less obvious but equally significant are the fundamental advances in robot map-building and methods of communication between humans and machines that are demonstrated through experimental results. This collection of papers will provide the reader with a concise report on the current achievements and future trends in robotics research across the world.
Download or read book Computational Principles of Mobile Robotics written by Gregory Dudek and published by Cambridge University Press. This book was released on 2010-07-26 with total page 407 pages. Available in PDF, EPUB and Kindle. Book excerpt: An advanced undergraduate/graduate text, emphasizing computation and algorithms for locomotion, sensing, and reasoning in mobile robots.
Download or read book Theory And Practice Of Control And Systems Proceedings Of The 6th Ieee Mediterranean Conference written by Antonio Tornambe and published by World Scientific. This book was released on 1999-01-04 with total page 863 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume gathers together all the lectures presented at the 6th IEEE Mediterranean Conference. It focuses on the mathematical aspects in the theory and practice of control and systems, including stability and stabilizability, robust control, adaptive control, robotics and manufacturing; these topics are under intense investigation and development in the engineering and mathematics communities. The volume should have immediate appeal for a large group of engineers and mathematicians who are interested in very abstract as well as very concrete aspects of control and system theory.
