Download or read book Autonomous Mobile Robot Navigation and Control in the Road Following and Roundabout Environments Incorporating Laser Range Finder and Vision System written by Mohammed Abdo Hashem Ali and published by . This book was released on 2014 with total page 197 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Online Mapping Based Navigation System for Wheeled Mobile Robot in Road Following and Roundabout written by Mohammed A. H Ali and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: A road mapping and feature extraction for mobile robot navigation in road roundabout and road following environments is presented in this chapter. In this work, the online mapping of mobile robot employing the utilization of sensor fusion technique is used to extract the road characteristics that will be used with path planning algorithm to enable the robot to move from a certain start position to predetermined goal, such as road curbs, road borders, and roundabout. The sensor fusion is performed using many sensors, namely, laser range finder, camera, and odometry, which are combined on a new wheeled mobile robot prototype to determine the best optimum path of the robot and localize it within its environments. The local maps are developed using an image,Äôs preprocessing and processing algorithms and an artificial threshold of LRF signal processing to recognize the road environment parameters such as road curbs, width, and roundabout. The path planning in the road environments is accomplished using a novel approach so called Laser Simulator to find the trajectory in the local maps developed by sensor fusion. Results show the capability of the wheeled mobile robot to effectively recognize the road environments, build a local mapping, and find the path in both road following and roundabout.

Download or read book Intelligent Unmanned Ground Vehicles written by Martial H. Hebert and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 315 pages. Available in PDF, EPUB and Kindle. Book excerpt: Intelligent Unmanned Ground Vehicles describes the technology developed and the results obtained by the Carnegie Mellon Robotics Institute in the course of the DARPA Unmanned Ground Vehicle (UGV) project. The goal of this work was to equip off-road vehicles with computer-controlled, unmanned driving capabilities. The book describes contributions in the area of mobility for UGVs including: tools for assembling complex autonomous mobility systems; on-road and off-road navigation; sensing techniques; and route planning algorithms. In addition to basic mobility technology, the book covers a number of integrated systems demonstrated in the field in realistic scenarios. The approaches presented in this book can be applied to a wide range of mobile robotics applications, from automated passenger cars to planetary exploration, and construction and agricultural machines. Intelligent Unmanned Ground Vehicles shows the progress that was achieved during this program, from brittle specially-built robots operating under highly constrained conditions, to groups of modified commercial vehicles operating in tough environments. One measure of progress is how much of this technology is being used in other applications. For example, much of the work in road-following, architectures and obstacle detection has been the basis for the Automated Highway Systems (AHS) prototypes currently under development. AHS will lead to commercial prototypes within a few years. The cross-country technology is also being used in the development of planetary rovers with a projected launch date within a few years. The architectural tools built under this program have been used in numerous applications, from an automated harvester to an autonomous excavator. The results reported in this work provide tools for further research development leading to practical, reliable and economical mobile robots.

Download or read book Vision Based Autonomous Robot Navigation written by Amitava Chatterjee and published by Springer. This book was released on 2012-10-13 with total page 235 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness. This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book describes successful implementation of integration of low-cost, external peripherals, with off-the-shelf procured robots. An important highlight of the book is that it presents a detailed, step-by-step sample demonstration of how vision-based navigation modules can be actually implemented in real life, under 32-bit Windows environment. The book also discusses the concept of implementing vision based SLAM employing a two camera based system.

Download or read book Autonomous Navigation in Dynamic Environments written by Christian Laugier and published by Springer. This book was released on 2007-10-14 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a foundation for a broad class of mobile robot mapping and navigation methodologies for indoor, outdoor, and exploratory missions. It addresses the challenging problem of autonomous navigation in dynamic environments, presenting new ideas and approaches in this emerging technical domain. Coverage discusses in detail various related challenging technical aspects and addresses upcoming technologies in this field.

Download or read book Mobile Robots Navigation written by Luis Payá and published by MDPI. This book was released on 2020-11-13 with total page 298 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Safe Robot Navigation Among Moving and Steady Obstacles written by Andrey V. Savkin and published by Butterworth-Heinemann. This book was released on 2015-09-25 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. First book on collision free reactive robot navigation in unknown dynamic environments Bridges the gap between mathematical model and practical algorithms Presents implementable and computationally efficient algorithms of robot navigation Includes mathematically rigorous proofs of their convergence A detailed review of existing reactive navigation algorithm for obstacle avoidance Describes fundamentals of sliding mode control

Download or read book Unsupervised Learning and Reverse Optical Flow in Mobile Robotics written by Andrew Lookingbill and published by Stanford University. This book was released on 2011 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt: As sensor resolution increases and costs decrease, the amount of data available on mobile robotics platforms is exploding. Unsupervised machine learning algorithms, and their ability to produce useful information without large labeled training sets, are an important tool for benefiting from this abundance. In this thesis the application of unsupervised learning to three subfields of mobile robotics is discussed. Tracking multiple moving objects from an unmanned aerial vehicle, road following in loosely-structured environments, and autonomous offroad navigation. The thesis focuses on building dynamic activity-based ground models for multi-object tracking, the combination of optical flow techniques and dynamic programming to estimate the location of a road, and the use of optical flow techniques to improve the quality of an autonomous robot's obstacle classification.

Download or read book Automatic Laser Calibration Mapping and Localization for Autonomous Vehicles written by Jesse Sol Levinson and published by Stanford University. This book was released on 2011 with total page 153 pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation presents several related algorithms that enable important capabilities for self-driving vehicles. Using a rotating multi-beam laser rangefinder to sense the world, our vehicle scans millions of 3D points every second. Calibrating these sensors plays a crucial role in accurate perception, but manual calibration is unreasonably tedious, and generally inaccurate. As an alternative, we present an unsupervised algorithm for automatically calibrating both the intrinsics and extrinsics of the laser unit from only seconds of driving in an arbitrary and unknown environment. We show that the results are not only vastly easier to obtain than traditional calibration techniques, they are also more accurate. A second key challenge in autonomous navigation is reliable localization in the face of uncertainty. Using our calibrated sensors, we obtain high resolution infrared reflectivity readings of the world. From these, we build large-scale self-consistent probabilistic laser maps of urban scenes, and show that we can reliably localize a vehicle against these maps to within centimeters, even in dynamic environments, by fusing noisy GPS and IMU readings with the laser in realtime. We also present a localization algorithm that was used in the DARPA Urban Challenge, which operated without a prerecorded laser map, and allowed our vehicle to complete the entire six-hour course without a single localization failure. Finally, we present a collection of algorithms for the mapping and detection of traffic lights in realtime. These methods use a combination of computer-vision techniques and probabilistic approaches to incorporating uncertainty in order to allow our vehicle to reliably ascertain the state of traffic-light-controlled intersections.

Download or read book Autonomous Robot Navigation written by Wen Lik Dennis Lui and published by . This book was released on 2011 with total page 532 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Intelligent Mobile Robot Navigation written by Federico Cuesta and published by Springer Science & Business Media. This book was released on 2005-03-11 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt: Intelligent Mobile Robot Navigation builds upon the application of fuzzy logic to the area of intelligent control of mobile robots. Reactive, planned, and teleoperated techniques are considered, leading to the development of novel fuzzy control systems for perception and navigation of nonholonomic autonomous vehicles. The unique feature of this monograph lies in its comprehensive treatment of the problem, from the theoretical development of the various schemes down to the real-time implementation of algorithms on mobile robot prototypes. As such, the book spans different domains ranging from mobile robots to intelligent transportation systems, from automatic control to artificial intelligence.

Download or read book Vision based Vehicle Guidance written by Ichiro Masaki and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 355 pages. Available in PDF, EPUB and Kindle. Book excerpt: There is a growing social interest in developing vision-based vehicle guidance systems for improving traffic safety and efficiency and the environment. Ex amples of vision-based vehicle guidance systems include collision warning systems, steering control systems for tracking painted lane marks, and speed control systems for preventing rear-end collisions. Like other guidance systems for aircraft and trains, these systems are ex pected to increase traffic safety significantly. For example, safety improve ments of aircraft landing processes after the introduction of automatic guidance systems have been reported to be 100 times better than prior to installment. Although the safety of human lives is beyond price, the cost for automatic guidance could be compensated by decreased insurance costs. It is becoming more important to increase traffic safety by decreasing the human driver's load in our society, especially with an increasing population of senior people who continue to drive. The second potential social benefit is the improvement of traffic efficiency by decreasing the spacing between vehicles without sacrificing safety. It is reported, for example, that four times the efficiency is expected if the spacing between cars is controlled automatically at 90 cm with a speed of 100 kmjh compared to today's typical manual driving. Although there are a lot of tech nical, psychological, and social issues to be solved before realizing the high density jhigh-speed traffic systems described here, highly efficient highways are becoming more important because of increasing traffic congestion.

Download or read book Autonomous Vehicle Navigation written by Lounis Adouane and published by CRC Press. This book was released on 2016-04-21 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: Improve the Safety, Flexibility, and Reliability of Autonomous Navigation in Complex EnvironmentsAutonomous Vehicle Navigation: From Behavioral to Hybrid Multi-Controller Architectures explores the use of multi-controller architectures in fully autonomous robot navigation-even in highly dynamic and cluttered environments. Accessible to researchers

Download or read book Mobile Robots written by Gerald Cook and published by John Wiley & Sons. This book was released on 2011-10-14 with total page 326 pages. Available in PDF, EPUB and Kindle. Book excerpt: An important feature of this book is the particular combination of topics included. These are (1) control, (2) navigation and (3) remote sensing, all with application to mobile robots. Much of the material is readily extended to any type ground vehicle. In the controls area, robot steering is the issue. Both linear and nonlinear models are treated. Various control schemes are utilized, and through these applications the reader is introduced to methods such as: (1) Linearization and use of linear control design methods for control about a reference trajectory, (2) Use of Lyapunov stability theory for nonlinear control design, (3) Derivation of optimal control strategies via Pontryagin’s maximum principle, (4) Derivation of a local coordinate system which is fundamental for the steering of vehicles along a path never before traversed. This local coordinate system has application regardless of the control design methods utilized. In the navigation area, various coordinate systems are introduced, and the transformations among them are derived. (1) The Global Positioning System (GPS) is introduced and described in significant detail. (2) Also introduced and discussed are inertial navigation systems (INS). These two methods are treated in terms of their ability to provide vehicle position as well as attitude. A preceding chapter is devoted to coordinate rotations and transformations since they play an important role in the understanding of this body of theory.

Download or read book Mobile Robot Navigation Using a Vision Based Approach written by Mehmet Serdar Güzel and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This study addresses the issue of vision based mobile robot navigation in a partially cluttered indoor environment using a mapless navigation strategy. The work focuses on two key problems, namely vision based obstacle avoidance and vision based reactive navigation strategy. The estimation of optical flow plays a key role in vision based obstacle avoidance problems, however the current view is that this technique is too sensitive to noise and distortion under real conditions. Accordingly, practical applications in real time robotics remain scarce. This dissertation presents a novel methodology for vision based obstacle avoidance, using a hybrid architecture. This integrates an appearance-based obstacle detection method into an optical flow architecture based upon a behavioural control strategy that includes a new arbitration module. This enhances the overall performance of conventional optical flow based navigation systems, enabling a robot to successfully move around without experiencing collisions. Behaviour based approaches have become the dominant methodologies for designing control strategies for robot navigation. Two different behaviour based navigation architectures have been proposed for the second problem, using monocular vision as the primary sensor and equipped with a 2-D range finder. Both utilize an accelerated version of the Scale Invariant Feature Transform (SIFT) algorithm. The first architecture employs a qualitative-based control algorithm to steer the robot towards a goal whilst avoiding obstacles, whereas the second employs an intelligent control framework. This allows the components of soft computing to be integrated into the proposed SIFT-based navigation architecture, conserving the same set of behaviours and system structure of the previously defined architecture. The intelligent framework incorporates a novel distance estimation technique using the scale parameters obtained from the SIFT algorithm. The technique employs scale parameters and a corresponding zooming factor as inputs to train a neural network which results in the determination of physical distance. Furthermore a fuzzy controller is designed and integrated into this framework so as to estimate linear velocity, and a neural network based solution is adopted to estimate the steering direction of the robot. As a result, this intelligent iv approach allows the robot to successfully complete its task in a smooth and robust manner without experiencing collision. MS Robotics Studio software was used to simulate the systems, and a modified Pioneer 3-DX mobile robot was used for real-time implementation. Several realistic scenarios were developed and comprehensive experiments conducted to evaluate the performance of the proposed navigation systems. KEY WORDS: Mobile robot navigation using vision, Mapless navigation, Mobile robot architecture, Distance estimation, Vision for obstacle avoidance, Scale Invariant Feature Transforms, Intelligent framework.

Download or read book Multisensor Based Environment Modelling and Control Applications for Mobile Robots written by Dilan Amarasinghe and published by . This book was released on 2008 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Mobile Robot Navigation with Intelligent Infrared Image Interpretation written by William L. Fehlman and published by Springer Science & Business Media. This book was released on 2009-06-13 with total page 297 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robots require the ability to make decisions such as "go through the hedges" or "go around the brick wall." Mobile Robot Navigation with Intelligent Infrared Image Interpretation describes in detail an alternative to GPS navigation: a physics-based adaptive Bayesian pattern classification model that uses a passive thermal infrared imaging system to automatically characterize non-heat generating objects in unstructured outdoor environments for mobile robots. The resulting classification model complements an autonomous robot’s situational awareness by providing the ability to classify smaller structures commonly found in the immediate operational environment.