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 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 Autonomous Navigation for Mobile Robot Vehicles Over Hilly Terrain Using Rangefinding Measurements written by C. N. Shen and published by . This book was released on 1984 with total page 38 pages. Available in PDF, EPUB and Kindle. Book excerpt: The mobile robot vehicle is equipped with data acquisition and decision making devices for its autonomous navigation over rough terrain. A laser rangefinder is chosen as principal sensing device, which can determine radial distances from the vehicle to points of unpredictable hilly terrain surfaces. The overall procedure conducted for such a design consists of the following interrelated subsystems such as scanning scheme, obstacle detection scheme, terrain slope estimation, and path selection algorithm. Stochastic processes and methods are employed throughout the analysis.

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 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 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 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 Fuzzy Logic Techniques for Autonomous Vehicle Navigation written by Dimiter Driankov and published by Physica. This book was released on 2013-03-09 with total page 388 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the past decade a critical mass of work that uses fuzzy logic for autonomous vehicle navigation has been reported. Unfortunately, reports of this work are scattered among conference, workshop, and journal publications that belong to different research communities (fuzzy logic, robotics, artificial intelligence, intelligent control) and it is therefore not easily accessible either to the new comer or to the specialist. As a result, researchers in this area may end up reinventing things while being unaware of important existing work. We believe that research and applications based on fuzzy logic in the field of autonomous vehicle navigation have now reached a sufficient level of maturity, and that it should be suitably reported to the largest possible group of interested practitioners, researches, and students. On these grounds, we have endeavored to collect some of the most representative pieces of work in one volume to be used as a reference. Our aim was to provide a volume which is more than "yet another random collection of papers," and gives the reader some added value with respect to the individual papers. In order to achieve this goal we have aimed at: • Selecting contributions which are representative of a wide range of prob lems and solutions and which have been validated on real robots; and • Setting the individual contributions in a clear framework, that identifies the main problems of autonomous robotics for which solutions based on fuzzy logic have been proposed.

Download or read book Sensor Modelling Design And Data Processing For Autonomous Navigation written by Martin David Adams and published by World Scientific. This book was released on 1999-02-04 with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt: This invaluable book presents an unbiased framework for modelling and using sensors to aid mobile robot navigation. It addresses the problem of accurate and reliable sensing in confined environments and makes a detailed analysis of the design and construction of a low cost optical range finder. This is followed by a quantitative model for determining the sources and propagation of noise within the sensor. The physics behind the causes of erroneous data is also used to derive a model for detecting and labelling such data as false. In addition, the author's data-processing algorithms are applied to the problem of environmental feature extraction. This forms the basis of a solution to the problem of mobile robot localisation. The book develops a relationship between the kinematics of a mobile robot during the execution of successive manoeuvres, and the sensed features. Results which update a mobile vehicle's position using features from 2D and 3D scans are presented.

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 Spatial Learning by an Autonomous Mobile Robot with Ultrasonic Sensors written by Yutaka Kanayama and published by . This book was released on 1989 with total page 14 pages. Available in PDF, EPUB and Kindle. Book excerpt: It was demonstrated that these techniques are extremely effective in the learning and navigation of autonomous mobile robots in man-made environments."

Download or read book Mobile Robots Navigation written by Alejandra Barrera and published by BoD – Books on Demand. This book was released on 2010-03-01 with total page 684 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Robot Navigation ultrasonic Sensor written by Fung Ming Lim and published by . This book was released on 2005 with total page 72 pages. Available in PDF, EPUB and Kindle. Book excerpt: These research are regarding the robot navigation is an important part of autonomous robot control. One of the major challenges in designing intelligent vehicles capable of autonomous travel on highways is reliable obstacle avoidance. Ultrasonic sensors, or sonar sensors, are used in a wide range of applications involving range finding and object detection and avoidance. Ultrasonic sensors use reflected or transmitted ultrasonic waves to detect the presence or absence of a target component. The output is trivial in respect that the sensor merely detects whether the target is or is not within the design detection range. The application usages of the sonar sense are wide and vast. Sonar sensors are excellent sensors to use for mobile robot applications. If a robot needs to navigate through a room filled with obstacles, then it can do it successfully by employing sonar sensors.

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 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.