• Title, Summary, Keyword: robot navigation/localization

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Localization for Mobile Robot Navigation using Color Patches Installed on the Ceiling (천정 부착 칼라 패치 배열을 이용한 이동로봇의 자기위치 인식)

  • Wang, Shi;Chen, Hong-Xin;Strzelecki, Michal;Kim, Hyong-Suk
    • Journal of Institute of Control, Robotics and Systems
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    • v.14 no.2
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    • pp.156-160
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    • 2008
  • A localization system to estimate the position as well as movement direction of mobile robots is proposed in this paper. This system implements a camera fixed on a robot and color patches evenly distributed and mounted on the planar ceiling. Different permutations of patch colors code information about robot localization. Thus, extraction of color information from patch images leads to estimation of robot position. Additionally, simple geometric indicators are combined with patch colors to estimate robot's movement direction. Since only the distribution of patch colors has to be known, the analysis of patch images to is relatively fast and simple. The proposed robot localization system has been successfully tested for navigation of sample mobile robot. Obtained test results indicate the robustness and reliability of proposed technique for robot navigation.

Simultaneous Localization and Mobile Robot Navigation using a Sensor Network

  • Jin Tae-Seok;Bashimoto Hideki
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.6 no.2
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    • pp.161-166
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    • 2006
  • Localization of mobile agent within a sensing network is a fundamental requirement for many applications, using networked navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems, This paper describes a networked sensor-based navigation method in an indoor environment for an autonomous mobile robot which can navigate and avoid obstacle. In this method, the self-localization of the robot is done with a model-based vision system using networked sensors, and nonstop navigation is realized by a Kalman filter-based STSF(Space and Time Sensor Fusion) method. Stationary obstacles and moving obstacles are avoided with networked sensor data such as CCD camera and sonar ring. We will report on experiments in a hallway using the Pioneer-DX robot. In addition to that, the localization has inevitable uncertainties in the features and in the robot position estimation. Kalman filter scheme is used for the estimation of the mobile robot localization. And Extensive experiments with a robot and a sensor network confirm the validity of the approach.

Implementing Autonomous Navigation of a Mobile Robot Integrating Localization, Obstacle Avoidance and Path Planning (위치 추정, 충돌 회피, 동작 계획이 융합된 이동 로봇의 자율주행 기술 구현)

  • Noh, Sung-Woo;Ko, Nak-Yong;Kim, Tae-Gyun
    • The Journal of the Korea institute of electronic communication sciences
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    • v.6 no.1
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    • pp.148-156
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    • 2011
  • This paper presents an implementation of autonomous navigation of a mobile robot indoors. It explains methods for map building, localization, obstacle avoidance and path planning. Geometric map is used for localization and path planning. The localization method calculates sensor data based on the map for comparison with the real sensor data. Monte Carlo Localization(MCL) method is adopted for estimation of the robot position. For obstacle avoidance, an artificial potential field generates repulsive and attractive force to the robot. Dijkstra algorithm plans the shortest distance path from a start position to a goal point. The methods integrate into autonomous navigation method and implemented for indoor navigation. The experiments show that the proposed method works well for safe autonomous navigation.

An Embedded Solution for Fast Navigation and Precise Positioning of Indoor Mobile Robots by Floor Features (바닥 특징점을 사용하는 실내용 정밀 고속 자율 주행 로봇을 위한 싱글보드 컴퓨터 솔루션)

  • Kim, Yong Nyeon;Suh, Il Hong
    • The Journal of Korea Robotics Society
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    • v.14 no.4
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    • pp.293-300
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    • 2019
  • In this paper, an Embedded solution for fast navigation and precise positioning of mobile robots by floor features is introduced. Most of navigation systems tend to require high-performance computing unit and high quality sensor data. They can produce high accuracy navigation systems but have limited application due to their high cost. The introduced navigation system is designed to be a low cost solution for a wide range of applications such as toys, mobile service robots and education. The key design idea of the system is a simple localization approach using line features of the floor and delayed localization strategy using topological map. It differs from typical navigation approaches which usually use Simultaneous Localization and Mapping (SLAM) technique with high latency localization. This navigation system is implemented on single board Raspberry Pi B+ computer which has 1.4 GHz processor and Redone mobile robot which has maximum speed of 1.1 m/s.

Autonomous Navigation of Mobile Robot Using Global Ultrasonic System (전역 초음파 시스템을 이용한 이동 로봇의 자율 주행)

  • 황병훈;이수영
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.6
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    • pp.529-536
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    • 2004
  • Autonomous navigation of an indoor mobile robot using the global ultrasonic system is presented in this paper. Since the trajectory error of the dead-reckoning navigation grows with time and distance, the autonomous navigation of a mobile robot requires to localize the current position of the robot, so that to compensate the trajectory error. The global ultrasonic system consisting of four ultrasonic generators fixed at a priori known positions in the work space and two receivers on the mobile robot has the similar structure with the well-known satellite GPS(Global Positioning System), and it is useful for the self-localization of an indoor mobile robot. The EKF(Extended Kalman Filter) algorithm for the self-localization is proposed and the autonomous navigation based on the self-localization is verified by experiments.

Mobile Robot Navigation in an Indoor Environment

  • Choi, Sung-Yug;Lee, Jang-Myung
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1456-1459
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    • 2005
  • To compensate the drawbacks, a new localization method that estimates the global position of the mobile robot by using a camera set on ceiling in the corridor is proposed. This scheme is not a relative localization, which decreases the position error through algorithms with noisy sensor data. The effectiveness of the proposed localization scheme is demonstrated by the experiments.

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A Real-time Localization System Based on IR Landmark for Mobile Robot in Indoor Environment (이동로봇을 위한 IR 랜드마크 기반의 실시간 실내 측위 시스템)

  • Lee, Jae-Y.;Chae, Hee-Sung;Yu, Won-Pil
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.9
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    • pp.868-875
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    • 2006
  • The localization is one of the most important issues for mobile robot. This paper describes a novel localization system for the development of a location sensing network. The system comprises wirelessly controlled infrared landmarks and an image sensor which detects the pixel positions of infrared sources. The proposed localization system can operate irrespective of the illumination condition in the indoor environment. We describe the operating principles of the developed localization system and report the performance for mobile robot localization and navigation. The advantage of the developed system lies in its robustness and low cost to obtain location information as well as simplicity of deployment to build a robot location sensing network. Experimental results show that the developed system outperforms the state-of-the-art localization methods.

A Navigation System for a Patrol Robot in Indoor Environments (실내 환경에서의 경비로봇용 주행시스템)

  • Choi, Byoung-Wook;Lee, Young-Min;Park, Jeong-Ho;Shin, Dong-Kwan
    • The Journal of Korea Robotics Society
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    • v.1 no.2
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    • pp.117-124
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    • 2006
  • In this paper, we develope the navigation system for patrol robots in indoor environment. The proposed system consists of PDA map modelling, a localization algorithm based on a global position sensor and an automatic charging station. For the practical use in security system, the PDA is used to build object map on the given indoor map. And the builded map is downloaded to the mobile robot and used in path planning. The global path planning is performed with a localization sensor and the downloaded map. As a main controller, we use PXA270 based hardware platform in which embedded linux 2.6 is developed. Data handling for various sensors and the localization algorithm are performed in the linux platform. Also, we implemented a local path planning algorithm for object avoidance with ultra sonar sensors. Finally, for the automatic charging, we use an infrared ray system and develop a docking algorithm. The navigation system is experimented with the two-wheeled mobile robot using North-Star localization system.

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Absolute Positioning System for Mobile Robot Navigation in an Indoor Environment (ICCAS 2004)

  • Yun, Jae-Mu;Park, Jin-Woo;Choi, Ho-Seek;Lee, Jang-Myung
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1448-1451
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    • 2004
  • Position estimation is one of the most important functions for the mobile robot navigating in the unstructured environment. Most of previous localization schemes estimate current position and pose of mobile robot by applying various localization algorithms with the information obtained from sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the wall, or objects of the environment as natural landmark in the indoor environment. Several drawbacks about them have been brought up. To compensate the drawbacks, a new localization method that estimates the absolute position of the mobile robot by using a fixed camera on the ceiling in the corridor is proposed. And also, it can improve the success rate for position estimation using the proposed method, which calculates the real size of an object. This scheme is not a relative localization, which decreases the position error through algorithms with noisy sensor data, but a kind of absolute localization. The effectiveness of the proposed localization scheme is demonstrated through the experiments.

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Development of Map Building Algorithm for Mobile Robot by Using RFID (모바일 로봇에서 RFID를 이용한 지도작성 알고리즘 개발)

  • Kim, Si-Seup;Seon, Jeong-An;Kee, Chang-Doo
    • Journal of The Korean Society of Manufacturing Technology Engineers
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    • v.20 no.2
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    • pp.133-138
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    • 2011
  • RFID system can be used to improve object recognition, map building and localization for robot area. A novel method of indoor navigation system for a mobile robot is proposed using RFID technology. The mobile robot With a RFID reader and antenna is able to find what obstacles are located where in circumstance and can build the map similar to indoor circumstance by combining RFID information and distance data obtained from sensors. Using the map obtained, the mobile robot can avoid obstacles and finally reach the desired goal by $A^*$ algorithm. 3D map which has the advantage of robot navigation and manipulation is able to be built using z dimension of products. The proposed robot navigation system is proved to apply for SLAM and path planning in unknown circumstance through numerous experiments.