Sonar Techniques for Autonomous Navigation with a Mobile Robot
| Author | : Barry Steer |
| Publisher | : |
| Total Pages | : |
| Release | : 1988 |
| Genre | : Robotics |
| ISBN | : |
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Directed Sonar Sensing for Mobile Robot Navigation
| Author | : John J. Leonard |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 199 |
| Release | : 2012-12-06 |
| Genre | : Technology & Engineering |
| ISBN | : 1461536529 |
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This monograph is a revised version of the D.Phil. thesis of the first author, submitted in October 1990 to the University of Oxford. This work investigates the problem of mobile robot navigation using sonar. We view model-based navigation as a process of tracking naturally occurring environment features, which we refer to as "targets". Targets that have been predicted from the environment map are tracked to provide that are observed, but not predicted, vehicle position estimates. Targets represent unknown environment features or obstacles, and cause new tracks to be initiated, classified, and ultimately integrated into the map. Chapter 1 presents a brief definition of the problem and a discussion of the basic research issues involved. No attempt is made to survey ex haustively the mobile robot navigation literature-the reader is strongly encouraged to consult other sources. The recent collection edited by Cox and Wilfong [34] is an excellent starting point, as it contains many of the standard works of the field. Also, we assume familiarity with the Kalman filter. There are many well-known texts on the subject; our notation derives from Bar-Shalom and Fortmann [7]. Chapter 2 provides a detailed sonar sensor model. A good sensor model of our approach to navigation, and is used both for is a crucial component predicting expected observations and classifying unexpected observations.
Feature-Based Localization in Sonar-Equipped Autonomous Mobile Robots Through Hough Transform and Unsupervised Learning Network
| Author | : Jonathan Scott Glennon |
| Publisher | : |
| Total Pages | : 109 |
| Release | : 1998-06-01 |
| Genre | : Autonomous robots |
| ISBN | : 9781423559610 |
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As we approach the new millennium, robots are playing an increasingly important role in our everyday lives. Robotics has evolved in industrial and military applications, and unmanned space exploration promises the continued development of ever-more-complex robots. Over the past few decades, research has focused on the development of autonomous mobile robots - robots that can move about without human supervision. This brings with it several problems, however, specifically the problem of localization. How can the robot determine its own position and orientation relative to the environment around it? Various methods of localization in mobile robots have been explored. Most of these methods, however, assume some a priori knowledge of the environment, or that the robot will have access to navigation beacons or Global Positioning Satellites. In this thesis, the foundations for feature-based localization are explored. An algorithm involving the Rough transform of range data and a neural network is developed, which enables the robot to find an unspecified number of wall-like features in its vicinity and determine the range and orientation of these walls relative to itself. Computation times are shown to be quite reasonable, and the algorithm is applied in both simulated and real-world indoor environments.
Vision Based Autonomous Robot Navigation
| Author | : Amitava Chatterjee |
| Publisher | : Springer |
| Total Pages | : 235 |
| Release | : 2012-10-13 |
| Genre | : Technology & Engineering |
| ISBN | : 3642339654 |
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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.
Underwater SLAM for Structured Environments Using an Imaging Sonar
| Author | : David Ribas |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 152 |
| Release | : 2010-07-26 |
| Genre | : Technology & Engineering |
| ISBN | : 3642140394 |
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Robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human en- ronments and vigorously engaged in its new challenges. Interacting with, assisting, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. Beyond its impact on physical robots, the body of knowledge robotics has p- duced is revealing a much wider range of applications reaching across diverse research areas and scienti?c disciplines, such as: biomechanics, haptics, neu- sciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The SpringerTracts in AdvancedRobotics(STAR) is devoted to bringing to the research community the latest advances in the robotics ?eld on the basis of their signi?cance and quality. Through a wide and timely dissemination of critical - search developments in robotics, our objective with this series is to promote more exchanges and collaborations among the researchers in the community and c- tribute to further advancements in this rapidly growing ?eld.
The Map-Building and Exploration Strategies of a Simple Sonar-Equipped Mobile Robot
| Author | : D. C. Lee |
| Publisher | : Cambridge University Press |
| Total Pages | : 250 |
| Release | : 2003-09-18 |
| Genre | : Computers |
| ISBN | : 9780521542159 |
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First book to describe a way of determining the best method to use to enable a robot to navigate.
Towards Autonomous Navigation for Robots with 3D Sensors
| Author | : Jann Poppinga |
| Publisher | : |
| Total Pages | : 0 |
| Release | : 2010 |
| Genre | : |
| ISBN | : |
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Autonomous navigation is an important challenge in many application fields of mobile robotics. This thesis contributes to mobile robot autonomous navigation at different levels. In chapter 2, different methods for 3D sensing are discussed. In particular, we evaluate a time-of-flight range camera in various situations. We develop a method to detect and, if desirable, heuristically correct the most inhibitive error source: Range is detected via phase shift. Because of the way phase shift is measured, values beyond 360[degree] will be mapped back into the [0[degree], 360[degree]] interval. The derived range is consequently also affected. The error is inherent not only to this model, but to all range cameras measuring the time-of-flight in the same way. Our correction makes it possible to use the range camera on a mobile robot for high frequency 3D sensing. In chapter 3, we present several 3D point cloud datasets gathered with the time of flight camera presented in the preceding chapter and other 3D sensors: an actuated laser range-finder, a stereo camera, and a 3D sonar. The datasets represent a wide variety of real world and set up scenes, indoors and outdoors, underwater and land, and small scale and large scale. These datasets are used in the experiments in the following chapters. In chapter 4, we present a robust short range obstacle detection algorithm that runs fast enough to actually make use of the range cameraʹs high data rate.
Sensor Modelling, Design and Data Processing for Autonomous Navigation
| Author | : Martin David Adams |
| Publisher | : World Scientific |
| Total Pages | : 260 |
| Release | : 1999 |
| Genre | : Technology & Engineering |
| ISBN | : 9789810234966 |
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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.
Where am I? Sensors and Methods for Autonomous Mobile Robot Positioning
| Author | : L. Feng |
| Publisher | : |
| Total Pages | : 212 |
| Release | : |
| Genre | : |
| ISBN | : |
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Mobile Robots Navigation
| Author | : Alejandra Barrera |
| Publisher | : BoD – Books on Demand |
| Total Pages | : 684 |
| Release | : 2010-03-01 |
| Genre | : Technology & Engineering |
| ISBN | : 9533070765 |
Download Mobile Robots Navigation Book in PDF, ePub and Kindle
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.
