Investigation On The Mobile Robot Navigation In An Unknown Environment PDF Download
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| Author | : Ahmed S. Khusheef |
| Publisher | : LAP Lambert Academic Publishing |
| Total Pages | : 164 |
| Release | : 2014-06-03 |
| Genre | : |
| ISBN | : 9783659487552 |
Download Investigation on the Mobile Robot Navigation in an Unknown Environment Book in PDF, ePub and Kindle
This book focuses on designing a mobile robot's navigation system. More specifically, it considers the challenges of designing and operating a mobile search robot used to search for, find and relocate a target object in an indoor environment. A step-by-step mobile robot construction approach guides us in the design and implementation of a mobile robot. This work proposes construction methods for two different types of mobile robots. For exploration of a path, we will develop an algorithmic strategy known as a 'bug navigation', in which, the robot navigates by following the walls or obstacle boundaries. The most common object detection and recognition techniques are presented in a simple style. This book also helps one to develop an efficient way to identify the location and orientation of a robot with an effective mechanism of control.
| Author | : Howie Choset |
| Publisher | : MIT Press |
| Total Pages | : 642 |
| Release | : 2005-05-20 |
| Genre | : Technology & Engineering |
| ISBN | : 9780262033275 |
Download Principles of Robot Motion Book in PDF, ePub and Kindle
A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.
| Author | : James Sze Ng |
| Publisher | : |
| Total Pages | : 203 |
| Release | : 2010 |
| Genre | : Autonomous robots |
| ISBN | : |
Download An Analysis of Mobile Robot Navigation Algorithms in Unknown Environments Book in PDF, ePub and Kindle
This thesis investigates robot navigation algorithms in unknown 2 dimensional environments with the aim of improving performance. The algorithms which perform such navigation are called Bug Algorithms [1,30,62]. Existing algorithms are implemented on a robot simulation system called EyeSim [7] and their performances are measured and analyzed. Similarities and differences in the Bug Family are explored particularly in relation to the methods used to guarantee termination. Seven methods used to guarantee termination in the existing literature are noted and form the basis of the new Bug algorithms: OneBug, MultiBug, LeaveBug, Bug1+ and SensorBug. A new method is created which restricts the leave points to vertices of convex obstacles. SensorBug is a new algorithm designed to use range sensors and with three performance criteria in mind: data gathering frequency, amount of scanning and path length. SensorBug reduces the frequency at which data about the visible environment is gathered and the amount of scanning for each time data is gathered. It is shown that despite the reductions, correct termination is still guaranteed for any environment. Curv1 [19], a robot navigation algorithm, was developed to guide a robot to the target in an unknown environment with a single non-self intersecting guide track. Via an intermediate algorithm Curv2, Curv1 is expanded into a new algorithm, Curv3. Curv3 is capable of pairing multiple start and targets and coping with self-intersecting track.
| Author | : Amitava Chatterjee |
| Publisher | : Springer |
| Total Pages | : 235 |
| Release | : 2012-10-13 |
| Genre | : Technology & Engineering |
| ISBN | : 3642339654 |
Download Vision Based Autonomous Robot Navigation Book in PDF, ePub and Kindle
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.
| Author | : Michael Beetz |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 299 |
| Release | : 2002-11-01 |
| Genre | : Technology & Engineering |
| ISBN | : 3540001689 |
Download Advances in Plan-Based Control of Robotic Agents Book in PDF, ePub and Kindle
In recent years, autonomous robots, including Xavier, Martha [1], Rhino [2,3], Minerva,and Remote Agent, have shown impressive performance in long-term demonstrations. In NASA’s Deep Space program, for example, an - tonomous spacecraft controller, called the Remote Agent [5], has autonomously performed a scienti?c experiment in space. At Carnegie Mellon University, Xavier [6], another autonomous mobile robot, navigated through an o?ce - vironment for more than a year, allowing people to issue navigation commands and monitor their execution via the Internet. In 1998, Minerva [7] acted for 13 days as a museum tourguide in the Smithsonian Museum, and led several thousand people through an exhibition. These autonomous robots have in common that they rely on plan-based c- trol in order to achieve better problem-solving competence. In the plan-based approach, robots generate control actions by maintaining and executing a plan that is e?ective and has a high expected utility with respect to the robots’ c- rent goals and beliefs. Plans are robot control programs that a robot can not only execute but also reason about and manipulate [4]. Thus, a plan-based c- troller is able to manage and adapt the robot’s intended course of action — the plan — while executing it and can thereby better achieve complex and changing tasks.
| Author | : David H. Kincaid |
| Publisher | : |
| Total Pages | : 252 |
| Release | : 1988 |
| Genre | : Robotics |
| ISBN | : |
Download Autonomous Navigation of a Mobile Robot in an Unknown Environment Book in PDF, ePub and Kindle
| Author | : John J. Leonard |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 199 |
| Release | : 2012-12-06 |
| Genre | : Technology & Engineering |
| ISBN | : 1461536529 |
Download Directed Sonar Sensing for Mobile Robot Navigation Book in PDF, ePub and Kindle
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.
| Author | : Xiaochun Wang |
| Publisher | : Springer |
| Total Pages | : 328 |
| Release | : 2019-08-12 |
| Genre | : Technology & Engineering |
| ISBN | : 981139217X |
Download Machine Learning-based Natural Scene Recognition for Mobile Robot Localization in An Unknown Environment Book in PDF, ePub and Kindle
This book advances research on mobile robot localization in unknown environments by focusing on machine-learning-based natural scene recognition. The respective chapters highlight the latest developments in vision-based machine perception and machine learning research for localization applications, and cover such topics as: image-segmentation-based visual perceptual grouping for the efficient identification of objects composing unknown environments; classification-based rapid object recognition for the semantic analysis of natural scenes in unknown environments; the present understanding of the Prefrontal Cortex working memory mechanism and its biological processes for human-like localization; and the application of this present understanding to improve mobile robot localization. The book also features a perspective on bridging the gap between feature representations and decision-making using reinforcement learning, laying the groundwork for future advances in mobile robot navigation research.
| Author | : S.G. Poonambalam |
| Publisher | : Springer |
| Total Pages | : 541 |
| Release | : 2012-11-28 |
| Genre | : Computers |
| ISBN | : 3642351972 |
Download Trends in Intelligent Robotics, Automation, and Manufacturing Book in PDF, ePub and Kindle
This book constitutes the proceedings of the First International Conference on Intelligent Robotics and Manufacturing, IRAM 2012, held in Kuala Lumpur, Malaysia, in November 2012. The 64 revised full papers included in this volume were carefully reviewed and selected from 102 initial submissions. The papers are organized in topical sections named: mobile robots, intelligent autonomous systems, robot vision and robust, autonomous agents, micro, meso and nano-scale automation and assembly, flexible manufacturing systems, CIM and micro-machining, and fabrication techniques.
| Author | : Kikuo Fujimura |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 190 |
| Release | : 2012-12-06 |
| Genre | : Computers |
| ISBN | : 4431681655 |
Download Motion Planning in Dynamic Environments Book in PDF, ePub and Kindle
Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.
