A mobile robot navigation by means of range data from ultra wide angle laser sensor and simple linguistic behavior instructions

2008 ◽  
pp. 89-97 ◽  
Author(s):  
Takashi Tsubouchi ◽  
Yoshinobu Ando ◽  
Shin’ichi Yuta
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Laser Sensor ◽  
Range Data ◽  
Wide Angle ◽  
Linguistic Behavior

Multi-Functional Application of Wide-Angle Foveated Vision Sensor in Mobile Robot Navigation

2002 ◽  
Vol 14 (4) ◽  
pp. 382-389 ◽  
Author(s):  
Sohta Shimizu ◽  
Keyword(s):  
Mobile Robot ◽  
Peripheral Vision ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Wide Angle ◽  
Vision Sensor ◽  
Central Vision ◽  
Optical Lens ◽  
Foveated Vision ◽  
3D Information

This paper presents a concrete multi-functional application of Wide-Angle Foveated Vision Sensor (WAFVS) in which a special optical lens, designed by mimicking the human eye, plays a major role. The author has conducted experiments of obstacle avoidance in mobile robot navigation. 3D information of obstacles and locational information of mobile robot, which are characterized by the lens property, are acquired from central vision with high accuracy and peripheral vision with fewer pixels, respectively. Cooperation between them is executed by flexible parallel processing to improve navigation quality.

Autonomous Mobile Robot Navigation based on Wide Angle Vision Sensor with Fovea

2001 ◽  
pp. 345-350
Author(s):  
Sohta Shimizu ◽  
Yoshikazu Suematsu ◽  
Tomoyuki Matsuba ◽  
Shunsuke Ichiki ◽  
Keiko Sumida ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Wide Angle ◽  
Autonomous Mobile Robot ◽  
Vision Sensor

DEVELOPMENT OF A CONTROL STRATEGY FOR MOBILE ROBOT NAVIGATION IN UNKNOWN TERRAIN

2019 ◽  
Author(s):  
Diego Gabriel Gomes Rosa ◽  
Carlos Luiz Machado de souza junior ◽  
Marco Antonio Meggiolaro ◽  
Luiz Fernando Martha
Keyword(s):  
Mobile Robot ◽  
Control Strategy ◽  
Robot Navigation ◽  
Mobile Robot Navigation

Real-time road edge following for mobile robot navigation

1990 ◽  
Vol 2 (1) ◽  
pp. 35 ◽  
Author(s):  
R.A. Lotufo ◽  
A.D. Morgan ◽  
E.L. Dagless ◽  
D.J. Milford ◽  
J.F. Morrissey ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Robot Navigation ◽  
Mobile Robot Navigation

scholarly journals Path Planning and Replanning for Mobile Robot Navigation on 3D Terrain: An Approach Based on Geodesic

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
Kun-Lin Wu ◽  
Ting-Jui Ho ◽  
Sean A. Huang ◽  
Kuo-Hui Lin ◽  
Yueh-Chen Lin ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Tangent Plane ◽  
Intersection Point ◽  
Mobile Robot Navigation ◽  
Complete Manifold ◽  
Geodesic Triangle ◽  
Planning Stage ◽  
3D Terrain ◽  
Bonnet Theorem

In this paper, mobile robot navigation on a 3D terrain with a single obstacle is addressed. The terrain is modelled as a smooth, complete manifold with well-defined tangent planes and the hazardous region is modelled as an enclosing circle with a hazard grade tuned radius representing the obstacle projected onto the terrain to allow efficient path-obstacle intersection checking. To resolve the intersections along the initial geodesic, by resorting to the geodesic ideas from differential geometry on surfaces and manifolds, we present a geodesic-based planning and replanning algorithm as a new method for obstacle avoidance on a 3D terrain without using boundary following on the obstacle surface. The replanning algorithm generates two new paths, each a composition of two geodesics, connected via critical points whose locations are found to be heavily relying on the exploration of the terrain via directional scanning on the tangent plane at the first intersection point of the initial geodesic with the circle. An advantage of this geodesic path replanning procedure is that traversability of terrain on which the detour path traverses could be explored based on the local Gauss-Bonnet Theorem of the geodesic triangle at the planning stage. A simulation demonstrates the practicality of the analytical geodesic replanning procedure for navigating a constant speed point robot on a 3D hill-like terrain.

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