Local exploration strategies for a mobile robot in a highly dynamic environment

2012 ◽  
Author(s):  
Stanley Tack ◽  
Michael Burke ◽  
Saurabh Sinha
Keyword(s):  
Mobile Robot ◽  
Dynamic Environment

scholarly journals Rapid Relocation Method for Mobile Robot Based on Improved ORB-SLAM2 Algorithm

2019 ◽  
Vol 11 (2) ◽  
pp. 149 ◽  
Author(s):  
Guanci Yang ◽  
Zhanjie Chen ◽  
Yang Li ◽  
Zhidong Su
Keyword(s):  
Mobile Robot ◽  
Dynamic Environment ◽  
Original System ◽  
Tracking Accuracy ◽  
Vocabulary Size ◽  
Map Construction ◽  
Speed Tracking ◽  
Start Up ◽  
C Programming ◽  
Robot Platform

In order to realize fast real-time positioning after a mobile robot starts, this paper proposes an improved ORB-SLAM2 algorithm. Firstly, we proposed a binary vocabulary storage method and vocabulary training algorithm based on an improved Oriented FAST and Rotated BRIEF (ORB) operator to reduce the vocabulary size and improve the loading speed of the vocabulary and tracking accuracy. Secondly, we proposed an offline map construction algorithm based on the map element and keyframe database; then, we designed a fast reposition method of the mobile robot based on the offline map. Finally, we presented an offline visualization method for map elements and mapping trajectories. In order to check the performance of the algorithm in this paper, we built a mobile robot platform based on the EAI-B1 mobile chassis, and we implemented the rapid relocation method of the mobile robot based on improved ORB SLAM2 algorithm by using C++ programming language. The experimental results showed that the improved ORB SLAM2 system outperforms the original system regarding start-up speed, tracking and positioning accuracy, and human–computer interaction. The improved system was able to build and load offline maps, as well as perform rapid relocation and global positioning tracking. In addition, our experiment also shows that the improved system is robust against a dynamic environment.

scholarly journals Interactive mobile robot in a dynamic environment

2018 ◽  
Vol 51 (30) ◽  
pp. 354-359
Author(s):  
Bakhtawar Rehman ◽  
Rauf Yagfarov ◽  
Alexandr Klimchik
Keyword(s):  
Mobile Robot ◽  
Dynamic Environment

scholarly journals Visual-Servoing Based Global Path Planning Using Interval Type-2 Fuzzy Logic Control

Axioms ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 58 ◽  
Author(s):  
Mahmut Dirik ◽  
Oscar Castillo ◽  
Adnan Fatih Kocamaz
Keyword(s):  
Fuzzy Logic ◽  
Path Planning ◽  
Mobile Robot ◽  
Free Path ◽  
Visual Servoing ◽  
Dynamic Environment ◽  
Logic Control ◽  
Planning Technique ◽  
Interval Type

Mobile robot motion planning in an unstructured, static, and dynamic environment is faced with a large amount of uncertainties. In an uncertain working area, a method should be selected to address the existing uncertainties in order to plan a collision-free path between the desired two points. In this paper, we propose a mobile robot path planning method in the visualize plane using an overhead camera based on interval type-2 fuzzy logic (IT2FIS). We deal with a visual-servoing based technique for obstacle-free path planning. It is necessary to determine the location of a mobile robot in an environment surrounding the robot. To reach the target and for avoiding obstacles efficiently under different shapes of obstacle in an environment, an IT2FIS is designed to generate a path. A simulation of the path planning technique compared with other methods is performed. We tested the algorithm within various scenarios. Experiment results showed the efficiency of the generated path using an overhead camera for a mobile robot.

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