Localization of a Mobile Robot With Omnidirectional Wheels Using Angular Kalman Filtering and Triangulation

2006 ◽  
Author(s):  
Josep M. Font ◽  
Joaquim A. Batlle
Keyword(s):  
Mobile Robot ◽  
Time Derivative ◽  
Time Integration ◽  
Laser Scanner ◽  
Mobile Robot Navigation ◽  
Robot Kinematics ◽  
Laser Measurements ◽  
Position And Orientation ◽  
Straight Lines ◽  
Omnidirectional Wheels

Localization is one of the fundamental problems in mobile robot navigation. Several approaches to cope with the dynamic positioning problem have been made. Most of them use an extended Kalman filter (EKF) to estimate the robot pose — position and orientation — fusing both the robot odometry and external measurements. In this paper, an EKF is used to estimate the angles, relative to the robot frame, of the straight lines from a rotating laser scanner to a set of landmarks. By using this method angles are predicted, between actual laser measurements, by means of the time integration of its time derivative, which depends upon the robot kinematics. Once these angles are estimated, triangulation can be consistently applied at any time to determine the robot pose. In this work, a mobile robot with three omnidirectional wheels — that consist of two spherical rollers — is considered. Computer simulations showing the accuracy of this method are presented.

scholarly journals Localization System for Indoor Mobile Robot Using Large Square-Shaped Reflective Marker

2021 ◽  
Vol 15 (2) ◽  
pp. 182-190
Author(s):  
Hiroaki Seki ◽  
Ken Kawai ◽  
Masatoshi Hikizu ◽  
◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robot Navigation ◽  
Prototype System ◽  
Localization System ◽  
Indoor Mobile Robot ◽  
Four Corners ◽  
Fisheye Camera ◽  
Position And Orientation ◽  
Marker Detection ◽  
Measurable Range

A localization system using reflective markers and a fisheye camera with blinking infrared lights is useful and safe for mobile robot navigation in an environment with coexisting humans and robots; however, it has the problems of low robustness and a small measurable range for marker detection. A large, square-shaped reflective marker, with solid and dotted edges, is proposed for more reliable localization of indoor mobile robots. It can be easily detected using Hough transform and is robust for occlusion. The coordinates of the four corners of the square-shaped marker determine the robot’s localization. Infrared lighting with a new LED arrangement is designed for a wide measurable range via brightness simulation, including the effect of observation and reflection angles. A prototype system was developed, enabling the 2D position and orientation to be detected with an accuracy of 60 mm and 3◦, respectively, within a 4 m2 area.

scholarly journals Criteria of Motion Without Slipping for an Omnidirectional Mobile Robot

2021 ◽  
Vol 17 (4) ◽  
pp. 527-546
Author(s):  
I. S. Mamaev ◽  
◽  
A. A. Kilin ◽  
Yu. L. Karavaev ◽  
V. A. Shestakov ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Euler Equations ◽  
Elementary Geometry ◽  
Supporting Surface ◽  
Dynamical Equations ◽  
Omnidirectional Mobile Robot ◽  
Angular Velocities ◽  
Reaction Forces ◽  
Position And Orientation ◽  
Omnidirectional Wheels

In this paper we present a study of the dynamics of a mobile robot with omnidirectional wheels taking into account the reaction forces acting from the plane. The dynamical equations are obtained in the form of Newton – Euler equations. In the course of the study, we formulate structural restrictions on the position and orientation of the omnidirectional wheels and their rollers taking into account the possibility of implementing the omnidirectional motion. We obtain the dependence of reaction forces acting on the wheel from the supporting surface on the parameters defining the trajectory of motion: linear and angular velocities and accelerations, and the curvature of the trajectory of motion. A striking feature of the system considered is that the results obtained can be formulated in terms of elementary geometry.

scholarly journals Indoor Mobile Robot Navigation and Obstacle Avoidance Using a 3D Camera and Laser Scanner

2016 ◽  
Vol 15 (1) ◽  
pp. 51-59
Author(s):  
Peter Kucsera
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Robot Navigation ◽  
Laser Scanner ◽  
Mobile Robot Navigation ◽  
Sensor Technology ◽  
Indoor Mobile Robot ◽  
3D Camera ◽  
Terrain Features ◽  
Robot Platform

Thanks to the developing sensor technology in mobile robot navigation and obstacle avoidance there are new and affordable solutions which can be used to accomplish smooth, safe and reliable robot movement in an indoor environment. A laser scanner is a commonly used sensor for detecting obstacles as well as for navigation, but a laser scanner is unable to detect all the different obstacles and terrain features by itself. In this article complementary sensors are examined, on a real mobile robot platform. Communication between the sensors and the controller and the basic control possibilities are also discussed. Finally, an advertising mobile robot is described.

An Optimized Segmentation Method for a 2D Laser-Scanner Applied to Mobile Robot Navigation

1997 ◽  
Vol 30 (7) ◽  
pp. 149-154 ◽  
Author(s):  
Ali Siadat ◽  
Axel Kaske ◽  
Siegfried Klausmann ◽  
Michel Dufaut ◽  
René Husson
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Laser Scanner ◽  
Mobile Robot Navigation ◽  
Segmentation Method

scholarly journals A Review of Mobile Robot Navigation System for Volcano Monitoring Application

2021 ◽  
Vol 32 (1) ◽  
pp. 1-11
Author(s):  
Maria Evita
Keyword(s):  
Mobile Robot ◽  
Navigation System ◽  
Slope Angle ◽  
Mobile Robot Navigation ◽  
Robot Kinematics ◽  
Trajectory Design ◽  
Close Monitoring ◽  
Wheeled Mobile Robots ◽  
Testing Method ◽  
Monitoring Application

Volcano is a geological environment including magma, eruption, volcanic edifice and its basements. For continuous monitoring after eruption, a mobile robot could be proposed as an alternative to prevent hazardous effect to volcanologist who perform up close monitoring. In this paper, the robots were divided into 3 types according to their different structures: legged, track-legged and wheeled mobile robots. Meanwhile, the navigation system were implemented in 4 steps suitable for volcano condition: environment mapping, trajectory design, motion control and obstacle avoidance. These navigation system also tested in different locations: indoor, outdoor and real volcano with different testing method for these robots. The testing result was discussed in robot kinematics parameter such as trajectory, velocity, slope angle, rollover and sideslip angels.

scholarly journals A Review of Mobile Robot Navigation System for Volcano Monitoring Application

2021 ◽  
Vol 32 (1) ◽  
pp. 1-11
Author(s):  
Maria Evita
Keyword(s):  
Mobile Robot ◽  
Navigation System ◽  
Slope Angle ◽  
Mobile Robot Navigation ◽  
Robot Kinematics ◽  
Trajectory Design ◽  
Close Monitoring ◽  
Wheeled Mobile Robots ◽  
Testing Method ◽  
Monitoring Application

Volcano is a geological environment including magma, eruption, volcanic edifice and its basements. For continuous monitoring after eruption, a mobile robot could be proposed as an alternative to prevent hazardous effect to volcanologist who perform up close monitoring. In this paper, the robots were divided into 3 types according to their different structures: legged, track-legged and wheeled mobile robots. Meanwhile, the navigation system were implemented in 4 steps suitable for volcano condition: environment mapping, trajectory design, motion control and obstacle avoidance. These navigation system also tested in different locations: indoor, outdoor and real volcano with different testing method for these robots. The testing result was discussed in robot kinematics parameter such as trajectory, velocity, slope angle, rollover and sideslip angels.

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