scholarly journals The Application of Ultrasonic Positioning System for Indoor Navigation of Omni-directional Mobile Robot

2016 ◽  
pp. 585
Keyword(s):  
Mobile Robot ◽  
Indoor Navigation ◽  
Positioning System

scholarly journals A Multi-Robot Formation Platform based on an Indoor Global Positioning System

2019 ◽  
Vol 9 (6) ◽  
pp. 1165
Author(s):  
Hong’an Yang ◽  
Xuefeng Bao ◽  
Shaohua Zhang ◽  
Xu Wang
Keyword(s):  
Mobile Robot ◽  
Global Positioning System ◽  
Formation Control ◽  
Transmission Control Protocol ◽  
Indoor Navigation ◽  
Wheeled Mobile Robot ◽  
Positioning System ◽  
Position Information ◽  
Global Positioning ◽  
Multi Robot

Aimed at the problem that experimental verifications are difficult to execute due to lacking effective experimental platforms in the research field of multi-robot formation, we design a simple multi-robot formation platform. This proposed general and low-cost multi-robot formation platform includes the indoor global-positioning system, the multi-robot communication system, and the wheeled mobile robot hardware. For each wheeled mobile robot in our platform, its real-time position information in the centimeter‑level precise is obtained by the Marvelmind Indoor Navigation System and orientation information is obtained by the six-degree-of-freedom gyroscope. The Transmission Control Protocol/Internet Protocol (TCP/IP) wireless communication infrastructure is selected to support the communication among robots and the data collection in the process of experiments. Finally, a set of leader–follower formation experiments are performed by our platform, which include three trajectory tracking experiments of different types and numbers under deterministic environment and a formation-maintaining experiment with external disturbances. The results illustrate that our multi-robot formation platform can be effectively used as a general testbed to evaluate and verify the feasibility and correctness of the theoretical methods in the multi-robot formation. What is more, the proposed simple and general formation platform is beneficial to the development of platforms in the fields of multi-robot coordination, formation control, and search and rescue missions.

Indoor Navigation System of Omni-Directional Mobile Robot Based on Static Obstacles Avoidance

2020 ◽  
Vol 13 (1) ◽  
pp. 27
Author(s):  
Shaaban Ali Salman ◽  
Qais A. Khasawneh ◽  
Mohammad A. Jaradat ◽  
Mansour Y. Alramlawi
Keyword(s):  
Mobile Robot ◽  
Navigation System ◽  
Indoor Navigation ◽  
Indoor Navigation System

scholarly journals A robust mobile robot indoor positioning system based on Wi-Fi

2020 ◽  
Vol 17 (1) ◽  
pp. 172988141989666 ◽  
Author(s):  
Wei Cui ◽  
Qingde Liu ◽  
Linhan Zhang ◽  
Haixia Wang ◽  
Xiao Lu ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Principal Component ◽  
Indoor Positioning ◽  
Positioning System ◽  
Infrared Sensors ◽  
Positioning Systems ◽  
Indoor Mobile Robot ◽  
Robot Positioning ◽  
Learning Machine ◽  
Noisy Measurements

Recently, most of the existing mobile robot indoor positioning systems (IPSs) use infrared sensors, cameras, and other extra infrastructures. They usually suffer from high cost and special hardware implementation. In order to address the above problems, this article proposes a Wi-Fi-based indoor mobile robot positioning system and designs and develops a robot positioning platform based on the commercial Wi-Fi devices, such as Wi-Fi routers. Furthermore, a robust principal component analysis-based extreme learning machine algorithm is proposed to address the issue of noisy measurements in IPSs. Real-world robot indoor positioning experiments are extensively carried out and the results verify the effectiveness and superiority of the proposed system.

A medical transportation robot for carrying and positioning patients between different devices

2019 ◽  
Vol 46 (5) ◽  
pp. 599-607
Author(s):  
Weidong Wang ◽  
Chengjin Du ◽  
Zhijiang Du
Keyword(s):  
Radiation Dose ◽  
Mobile Robot ◽  
Image Fusion ◽  
Medical Devices ◽  
Positioning System ◽  
Imaging Diagnosis ◽  
Positioning Accuracy ◽  
Automatic Diagnosis ◽  
Content Type ◽  
Fully Automatic

Purpose This paper aims to present a prototype of medical transportation robot whose positioning accuracy can reach millimeter-level in terms of patient transportation. By using this kind of mobile robot, a fully automatic image diagnosis process among independent CT/PET devices and the image fusion can be achieved. Design/methodology/approach Following a short introduction, a large-load 4WD-4WS (four-wheel driving and four-wheel steering) mobile robot for carrying patient among multiple medical imaging equipments is developed. At the same time, a specially designed bedplate with self-locking function is also introduced. For further improving the positioning accuracy, the authors proposed a calibration method based on Gaussian process regression (GPR) to process the measuring data of the sensors. The performance of this robot is verified by the calibration experiment and Image fusion experiment. Finally, concluding comments are drawn. Findings By calibrating the robot’s positioning system through the proposed GPR method, one can obtain the accuracy of the robot’s offset distance and deflection angle, which are 0.50 mm and +0.21°, respectively. Independent repeated trials were then set up to verify this result. Subsequent phantom experiment shows the accuracy of image fusion can be accurate within 0.57 mm in the front-rear direction and 0.83 in the left-right direction, respectively, while the clinical experiment shows that the proposed robot can practically realize the transportation of patient and image fusion between multiple imaging diagnosis devices. Practical implications The proposed robot offers an economical image fusion solution for medical institutions whose imaging diagnosis system basically comprises independent MRI, CT and PET devices. Also, a fully automatic diagnosis process can be achieved so that the patient’s suffering of getting in and out of the bed and the doctor’s radiation dose can be obviated. Social implications The general bedplate presented in Section 2 that can be mounted on the CT and PET devices and the self-locking mechanism has realized the catching and releasing motion of the patient on different medical devices. They also provide a detailed method regarding patient handling and orientation maintenance, which was hardly mentioned in previous research. By establishing the positioning system between the robot and different medical equipment, a fully automatic diagnosis process can be achieved so that the patient’s suffering of getting in and out of the bed and the doctor’s radiation dose can be obviated. Originality/value The GPR-based method proposed in this paper offers a novel method for enhancing the positioning accuracy of the industrial AGV while the transportation robot proposed in this paper also offers a solution for modern imaging fusion diagnosis, which are basically predicated on the conjoint analysis between different kinds of medical devices.

scholarly journals Mobile Robot Indoor Positioning System Based on K-ELM

2019 ◽  
Vol 2019 ◽  
pp. 1-11 ◽  
Author(s):  
Haixia Wang ◽  
Junliang Li ◽  
Wei Cui ◽  
Xiao Lu ◽  
Zhiguo Zhang ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Indoor Localization ◽  
Indoor Positioning ◽  
Positioning System ◽  
Positioning Accuracy ◽  
Positioning Method ◽  
Kernel Extreme Learning Machine ◽  
Learning Machine ◽  
Positioning Algorithm ◽  
Indoor Positioning System

Mobile Robot Indoor Positioning System has wide application in the industry and home automation field. Unfortunately, existing mobile robot indoor positioning methods often suffer from poor positioning accuracy, system instability, and need for extra installation efforts. In this paper, we propose a novel positioning system which applies the centralized positioning method into the mobile robot, in which real-time positioning is achieved via interactions between ARM and computer. We apply the Kernel extreme learning machine (K-ELM) algorithm as our positioning algorithm after comparing four different algorithms in simulation experiments. Real-world indoor localization experiments are conducted, and the results demonstrate that the proposed system can not only improve positioning accuracy but also greatly reduce the installation efforts since our system solely relies on Wi-Fi devices.

Design and Robust Recognition of Omnidirectional Landmarks for Indoor Mobile Robot Positioning

2013 ◽  
Author(s):  
Hanyu Liu ◽  
Xu Zhong ◽  
Yu Zhou
Keyword(s):  
Mobile Robot ◽  
Recognition Algorithm ◽  
Positioning System ◽  
Contour Analysis ◽  
Landmark Recognition ◽  
Black And White ◽  
Indoor Mobile Robot ◽  
Robot Positioning ◽  
Robust Recognition ◽  
Landmark Model

In this paper, we present an omnidirectional artificial landmark model and a robust artificial landmark recognition algorithm for indoor mobile robot positioning. The landmark model encodes identities with nested circles in black and white, which provides stable edge response and enables strong tolerance to various lighting conditions and perspective distortions. The corresponding positioning system uses a single upward-facing webcam as the vision sensor to capture landmarks. To address the effect of the lighting and sensing noise, the topological contour analysis is applied to detect landmarks, and the dynamic illumination adjustment is used to assist landmark recognition. Based on the landmark recognition, the absolute position of the camera in the environment is estimated using a trilateration algorithm. The landmark model and positioning system are tested with a mobile robot in a real indoor environment. The results show that the purposed technique provides autonomous indoor positioning for mobile robots with high robustness and consistency.

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